Texas Instruments DRV2605L Manuale utente

User's Guide

SLOU400–November 2014

DRV2605L Multiple ERM, LRA Haptic Driver Kit

1 Introduction

The DRV2605L device is a haptic driver designed for linear resonant actuators (LRA) and eccentric

rotating mass (ERM) motors. The device has many features that help eliminate the design complexities of

haptic motor control including:

• Reduced solution size

• High-efficiency output drive

• Closed-loop motor control

• Quick device startup

• Embedded waveform library

• Auto-resonance frequency tracking

The DRV2605LEVM-MD evaluation module (EVM) is an evaluation platform for the DRV2605LDGS. The

kit includes 8 DRV2605L devices, MSP430F5510 microcontroller (MCU), terminal output support for up

eight LRAs or ERMs, DRV2605L-integrated waveforms licensed from Immersion, and capacitive touch

buttons which demonstrate the capabilities of the DRV2605L.

This user’s guide contains instructions for setting up and operating the DRV2605LEVM-MD.

Figure 1. DRV2605LEVM-MD

Code Composer Studio is a trademark of Texas Instruments.

All other trademarks are the property of their respective owners.

SLOU400–November 2014 DRV2605L Multiple ERM, LRA Haptic Driver Kit

USB VBAT

SBW

MSP430

OUT8 OUT7 OUT6 OUT5

OUT4OUT3OUT2

OUT1

DRV2605L

DRV2605L DRV2605L DRV2605L DRV2605L

DRV2605L DRV2605L DRV2605L

BSL RESET

USER SW

TCA9548A

TCA9554A

B1 B2

USB Power

External Power

Programmer

Connector

Effect Buttons

Actuator

Connections

Actuator

Connections

DRV2605L

DRV

MSP

Power selection for MSP430

and DRV2605L

Getting Started

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2 Getting Started

The DRV2605LEVM-MD demonstrates how the DRV2605L device can be used in applications that require

multiple haptic drivers (same slave addresses) to be setup independently but be played simultaneously.

The board integrates the TCA9548A I2C switch to control which I2C lines of the possible eight DRV2605L

drivers are connected to the master input I2C bus. The switch has the ability to select any combination of

channels to be connected to the master input I2C bus.

The board also integrates the MSP430F5510 device with USB interface capabilities and bootstrap loading

(BSL) functionality. The USB interfacing provides the user flexibility in controlling the DRV2605L device

without having to modify the firmware. The BSL functionality simplifies the firmware updating process

without the additional hardware and the use of Code Composer Studio™ software.

The board receives power in two ways. For applications that require two or less active DRV2605L devices

device at the same time, the board can be powered through a USB port. For applications that require

more than two drivers, the use of the external power supply terminals with a current rating of 1.6 A is

recommended. Manual selection of USB power or external power can be set using the jumper headers

MSP and DRV. When powered up, button 1 and button 2 (B1, B2) can be used to demonstrate the

functionality of the DRV2605L device. See Section 3 for a detailed description of the demonstration

application program.

Figure 2. Board Diagram

2DRV2605L Multiple ERM, LRA Haptic Driver Kit SLOU400–November 2014

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Getting Started

2.1 Quick Start Board Setup

The DRV2605LEVM-MD firmware contains haptic waveform sequences that showcase the features and

benefits of the DRV2605L device in a multi-driver application. Use the following setup instructions to begin

the demand evaluation process:

1. Connect 4 ERM actuators to the terminal block outputs 1 through 4, and connect 4 LRA actuators to

the terminal block outputs 5 through 8 on the board.

2. Connect the 5-V power supply to the VBAT terminal block.

3. Verify that the jumper connections on the board are correct as listed in Table 1.

4. Turn on the power supply. If the DRV2605LEVM-MD is powered correctly, the button LEDs turn on and

flash indicating that the board has been successfully initialized.

Table 1. Default Jumper Settings for Demonstration Program

JUMPER POSITION DESCRIPTION

J1 Shorted Connects decoupling cap to the VDD pin, used for power consumption

measurements

J2 Shorted 3.3-V reference voltage for I2C transactions on the TCA9548A device

J3 Shorted User LED

J4 Don’t care User LED

J5 Shorted Trigger and PWM input to the DRV2605L device

J6 Shorted User switch

MSP Short pins 2 to 3 VBAT power to the MSP430 device (Shown in Figure 3)

DRV Short pins 2 to 3 VBAT power to the DRV2605L device (Shown in Figure 3)

Figure 3. Jumper Position for MSP and DRV Headers

NOTE: This board has the ability to control both ERM and LRA actuators at the same time. The

default firmware is set so that only the actuators that are connected to the board are active.

