diff --git a/Docs/Datasheet/DRV8701.PDF b/Docs/Datasheet/DRV8701.PDF new file mode 100644 index 0000000..af218d6 --- /dev/null +++ b/Docs/Datasheet/DRV8701.PDF @@ -0,0 +1,2447 @@ + Product Sample & Technical Tools & Support & + Folder Buy Documents Software Community + + DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + + DRV8701 Brushed DC Motor Full-Bridge Gate Driver + +1 Features 2 Applications + +•1 Single H-Bridge Gate Driver • Industrial Brushed-DC Motors + – Drives Four External N-Channel MOSFETs • Robotics + – Supports 100% PWM Duty Cycle • Home Automation + • Industrial Pumps and Valves +• 5.9-V to 45-V Operating Supply Voltage Range • Power Tools +• Two Control Interface Options • Handheld Vacuum Cleaners + + – PH/EN (DRV8701E) 3 Description + – PWM (DRV8701P) +• Adjustable Gate Drive (5 Levels) The DRV8701 is a single H-bridge gate driver that + – 6-mA to 150-mA Source Current uses four external N-channel MOSFETs targeted to + – 12.5-mA to 300-mA Sink Current drive a 12-V to 24-V bidirectional brushed DC motor. +• Supports 1.8-V, 3.3-V, and 5-V Logic Inputs +• Current Shunt Amplifier (20 V/V) A PH/EN (DRV8701E) or PWM (DRV8701P) +• Integrated PWM Current Regulation interface allows simple interfacing to controller + – Limits Motor Inrush Current circuits. An internal sense amplifier allows for +• Low-Power Sleep Mode (9 μA) adjustable current control. The gate driver includes +• Two LDO Voltage Regulators to Power External circuitry to regulate the winding current using fixed + Components off-time PWM current chopping. + – AVDD: 4.8 V, up to 30-mA Output Load + – DVDD: 3.3 V, up to 30-mA Output Load DRV8701 drives both high- and low-side FETs with +• Small Package and Footprint 9.5-V VGS gate drive. The gate drive current for all + – 24-Pin VQFN (PowerPAD™) external FETs is configurable with a single external + – 4.0 × 4.0 × 0.9 mm resistor on the IDRIVE pin. +• Protection Features: + – VM Undervoltage Lockout (UVLO) A low-power sleep mode is provided which shuts + – Charge Pump Undervoltage (CPUV) down internal circuitry to achieve very-low quiescent + – Overcurrent Protection (OCP) current draw. This sleep mode can be set by taking + – Pre-Driver Fault (PDF) the nSLEEP pin low. + – Thermal Shutdown (TSD) + – Fault Condition Output (nFAULT) Internal protection functions are provided: + undervoltage lockout, charge pump faults, + overcurrent shutdown, short-circuit protection, + predriver faults, and overtemperature. Fault + conditions are indicated on the nFAULT pin. + + Device Information(1) + + PART NUMBER PACKAGE BODY SIZE (NOM) + + DRV8701 VQFN (24) 4.00 × 4.00 x 0.90 mm + + (1) For all available packages, see the orderable addendum at + the end of the data sheet. + +SPACE Gate-Drive Current + + Simplified System Block Diagram High-side tDRIVEIDRIVE,SRC ISTRONG + gate drive IDRIVE,SNK + 5.9V to 45 V IHOLD + current + IHOLD IHOLD + High-side + DRV8701 VGS tDRIVE + + PH/EN or PWM Gate IHOLD + + M nSLEEP H-Bridge Gate drive FETs + + VREF Driver + + Controller sense output sense Low-side IHOLD ISTRONG + IDRIVE,SNK + Shunt Amp gate drive IDRIVE,SRC + + nFAULT Protection current IHOLD + + LDO 3.3 & 4.8 V Low-side + 30 mA VGS + +1 + + An IMPORTANT NOTICE at the end of this data sheet addresses availability, warranty, changes, use in safety-critical applications, + intellectual property matters and other important disclaimers. PRODUCTION DATA. + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + + Table of Contents + + 1 Features .................................................................. 1 7.4 Device Functional Modes........................................ 26 + 2 Applications ........................................................... 1 8 Application and Implementation ........................ 28 + 3 Description ............................................................. 1 + 4 Revision History..................................................... 2 8.1 Application Information............................................ 28 + 5 Pin Configuration and Functions ......................... 3 8.2 Typical Applications ............................................... 28 + 6 Specifications......................................................... 5 9 Power Supply Recommendations...................... 32 + 9.1 Bulk Capacitance Sizing ......................................... 32 + 6.1 Absolute Maximum Ratings ...................................... 5 10 Layout................................................................... 33 + 6.2 ESD Ratings.............................................................. 5 10.1 Layout Guidelines ................................................. 33 + 6.3 Recommended Operating Conditions....................... 5 10.2 Layout Example .................................................... 33 + 6.4 Thermal Information .................................................. 6 11 Device and Documentation Support ................. 34 + 6.5 Electrical Characteristics........................................... 7 11.1 Documentation Support ........................................ 34 + 6.6 Typical Characteristics .............................................. 9 11.2 Community Resources.......................................... 34 + 7 Detailed Description ............................................ 12 11.3 Trademarks ........................................................... 34 + 7.1 Overview ................................................................. 12 11.4 Electrostatic Discharge Caution ............................ 34 + 7.2 Functional Block Diagram ....................................... 13 11.5 Glossary ................................................................ 34 + 7.3 Feature Description................................................. 14 12 Mechanical, Packaging, and Orderable + Information ........................................................... 34 + +4 Revision History + +NOTE: Page numbers for previous revisions may differ from page numbers in the current version. + +Changes from Revision A (May 2015) to Revision B Page + +• Updated test conditions for IDRIVE,SNK and corrected TYP values ........................................................................................... 8 + +Changes from Original (March 2015) to Revision A Page + +• Updated device status to production data ............................................................................................................................. 1 + +2 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + +5 Pin Configuration and Functions SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + + RGE Package RGE Package + 24-Pin VQFN 24-Pin VQFN + DRV8701E Top View DRV8701P Top View + + 24 GH2 24 GH2 + 23 SH2 23 SH2 + 22 GL2 22 GL2 + 21 SP 21 SP + 20 SN 20 SN + 19 GL1 19 GL1 + + VM 1 GND 18 SH1 VM 1 GND 18 SH1 + VCP 2 (PPAD) 17 GH1 VCP 2 (PPAD) 17 GH1 + CPH 3 16 GND CPH 3 16 GND + CPL 4 15 PH CPL 4 15 IN1 + GND 5 14 EN GND 5 14 IN2 + VREF 6 13 nSLEEP VREF 6 13 nSLEEP + + AVDD 7 AVDD 7 + DVDD 8 DVDD 8 + nFAULT 9 nFAULT 9 + SNSOUT 10 SNSOUT 10 + + SO 11 SO 11 + IDRIVE 12 IDRIVE 12 + + DRV8701E (PH/EN) + + PIN TYPE DESCRIPTION + +NAME NO. Input + Input +EN 14 Bridge enable input Logic low places the bridge in brake mode; see Table 1 + Bridge phase input Controls the direction of the H-bridge; see Table 1 +PH 15 + + PIN TYPE DRV8701P (PWM) + +NAME NO. Input DESCRIPTION + Input +IN1 15 Bridge PWM input Logic controls the state of H-bridge; see Table 2 + +IN2 14 + + PIN TYPE Common Pins + Power Power supply +NAME NO. DESCRIPTION + +VM 1 Connect to motor supply voltage; bypass to GND with a 0.1-µF + ceramic plus a 10-µF minimum capacitor rated for VM; additional + capacitance may be required based on drive current + +GND 5 Power Device ground Must be connected to ground + 16 +VCP PPAD Power Charge pump output Connect a 16-V, 1-µF ceramic capacitor to VM +CPH 2 Power +CPL 3 Power Charge pump switching nodes Connect a 0.1-µF X7R capacitor rated for VM between CPH and +DVDD 4 Power CPL + Input + 8 Input Logic regulator 3.3-V logic supply regulator; bypass to GND with a 6.3-V, 1-µF + Analog regulator ceramic capacitor +AVDD 7 Device sleep mode + Gate drive current setting pin 4.8-V analog supply regulator; bypass to GND with a 6.3-V, 1-µF +nSLEEP 13 ceramic capacitor + +IDRIVE 12 Pull logic low to put device into a low-power sleep mode with FETs + High-Z; internal pulldown + + Resistor value or voltage forced on this pin sets the gate drive + current; see applications section for more details + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 3 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + + Common Pins (continued) + + PIN TYPE DESCRIPTION + + NAME NO. + +VREF 6 Input Analog reference input Controls the current regulation; apply a voltage between 0.3 V and + Fault indication pin AVDD +nFAULT 9 Open Sense comparator output + Drain Shunt amplifier output Pulled logic low with fault condition; open-drain output requires an +SNSOUT 10 Open Shunt amplifier negative input external pullup + Drain Shunt amplifier positive input +SO 11 Pulled logic low when the drive current hits the current chopping + Output threshold; open-drain output requires an external pullup +SN 20 + Input Voltage on this pin is equal to the SP voltage times AV plus an +SP 21 offset; place no more than 1 nF of capacitance on this pin + Input + Connect to SP through current sense resistor and to GND + + Connect to low-side FET source and to SN through current sense + resistor + +GH1 17 Output High-side gate Connect to high-side FET gate + +GH2 24 + +GL1 19 Output Low-side gate Connect to low-side FET gate + +GL2 22 + +SH1 18 Input Phase node Connect to high-side FET source and low-side FET drain + +SH2 23 + + External Passive Components + + COMPONENT PIN 1 PIN 2 RECOMMENDED + +CVM1 VM GND 0.1-µF ceramic capacitor rated for VM +CVM2 VM GND ≥10-µF capacitor rated for VM +CVCP VCP VM 16-V, 1-µF ceramic capacitor +CSW CPH CPL 0.1-µF X7R capacitor rated for VM +CDVDD DVDD GND 6.3-V, 1-µF ceramic capacitor +CAVDD AVDD GND 6.3-V, 1-µF ceramic capacitor +RIDRIVE IDRIVE GND See Typical Applications for resistor sizing +RnFAULT VCC (1) nFAULT ≥10-kΩ pullup +RSNSOUT VCC (1) SNSOUT ≥10-kΩ pullup +RSENSE SP SN/GND Optional low-side sense resistor + +(1) VCC is not a pin on the DRV8701, but a VCC supply voltage pullup is required for open-drain outputs nFAULT and SNSOUT. The + system controller supply can be used for this pullup voltage, or these pins can be pulled up to either AVDD or DVDD. + + Component Gate Drain External FETs Recommended + QHS1 GH1 VM + QLS1 GL1 SH1 Source Supports up to 200-nC FETs at 40-kHz PWM; see + QHS2 GH2 VM SH1 Detailed Design Procedure for more details + QLS2 GL2 SH2 + SP or GND + SH2 + + SP or GND + +4 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +6 Specifications + +6.1 Absolute Maximum Ratings + +over operating free-air temperature range referenced with respect to GND (unless otherwise noted) (1) + + MIN MAX UNIT + V +Power supply voltage (VM) –0.3 47 + V/µs +Power supply voltage ramp rate (VM) 0 2 V + V +Charge pump voltage (VCP, CPH) –0.3 VM + 12 V + V +Charge pump negative switching pin (CPL) –0.3 VM V + V +Internal logic regulator voltage (DVDD) –0.3 3.8 V + V +Internal analog regulator voltage (AVDD) –0.3 5.75 V + V +Control pin voltage (PH, EN, IN1, IN2, nSLEEP, nFAULT, VREF, IDRIVE, SNSOUT) –0.3 5.75 V + V +High-side gate pin voltage (GH1, GH2) –0.3 VM + 12 mA + mA +Continuous phase node pin voltage (SH1, SH2) –1.2 VM + 1.2 mA + mA +Pulsed 10 µs phase node pin voltage (SH1, SH2) –2.0 VM + 2 °C + °C +Low-side gate pin voltage (GL1, GL2) –0.3 12 + +Continuous shunt amplifier input pin voltage (SP, SN) –0.5 1 + +Pulsed 10-µs shunt amplifier input pin voltage (SP, SN) –1 1 + +Shunt amplifier output pin voltage (SO) –0.3 5.75 + +Open-drain output current (nFAULT, SNSOUT) 0 10 + +Gate pin source current (GH1, GL1, GH2, GL2) 0 250 + +Gate pin sink current (GH1, GL1, GH2, GL2) 0 500 + +Shunt amplifier output pin current (SO) 0 5 + +Operating junction temperature, TJ –40 150 +Storage temperature, Tstg + –65 150 + +(1) Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings + only, which do not imply functional operation of the device at these or any other conditions beyond those indicated under Recommended + Operating Conditions. