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drv832x: add clock setting, remove current limit, add current sense calibration routine #85

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drv832x: add clock setting, remove current limit, add current sense calibration routine #85

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630cd84
drv832x: add clock setting, remove current limit
Moddingear Mar 22, 2026
d06264b
drv832x: add current sense calibration routine
Moddingear Mar 22, 2026
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23 changes: 18 additions & 5 deletions src/drivers/drv832x/drv832x.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,7 @@ void DRV832xDriver6PWM::init(SPIClass* _spi) {
};

void DRV832xDriver::init(SPIClass* _spi) {
// TODO make SPI speed configurable
spi = _spi;
settings = SPISettings(1000000, MSBFIRST, SPI_MODE1);

//setup pins
pinMode(cs, OUTPUT);
Expand All @@ -50,8 +48,6 @@ void DRV832xDriver::init(SPIClass* _spi) {
};




uint16_t DRV832xDriver::readSPI(uint8_t addr) {
digitalWrite(cs, 0);
spi->beginTransaction(settings);
Expand Down Expand Up @@ -119,7 +115,6 @@ DRV832xStatus DRV832xDriver::getStatus() {
return DRV832xStatus(data0, data1);
}


void DRV832xDriver::clearFault() {
uint16_t result = readSPI(Driver_Control_ADDR);
Driver_Control data;
Expand Down Expand Up @@ -172,6 +167,24 @@ def_getset(CurrentSenseOvercurrentSensitivity, DRV832x_CS_VSEN_LVL, CSA_Control_
def_isset(CurrentSenseCalibrateA, CSA_Control_ADDR, CSA_Control, CSA_CAL_A);
def_isset(CurrentSenseCalibrateB, CSA_Control_ADDR, CSA_Control, CSA_CAL_B);
def_isset(CurrentSenseCalibrateC, CSA_Control_ADDR, CSA_Control, CSA_CAL_C);


void DRV832xDriver::calibrate_current_sense()
{
CSA_Control csa_control_before, csa_control_cal;
csa_control_before.reg = readSPI(CSA_Control_ADDR);
csa_control_cal.reg = csa_control_before.reg;
csa_control_cal.CSA_CAL_A = 1;
csa_control_cal.CSA_CAL_B = 1;
csa_control_cal.CSA_CAL_C = 1;
writeSPI(CSA_Control_ADDR, csa_control_cal.reg);
delay(1); //Calibration routine requires 100us, we're waiting for 1ms to be safe
csa_control_before.CSA_CAL_A = 0;
csa_control_before.CSA_CAL_B = 0;
csa_control_before.CSA_CAL_C = 0;
writeSPI(CSA_Control_ADDR, csa_control_before.reg); //restore settings, as the calibration may have changed the sensitivity to 40V/V
}

def_isset(CurrentSenseOvercurrentDisable, CSA_Control_ADDR, CSA_Control, DIS_SEN);
def_getset(CurrentSenseGain, DRV832x_CSAGain, CSA_Control_ADDR, CSA_Control, CSA_GAIN)
def_isset(CurrentSenseOvercurrentResistor, CSA_Control_ADDR, CSA_Control, LS_REF);
Expand Down
13 changes: 7 additions & 6 deletions src/drivers/drv832x/drv832x.h
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Original file line number Diff line number Diff line change
Expand Up @@ -187,7 +187,7 @@ class DRV832xStatus : public DRV832xFault, public DRV832xVGS {
class DRV832xDriver {

public:
DRV832xDriver(int cs, bool currentLimit = false, int nFault = NOT_SET) : currentLimit(currentLimit), cs(cs), nFault(nFault), spi(&SPI), settings(1000000, MSBFIRST, SPI_MODE1) {};
DRV832xDriver(int cs, int nFault = NOT_SET, uint32_t spi_clock = 1000000) : cs(cs), nFault(nFault), spi(&SPI), settings(spi_clock, MSBFIRST, SPI_MODE1) {};
virtual ~DRV832xDriver() {};

virtual void init(SPIClass* _spi = &SPI);
Expand Down Expand Up @@ -230,6 +230,8 @@ class DRV832xDriver {
decl_isset(CurrentSenseCalibrateA);
decl_isset(CurrentSenseCalibrateB);
decl_isset(CurrentSenseCalibrateC);
void calibrate_current_sense();

decl_isset(CurrentSenseOvercurrentDisable);
decl_getset(CurrentSenseGain, DRV832x_CSAGain);
decl_isset(CurrentSenseOvercurrentResistor);
Expand All @@ -240,7 +242,6 @@ class DRV832xDriver {
uint16_t readSPI(uint8_t addr);
uint16_t writeSPI(uint8_t addr, uint16_t value);

bool currentLimit;
int cs;
int nFault;
SPIClass* spi;
Expand All @@ -253,8 +254,8 @@ class DRV832xDriver {
class DRV832xDriver3PWM : public DRV832xDriver, public BLDCDriver3PWM {

public:
DRV832xDriver3PWM(int phA,int phB,int phC, int cs, bool currentLimit = false, int en = NOT_SET, int nFault = NOT_SET) :
DRV832xDriver(cs, currentLimit, nFault), BLDCDriver3PWM(phA, phB, phC, en) { enable_active_high=false; };
DRV832xDriver3PWM(int phA,int phB,int phC, int cs, int en = NOT_SET, int nFault = NOT_SET, uint32_t spi_clock = 1000000) :
DRV832xDriver(cs, nFault, spi_clock), BLDCDriver3PWM(phA, phB, phC, en) { enable_active_high=false; };
virtual ~DRV832xDriver3PWM() {};

virtual void init(SPIClass* _spi = &SPI) override;
Expand All @@ -266,8 +267,8 @@ class DRV832xDriver3PWM : public DRV832xDriver, public BLDCDriver3PWM {
class DRV832xDriver6PWM : public DRV832xDriver, public BLDCDriver6PWM {

public:
DRV832xDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int cs, bool currentLimit = false, int en = NOT_SET, int nFault = NOT_SET) :
DRV832xDriver(cs, currentLimit, nFault), BLDCDriver6PWM(phA_h, phA_l, phB_h, phB_l, phC_h, phC_l, en) { enable_active_high=false; };
DRV832xDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int cs, int en = NOT_SET, int nFault = NOT_SET, uint32_t spi_clock = 1000000) :
DRV832xDriver(cs, nFault, spi_clock), BLDCDriver6PWM(phA_h, phA_l, phB_h, phB_l, phC_h, phC_l, en) { enable_active_high=false; };
virtual ~DRV832xDriver6PWM() {};

virtual void init(SPIClass* _spi = &SPI) override;
Expand Down
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