The connected driver and the actuator type must be hardcoded in the firmware in order for

the system to know the user’s hardware configuration. If the default configuration of 4 ERM

actuators on outputs 1 through 4 and 4 LRA actuators on outputs 5 through 8 is not desired,

see Section 3.4 for more details on how to customize the board.

3 DRV2605L Demonstration Program

Several functionality sections can be initiated to demonstrate how the DRV2605LEVM-MD can be used for

multi-driver applications. The user can interact with the capacitive touch buttons to output a variety of

waveform sequences to the actuators externally connected to the board and to enable all the drivers and

I2C channels for full access to the DRV2605L devices through the I2C headers.

The user can also access USB functionality through the user switch. The capacitive touch buttons (B1 and

B2) and user switch (USER SW) have the following functionality:

• B1: The DRV2605L devices are setup individually and RTP mode is configured. Sequential button

presses activate the next DRV2605L device in sequential order starting at driver 1, ending at driver 8,

and then looping back to driver 1.

• B2:

– Mode 1 – Enables all of the drivers and channels of the TCA9548A device for the user to gain

access to all of the DRV2605L devices.

– Mode 2 – Drivers 1 through 4 are enabled, RTP mode is setup, and all drivers are played

simultaneously

SLOU400–November 2014 DRV2605L Multiple ERM, LRA Haptic Driver Kit

USB VBAT

SBW

MSP430

OUT8 OUT7 OUT6 OUT5

OUT4OUT3OUT2

OUT1

DRV2605L

DRV2605L DRV2605L DRV2605L DRV2605L

DRV2605L DRV2605L DRV2605L

BSL RESET

USER SW

TCA9548A

TCA9554A

B1 B2

LRA

ERM

DRV

MSP

ERM ERM ERM

LRA LRA LRA

DRV2605L Demonstration Program

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– Mode 3 – Drivers 5 through 8 are enabled, RTP mode is setup, and all drivers are played

simultaneously

– Mode 4 – Driver 1 through 4 are setup in RTP mode, played sequentially in order, and then briefly

played simultaneously.

– Mode 5 – Driver 5 through 8 are setup in RTP mode, played sequentially in order, and then briefly

played simultaneously.

• USER SW: Turns on USB communication and disables capacitive touch buttons

Figure 4. Board With Actuator Setup

Figure 4 shows the actuator setup of where the LRAs and ERMs are connected to the board. B1 and B2

are the capacitive touch buttons that, when pressed, play the waveform sequence as described in

Section 3.1 and Section 3.2.

3.1 Button 1

For button 1, each of the DRV2605L devices is independently setup for RTP mode at full magnitude 0x7F

and played sequentially. Each press of the capacitive touch button plays the next driver. The TCA9548A

device (I2C switch) is configured so that only the corresponding DRV2605L device is connected to the

master input I2C bus. When the configuration is complete, default register settings, RTP mode, and the

RTP magnitude are sent to the DRV2605L device. After some time, the RTP mode shuts off.

3.2 Button 2

Button2 has 5 modes that can be accessed through sequential button presses. The user must sequentially

cycle through all of the other modes to get back into the same mode.

3.2.1 Mode 1

Mode 1 allows the user full access to all of the DRV2605L devices on the board by enabling them and

connecting all of the I2C lines. An external host processor can be connected to the I2C headers to allow

communication to the DRV2605L devices without having to use the on-board MSP430F5510.

4DRV2605L Multiple ERM, LRA Haptic Driver Kit SLOU400–November 2014

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DRV2605L Demonstration Program

3.2.2 Mode 2 and Mode 3

Mode 2 and mode 3 enable and connect the I2C lines for drivers 1 through 4 and drivers 5 through 8,

respectively. The four DRV2605L devices are sent the same default initialization settings for the ERM

actuators (Mode 2) and LRA actuators (Mode 3). The drivers are then setup in RTP mode with magnitude

0x7F. The waveform plays for 2 s and then the drivers are changed to internal trigger mode (to stop RTP

mode).