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability. + +6.2 ESD Ratings + +V(ESD) Human body model (HBM) ESD stress voltage(1) VALUE UNIT + Electrostatic discharge Charged device model (CDM) ESD stress voltage(2) ±2000 V + ±500 + +(1) JEDEC document JEP155 states that 500-V HBM allows safe manufacturing with a standard ESD control process. +(2) JEDEC document JEP157 states that 250-V CDM allows safe manufacturing with a standard ESD control process. + +6.3 Recommended Operating Conditions + +over operating free-air temperature range (unless otherwise noted) + +VM Power supply voltage range MIN MAX UNIT +VCC Logic level input voltage 5.9 45 V +VREF Reference RMS voltage range (VREF) 5.5 V +ƒPWM Applied PWM signal (PH/EN or IN1/IN2) 0 V +IAVDD AVDD external load current 0.3 (1) AVDD +IDVDD DVDD external load current 100 kHz +ISO Shunt amplifier output current loading (SO) –40 30 (2) mA +TA Operating ambient temperature 30 (2) mA + 5 mA + 125 °C + +(1) Operational at VREF = 0 to 0.3 V, but accuracy is degraded +(2) Power dissipation and thermal limits must be observed + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 5 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +6.4 Thermal Information + + THERMAL METRIC(1) DRV8701 UNIT + RGE (VQFN) + + 24 PINS + +RθJA Junction-to-ambient thermal resistance 34.8 °C/W +RθJC(top) Junction-to-case (top) thermal resistance +RθJB Junction-to-board thermal resistance 37.1 °C/W +ψJT Junction-to-top characterization parameter +ψJB Junction-to-board characterization parameter 12.2 °C/W +RθJC(bot) Junction-to-case (bottom) thermal resistance + 0.6 °C/W + + 12.2 °C/W + + 3.7 °C/W + +(1) For more information about traditional and new thermal metrics, see the Semiconductor and IC Package Thermal Metrics application + report, SPRA953. + +6 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +6.5 Electrical Characteristics + +over operating free-air temperature range (unless otherwise noted) + + PARAMETER TEST CONDITIONS MIN TYP MAX UNIT + +POWER SUPPLIES (VM, AVDD, DVDD) + +VM VM operating voltage 5.9 45 V + +IVM VM operating supply current VM = 24 V; nSLEEP high 6 9.5 mA + +IVMQ VM sleep mode supply current nSLEEP = 0 TA = 25°C 9 15 μA + VM = 24 V TA = 125°C(1) +tSLEEP Sleep time 14 25 +tWAKE Wake-up time +tON Turn-on time nSLEEP low to sleep mode 100 μs +DVDD Internal logic regulator voltage + nSLEEP high to output change 1 ms + + VM > UVLO to output transition 1 ms + + External load 0 to 30 mA 3.0 3.3 3.5 V + +AVDD Internal logic regulator voltage External load 0 to 30 mA 4.4 4.8 5.2 V + +CHARGE PUMP (VCP, CPH, CPL) + + VM = 12 V; IVCP = 0 to 12 mA 20.5 21.5 22.5 + VM = 8 V; IVCP = 0 to 10 mA +VCP VCP operating voltage VM = 5.9 V; IVCP = 0 to 8 mA 13.5 14.4 15 V + VM > 12 V + 9.4 9.9 10.4 + + 12 + +IVCP Charge pump current capacity 8 V < VM < 12 V 10 mA + + 5.9 V < VM < 8 V 8 + +fVCP (1) Charge pump switching frequency VM > UVLO 200 400 700 kHz + +CONTROL INPUTS (PH, EN, IN1, IN2, nSLEEP) + +VIL Input logic low voltage 0.8 V + +VIH Input logic high voltage 1.5 V + +VHYS Input logic hysteresis 100 mV + +IIL Input logic low current VIN = 0 V –5 5 μA + VIN = 5 V +IIH Input logic high current 78 μA + PH/EN, IN1/IN2 to GHx/GLx +RPD Pulldown resistance 64 115 173 kΩ + +tPD Propagation delay 500 ns + +CONTROL OUTPUTS (nFAULT, SNSOUT) + +VOL Output logic low voltage IO = 2 mA 0.1 V + +IOZ Output high impedance leakage VIN = 5 V –2 2 μA + +FET GATE DRIVERS (GH1, GH2, SH1, SH2, GL1, GL2) + + VM > 12 V; VGHS with respect to SHx 8.5 9.5 10.5 + VM = 8 V; VGHS with respect to SHx +VGHS High-side VGS gate drive (gate-to- VM = 5.9 V; VGHS with respect to SHx 5.5 6.4 7V +VGLS source) VM > 12 V + VM = 5.9 V 3.5 4.0 4.5 + Low-side VGS gate drive (gate-to- + source) 8.5 9.3 10.5 V + + 3.9 4.3 4.9 + +tDEAD Output dead time Observed tDEAD depends on IDRIVE 380 ns + setting + +tDRIVE Gate drive time 2.5 μs + + RIDRIVE < 1 kΩ to GND 6 + RIDRIVE = 33 kΩ ±5% to GND + RIDRIVE = 200 kΩ ±5% to GND, or 12.5 + RIDRIVE < 1 kΩ to AVDD +IDRIVE,SRC Peak source current RIDRIVE > 500 kΩ ±5% to GND 25 mA + RIDRIVE = 68 kΩ ±5% to AVDD + 100 + 150 + +(1) Specified by design and characterization data + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 7 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +Electrical Characteristics (continued) + +over operating free-air temperature range (unless otherwise noted) + + PARAMETER TEST CONDITIONS MIN TYP MAX UNIT + 12.5 +IDRIVE,SNK Peak sink current RIDRIVE < 1 kΩ to GND 0.3 (2) mA + RIDRIVE = 33 kΩ ±5% to GND 18 25 +IHOLD FET holding current RIDRIVE = 200 kΩ ±5% to GND, or 16 mA + RIDRIVE < 1 kΩ to AVDD 50 +ISTRONG FET hold-off strong pulldown RIDRIVE > 500 ±5% kΩ to GND mA + RIDRIVE = 68 kΩ ±5% to AVDD 200 + Source current after tDRIVE 300 kΩ + Sink current after tDRIVE + GHx 6 AVDD V + 25 22 + GLx 490 V/V + 690 24 +ROFF FET gate hold-off resistor Pulldown GHx to SHx 200 + Pulldown GLx to GND 150 250 mV + μA +CURRENT SHUNT AMPLIFIER AND PWM CURRENT CONTROL (SP, SN, SO, VREF) 20 + 20 1.5 µs +VVREF VREF input voltage For current internal chopping 50 1 nF + -40 µs +AV Amplifier gain 50 < VSP < 200 mV; VSN = GND µs + 10 < VSP < 50 mV; VSN = GND +VOFF SO offset VSP = VSN = GND 5.8 +ISP SP input current VSP = 100 mV; VSN = GND V + VSP = VSN = GND to +tSET (3) Settling time to ±1% VSP = 100 mV, VSN = GND 5.9 + mV +CSO (3) Allowable SO pin capacitance μs + V +tOFF PWM current regulation off-time 25 V + 2 V +tBLANK PWM blanking time µs + ms +PROTECTION CIRCUITS °C + °C +VUVLO VM undervoltage lockout VM falling; UVLO report 5.4 + VM rising; UVLO recovery 5.6 13 + 100 V +VUVLO,HYS VM undervoltage hysteresis Rising to falling threshold 10 +tUVLO VM UVLO falling deglitch time VM falling; UVLO report VM + 2.8 –0.5 +VCPUV Charge pump undervoltage CPUV report + Overcurrent protection trip level, High-side FETs: VM – SHx 0.8 1 +VDS OCP VDS of each external FET Low-side FETs: SHx – SP + +VSP OCP Overcurrent protection trip level, VSP voltage with respect to GND 0.8 1 + measured by sense amplifier + +tOCP Overcurrent deglitch time 4.5 + Overcurrent retry time +tRETRY Thermal shutdown temperature 3 +TTSD (3) Thermal shutdown hysteresis +THYS (3) Die temperature, TJ 150 + Die temperature, TJ + Positive clamping voltage 20 + Negative clamping voltage +VGS CLAMP Gate drive clamping voltage 10.5 + + –1 –0.7 + +(2) Operational at VREF = 0 to 0.3 V, but accuracy is degraded +(3) Specified by design and characterization data + +8 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + +6.6 Typical Characteristics SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + + 6.5 T A = 125°C 6.15 VM = 24 V + 6.4 T A = 85°C 6.1 VM = 12 V + 6.3 T A = 25°C +Supply Current (m A) 6.2 T A ±ƒ& Supply Current (mA) 6.05 + 6.1 6 + 10 15 20 25 30 35 40 45 -25 0 25 50 75 100 125 + 6 5.95 + 5.9 5.9 D002 + 5.8 + 5.7 5.85 + 5.6 5.8 + 5.5 + 5.75 + 5 5.7 + + 5.65 + 5.6 + + 5.55 + 5.5 + -50 + + Supply Voltage VM (V) Ambient Temperature (°C) + + D001 + + Figure 1. Supply Current over VM Figure 2. Supply Current over Temperature + + 20 16 VM = 24 V + 15 VM = 12 V + T A = 125°C 14 + 13 + 18 T A = 85°C 12 + 11 + 16 T A = 25°C 10 + + T A  ±ƒ& 9 + 8 +Sleep Current (µA) 14 Sleep Current (µA) 7 + 6 + 12 5 + 4 + 10 -50 + + 8 + + 6 + + 4 + + 2 + + 5 10 15 20 25 30 35 40 45 -25 0 25 50 75 100 125 + + Supply Voltage VM (V) Ambient Temperature (°C) D004 + + D003 + + Figure 3. Sleep Current over VM Figure 4. Sleep Current over Temperature + + 12 4.6 T A = 125°C + 4.5 T A = 85°C + VM = 12 V VM = 8 V 4.4 T A = 25°C + 4.3 T A ±ƒ& + 11 VM = 10 V VM = 5.9 V 4.2 + 4.1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 + 10 Load Current (mA) + 4 + 9 3.9 D006 + 3.8 +VCP-VM (V) 8 VCP-VM (V) 3.7 + 3.6 + 7 3.5 + 3.4 + 6 + 0 + 5 + + 4 + + 3 + 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 + Load Current (mA) + + D005 + + Figure 5. VCP over Load (TA = 25°C) Figure 6. VCP over Load (VM = 5.9 V) + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 9 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +Typical Characteristics (continued) + + 3.295 4.875 + 4.85 + 3.29 + 4.825 + 3.285 4.8 + + 3.28 4.775 + 4.75 + 3.275 + 4.725 + 3.27 4.7 + + DVDD (V) 3.265 AVDD (V) 4.675 + 4.65 + 3.26 + 4.625 + 3.255 0 + + 3.25 + + 3.245 T A = 125°C T A = 25°C TA = -40°C + 3.24 T A = 85°C T A ±ƒ& TA = +25°C + TA = +85°C + 3.235 TA = +125°C + + 3.23 + + 3.225 + + 0 3 6 9 12 15 18 21 24 27 30 3 6 9 12 15 18 21 24 27 30 + + Load Current (mA) Load Current (mA) D008 + + D007 + + Figure 7. DVDD Regulator over Load (VM = 12 V) Figure 8. AVDD Regulator over Load (VM = 12 V) + + 55 20.1 + + 52.5 + + 50 19.9 + + 47.5 19.7 + + 45 + + SO O ffset (m V) 42.5 19.5 + + 40 + + 37.5 Av (V/V) 19.3 + + 35 + + 32.5 19.1 + + 30 + + 27.5 18.9 + + 25 18.7 SP = 225 mV + SP = 100 mV + 22.5 SP = 50 mV + SP = 10 mV + 20 VM = 24 V 18.5 + VM = 12 V + 17.5 + + 15 18.3 + + -50 -25 0 25 50 75 100 125 -50 -25 0 25 50 75 100 125 + + Ambient Temperature (°C) D009 Ambient Temperature (°C) D010 + + Figure 9. SO Offset over Temperature Figure 10. Amplifier Gain over Temperature + + 20 20 + 19.96 + 19.92 T A = 125°C T A = 25°C 19.8 + 19.88 T A = 85°C T A ±ƒ& + 19.84 + 19.6 + 19.8 + 19.76 19.4 + 19.72 + Av (V/V) 19.68 Av (V/V) 19.2 + 19.64 + 19 + 19.6 + 19.56 18.8 + 19.52 + 19.48 18.6 + 19.44 + 18.4 + 19.4 + 19.36 18.2 MAX + + 5 MIN + + 18 + + 10 15 20 25 30 35 40 45 10 30 50 70 90 110 130 150 170 190 210 225 + + Supply Voltage VM (V) SP (mV) + + D011 D012 + + Figure 11. Amplifier Gain over VM (SP = 50 mV) Figure 12. Amplifier Gain over VM and Temperature Range + +10 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +Typical Characteristics (continued) + + 180 6.2 + 6 + 160 + 5.8 +H igh-Side ID R IVEP (m A) 140 H igh-Side ID R IVEP (m A) 5.6 + 5.4 + 120 5.2 + + 100 5 + 4.8 + 80 150/300 mA 12.5/25 mA + 5 + 60 100/200 mA 6/12.5 mA + + 25/50 mA + + 40 + + 20 T A  ±ƒ& T A = 85°C + T A = 25°C T A = 125°C + + 0 + + -50 -25 0 25 50 75 100 125 10 15 20 25 30 35 40 45 + + Ambient Temperature (°C) D013 Supply Voltage VM (V) + + D014 + + Figure 13. High-Side IDRIVEP over Temperature (VM = 12 V) Figure 14. 6-/12.5-mA High-Side IDRIVEP over VM + + 16 33 + + 15.5 32 + +H igh-Side ID R IVEP (m A) 15 High-Side IDRIVEP (m A) 31 + + 30 + + 14.5 + + 29 + + 14 + + 28 + + 13.5 + + 27 + + 13 26 + + 12.5 T A  ±ƒ& T A = 85°C 25 T A  ±ƒ& T A = 85°C + T A = 25°C T A = 125°C T A = 25°C T A = 125°C + 12 24 + 5 10 15 20 25 30 35 40 45 5 10 15 20 25 30 35 40 45 + + Supply Voltage VM (V) Supply Voltage VM (V) + + D015 D016 + + Figure 15. 12.5-/25-mA High-Side IDRIVEP over VM Figure 16. 25-/50-mA High-Side IDRIVEP over VM + + 130 185 + + 125 180 + + 175 + +H igh-Side ID R IVEP (m A) 120 H igh-Side ID R IVEP (m A) 170 + + 115 165 + + 160 + + 110 + + 155 + + 105 150 + + 100 T A ±ƒ& 145 T A ±ƒ& + T A = 25°C 140 T A = 25°C + 95 T A = 85°C 135 T A = 85°C + T A = 125°C 130 T A = 125°C + 90 + 5 10 15 20 25 30 35 40 45 5 10 15 20 25 30 35 40 45 + + Supply Voltage VM (V) Supply Voltage VM (V) + + D017 D018 + + Figure 17. 100-/200-mA High-Side IDRIVEP over VM Figure 18. 150-/300-mA High-Side IDRIVEP over VM + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 11 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7 Detailed Description + +7.1 Overview + +The DRV8701 is an H-bridge gate driver (also called a pre-driver or controller). The device integrates FET gate +drivers in order to control four external NMOS FETs. The device can be powered with a supply voltage between +5.9 and 45 V. + +A simple PH/EN (DRV8701E) or PWM (DRV8701P) interface allows interfacing to the controller circuit. + +A low-power sleep mode is included, which can be enabled using the nSLEEP pin. + +The gate drive strength can be adjusted to optimize a system for a given FET without adding external resistors in +series with the FET gates. The IDRIVE pin allows for selection of the peak current driven into the external FET +gate. Both the high-side and low-side FETs are driven with a VGS of 9.5 V nominally when VM > 12 V. At lower +VM voltages, the VGS is reduced. The high-side gate drive voltage is generated using a doubler-architecture +charge pump that regulates to VM + 9.5 V. + +This device greatly reduces the component count of discrete motor driver systems by integrating the necessary +FET drive circuitry into a single device. In addition, the DRV8701 adds protection features above traditional +discrete implementations: UVLO, OCP, pre-driver faults, and thermal shutdown. + +A start-up (inrush) or running current limitation is built in using a fixed time-off current chopping scheme. The +chopping current level is set by choosing the sense resistor value and by setting a voltage on the VREF pin. + +A shunt amplifier output is provided for accurate current measurements by the system controller. The SO pin +outputs a voltage that is 20 times the voltage seen across the sense resistor. + +12 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + +7.2 Functional Block Diagram SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + + VM + + VM 0.1 µF 10 µF minimum + + VM Power VM + +1 µF VCP Charge VCP GH1 + Pump HS SH1 + CPH GL1 + CPL 3.3-V LDO Gate Driver +0.1 µF 4.8-V LDO + VGLS LDO VGLS + DVDD Logic LS VM BDC + AVDD +30 mA VCP GH2 + HS SH2 + 1 µF GL2 + Gate Driver +30 mA + VGLS + 1 µF LS + + PH/IN1 Control Current Regulation SP + EN/IN2 Inputs + nSLEEP + AV RSENSE + IDRIVE Outputs +RIDRIVE - SN + + SNSOUT SO + + nFAULT VREF + + PPAD GND GND + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 13 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3 Feature Description + +7.3.1 Bridge Control + +The DRV8701E is controlled using a PH/EN interface. The following logic table (Table 1) gives the full H-bridge +state when driving a single brushed DC motor. Note that Table 1 does not take into account the current control +built into the DRV8701E. Positive current is defined in the direction of xOUT1 → xOUT2. + + Table 1. DRV8701E (PH/EN) Control Interface + + nSLEEP EN PH SH1 SH2 AVDD/DVDD Description + + 0 X X High-Z High-Z Disabled Sleep mode; H-bridge disabled High-Z + + 1 0 X L L Enabled Brake, low-side slow decay + + 1 1 0 L H Enabled Reverse drive (current SH2 → SH1) + + 1 1 1 H L Enabled Forward drive (current SH1 → SH2) + +The DRV8701P is controlled using a PWM interface (IN1/IN2). The following logic table (Table 2) gives the full H- +bridge state when driving a single brushed DC motor. Note that Table 2 does not take into account the current +control built into the DRV8701P. Positive current is defined in the direction of xOUT1 → xOUT2. + + Table 2. DRV8701P (PWM) Control Interface + + nSLEEP IN1 IN2 SH1 SH2 AVDD/DVDD Description + + 0 X X High-Z High-Z Disabled Sleep mode; H-bridge disabled High-Z + + 1 0 0 High-Z High-Z Enabled Coast; H-bridge disabled High-Z + + 1 0 1 L H Enabled Reverse (current SH2 → SH1) + + 1 1 0 H L Enabled Forward (current SH1 → SH2) + + 1 1 1 L L Enabled Brake; low-side slow decay + + VM VM + + 1 1 Forward drive 1 1 Reverse drive + +SH1 SH2 2 Slow decay (brake) SH1 SH2 2 Slow decay (brake) + 2 + 3 3 High-Z (coast) 2 3 High-Z (coast) + + 3 + + Figure 19. H-Bridge Operational States + +14 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.2 Half-Bridge Operation + +The DRV8701 can be used to drive only a single half-bridge instead of a full H-bridge. To operate in this mode, +leave GH1 and GL1 disconnected. Also, connect a 1/10 W, 330-Ω 5% resistor from SH1 to GND. + + PH/IN1 Control Gate GH1 + EN/IN2 Inputs Drive SH1 + nSLEEP GL1 + 330 + GH2 VM + + Logic Gate SH2 + Outputs Drive GL2 + + nFAULT + AV SP BDC + SNSOUT SN + SO RSENSE + VREF + - + + Figure 20. Half-H Bridge Operation Mode + +For the DRV8701E, this mode is controlled by tying the PH pin low. Table 3 gives the control scheme. EN = 1 +enables the high-side FET, and EN = 0 enables the low-side FET. EN = 1 and PH = 1 is an invalid state. + + Table 3. DRV8701E (PH/EN) Control Interface for Half-H Bridge Mode + +nSLEEP EN PH SH2 AVDD/DVDD Description + 0 + 1 X X High-Z Disabled Sleep mode; disabled High-Z + 1 + 1 0 X L Enabled Brake, low-side slow decay + + 1 0 H Enabled Drive (Current SH2 → GND) + + 1 1 Invalid state + +For the DRV8701P, Table 4 gives the control scheme. IN1 = 1 and IN2 = 0 is an invalid state. + + Table 4. DRV8701P (PWM) Control Interface for Half-H Bridge Mode + +nSLEEP IN1 IN2 SH2 AVDD/DVDD Description + 0 + 1 X X High-Z Disabled Sleep mode; disabled High-Z + 1 + 1 0 0 High-Z Enabled Coast; disabled High-Z + 1 + 0 1 H Enabled Drive (current SH2 → GND) + + 1 0 Invalid state + + 1 1 L Enabled Brake; low-side slow decay + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 15 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.3 Current Regulation + +The maximum current through the motor winding is regulated by a fixed off-time PWM current regulation, or +current chopping. When an H-bridge is enabled in forward or reverse drive, current rises through the winding at a +rate dependent on the DC voltage and inductance of the winding. After the current hits the current chopping +threshold, the bridge enters a brake (low-side slow decay) mode until tOFF has expired. + +Note that immediately after the current is enabled, the voltage on the SP pin is ignored for a period of time +(tBLANK) before enabling the current sense circuitry. + +The PWM chopping current is set by a comparator which compares the voltage across a current sense resistor +connected to the SP pin, multiplied by a factor of AV, with a reference voltage from the VREF pin. The factor AV +is the shunt amplifier gain, which is 20 V/V in the DRV8701. + +The chopping current is calculated as follows: + + ICHOP  9REF ± 9OFF + AV K RSENSE + (1) + +Example: If a 50 mΩ sense resistor is used and VREF = 3.3 V, the full-scale chopping current will be 3.25 A. AV +is 20 V/V and VOFF is assumed to be 50 mV in this example. + +For DC motors, current regulation is generally used to limit the start-up and stall current of the motor. If the +current regulation feature is not needed, it can be disabled by tying VREF directly to AVDD and tying SP and SN +to GND. + + ICHOP + +Drive Current (A) + + Drive Brake / Slow Decay Drive Brake / Slow Decay + + 9_9BLANK tOFF 9_9BLANK tOFF + + VREF + +SO (V) + +SNSOUT + + Figure 21. Sense Amplifier and Current Chopping Operation + +During brake mode (slow decay), current is recirculated through the low-side FETs. Because current is not +flowing through the sense resistor, SO does not represent the motor current. + +16 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.4 Amplifier Output SO + +The SO pin on the DRV8701 outputs an analog voltage equal to the voltage seen across the SP and SN pins + +multiplied by AV. The factor AV is the shunt amplifier gain, which is 20 V/V in the DRV8701. SO is only valid +during forward or reverse drive. The H-bridge current is approximately equal to: + +I  62 ± 9OFF +AV K RSENSE + (2) + +When SP and SN are 0 V, SO outputs the amplifier offset voltage VOFF. No capacitor is required on the SO pin. + + R SP I + +VCC Logic + RSENSE + + SNSOUT + - SN + + - + + AV/(AV-1) x R + + AV x R + + SO + VREF + + Figure 22. Sense Amplifier Diagram + +If the voltage across SP and SN exceeds 1 V, then the DRV8701 flags an overcurrent condition. +The SO pin can source up to 5 mA of current. If the pin is shorted to GND, or if a higher-current load is driven by +this pin, the output acts as a constant-current source. The output voltage is not representative of the H-bridge +current in this state. +This shunt amplifier feature can be disabled by tying the SP and SN pins to GND. When the amplifier is disabled, +current regulation is also disabled. + + AVDD + + SO (V) Slope = Av + + VOFF + SP - SN (V) + + Figure 23. Sense Amplifier Output + +7.3.4.1 SNSOUT + +The SNSOUT pin of the DRV8701 indicates when the device is in current chopping mode. When the driver is in + +a slow decay mode caused by internal PWM current chopping (ICHOP threshold hit), the open-drain SNSOUT +output is pulled low. If the current regulation is disabled, then the SNSOUT pin will be high-Z. + +Note that if the H-bridge is put into a slow decay mode using the inputs (PH/EN or IN1/IN2), then SNSOUT is not +pulled low. + +During forward or reverse drive mode, SNSOUT is high until the DRV8701 is internally forced into current + +chopping. If the drive current rises above ICHOP, the driver enters a brake mode (low-side slow decay). The +SNSOUT pin will be pulled low during this current chopping brake mode. After the driver is re-enabled, the + +SNSOUT pin is released high-Z and the drive mode is restarted. + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 17 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.5 PWM Motor Gate Drivers + +The DRV8701 contains gate drivers for a single H-bridge with external NMOS FETs. Figure 24 shows a block +diagram of the gate driver circuitry. + + VGHS VM + + PH or IN1 ROFF GH1 + EN or IN2 SH1 + VGLS + nSLEEP Pre-Drive + + GL1 + + ROFF + + Logic VM BDC + + VGHS + + ROFF GH2 + SH2 + VGLS + Pre-Drive + + GL2 + + ROFF + + SP + + RSENSE + SN + + Figure 24. PWM Motor Gate Drivers + +Gate drivers inside the DRV8701 directly drive N-channel MOSFETs, which drive the motor current. The high- +side gate drive is supplied by the charge pump, while the low-side gate drive voltage is generated by an internal +regulator. + +The peak drive current of the gate drivers is adjustable through the IDRIVE pin. Peak source currents may be set +to 6, 12.5, 25, 100, or 150 mA. The peak sink current is approximately 2× the peak source current. Adjusting the +peak current changes the output slew rate, which also depends on the FET input capacitance and gate charge. + +The peak drive current is selected by setting the value of the RIDRIVE resistor on the IDRIVE pin or by forcing a +voltage onto the IDRIVE pin (see Table 6 for details). + +Fast switching times can cause extra voltage noise on VM and GND. This can be especially due to a relatively +slow reverse-recovery time of the low-side body diode, where it conducts reverse-bias momentarily, being similar +to shoot-through. Slow switching times can cause excessive power dissipation since the external FETs take a +longer time to turn on and turn off. + +18 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +When changing the state of the output, the peak current (IDRIVE) is applied for a short drive period (tDRIVE) to +charge the gate capacitance. After this time, a weaker current source (IHOLD) is used to keep the gate at the +desired state. When selecting the gate drive strength for a given external FET, the selected current must be high +enough to fully charge and discharge the gate during tDRIVE, or excessive power will be dissipated in the FET. + +During high-side turn-on, the low-side gate is pulled low with a strong pull-down (ISTRONG). This prevents the low- +side FET QGS from charging and keeps the FET off, even when there is fast switching at the outputs. + +The pre-driver circuits include enforcement of a dead time in analog circuitry, which prevents the high-side and +low-side FETs from conducting at the same time. When switching FETs on, this handshaking prevents the high- +or low-side FET from turning on until the opposite FET has been turned off. + + tDRIVE + + High-side IDRIVE,SRC IHOLD ISTRONG + IDRIVE,SNK + gate drive + + current IHOLD IHOLD + + High-side + VGS + + tDRIVE + + Low-side IHOLD ISTRONG IDRIVE,SRC IHOLD + gate drive IDRIVE,SNK + IHOLD + current + + Low-side + VGS + + Figure 25. Gate Driver Output to Control External FETs + +QGD Miller charge + +When a FET gate is turned on, three different capacitances must be charged. + +• QGS – Gate-to-source charge +• QGD – Gate-to-drain charge (miller charge) +• Remaining QG + +The FET output is slewing primarily during the QGD charge. + + 10 25 + + VM + + D 20 + VGS (gate-to-source) (V)8 + VDS (drain-to-source) (V) + VGHS + + CGD 6 15 + GHx G +Pre-Drive + + CGS 4 10 + SHx + + S 2 5 + + 10 20 30 40 50 + + QGS QGD Remaining QG + + QG gate charge (nC) + + Figure 26. Example FET Gate Charging Profile + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 19 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.6 IDRIVE Pin + +The rise and fall times of the H-bridge output (SHx pins) can be adjusted by setting the IDRIVE resistor value or +forcing a voltage onto the IDRIVE pin. The FET gate voltage ramps faster if a higher IDRIVE setting is chosen. +The FET gate ramp directly affects the H-bridge output rise and fall time. + +Tying IDRIVE to GND selects the lowest drive setting of 6-mA source and 12.5-mA sink. If this pin is left +unconnected, then the 100-mA source and 200-mA sink setting are selected. + +If IDRIVE is shorted to AVDD, then the VDS OCP monitor on the high-side FETs is disabled. In this setting, the +gate driver is configured as 25-mA source and 50-mA sink. + + IDRIVE AVDD + Digital + 190kŸ Core + 310kŸ 4.3V - + + + + + 3.7V - + + + + + 2.5V - + + + + + 1.3V - + + + + + 0.1V - + + Figure 27. IDRIVE Pin Internal Circuitry + + Table 5. IDRIVE Pin Configuration Settings + + IDRIVE Resistance IDRIVE Voltage Source Current Sink Current (IDRIVE,SNK) HS OCP Monitor + (IDRIVE,SRC) +<1 kΩ to GND GND 6 mA 12.5 mA ON +33 kΩ ±5% to GND 0.7 V ±5% 12.5 mA 25 mA ON +200 kΩ ±5% to GND 2 V ±5% 25 mA 50 mA ON +>500 kΩ to GND, High-Z 3 V ±5% 100 mA 200 mA ON +68 kΩ ±5% to AVDD 4 V ±5% 150 mA 300 mA ON +<1 kΩ to AVDD AVDD 25 mA 50 mA OFF + + Table 6. IDRIVE Pin Resistor Settings + + <1 kΩ to GND 33 kΩ ±5% to GND >500 kΩ to GND, High-Z 68 kΩ ±5% to AVDD <1 kΩ to AVDD + 200 kΩ ±5% to GND AVDD + + AVDD + + RIDRIVE + + IDRIVE IDRIVE IDRIVE IDRIVE IDRIVE + +««« RIDRIVE ««« ««« + + IDRIVE IDRIVE IDRIVE IDRIVE IDRIVE + 6 / 12.5 mA 100 / 200 mA 150 / 300 mA + 12.5 / 25 mA (33 kΩ) 25 / 50 mA + 25 / 50 mA (200 kΩ) HS OCP monitor off + +20 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.7 Dead Time + +Dead time (tDEAD) is measured as the time when SHx is High-Z between turning off one of the H-bridge FETs +and turning on the other. For example, the output is High-Z between turning off the high-side FET and turning on +the low-side FET. + +The DRV8701 inserts a digital dead time of approximately 150 ns. The total dead time also includes the FET +gate turn-on time. + +The total dead time is dependent on the IDRIVE resistor setting because a portion of the FET gate ramp (GHx +and GLx pins) includes the observable dead time. + +7.3.8 Propagation Delay + +The propagation delay time (tDELAY) is measured as the time between an input edge to an output change. This +time is composed of two parts: an input deglitch time and output slewing delay. The input deglitcher prevents +noise on the input pins from affecting the output state. + +The gate drive slew rate also contributes to the delay time. For the output to change state during normal +operation, first, one FET must be turned off. The FET gate is ramped down according to the IDRIVE setting, and +the observed propagation delay ends when the FET gate has fallen below the threshold voltage. + +7.3.9 Overcurrent VDS Monitor + +The gate driver circuit monitors the VDS voltage of each external FET when it is driving current. When the voltage +monitored is greater than the OCP threshold voltage (VDS OCP), after the OCP deglitch time (tOCP) has expired, an +OCP condition will be detected. + + VM VM + + + + + High-side + + VDS OCP GH1 + + Monitor + + SH1 + + - + + + VM GL1 + Low-side + VDS OCP + + Monitor + High-side BDC + - + VDS OCP GH2 RSENSE + + + Low-side Monitor + VDS OCP + Monitor - SH2 + + - GL2 + + SP + SN + + Figure 28. Overcurrent VDS Monitors + +When IDRIVE is shorted to AVDD, the VDS OCP monitor on the high-side FETs is disabled. In cases where the +VM supplied to the DRV8701 can be different from the external H-bridge supply, this setting must be used in +order to prevent false overcurrent detection. In this mode, the IDRIVE current is set to 25-mA source and 50-mA +sink. + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 21 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.10 Charge Pump + +A charge pump is integrated to supply a high-side NMOS gate drive voltage of VHGS. The charge pump requires +a capacitor between the VM and VCP pins. Additionally a low-ESR ceramic capacitor is required between pins +CPH and CPL. When VM is below 12 V, this charge pump behaves as a doubler and generates VCP = 2 × VM – +1.5 V if unloaded. Above VM = 12 V, the charge pump regulates VCP such that VCP = VM + 9.5 V. + + 1 µF VM + VCP + + 0.1 