3.2.3 Mode 4 and Mode 5

Mode 4 and mode 5 enable and connect the I2C lines for drivers 1 through 4 and drivers 5 through 8,

respectively. The four DRV2605L devices are sent the same default initialization settings for ERM

actuators (Mode 4) and LRA actuators (Mode 5). When the settings are received by the DRV2605L

devices, each DRV2605L device is individually enabled sequentially and setup for RTP mode with

magnitude 0x7F at a 500-ms interval. Driver 1 or 5 outputs the RTP waveform for 500 ms, then the next

sequential drivers (driver 2 or 6, 3 or 7, 4 or 8) repeat the same conditions as driver 1. As soon as driver 4

or 8 completes the waveform output, all drivers exit of RTP mode for 100 ms and then enter RTP mode

with magnitude 0x7F for 100 ms to create a brief pulse action.

3.3 User Switch

At board startup, the capacitive touch buttons are automatically enabled and USB communication is

disabled even though USB communication was initialized. To enter USB communication for use with the

multi-driver graphical user interface (GUI), the user switch must be pressed. LED1 turns to indicate that

the firmware is active for USB transactions. When the user switch is pressed and the board is in USB

communication mode, the capacitive touch buttons are disabled. A power cycle or software reset is

required to go back to capacitive-touch mode.

3.4 Firmware Modifications

Before the board can accept any combination of LRA and ERM actuators connected to the DRV2605L

devices, the firmware is required to be modified because it must know which actuators are connected to

which haptic drivers. Additional hardware-like dip switches are required to detect real-time changes with

actuators or enable the drivers. The header file, haptics.h, contains the definitions of driver 1 through

driver 8, and actuator 1 through actuator 8 which are mapped to arrays that are used in haptic methods as

follows:

• Haptics_DriversEnableConfig()

• Haptics_EnableAvailableDrivers()

• Haptics_ActuatorTypeConnected()

• Haptics_SwitchAvailableDrivers()

The driver definitions can be either CONNECTED or NOT_CONNECTED. The actuator definitions can be

either ACTUATOR_ERM or ACTUATOR_LRA. When each definition is defined properly, the methods

provided configure the TCA9554A and TCA9548A devices to enable the DRV2605L devices and connect

the I2C lines of the drivers to the master I2C bus properly.

SLOU400–November 2014 DRV2605L Multiple ERM, LRA Haptic Driver Kit

OUT

470 pF

OUT+ OUT±

100 k100 k

470 pF

From DRV2605L

Measurement and Analysis—Waveform Sequences

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4 Measurement and Analysis—Waveform Sequences

The DRV2605L device uses PWM modulation to create the output signal for both ERM and LRA

actuators. To measure and observe the DRV2605L output waveform, connect an oscilloscope or other

measurement equipment to the filtered output test points, OUT+ and OUT–.Figure 5 shows the setup of

the terminal block and test points used to connect external actuators and measure waveforms.

Figure 5. Terminal Block and Test Points

4.1 TripleClick and StrongClick Example Waveforms

Figure 6 displays the tripleClick waveform output for an LRA (trace C1 and C2) and the strongClick

waveform for an ERM (trace C3 and C4) the same time. The differential output (trace Math) is trace C1-

CT the ERM was operated in open-loop mode while the LRA was operated in auto-resonance (closed

loop) mode.

Figure 6. TripleClick and StrongClick Waveform Played at the Same Time

6DRV2605L Multiple ERM, LRA Haptic Driver Kit SLOU400–November 2014

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Measurement and Analysis—Waveform Sequences

4.2 Pulsing Strong Example Waveforms

Figure 7 displays the pulsingStrong waveform output for an ERM (trace C1, C2). The differential output

(trace Math) is trace C1-CT the ERM was operated in open-loop mode. The peak acceleration for the

waveform is 156.1 mVPP or 1.37 G.

Figure 7. Pulsing Strong waveform for ERM in Open-Loop Mode

SLOU400–November 2014 DRV2605L Multiple ERM, LRA Haptic Driver Kit

Measurement and Analysis—Waveform Sequences

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4.3 Strong Buzz Example Waveforms

Figure 8 and Figure 9 show the output waveform (trace C1 and C2), the differential output (trace Math),

and the acceleration profile (trace C4) for the buzz waveform. Figure 8 displays the waveform in auto-

resonance mode while Figure 9 displays the same waveform in open-loop mode. Auto-resonance mode

allows the acceleration profile to have a higher peak acceleration at a lower VRMS voltage.

Figure 8. Strong Buzz Waveform for LRA in Auto-Resonance Mode

Figure 9. Strong Buzz Waveform for LRA in Open-Loop Mode

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TCA9554 - I2C GPIO Expander

5 TCA9554 - I2C GPIO Expander

The TCA9554 GPIO expander is used to enable the DRV2605L device. Because the multi-driver board

has the ability to control up to 8 haptic drivers, the TCA9554 device is able to control the enable lines of

the DRV2605L device through I2C and free up GPIO pin space on the MSP430F5510 device for other

peripherals. The following pseudo code shows how the TCA9554 device is used as an output

configuration.