µF CPH Charge + CPL + VM + + Pump + + Figure 29. Charge Pump Diagram + +7.3.11 LDO Voltage Regulators + +Two LDO regulators are integrated into the DRV8701. They can be used to provide the supply voltage for a low- +power microcontroller or other low-current devices. For proper operation, bypass the AVDD and DVDD pins to +GND using ceramic capacitors. + +The AVDD output voltage is nominally 4.8 V, and the DVDD output is nominally 3.3 V. When the AVDD or DVDD +current load exceeds 30 mA, the LDO behaves like a constant current source. The output voltage drops +significantly with currents greater than this limit. + +Note that AVDD and DVDD are disabled when the device is in sleep mode (nSLEEP = 0). In addition, when an +overtemperature (TSD) or undervoltage (UVLO) fault is encountered, the AVDD regulator is shut off. + + VM AVDD 4.8 V + + DVDD + 30 mA + - + 1 µF max + VM + + 3.3 V + + - 30 mA + + 1 µF max + + Figure 30. AVDD and DVDD LDOs + +The power dissipated in the DRV8701 due to these LDOs may be approximated by: + + Power = (VM – AVDD) × IAVDD + (VM – DVDD) × IDVDD (3) + +For example at VM = 24 V, drawing 10 mA out of both AVDD and DVDD results in a power dissipation of: + + Power = (24 V – 4.8 V) × 10 mA + (24 V – 3.3 V) × 10 mA = 192 mW + 207 mW = 399 mW (4) + +22 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.12 Gate Drive Clamp + +A clamping structure limits the gate drive output voltage to VGS CLAMP to protect the power FETs from damage. +The positive voltage clamp is realized using a series of diodes. The negative voltage clamp uses the body diodes +of the internal gate driver FET. + + VGHS + + VM + + IREVERSE + + GHx + + VGS > VCLAMP + + ICLAMP + + SHx + + Pre-Drive + + VGLS VGS negative + + GLx + + RSENSE + + GND + + Figure 31. Gate Drive Clamp Diagram + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 23 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.13 Protection Circuits + +The DRV8701 is fully protected against VM undervoltage, charge pump undervoltage, overcurrent, gate driver +shorts, and overtemperature events. + +7.3.13.1 VM Undervoltage Lockout (UVLO) + +If at any time the voltage on the VM pin falls below the UVLO threshold voltage, all FETs in the H-bridge are +disabled, the charge pump is disabled, AVDD is disabled, and the nFAULT pin is driven low. Operation resumes +when VM rises above the UVLO threshold. The nFAULT pin is released after operation has resumed. + +7.3.13.2 VCP Undervoltage Lockout (CPUV) + +If at any time the voltage on the VCP pin falls below the charge pump undervoltage threshold voltage (VCPUV), all +FETs in the H-bridge are disabled and the nFAULT pin is driven low. Operation resumes when VCP rises above +the CPUV threshold. The nFAULT pin is released after operation has resumed. + +7.3.13.3 Overcurrent Protection (OCP) + +Overcurrent is sensed by monitoring the VDS voltage drop across the external FETs (see Figure 28). If the +voltage across a driven FET exceeds the overcurrent trip threshold (VDS OCP) for longer than the OCP deglitch +time (tOCP), an OCP event is recognized. As a result, all FETs in the H-bridge are disabled and the nFAULT pin is +driven low; the driver is re-enabled after the OCP retry period (tRETRY) has passed. nFAULT releases high-Z +again at after the retry time. If the fault condition is still present, the cycle repeats. If the fault is no longer present, +normal operation resumes and nFAULT remains released high-Z. + +This VDS overcurrent monitor on the high-side FETs can be disabled by using a specific IDRIVE setting. This +allows the system to have a higher DRV8701 VM supply than the H-bridge supply. + +In addition to this FET VDS monitor, an overcurrent condition is also detected if the voltage at SP exceeds +VSP OCP. + +7.3.13.4 Pre-Driver Fault (PDF) + +The GHx and GLx pins are monitored such that if the voltage on the external FET gate does not increase above +1 V (when sourcing current) or decrease below 1 V (when sinking current) after tDRIVE, a pre-driver fault is +detected. The device encounters this fault if GHx or GLx are shorted to GND, SHx, or VM. Additionally, the +device encounters the pre-driver fault if the IDRIVE setting selected is not sufficient to turn on the external FET. +As a result, all FETs in the H-bridge are disabled and the nFAULT pin is driven low. The driver is re-enabled after +the retry period (tRETRY) has passed. The nFAULT pin is released after operation has resumed. + +7.3.13.5 Thermal Shutdown (TSD) + +If the die temperature exceeds TTSD, all FETs in the H-bridge are disabled, the charge pump is shut down, AVDD +is disabled, and the nFAULT pin is driven low. After the die temperature has fallen below TTSD – THYS, operation +automatically resumes. The nFAULT pin is released after operation has resumed. + + Fault Condition Table 7. Fault Response AVDD DVDD Recovery +VM undervoltage Disabled Operating VM ≥ VUVLO +(UVLO) VM ≤ VUVLO H-Bridge Charge Pump Operating VCP > VCPUV +VCP undervoltage Operating +(CPUV) VCP < VCPUV Disabled Disabled Operating tRETRY +External FET overload Operating tRETRY +(OCP) VDS ≥ 1.0 V or Disabled Operating Operating TJ ≤ 130°C + VSP – VSN > 1.0 V +Pre-driver fault (PDF) Disabled Operating Operating + Gate voltage +Thermal shutdown unchanged after tDRIVE Disabled Operating Operating +(TSD) + TJ ≥ 150°C Disabled Disabled Disabled + +24 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.3.14 Reverse Supply Protection + +The following circuit may be implemented to protect the system from reverse supply conditions. This circuit +requires the following additional components: +• NMOS FET +• npn BJT +• Diode +• 10-kΩ resistor +• 43-kΩ resistor + + VM + + 10 kŸ 43 kŸ + + 0.1 µF 1 µF Bulk + + 10 µF min + 0.1 µF + CP1 CP2 VCP VM + + GH1 + SH1 + GL1 + + BDC + + GH2 + SH2 + GL2 + + SP + RSENSE + + SN + + Figure 32. Reverse Supply Protection External Circuitry + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 25 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.4 Device Functional Modes + +The DRV8701 is active unless the nSLEEP pin is brought low. In sleep mode, the charge pump is disabled, the +H-bridge FETs are High-Z, and the AVDD and DVDD regulators are disabled. Note that tSLEEP must elapse after +a falling edge on the nSLEEP pin before the device is in sleep mode. The DRV8701 is brought out of sleep mode +if nSLEEP is brought high. Note that tWAKE must elapse before the outputs change state after wake-up. + +While nSLEEP is brought low, all external H-bridge FETs are disabled. The high-side gate pins GHx are pulled to +the output node SHx by an internal resistor, and the low-side gate pins GLx are pulled to GND. + +When VM is not applied, and during the power-on time (tON), the outputs are disabled using weak pulldown +resistors between the GHx and SHx pins and between GLx and GND. + + Table 8. Functional Modes + + Condition Charge Pump GHx GLx AVDD and DVDD + Disabled +Unpowered VM < VUVLO Weak pulldown to SHx Weak pulldown to GND Disabled +Sleep mode +Operating VUVLO < VM Disabled Strong pulldown to GND Strong pulldown to GND Disabled + nSLEEP low + Enabled Depends on inputs Depends on inputs Operating + VUVLO < VM + nSLEEP high + +26 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +7.4.1 Operating DRV8701 and H-Bridge on Separate Supplies + +The DRV8701 can operate with a different supply voltage (VM) than the system H-bridge supply (VBAT). Case 1 +describes normal operation when VM and VBAT are roughly the same. Special considerations must be taken into +account for Cases 2, 3, and 4. + +• Case 1: VM ≈ VBAT. Recommended operation + +• Case 2: VM > VBAT. IDRIVE must be shorted to AVDD to disable the high-side OCP. The IDRIVE current is + fixed at 25-mA source and 50-mA sink. This case can allow the driver to better enhance the external FETs for + VBAT < 11.5 V, or operate down to a lower supply voltage below 5.9 V. + +• Case 3: VM > VBAT (higher than Case 2). IDRIVE must be shorted to AVDD to disable the high-side OCP. + This case can also allow the driver to better enhance the external FETs, or operate down to a lower supply + voltage below 5.9 V. The IDRIVE current is fixed at 25-mA source and 50-mA sink. Excess gate drive current + may be driven through the DRV8701 gate clamps causing additional power dissipation in the DRV8701. + +• Case 4: VM < VBAT. The high-side FETs may not be in saturation. There may be a significant voltage drop + across the high-side FET when driving current. This causes high power dissipation in the external FET. When + operating in Case 4, the external FET threshold voltage must be greater than 2 V. Otherwise the DRV8701 + will report a pre-driver fault whenever the FET is out of saturation. + + Table 9. VM Operational Range based on VBAT + + VBAT Range Case 3 Case 2 Case 1 Case 4 +1 V ≤ VBAT < 5.9 V + VM ≥ 0.5 × VBAT + 5.75 V VM ≥ 5.9 V N/A N/A +5.9 V ≤ VBAT < 6.4 V VM ≤ 45 V VM < 0.5 × VBAT + 5.75 V +6.4 V ≤ VBAT < 11.5 V VM = VBAT VM ≥ 5.9 V +11.5 V ≤ VBAT < 14 V VM > VBAT VM < VBAT +14 V ≤ VBAT ≤ 45 V VM < 0.5 × VBAT + 5.75 V VM > 0.6 × VBAT + 2.5 V + VM ≤ VBAT VM ≥ 5.9 V + VM > VBAT N/A VM ≤ 0.6 × VBAT + 2.5 V + VM ≤ 45 V VM > VBAT – 4 V + VM ≤ VBAT VM ≥ 5.9 V + VM ≤ VBAT – 4 V + + Figure 33. VM Operating Range Based on Motor Supply Voltage + +When nSLEEP is low, VM may be reduced down to 0 V with up to 45 V present at VBAT. However, nSLEEP +should not be brought high until VM is supplied with a voltage aligning with one of the cases outlined above. + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 27 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +8 Application and Implementation + + NOTE + Information in the following applications sections is not part of the TI component + specification, and TI does not warrant its accuracy or completeness. TI’s customers are + responsible for determining suitability of components for their purposes. Customers should + validate and test their design implementation to confirm system functionality. + +8.1 Application Information +The DRV8701 is used in brushed-DC, solenoid, or relay control. + +8.2 Typical Applications +8.2.1 Brushed-DC Motor Control +The following design procedure can be used to configure the DRV8701. + + 0.1 µF 1 µF VM + + R1 R2 VM + + + + 0.1 µF Bulk + + 7 1 24 + VM + + 2 + VCP + + 3 + CPH + + 4 + CPL + + 5 + GND + + 6 + VREF + + AVDD GH2 + +1 µF 8 23 + DVDD SH2 + 10 kŸ + 1 µF 10 kŸ 9 22 + nFAULT GND GL2 + (PPAD) 50 mŸ + 10 21 + SNSOUT SP + + 11 20 BDC + + SO SN + + 12 19 + + IDRIVE 18 GL1 + SH1 + 33 kŸ + 17 + GH1 + + 16 + GND + + 15 + PH + + 14 + EN + + 13 + nSLEEP + + VM + + Figure 34. Typical Application Schematic + +8.2.1.1 Design Requirements +Table 10 gives design input parameters for system design. + + Table 10. Design Parameters + + Design Parameter Reference Example Value + Nominal supply voltage VM 18 V + Supply voltage range + FET total gate charge(1) VMMIN, VMMAX 12 to 24 V + FET gate-to-drain charge(1) QG 14 nC (typically) + Target FET gate rise time QGD 2.3 nC (typically) + Motor current chopping level RT + 100 to 300 ns + ICHOP 3A + + (1) FET part number is CSD88537ND. + +28 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +8.2.1.2 Detailed Design Procedure + +8.2.1.2.1 External FET Selection + +The DRV8701 FET support is based on the charge pump capacity and output PWM frequency. For a quick +calculation of FET driving capacity, use the following equations when drive and brake (slow decay) are the +primary modes of operation: + +QG  IVCP + ¦PWM + +where + + • fPWM is the maximum desired PWM frequency to be applied to the DRV8701 inputs or the current chopping + frequency, whichever is larger. + + • IVCP is the charge pump capacity, which depends on VM. (5) + +The internal current chopping frequency is at most: + +¦PWM  1 |  N+] + tOFF  tBLANK + (6) + +Example: If a system at VM = 7 V (IVCP = 8 mA) uses a maximum PWM frequency of 40 kHz, then the DRV8701 +will support QG < 200 nC FETs. + +If the application will require a forced fast decay (or alternating between drive and reverse drive), the maximum +FET driving capacity is given by: + +QG  IVCP +  u ¦PWM + (7) + +8.2.1.2.2 IDRIVE Configuration + +Select IDRIVE based on the gate charge of the FETs. Configure this pin so that the FET gates are charged + +completely during tDRIVE. If the designer chooses an IDRIVE that is too low for a given FET, then the FET may +not turn on completely. TI suggests to adjust these values in-system with the required external FETs and motor + +to determine the best possible setting for any application. + +For FETs with a known gate-to-drain charge (QGD) and desired rise time (RT), select IDRIVE based on: + +IDRIVE  QGD + RT (8) + +Example: If the gate-to-drain charge is 2.3 nC, and the desired rise time is around 100 to 300 ns, +IDRIVE1 = 2.3 nC / 100 ns = 23 mA +IDRIVE2 = 2.3 nC / 300 ns = 7.7 mA +Select IDRIVE between 7.7 and 23 mA +Select IDRIVE as 12.5-mA source (25-mA sink) +Requires a 33-kΩ resistor from the IDRIVE pin to GND + +8.2.1.2.3 Current Chopping Configuration + +The chopping current is set based on the sense resistor value and the analog voltage at VREF. Calculate the +current using Equation 9. The amplifier gain AV is 20 V/V and VOFF is typically 50 mV. + + Example: If the desired chopping current is 3 A, + +Set RSENSE = 50 mΩ + +IC H O P  95() ± 9OFF + A V K RSENSE + (9) + +VREF would have to be 3.05 V. +Create a resistor divider from AVDD (4.8 V) to set VREF ≈ 3 V +Set R2 = 3.3 kΩ; set R1 = 2 kΩ. + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 29 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +8.2.1.3 Application Curves + + Figure 35. SH1 Rise Time (12.5-mA Source, 25-mA Sink) Figure 36. SH1 Fall Time (12.5-mA Source, 25-mA Sink) + + Figure 37. Current Regulating at 3 A on Motor Startup Figure 38. Current Profile on Motor Startup With + Regulation + + Figure 39. Current Profile on Motor Startup Without Regulation + +30 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + + SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +8.2.2 Alternate Application +In this example, the DRV8701 is powered from a supply that is boosted above VBAT. This allows the system to +work at lower VBAT voltages, but requires the user to disable OCP monitoring. + + VBAT + + + Boost + 10 µF + 0.1 µF + + 0.1 µF 1 µF + + R1 R2 + + 0.01 µF + + 1 + + VM C1 + + 7 2 24 + VCP + + 3 + CPH + + 4 + CPL + + 5 + GND + + 6 + VREF + + AVDD GH2 + +1 µF 8 23 + + 10 kŸ DVDD SH2 + + 1 µF 10 kŸ 9 22 + + nFAULT GND GL2 50 mŸ + 10 (PPAD) 21 + + SNSOUT SP + + AVDD 11 20 BDC + SO SN + + 12 19 + + 68 kŸ IDRIVE 18 GL1 + SH1 + + 17 + GH1 + + 16 + GND + + 15 + PH + + 14 + EN + + 13 + nSLEEP + + VBAT + + Figure 40. DRV8701 on Boosted Supply + +8.2.2.1 Design Requirements +Table 11 gives design input parameters for system design. + + Table 11. Design Parameters + + Design Parameter Reference Example Value + Battery voltage VBAT + 12 V nominal + DRV8701 supply voltage VM Minimum operation: 4.0 V + FET total gate charge QG + FET gate-to-drain charge QGD VM = 7 V when VBAT < 7 V + Motor current chopping level ICHOP VM = VBAT when VBAT ≥ 7 V + +8.2.3 Detailed Design Procedure 42 nC + + 11 nC + + 3A + +8.2.3.1 IDRIVE Configuration + +Because the VM supply to the DRV8701 is different from the external H-bridge supply VBAT, the designer must +disable the overcurrent monitor to prevent false overcurrent detection. The designer must place a 68-kΩ resistor +between the IDRIVE pin and AVDD. + +IDRIVE is fixed at 25-mA source and 50-mA sink in this mode. + +So, the rise time is 11 nC / 25 mA = 440 ns. + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 31 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +8.2.3.2 VM Boost Voltage + +To determine an effective voltage to boost VM, first determine the minimum VBAT at which the system must +operate. Select VM such that the gate driver clamps do not turn on during normal operation. + + VM < VBAT + 11.5 V + + 2 (10) + + Example: If VBAT minimum is 4.0 V, + VM < 7.75 V + So VM = 7 V is selected to allow for adequate margin. + +9 Power Supply Recommendations + +The DRV8701 is designed to operate from an input voltage supply (VM) range between 5.9 and 45 V. A 0.1-µF +ceramic capacitor rated for VM must be placed as close to the DRV8701 as possible. In addition, the designer +must include a bulk capacitor with a valued of at least 10 µF on VM. + +Bypassing the external H-bridge FETs requires additional bulk capacitance. + +9.1 Bulk Capacitance Sizing + +Having appropriate local bulk capacitance is an important factor in motor drive system design. It is generally +beneficial to have more bulk capacitance, while the disadvantages are increased cost and physical size. + +The amount of local capacitance needed depends on a variety of factors, including: +• The highest current required by the motor system +• The power supply’s capacitance and ability to source current +• The amount of parasitic inductance between the power supply and motor system +• The acceptable voltage ripple +• The type of motor used (brushed DC, brushless DC, stepper) +• The motor braking method + +The inductance between the power supply and motor drive system will limit the rate current can change from the +power supply. If the local bulk capacitance is too small, the system will respond to excessive current demands or +dumps from the motor with a change in voltage. When adequate bulk capacitance is used, the motor voltage +remains stable and high current can be quickly supplied. + +The datasheet generally provides a recommended value, but system-level testing is required to determine the +appropriate sized bulk capacitor. + + Power Supply Parasitic Wire Motor Drive System + Inductance + + VM + + + + Motor + + ± Driver + + GND + + Local IC Bypass + Bulk Capacitor Capacitor + + Figure 41. Example Setup of Motor Drive System With External Power Supply + +The voltage rating for bulk capacitors should be higher than the operating voltage, to provide margin for cases +when the motor transfers energy to the supply. + +32 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + www.ti.com DRV8701 + +10 Layout SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +10.1 Layout Guidelines + +Bypass the VM pin to GND using a low-ESR ceramic bypass capacitor with a recommended value of 0.1 µF +rated for VM. Place this capacitor as close to the VM pin as possible with a thick trace or ground plane +connection to the device GND pin. + +Bypass the VM pin to ground using a bulk capacitor rated for VM. This component may be an electrolytic. This +capacitance must be at least 10 µF. The bulk capacitor should be placed to minimize the distance of the high- +current path through the external FETs. The connecting metal trace widths should be as wide as possible, and +numerous vias should be used when connecting PCB layers. These practices minimize inductance and allow the +bulk capacitor to deliver high current. + +Place a low-ESR ceramic capacitor in between the CPL and CPH pins. The value for this component is 0.1 µF +rated for VM. Place this component as close to the pins as possible. + +Place a low-ESR ceramic capacitor in between the VM and VCP pins. The value for this component is 1 µF rated +for 16 V. Place this component as close to the pins as possible. + +Bypass AVDD and DVDD to ground with ceramic capacitors rated at 6.3 V. Place these bypassing capacitors as +close to the pins as possible. + +If desired, align the external NMOS FETs as shown in Figure 42 to facilitate layout. Route the SH2 and SH1 nets +to the motor. + +Use separate traces to connect the SP and SN pins to the RSENSE terminals. + +10.2 Layout Example + + GND + GND + + 0.1 µF 1 µF 0.1 µF 10 µFVM G + minimum S + 1 µF VM 1 S + VCP 2 D S + 1 µF CPH 3 D SH2 + CPL 4 D D + AVDD 7 GND 5 D D + VREF 6 D + S D + DVDD 8 24 GH2 S + 23 SH2 S D + nFAULT 9 GND 22 GL2 G D + (PPAD) 21 SP D + SNSOUT 10 20 SN GND RSENSE D + 19 GL1 + SO 11 S + S + IDRIVE 12 S + G + RIDRIVE 18 SH1 + 17 GH1 + 16 GND + 15 PH + 14 EN + 13 nSLEEP + + SH1 + + D G + +GND VM D S + + D S + + D S + + Figure 42. Layout Recommendation + +Copyright © 2015, Texas Instruments Incorporated Submit Documentation Feedback 33 + + Product Folder Links: DRV8701 + DRV8701 www.ti.com + +SLVSCX5B – MARCH 2015 – REVISED JULY 2015 + +11 Device and Documentation Support + +11.1 Documentation Support + +11.1.1 Related Documentation +• PowerPAD™ Thermally Enhanced Package, SLMA002 +• PowerPAD™ Made Easy, SLMA004 +• Current Recirculation and Decay Modes, SLVA321 + +11.2 Community Resources + +The following links connect to TI community resources. Linked contents are provided "AS IS" by the respective +contributors. They do not constitute TI specifications and do not necessarily reflect TI's views; see TI's Terms of +Use. + +TI E2E™ Online Community TI's Engineer-to-Engineer (E2E) Community. Created to foster collaboration + among engineers. At e2e.ti.com, you can ask questions, share knowledge, explore ideas and help + solve problems with fellow engineers. + +Design Support TI's Design Support Quickly find helpful E2E forums along with design support tools and + contact information for technical support. + +11.3 Trademarks +PowerPAD, E2E are trademarks of Texas Instruments. +All other trademarks are the property of their respective owners. +11.4 Electrostatic Discharge Caution + + These devices have limited built-in ESD protection. The leads should be shorted together or the device placed in conductive foam + during storage or handling to prevent electrostatic damage to the MOS gates. + +11.5 Glossary + +SLYZ022 — TI Glossary. + This glossary lists and explains terms, acronyms, and definitions. + +12 Mechanical, Packaging, and Orderable Information + +The following pages include mechanical, packaging, and orderable information. This information is the most +current data available for the designated devices. This data is subject to change without notice and revision of +this document. For browser-based versions of this data sheet, refer to the left-hand navigation. + +34 Submit Documentation Feedback Copyright © 2015, Texas Instruments Incorporated + + Product Folder Links: DRV8701 + PACKAGE OPTION ADDENDUM + +www.ti.com 30-Jun-2015 + +PACKAGING INFORMATION + +Orderable Device Status Package Type Package Pins Package Eco Plan Lead/Ball Finish MSL Peak Temp Op Temp (°C) Device Marking Samples +DRV8701ERGER +DRV8701ERGET (1) Drawing Qty (2) (6) (3) (4/5) +DRV8701PRGER +DRV8701PRGET ACTIVE VQFN RGE 24 3000 Green (RoHS CU NIPDAU Level-2-260C-1 YEAR -40 to 125 8701E + & no Sb/Br) + CU NIPDAU Level-2-260C-1 YEAR -40 to 125 8701E + ACTIVE VQFN RGE 24 250 Green (RoHS + & no Sb/Br) CU NIPDAU Level-2-260C-1 YEAR -40 to 125 8701P + + ACTIVE VQFN RGE 24 3000 Green (RoHS CU NIPDAU Level-2-260C-1 YEAR -40 to 125 8701P + & no Sb/Br) + + ACTIVE VQFN RGE 24 250 Green (RoHS + & no Sb/Br) + +(1) The marketing status values are defined as follows: +ACTIVE: Product device recommended for new designs. +LIFEBUY: TI has announced that the device will be discontinued, and a lifetime-buy period is in effect. +NRND: Not recommended for new designs. Device is in production to support existing customers, but TI does not recommend using this part in a new design. +PREVIEW: Device has been announced but is not in production. Samples may or may not be available. +OBSOLETE: TI has discontinued the production of the device. + +(2) Eco Plan - The planned eco-friendly classification: Pb-Free (RoHS), Pb-Free (RoHS Exempt), or Green (RoHS & no Sb/Br) - please check http://www.ti.com/productcontent for the latest availability +information and additional product content details. +TBD: The Pb-Free/Green conversion plan has not been defined. +Pb-Free (RoHS): TI's terms "Lead-Free" or "Pb-Free" mean semiconductor products that are compatible with the current RoHS requirements for all 6 substances, including the requirement that +lead not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, TI Pb-Free products are suitable for use in specified lead-free processes. +Pb-Free (RoHS Exempt): This component has a RoHS exemption for either 1) lead-based flip-chip solder bumps used between the die and package, or 2) lead-based die adhesive used between +the die and leadframe. The component is otherwise considered Pb-Free (RoHS compatible) as defined above. +Green (RoHS & no Sb/Br): TI defines "Green" to mean Pb-Free (RoHS compatible), and free of Bromine (Br) and Antimony (Sb) based flame retardants (Br or Sb do not exceed 0.1% by weight +in homogeneous material) + +(3) MSL, Peak Temp. - The Moisture Sensitivity Level rating according to the JEDEC industry standard classifications, and peak solder temperature. + +(4) There may be additional marking, which relates to the logo, the lot trace code information, or the environmental category on the device. + +(5) Multiple Device Markings will be inside parentheses. Only one Device Marking contained in parentheses and separated by a "~" will appear on a device. If a line is indented then it is a continuation +of the previous line and the two combined represent the entire Device Marking for that device. + +(6) Lead/Ball Finish - Orderable Devices may have multiple material finish options. Finish options are separated by a vertical ruled line. Lead/Ball Finish values may wrap to two lines if the finish +value exceeds the maximum column width. + + Addendum-Page 1 + PACKAGE OPTION ADDENDUM + +www.ti.com 30-Jun-2015 + +Important Information and Disclaimer:The information provided on this page represents TI's knowledge and belief as of the date that it is provided. TI bases its knowledge and belief on information +provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are underway to better integrate information from third parties. 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It is a • 110mΩ/55mΩ Low RDS(ON) Internal Power +next generation of the MP2315. It offers a very +compact solution to achieve 3A continuous MOSFETs +output current over a wide input supply range • Low Quiescent Current +with excellent load and line regulation. • High-Efficiency Synchronous Mode + +The MP2315S uses synchronous mode Operation +operation for higher efficiency over the output • Fixed 500kHz Switching Frequency +current-load range. Current mode operation • AAM Power Save Mode +provides fast transient response and eases loop • Internal Soft Start +stabilization. • Output Over-Voltage Protection (OVP) + • Over-Current Protection (OCP) and Hiccup +Full protection features include over-current • Thermal Shutdown +protection (OCP), over-voltage protection • Output Adjustable from 0.8V +(OVP), and thermal shutdown. • Available in a TSOT23-8 Package + +The MP2315S requires a minimal number of APPLICATIONS +readily available, standard, external +components and is available in a compact • Notebook Systems and I/O Power +TSOT23-8 package. • Digital Set-Top Boxes + • Flat Panel Television and Monitors + + All MPS parts are lead-free, halogen-free, and adhere to the RoHS + directive. For MPS green status, please visit the MPS website under quality + assurance. “MPS” and “The Future of Analog IC Technology” are registered + trademarks of Monolithic Power Systems, Inc. + +TYPICAL APPLICATION + + 100 0.10 1.00 10.00 + 95 + 90 + 85 + 80 + 75 + 70 + 65 + 60 + 0.01 + +MP2315S Rev. 1.0 www.MonolithicPower.com 1 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + + ORDERING INFORMATION + + Part Number* Package Top Marking + MP2315SGJ TSOT23-8 See below + + * For Tape & Reel, add suffix –Z (e.g. MP2315SGJ–Z) + + TOP MARKING + + AQT: Product code + Y: Year code + + PACKAGE REFERENCE + + TOP VIEW + + TSOT23-8 + +ABSOLUTE MAXIMUM RATINGS (1) Thermal Resistance (5) θJA θJC + +VIN .................................................