I2C_SetSlaveAddr(TCA9554_SLAVE_ADDR) //setslave address

I2C_WriteSingleByte(0x03, ~(bit_set_for_output)) //configure as output port

I2C_WriteSingleByte(0x01, output_bits) //output values

The TCA9554 device is configured completely through I2C commands. The expander must be configured

as an output port for the corresponding drivers (8 drivers). The output port command register is 0x03.

Each bit of the 8-bit value represents the 8 output ports of the device. A value of zero in each bit

corresponds to an output configuration. The variable, bit_set_for_output, has the respective bits set as

outputs. When the output port is configured, register 0x03 does not need to be accessed unless those

ports will be used as some other port function. After the ports are configured as outputs, a write command

to register 0x01 is used to set the value of the output to either 0 or 1. The default values for outputs are

initialized to 0. See the TCA9554 data sheet, SCPS233, for more information on the TCA9554 device.

5.1 I2C Register Value Examples

The following examples listed in Table 2 and Table 3 show exact I2C transactions with slave addresses,

registers, and values to enable one DRV2605L device and to enable three or more DRV2605L devices.

Table 2. TCA9554 I2C Transaction for Enabling driver 1

Slave Address (7-bit) Register Value Description

I2C Action

Configures IO expander for output port at

1 Write 0x20 0x03 0xFE channel 1

2 Write 0x20 0x01 0x01 Sends a high signal to output channel 1

Table 3. TCA9554 I2C Transaction for Enabling drivers 1, 4, 5, and 8

Slave Address (7-bit) Register Value Description

I2C Action

Configures IO expander for output port at

1 Write 0x20 0x03 0x66 channel 1, 4, 5, and (corresponds to drivers

1, 4, 5, 8).

Sends a high signal to output channel 1, 4,

2 Write 0x20 0x01 0x99 5, and (corresponds to drivers 1, 4, 5, 8).

6 TCA9548A - I2C Switch

The DRV2605LEVM-MD is designed for multi-driver applications. The TCA9548A I2C switch was used to

independently setup haptic drivers and play the waveforms simultaneously. The pseudo code listed in the

following code allows the user to verify proper operation of the I2C switch and communication with the

DRV2605L device.

I2C_SetSlaveAddr(TCA9548_SLAVE_ADDR) //setslave address

I2C_WriteSingleByte(driver_position) //channelselection

This code lists the sequence for how to command the TCA9548A I2C switch. Any combination of channels

can be selected. When the slave address of the TCA9548A device is set, a single byte is required to

initialize channel selection. No register address is needed to send the channel selection value, but if a

the device will take the last byte sent to it.

SLOU400–November 2014 DRV2605L Multiple ERM, LRA Haptic Driver Kit

TCA9548A - I2C Switch

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6.1 I2C Register Value Examples

The examples listed in Table 4 and Table 5 show exact I2C transactions with slave addresses, registers,

and values to enable one DRV2605L device and to enable three or more DRV2605L devices.

Table 4. TCA9548A I2C Transaction for Enabling Driver 1

I2C Action Slave Address (7-bit) Register Value Description

Configures I2C switch to connect

1 Write 0x70 N/A 0x01 channel 1 I2C lines

Table 5. TCA9548A I2C Transaction for Enabling Driver 1, 4, 5, and 8

I2C Action Slave Address (7-bit) Register Value Description

Configures I2C switch to contact

1 Write 0x70 N/A 0x99 channel 1, 4, 5, and (corresponds to

drivers 1, 4, 5, 8).

6.2 Operation Analysis

The TCA9548A operation can be verified with a logic analyzer hooked up to the master I2C bus input into

the device and to the channel outputs. Figure 10 shows the data and clock lines of the I2C commands to

the switch and to the GPIO expander to show proper operation of the devices together.

Figure 10. TCA9548A Logic Analyzer Operation

The TCA9554 device is first configured for output ports for drivers 6 and 7 with a value of 1 at the output.

The TCA9548A device is switched to driver 7 (channel 8) and sent a read command to the DRV2605L

device to verify communication with the haptic driver. The switch is then configured to select driver 6

(channel 7) and is then sent the same read command. Figure 10 shows proper operation of the switch in

the case of isolating specific channels.

10 DRV2605L Multiple ERM, LRA Haptic Driver Kit SLOU400–November 2014

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