-0.3V to +26V TSOT23-8…………………....…..100…..55...°C/W +VSW..... -0.3V (-5V < 10ns) to +28V (30V < 10ns) +VBST ...................................................... VSW + 6V NOTES: +All other pins ........................... -0.3V to +5.5V (2) 1) Exceeding these ratings may damage the device. +Continuous power dissipation (TA = +25°C) (3) ... 2) For details on EN’s ABS MAX rating, please refer to the +................................................................. 1.25W +Junction temperature ................................150°C Enable Control section on page 9. +Lead temperature .....................................260°C 3) The maximum allowable power dissipation is a function of the +Storage temperature .................. -65°C to 150°C + maximum junction temperature TJ (MAX), the junction-to- +Recommended Operating Conditions (4) ambient thermal resistance θJA, and the ambient temperature + TA. The maximum allowable continuous power dissipation at +Supply voltage (VIN) ........................... 4.5 to 24V any ambient temperature is calculated by PD (MAX) = (TJ +Output voltage (VOUT) ..............0.8V to VIN * DMAX (MAX)-TA)/θJA. Exceeding the maximum allowable power +Operating junction temp (TJ). ... -40°C to +125°C dissipation produces an excessive die temperature, causing + the regulator to go into thermal shutdown. Internal thermal + shutdown circuitry protects the device from permanent + damage. + 4) The device is not guaranteed to function outside of its + operating conditions. + 5) Measured on JESD51-7, 4-layer PCB. + +MP2315S Rev. 1.0 www.MonolithicPower.com 2 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +ELECTRICAL CHARACTERISTICS + +VIN = 12V, TJ = -40°C to +125°C.(6) Typical value is tested at TJ = +25°C, unless otherwise noted. + +Parameter Symbol Condition Min Typ Max Units + +Supply current (shutdown) IIN VEN = 0V, TJ = 25°C 1 μA +Supply current (quiescent) + Iq VEN = 2V, VFB = 0.85V, 120 μA + AAM = 0.4V + +HS switch on resistance HSRDS-ON VBST-SW = 5V 110 mΩ +LS switch on resistance LSRDS-ON VCC = 5V + VEN = 0V, VSW = 12V, 55 mΩ +Switch leakage SWLKG TJ = 25°C + Duty cycle = 40% 1 μA +Current limit ILIMIT +Oscillator frequency fSW VFB = 750mV 4.5 5.5 6.5 A +Foldback frequency fFB VFB = 200mV +Maximum duty cycle DMAX VFB = 750mV 400 500 600 kHz +Minimum on time (7) TON_MIN + 0.5 fSW + + 90 95 % + + 60 ns + +Feedback voltage VFB 783 791 800 mV + +Feedback current IFB VFB = 820mV 10 50 nA +EN rising threshold VEN_RISING +EN hysteresis VEN_HYS 1.26 1.4 1.54 V + + 150 mV + +EN input current IEN VEN = 2V 1 2 3 μA + VEN = 0 +EN turn-off delay ENTd-off 0 50 nA +VIN under-voltage lockout INUVVth +threshold rising 5 9 13 μs + + 3.85 4.05 4.25 V + +VIN under-voltage lockout INUVHYS 600 750 900 mV +threshold hysteresis 4.85 5.35 + 0.8 5.1 2.2 V +VCC regulator VCC ICC = 5mA 1.5 % +VCC load regulation 10% to 90% 115% 1.5 125% ms +Soft-start period TSS 104% 150 114% ºC +Thermal shutdown (7) TSD FB voltage 20 ºC +Thermal hysteresis (7) THYS FB voltage 6.7 μA +AAM source current IAAM 120% VREF +OVP rising threshold OVH_RISE 109% VREF +OVP falling threshold OVL_FALL 2 μs +OVP delay (7) OVDEY + +NOTES: +6) Not tested in production. Guaranteed by over-temperature correlation. +7) Guarantee by engineering sample characterization. + +MP2315S Rev. 1.0 www.MonolithicPower.com 3 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +TYPICAL CHARACTERISTICS + +VIN = 19V, VOUT = 5V, L = 4.9μH, TA = 25°C, unless otherwise noted. + +100 100 100 + +95 95 95 + +90 90 + 90 + + 85 + +85 85 80 + +80 80 75 + +75 75 70 + +70 70 65 + + 60 + +65 65 55 + +60 60 50 + 0.01 +0.01 0.10 1.00 10.00 0.01 0.10 1.00 10.00 0.10 1.00 10.00 + +0.9 6 + + 0.9 + +0.7 0.7 5.8 + +0.5 0.5 + + 5.6 + +0.3 0.3 + +0.1 0.1 5.4 + +-0.1 -0.1 + + 5.2 + +-0.3 -0.3 + +-0.5 -0.5 5 + + 0 1 2 3 6 8 10 12 14 16 18 20 22 24 0 10 20 30 40 50 60 70 80 90 100 + +150 200 60 + 150 50 +140 100 + + 50 40 + 0 +130 4 8 12 16 20 24 + + 30 + +120 + + 20 + +110 10 + +100 0 + 4 + 8 12 16 20 24 1 1.5 2 2.5 3 + +MP2315S Rev. 1.0 www.MonolithicPower.com 4 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +TYPICAL PERFORMANCE CHARACTERISTICS + +VIN = 19V, VOUT = 5V, L = 4.9μH, TA = 25°C, unless otherwise noted. + + VOUT VOUT VOUT + 2V/div. 2V/div. 2V/div. + + VIN VIN VIN + 10V/div. 5V/div. 10V/div. + + VSW VSW VSW + 10V/div. 10V/div. 10V/div. +IINDUCTOR IINDUCTOR IINDUCTOR + + 2A/div. 2A/div. 5A/div. + + VOUT VOUT VOUT + 2V/div. 2V/div. 2V/div. + + VIN VEN VEN + 5V/div. 5V/div. 5V/div. + + VSW VSW VSW + 5V/div. 20V/div. 20V/div. +IINDUCTOR IINDUCTOR IINDUCTOR + 5A/div. + 2A/div. 2A/div. + + VOUT VOUT VOUT/AC + 2V/div. 2V/div. 50mV/div. + + VEN VEN VIN/AC + 5V/div. 5V/div. 100mV/div. + + VSW VSW VSW + 20V/div. 20V/div. 20V/div. +IINDUCTOR IINDUCTOR IINDUCTOR + + 5A/div. 5A/div. 2A/div. + +MP2315S Rev. 1.0 www.MonolithicPower.com 5 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +TYPICAL PERFORMANCE CHARACTERISTICS (continued) + +VIN = 19V, VOUT = 5V, L = 4.9μH, TA = 25°C, unless otherwise noted. + + VOUT/AC VOUT VOUT + 20mV/div. 200mV/div. 2V/div. + + VIN/AC IOUT VSW +200mV/div. 2A/div. 20V/div. + + VSW IINDUCTOR + 20V/div. 5A/div. + +IINDUCTOR + 2A/div. + + 60 180 + 40 + 20 120 + 0 + VOUT -20 60 + 2V/div. -40 + -60 0 + VSW 1000 + 20V/div. -60 + +IINDUCTOR -120 + 5A/div. + + 10000 -180 + 100000 1000000 + +MP2315S Rev. 1.0 www.MonolithicPower.com 6 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +PIN FUNCTIONS + +Pin # Name Description + 1 AAM + Advanced asynchronous modulation. Connect AAM to a voltage supply through a + 2 IN resistor divider to force the MP2315S into non-synchronous mode under light-load + 3 SW conditions. Tie AAM to VCC or leave AAM floating to disable AAM mode and force the + 4 GND MP2315S into CCM. + 5 BST + 6 EN Supply voltage. The MP2315S operates with a 4.5V to 24V input rail. C1 is needed to + 7 VCC decouple the input rail. Connect using a wide PCB trace. + + 8 FB Switch output. Connect using a wide PCB trace. + + System ground. GND is the reference ground of the regulated output voltage. GND + requires special consideration during PCB layout. Connect GND with copper traces and + vias. + + Bootstrap. A capacitor and a resistor are required between SW and BST to form a + floating supply across the high-side switch driver. + + Enable. Drive EN high to enable the MP2315S. + + Internal bias supply, internal 5.1V LDO output. Decouple VCC with a 0.1μF - 0.22μF + capacitor. The capacitance should be no more than 0.22μF. + + Feedback. Connect FB to the tap of an external resistor divider from the output to GND + to set the output voltage. The frequency foldback comparator lowers the oscillator + frequency when the FB voltage is below 400mV to prevent current-limit runaway during a + short-circuit fault condition. + +MP2315S Rev. 1.0 www.MonolithicPower.com 7 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +BLOCK DIAGRAM + + Figure 1: Functional Block Diagram + +MP2315S Rev. 1.0 www.MonolithicPower.com 8 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +OPERATION Under light-load conditions, the value of VCOMP + is low. When VCOMP is less than VAAM, and VFB is +The MP2315S is a high-efficiency, synchronous, less than VREF, VCOMP ramps up until it exceeds +rectified, step-down, switch mode converter VAAM. During this time, the internal clock is +with built-in internal power MOSFETs. It offers a blocked, and the MP2315S skips some pulses +very compact solution that achieves 3A of for pulse frequency modulation (PFM) mode +continuous output current with excellent load and achieves a light-load power save. +and line regulation over a wide input supply +range. Figure 2: Simplified AAM Control Logic + +When the MP2315S operates in a fixed Enable Control (EN) +frequency, the peak-current control mode Enable (EN) is a digital control that turns the +regulates the output voltage. A pulse width regulator on and off. Drive EN high to turn on +modulation (PWM) cycle is initiated by the the regulator; drive EN low to turn off the +internal clock. The integrated high-side power regulator. An internal 1MΩ resistor from EN to +MOSFET (HS-FET) turns on and remains on GND allows EN to be floated to shut down the +until its current reaches the value set by the chip. +COMP voltage (VCOMP). When the power switch +is off, it remains off until the next clock cycle EN is clamped internally using a 5.6V series +begins. If the current in the power MOSFET Zener diode. Connect the EN input through a +does not reach the COMP set current value pull-up resistor to the voltage on VIN to limit the +within 95% of one PWM period, the power EN input current below 100µA. For example, +MOSFET is forced off. with 19V connected to VIN, RPULLUP ≥ (19V - + 5.6V) ÷ 100µA = 134kΩ. +Internal Regulator + Connecting EN directly to a voltage source +Most of the internal circuitries are powered by without a pull-up resistor requires limiting the +the 5.1V internal regulator. This regulator takes amplitude of the voltage source below 5.5V to +the VIN input and operates in the full VIN range. prevent damage to the Zener diode. +When VIN is greater than 5.1V, the output of the +regulator is in full regulation. When VIN drops Under-Voltage Lockout (UVLO) +below 5.1V, the output decreases. A 0.1µF Under-voltage lockout (UVLO) is implemented +ceramic capacitor is required for decoupling. to prevent the chip from operating at an + insufficient supply voltage. The MP2315S +Error Amplifier (EA) UVLO comparator monitors the output voltage + of the internal regulator (VCC). The UVLO +The error amplifier compares the FB voltage rising threshold is about 4.05V, while its falling +with the internal 0.791V reference (REF) and threshold is 3.3V. +outputs a COMP voltage which is used to +control the power MOSFET current. The Internal Soft-Start (SS) +optimized internal compensation network The soft start (SS) is implemented to prevent +minimizes the external component count and the converter output voltage from overshooting +simplifies the control loop design. during start-up. When the chip starts up, the + internal circuitry generates a soft-start voltage +AAM Operation that ramps up from 0V. The soft-start period + lasts until the voltage on the soft-start capacitor +The MP2315S uses advanced asynchronous exceeds the reference voltage of 0.791V. At +modulation (AAM) power save mode in light this point, the reference voltage takes over. The +load. Set the AAM voltage with the tap of an soft-start time is internally set to around 1.5ms. +external resistor divider from VCC to GND. +Under heavy-load conditions, VCOMP is higher +than VAAM. When the clock goes low, the HS- +FET turns on and remains on until VILsense +reaches the value set by VCOMP. The internal +clock resets whenever VCOMP is higher than +VAAM. + +MP2315S Rev. 1.0 www.MonolithicPower.com 9 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +Output Over-Voltage Protection (OVP) Floating Driver and Bootstrap Charging + The floating power MOSFET driver is powered +The MP2315S monitors the FB voltage to by an external bootstrap capacitor. This floating +detect output over-voltage. When the FB driver has its own UVLO protection with a rising +voltage rises higher than 120% of the reference threshold of 2.2V and a hysteresis of 150mV. +voltage, the MP2315S enters a dynamic The bootstrap capacitor voltage is regulated +regulation period. During this period, the IC internally by VIN through D1, R3, C3, L1, and C2 +forces the low-side MOSFET (LS-FET) on until (see Figure 3). If VIN - VSW is more than 5V, U2 +a -800mA negative current limit is achieved. regulates M3 to maintain a 5V BST voltage +This discharges the output to keep it within the across C3. +normal range. The MP2315S exits dynamic +regulation when FB falls below 109% of the R3 +reference voltage. 3 + +Over-Current Protection (OCP) and Hiccup Figure 3: Internal Bootstrap Charging Circuit + Start-Up and Shutdown +The MP2315S uses a cycle-by-cycle over- If both VIN and EN are higher than their +current limit when the inductor current peak appropriate thresholds, the chip starts up. The +value exceeds the set current-limit threshold. reference block starts first, generating a stable +The output voltage begins dropping until FB is reference voltage and current. The internal +below the under-voltage (UV) threshold, regulator is then enabled. The regulator +typically 50% below the reference. Once UV is provides a stable supply for the remaining +triggered, the MP2315S enters hiccup mode to circuitries. +restart the part periodically. This protection Three events can shut down the chip: EN low, +mode is especially useful when the output is VIN low, and thermal shutdown. In the shutdown +dead-shorted to ground. The average short- procedure, the signaling path is blocked first to +circuit current is reduced greatly to alleviate the prevent any fault triggering. VCOMP and the +thermal issue and protect the regulator. The internal supply rail are then pulled down. The +MP2315S exits hiccup mode once the over- floating driver is not subject to this shutdown +current condition is removed. command. + +Pre-Bias Start-Up + +The MP2315S is designed for monotonic start- +up into pre-biased loads. If the output is pre- +biased to a certain voltage during start-up, the +BST voltage is refreshed and charged, and the +voltage on the soft-start capacitor is charged as +well. If the BST voltage exceeds its rising +threshold voltage, and the soft-start capacitor +voltage exceeds the sensed output voltage at +FB, the part begins working normally. + +Thermal Shutdown + +Thermal shutdown is implemented to prevent +the chip from operating at exceedingly high +temperatures. When the silicon die temperature +is higher than 150°C, the entire chip shuts down. +When the temperature is lower than its lower +threshold, typically 130°C, the chip is enabled +again. + +MP2315S Rev. 1.0 www.MonolithicPower.com 10 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +APPLICATION INFORMATION + +Setting the Output Voltage Choose the inductor current to be + approximately 40% of the maximum load +An external resistor divider is used to set the current. The maximum inductor peak current +output voltage. The feedback resistor (R1) also can be calculated with Equation (3): +sets the feedback loop bandwidth with the +internal compensation capacitor (see Typical IL(MAX) = ILOAD + ΔIL (3) +Application on page 1). R2 can then be 2 +calculated with Equation (1): + Under light-load conditions below 100mA, a + R2 = R1 larger inductance is recommended for better + VOUT − 1 efficiency. + + 0.791V (1) Setting the AAM Voltage + +The T-type network is highly recommended The AAM voltage is used to set the transition +(see Figure 4). point from AAM to PWM. It should be chosen to + provide the best combination of efficiency, + 8 RT R1 stability, ripple, and transient. + +FB VOUT + + R2 If the AAM voltage is set low, then the stability + and ripple improve, but AAM mode and + Figure 4: T-Type Network transient efficiency degrade. Likewise, if the + AAM voltage is set high, then AAM mode and +Table 1 lists the recommended T-type resistor transient efficiency improves, but the stability +values for common output voltages. and ripple degrade. + +Table 1: Resistor Selection for Common Output Adjust the AAM threshold by connecting divider + Voltages(8) resistors from VCC to GND. Note that there is a + 6.7µA current source at AAM (see Figure 5). + +VOUT (V) R1 (kΩ) R2 (kΩ) Rt (kΩ) + 1.05 20.5 62 100 + 1.2 20.5 39.2 75 + 1.8 40.2 31.6 59 + 2.5 40.2 18.7 40.2 + 3.3 40.2 12.7 33 + 5 40.2 7.5 20 + +NOTE: Figure 5: AAM Network +8) The recommended parameters are based on a 44µF output + Generally, VAAM can be calculated with Equation + capacitor. A different input voltage, output inductor value, and (4): + output capacitor value may affect the selection of R1, R2, and + Rt. For additional component parameters, please refer to the + Typical Application Circuits section on pages 15 and 16. + +Selecting the Inductor VAAM = R5 × (VCC + 6.7μA ×R4 ) + R4 + R5 +A 1µH to 10µH inductor with a DC current rating (4) +at least 25% percent higher than the maximum +load current is recommended for most R5 should be no larger than 20k. +applications. For the highest efficiency, the +inductor DC resistance should be less than +20mΩ. For most designs, the inductance value +can be derived using Equation (2): + + L1 = VOUT × (VIN − VOUT ) + VIN × ΔIL × fOSC + (2) + +Where ΔIL is the inductor ripple current. + +MP2315S Rev. 1.0 www.MonolithicPower.com 11 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +The optimized AAM can be found in Figure 6. The input voltage ripple caused by the + capacitance can be estimated with Equation (7): + 0. 7 + + 0. 6 ΔVIN = ILOAD × VOUT × ⎛⎜1− VOUT ⎞ + fS × C1 VIN ⎝ VIN ⎟ + 0. 5 ⎠ (7) + + 0. 4 Selecting the Output Capacitor + + 0. 3 The output capacitor (C2) is required to + maintain the DC output voltage. Ceramic, + 0. 2 tantalum, or low ESR electrolytic capacitors are + recommended. Low ESR capacitors are + 0. 1 recommended to keep the output voltage ripple + low. The output voltage ripple can be estimated + 0 with Equation (8): + + 0 2 4 6 8 + +Figure 6: AAM Selection for Common Output ΔVOUT = VOUT × ⎛ VOUT ⎞⎛ + 8 × 1 C2 ⎞ + Voltages (VIN = 4.5V - 24V) fS × L1 ⎜1− VIN ⎟ × ⎜RESR fS × ⎟ + ⎝ ⎠⎝ ⎠ (8) + +Selecting the Input Capacitor Where L1 is the inductor value and RESR is the + equivalent series resistance (ESR) value of the +The input current to the step-down converter is output capacitor. +discontinuous and therefore requires a +capacitor to supply AC current to the step-down For ceramic capacitors, the impedance at the +converter while maintaining the DC input switching frequency is dominated by the +voltage. Use low ESR capacitors for best capacitance. The output voltage ripple is mainly +performance. Ceramic capacitors with X5R or caused by the capacitance. For simplification, +X7R dielectrics are highly recommended the output voltage ripple can be estimated with +because of their low ESR and small Equation (9): +temperature coefficients. For most applications, +a 22µF capacitor is sufficient. ΔVOUT = VOUT × ⎛ − VOUT ⎞ + fS2 × L1 ⎜1 VIN ⎟ +Since the input capacitor (C1) absorbs the input 8 × × C2 ⎝ ⎠ (9) +switching current, it requires an adequate ripple +current rating. The RMS current in the input In the case of tantalum or electrolytic capacitors, +capacitor can be estimated with Equation (5): the ESR dominates the impedance at the + switching frequency. For simplification, the +IC1 = ILOAD × VOUT ×⎜⎜⎛1− VOUT ⎟⎞ output ripple can be approximated with + VIN VIN ⎟ Equation (10): + ⎝ ⎠ (5) + +The worst-case condition occurs at VIN = ΔVOUT = VOUT × ⎛ 1− VOUT ⎞ × RESR +2VOUT, shown in Equation (6): fS × L1 ⎝⎜ VIN ⎟⎠ + (10) + + IC1 = ILOAD (6) The characteristics of the output capacitor also + 2 affect the stability of the regulation system. The + MP2315S can be optimized for a wide range of +For simplification, choose an input capacitor capacitance and ESR values. +with an RMS current rating greater than half of +the maximum load current. External Bootstrap Diode + +The input capacitor can be electrolytic, tantalum, An external bootstrap diode may enhance the +or ceramic. When using electrolytic or tantalum efficiency of the regulator. The applicable +capacitors, a small, high-quality ceramic conditions of the external BST diode are: +capacitor (i.e.: 0.1μF) should be placed as close +to the IC as possible. When using ceramic • VOUT is 5V or 3.3V +capacitors, ensure that they have enough • Duty cycle is high: D = VOUT > 65% +capacitance to a provide sufficient charge to +prevent excessive voltage ripple at input. VIN + +MP2315S Rev. 1.0 www.MonolithicPower.com 12 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +In these cases, an external BST diode is +recommended from VCC to BST (see Figure 7). + +Figure 7: Add Optional External Bootstrap Diode Figure 8: Sample Board Layout + to Enhance Efficiency + Design Example +The recommended external BST diode is +1N4148, and the recommended BST capacitor Table 2 is a design example following the +is 0.1 - 1μF. application guidelines for the specifications + below: +PCB Layout Guidelines (9) + Table 2: Design Example +Efficient PCB layout is critical for stable +operation. For best results, refer to Figure 8 and VIN 19V +follow the guidelines below: VOUT 5V + 3A +1. Keep the connection of the input ground IO + and GND as short and wide as possible. + +2. Keep the connection of the input capacitor + and IN as short and wide as possible. + +3. Place the VCC capacitor as close to VCC + and GND as possible. + +4. Make the trace length of VCC - VCC + capacitor anode - VCC capacitor cathode - + IC GND as short as possible. + +5. Ensure that all feedback connections are + short and direct. + +6. Place the feedback resistors and + compensation components as close to the + IC as possible. + +7. Route SW away from sensitive analog + areas, such as FB. + +NOTE: +9) The recommended layout is based on Figure 9 on page 15. + + The detailed application schematic is shown in + Figure 9. The typical performance and circuit + waveforms are shown in the Typical + Performance Characteristics section. For more + device applications, please refer to the related + evaluation board datasheets. + +MP2315S Rev. 1.0 www.MonolithicPower.com 13 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +TYPICAL APPLICATION CIRCUITS + + Figure 9: VIN = 6.5V - 24V, VOUT = 5V, IOUT = 3A + + Figure 10: VIN = 4.5V - 24V, VOUT = 3.3V, IOUT = 3A + + Figure 11: VIN = 4.5V - 24V, VOUT = 2.5V, IOUT = 3A + +MP2315S Rev. 1.0 www.MonolithicPower.com 14 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + + Figure 12: VIN = 4.5V - 24V, VOUT = 1.8V, IOUT = 3A + + Figure 13: VIN = 4.5V - 24V, VOUT = 1.2V, IOUT = 3A + + Figure 14: VIN = 4.5V - 24V, VOUT = 1.05V, IOUT = 3A + +MP2315S Rev. 1.0 www.MonolithicPower.com 15 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER + +PACKAGE INFORMATION + + TSOT23-8 + + See note 7 IAAAA + EXAMPLE + TOP MARK + + PIN 1 ID + + TOP VIEW RECOMMENDED LAND PATTERN + + SEATING PLANE SEE DETAIL''A'' + + FRONT VIEW SIDE VIEW + + DETAIL ''A'' NOTE: + + 1) ALL DIMENSIONS ARE IN MILLIMETERS. + 2) PACKAGE LENGTH DOES NOT INCLUDE MOLD + FLASH, PROTRUSION OR GATE BURR. + 3) PACKAGE WIDTH DOES NOT INCLUDE + INTERLEAD FLASH OR PROTRUSION. + 4) LEAD COPLANARITY(BOTTOM OF LEADS + AFTER FORMING) SHALL BE 0.10 MILLIMETERS + MAX. + 5) JEDEC REFERENCE IS MO-193, VARIATION BA. + 6) DRAWING IS NOT TO SCALE. + 7) PIN 1 IS LOWER LEFT PIN WHEN READING TOP + MARK FROM LEFT TO RIGHT, (SEE EXAMPLE TOP + MARK) + +NOTICE: The information in this document is subject to change without notice. Users should warrant and guarantee that third +party Intellectual Property rights are not infringed upon when integrating MPS products into any application. MPS will not +assume any legal responsibility for any said applications. + +MP2315S Rev. 1.0 www.MonolithicPower.com 16 + +12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2015 MPS. All Rights Reserved. + diff --git a/Docs/Datasheet/MP8765.pdf b/Docs/Datasheet/MP8765.pdf new file mode 100644 index 0000000..427c436 --- /dev/null +++ b/Docs/Datasheet/MP8765.pdf @@ -0,0 +1,1001 @@ +The Future of Analog IC Technology MP8765 + +DESCRIPTION 24V, 6A High Efficiency + Synchronous Step-down Converter +The MP8765 is a fully integrated high frequency +synchronous rectified step-down switch mode FEATURES +converter. It offers very compact solutions to +achieve 6A continuous output current over a  Wide 5V to 24V Operating Input Range +wide input supply range with excellent load and  6A Continuous Output Current +line regulation. The MP8765 operates at high  PFM/PWM Mode Selectable +efficiency over a wide output current load range.  Low RDS(ON) Internal Power MOSFETs +Constant-On-Time (COT) control mode  Proprietary Switching Loss Reduction +provides fast transient response and eases loop +stabilization. Technique +Under voltage lockout is internally set as 4.6 V,  1% Reference Voltage +An open drain power good signal indicates the  7ms Internal Soft Start +output is within its nominal voltage range.  Output Discharge +Full protection features include OCP and thermal  500kHz Switching Frequency +shut down.  Hiccup OCP Protection and Thermal +The converter requires minimum number of +external components and is available in QFN16 Shutdown +(3mmx3mm) package.  Auto Retry OVP Protection +  Output Adjustable from 0.604V to 5.5V +TYPICAL APPLICATION + APPLICATIONS + +  Laptop Computer +  Tablet PC +  Networking Systems +  Personal Video Recorders +  Flat Panel Television and Monitors +  Distributed Power Systems + + All MPS parts are lead-free and adhere to the RoHS directive. For MPS green + status, please visit MPS website under Products, Quality Assurance page. + “MPS” and “The Future of Analog IC Technology” are registered trademarks of + Monolithic Power Systems, Inc. + +MP8765 Rev. 1.1 www.MonolithicPower.com 1 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + + ORDERING INFORMATION + + Part Number* Package Top Marking + MP8765GQ QFN16(3x3mm) AHR + + * For Tape & Reel, add suffix –Z (e.g.MP8765GQ-Z) + + PACKAGE REFERENCE + + TOP VIEW + + AGND EN FB VCC BST + + 14 13 12 11 10 + + VIN 1 + + 15 SW 9 SW + 16 SW + PGND 2 + + 8 SW + + 3 4 5 6 7 + + NC PG NC MODE VOUT + +ABSOLUTE MAXIMUM RATINGS (1) Thermal Resistance (5) θJA θJC + +Supply Voltage VIN ........................................ 24V QFN16 (3mmx3mm)................70 ...... 15... C/W +VSW ............................................... -0.3V to 24.3V +VSW (30ns) .......................................... -3V to 28V Notes: +VSW (5ns) ............................................ -6V to 28V 1) Exceeding these ratings may damage the device. +VBST.....................................................VSW + 5.5V 2) Refer to “Configuring the EN Control”. +VEN ................................................................. 12V 3) The maximum allowable power dissipation is a function of the +Enable Current IEN(2)................................ 2.5mA +All Other Pins .............................. –0.3V to +5.5V maximum junction temperature TJ(MAX), the junction-to- +Continuous Power Dissipation (TA=+25) (3) ambient thermal resistance θJA, and the ambient temperature +QFN16...……………………….…..…………1.8W TA. The maximum allowable continuous power dissipation at + any ambient temperature is calculated by PD(MAX)=(TJ(MAX)- +Junction Temperature ............................... 150C TA)/θJA. Exceeding the maximum allowable power dissipation +Lead Temperature .................................... 260C will cause excessive die temperature, and the regulator will go + into thermal shutdown. Internal thermal shutdown circuitry +Storage Temperature................-65C to +150C protects the device from permanent damage. + 4) The device is not guaranteed to function outside of its +Recommended Operating Conditions (4) operating conditions. +Supply Voltage VIN .............................. 5V to 22V 5) Measured on JESD51-7, 4-layer PCB. +Output Voltage VOUT.................... 0.604V to 5.5V +Enable Current IEN................................... 1mA +Operating Junction Temp. (TJ). -40°C to +125°C + +MP8765 Rev. 1.1 www.MonolithicPower.com 2 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +ELECTRICAL CHARACTERISTICS + +VIN = 12V, TJ = 25C, unless otherwise noted. + +Parameters Symbol Condition Min Typ Max Units + +Supply Current + +Supply Current (Shutdown) IIN VEN = 0V 0 1 μA +Supply Current (Quiescent) +MOSFET IIN VEN = 2V, VFB = 0.65V 100 160 200 μA +High-side Switch On Resistance +Low-side Switch On Resistance HSRDS-ON 38 mΩ +Switch Leakage LSRDS-ON + SWLKG 15 mΩ + + VEN = 0V, VSW = 0V 0 1 μA + +Current Limit + +Low-side Valley Current Limit ILIMIT TJ = 25C 6 6.6 7.6 A +Mode Pin +PWM Mode Threshold VMODE_H 2 V +PFM Mode Threshold VMODE_L +Pull-up Current IMODE_PU 0.4 V + + 2.5 μA + +Switching frequency and minimum off timer + +Switching frequency FS 400 500 600 kHz +Minimum Off Time(6) TOFF + 300 ns + +Over-voltage Protection + +OVP Threshold VOVP 125% 130% 135% VREF +OVP Delay TOVPDEL 2 μs + +Reference And Soft Start + +Reference Voltage VREF 598 604 610 mV +Feedback Current IFB +Soft Start Time TSS VFB = 604mV 10 50 nA +Enable And UVLO +Enable Input Low Voltage 6 7 8 ms +Enable Hysteresis + VILEN 1.15 1.25 1.35 V +Enable Input Current VEN-HYS + 100 mV +VCC Under Voltage Lockout IEN +Threshold Rising VEN = 2V 3 μA +VCC Under Voltage Lockout VCCVth VEN = 0V 0 +Threshold Hysteresis + 4.6 4.85 V + + VCCHYS 480 mV + +MP8765 Rev. 1.1 www.MonolithicPower.com 3 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +ELECTRICAL CHARACTERISTICS (continued) + +VIN = 12V, TJ = 25C, unless otherwise noted. + +Parameters Symbol Condition Min Typ Max Units + +VCC Regulator + +VCC Regulator VCC 4.8 5.1 5.3 V +VCC Load Regulation Icc=5mA + 5 % + +Power Good PGVth-Hi 95 + PGVth-Lo +FB Rising (Good) PGVth-Hi 85 %VREF +FB Falling (Fault) PGVth-Lo 115 +FB Rising (Fault) +FB Falling (Good) PGTd 105 +Power Good Lower to High Delay VPG +Power Good Sink Current IPG_LEAK 0.5 ms +Capability +Power Good Leakage Current TSD Sink 4mA 0.4 V + VPG = 3.3V +Thermal Protection 12 μA + +Thermal Shutdown(6) 150 °C +Thermal Shutdown Hysteresis(6) + 25 °C +Note: +6) Guaranteed by design. + +MP8765 Rev. 1.1 www.MonolithicPower.com 4 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +TYPICAL PERFORMANCE CHARACTERISTICS + +Performance waveforms are tested on the evaluation board of the Design Example section. +VIN=12V, VOUT =1.05V, L=1.2µH, PFM Mode, TJ=+25°C, unless otherwise noted. + +MP8765 Rev. 1.1 www.MonolithicPower.com 5 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +TYPICAL PERFORMANCE CHARACTERISTICS (continued) + +Performance waveforms are tested on the evaluation board of the Design Example section. +VIN=12V, VOUT =1.05V, L=1.2µH, PFM Mode, TJ=+25°C, unless otherwise noted. + +MP8765 Rev. 1.1 www.MonolithicPower.com 6 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +TYPICAL PERFORMANCE CHARACTERISTICS (continued) + +Performance waveforms are tested on the evaluation board of the Design Example section. +VIN=12V, VOUT =1.05V, L=1.2µH, PFM Mode, TJ=+25°C, unless otherwise noted. + +MP8765 Rev. 1.1 www.MonolithicPower.com 7 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +TYPICAL PERFORMANCE CHARACTERISTICS (continued) + +Performance waveforms are tested on the evaluation board of the Design Example section. +VIN=12V, VOUT =1.05V, L=1.2µH, PFM Mode, TJ=+25°C, unless otherwise noted. + +MP8765 Rev. 1.1 www.MonolithicPower.com 8 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +PIN FUNCTIONS + +PIN # Name Description + +1 VIN Supply Voltage. The IN pin supplies power for internal MOSFET and regulator. The + MP8765 operate from a +5V to +22V input rail. An input capacitor is needed to +2 PGND decouple the input rail. Use wide PCB traces and multiple vias to make the + connection. +4 PG + Power Ground. Use wide PCB traces and multiple vias to make the connection +3, 5 NC + Power good output, the output of this pin is an open drain signal and is high if the +6 MODE output voltage is higher than 95% of the nominal voltage. There is a delay from FB ≥ + 95% to PGOOD goes high. +7 VOUT Note: If PG is pulled up to an external voltage, PG will not de-assert (Logic low) if + EN is low or if input power is off. It is recommended that PG is pulled up to VCC pin +8,9 and in this case PG will de-assert (Logic low) when EN is Low or if input power is + off. Refer to Applications section for additional details. +Exposed SW + PFM/PWM mode selection pin. Float MODE pin or pull it higher than 2V, MP8765 +Pad 15, 16 always works in force PWM mode; Connecting MODE pin to ground enables PFM + mode at light load condition. +10 BST + VOUT pin is used to sense the output voltage of the Buck regulator, connect this pin +11 VCC to the output capacitor of the regulator directly. + +12 FB Switch Output. Connect this pin to the inductor and bootstrap capacitor. This pin is + driven up to the VIN voltage by the high-side switch during the on-time of the PWM +13 EN duty cycle. The inductor current drives the SW pin negative during the off-time. The + on-resistance of the low-side switch and the internal diode fixes the negative +14 AGND voltage. Use wide and short PCB traces to make the connection. Try to minimize the + area of the SW pattern. + + Bootstrap. A capacitor connected between SW and BS pins is required to form a + floating supply across the high-side switch driver. + + Internal 5V LDO output. The driver and control circuits are powered from this + voltage. Decouple with a minimum 1µF ceramic capacitor as close to the pin as + possible. X7R or X5R grade dielectric ceramic capacitors are recommended for their + stable temperature characteristics. + + Feedback. An external resistor divider from the output to GND, tapped to the FB pin, + sets the output voltage. It is recommended to place the resistor divider as close to + FB pin as possible. Vias should be avoided on the FB traces. + + Enable pin. EN is a digital input that turns the regulator on or off. Drive EN high to + turn on the regulator, drive it low to turn it off. Connect EN with VIN through a pull-up + resistor or a resistive voltage divider for automatic startup. Do not float this pin. + + Analog ground. The internal reference is referred to AGND. Connect the GND of the + FB divider resistor to AGND for better load regulation. + +MP8765 Rev. 1.1 www.MonolithicPower.com 9 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +BLOCK DIAGRAM + + Figure 1: Functional Block Diagram + +MP8765 Rev. 1.1 www.MonolithicPower.com 10 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +OPERATION When the output current is high and the inductor + current is always above zero amps, it is called +PWM Operation continuous-conduction-mode (CCM). The CCM + mode operation is shown in Figure 2 shown. +The MP8765 is fully integrated synchronous When VFB is below VREF, HS-MOSFET is turned +rectified step-down switch mode converter. on for a fixed interval which is determined by +Constant-on-time (COT) control is employed to one-shot on-timer. When the HS-MOSFET is +provide fast transient response and easy loop turned off, the LS-MOSFET is turned on until +stabilization. At the beginning of each cycle, the next period. +high-side MOSFET (HS-FET) is turned ON when +the feedback voltage (VFB) is below the In CCM mode operation, the switching frequency +reference voltage (VREF), which indicates is fairly constant and it is called PWM mode. +insufficient output voltage. The ON period is +determined by both the output voltage and input Light-Load Operation +voltage to make the switching frequency fairy +constant over input voltage range. With the load decrease, the inductor current + decrease too. Once the inductor current touch +After the ON period elapses, the HS-FET is zero, the operation is transition from continuous- +turned off, or becomes OFF state. It is turned ON conduction-mode (CCM) to discontinuous- +again when VFB drops below VREF. By conduction-mode (DCM). +repeating operation this way, the converter +regulates the output voltage. The integrated low- The light load operation is shown in Figure 3. +side MOSFET (LS-FET) is turned on when the When VFB is below VREF, HS-MOSFET is turned +HS-FET is in its OFF state to minimize the on for a fixed interval which is determined by +conduction loss. There will be a dead short one-shot on-timer. When the HS-MOSFET is +between input and GND if both HS-FET and LS- turned off, the LS-MOSFET is turned on until the +FET are turned on at the same time. It’s called inductor current reaches zero. In DCM operation, +shoot-through. In order to avoid shoot-through, a the VFB does not reach VREF when the inductor +dead-time (DT) is internally generated between current is approaching zero. The LS-FET driver +HS-FET off and LS-FET on, or LS-FET off and turns into tri-state (high Z) whenever the inductor +HS-FET on. current reaches zero. A current modulator takes + over the control of LS-FET and limits the inductor +An internal compensation is applied for COT current to less than -1mA. Hence, the output +control to make a more stable operation even capacitors discharge slowly to GND through LS- +when ceramic capacitors are used as output FET. As a result, the efficiency at light load +capacitors, this internal compensation will then condition is greatly improved. At light load +improve the jitter performance without affect the condition, the HS-FET is not turned ON as +line or load regulation. frequently as at heavy load condition. This is + called skip mode. +Heavy-Load Operation + At light load or no load condition, the output + drops very slowly and the MP8765 reduces the + switching frequency naturally and then high + efficiency is achieved at light load. + + Figure 2: Heavy Load Operation + + Figure 3: Light Load Operation + +MP8765 Rev. 1.1 www.MonolithicPower.com 11 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +As the output current increases from the light VNOISE VS LOPE 2 +load condition, the time period within which the +current modulator regulates becomes shorter. V FB +The HS-FET is turned ON more frequently. V REF +Hence, the switching frequency increases +correspondingly. The output current reaches the HS D river +critical level when the current modulator time is +zero. The critical level of the output current is Jitter +determined as follows: + Figure 5: Jitter in Skip Mode + + IOUT  (VIN  VOUT)  VOUT (1) Operating without external ramp + 2  L  FSW  VIN + The traditional constant-on-time control scheme +It turns into PWM mode once the output current is intrinsically unstable if output capacitor’s ESR +exceeds the critical level. After that, the switching is not large enough as an effective current-sense +frequency stays fairly constant over the output resistor. Ceramic capacitors usually can not be +current range. used as output capacitor. + +PFM/PWM Mode Selection To realize the stability, the ESR value should be + chosen as follow: +The MP8765 has a MODE pin which provides +selectable operation mode for light load. Floating TSW   TON +the MODE pin or pulling it higher than 2V will set 0.7  2 +MP8765 always work at force PWM mode. RESR  (2) +Connecting MODE pin to ground enables PFM COUT +(Pulse Frequency Modulation) mode at light load +condition. MP8765 skips some pulses for PFM TSW is the switching period. +mode and achieves the light load power save. + The MP8765 has built in internal ramp +Jitter and FB Ramp Slope compensation to make sure the system is stable + even without the help of output capacitor’s ESR; +Jitter occurs in both PWM and skip modes when and thus the pure ceramic capacitor solution can +noise in the VFB ripple propagates a delay to the be applicant. The pure ceramic capacitor solution +HS-FET driver, as shown in Figures 4 and 5. can significantly reduce the output ripple, total +Jitter can affect system stability, with noise BOM cost and the board area. +immunity proportional to the steepness of VFB’s +downward slope. However, VFB ripple does not Figure 6 shows a typical output circuit in PWM +directly affect noise immunity. mode without an external ramp circuit. Turn to + application information section for design steps + V S L O PE1 without external compensation. + + VNOISE + + SW + + VFB L Vo + VREF + + R1 ESR + + HS D river FB + + J itter R2 CAP + + Figure 4: Jitter in PWM Mode + + Figure 6: Simplified Circuit in PWM Mode without + External Ramp Compensation + +MP8765 Rev. 1.1 www.MonolithicPower.com 12 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +When using a large-ESR capacitor on the output, TSW + TON -RESRCOUT Io 10-3 (7) +add a ceramic capacitor with a value of 10uF or 0.7 π 2 TSW -Ton +less to in parallel to minimize the effect of ESL. -Vslope1  VOUT + + 2L  COUT +Operating with external ramp compensation + Io is the load current. +The MP8765 is usually able to support ceramic +output capacitors without external ramp, however, In skip mode, the downward slope of the VFB +in some of the cases, the internal ramp may not ripple is the same whether the external ramp is +be enough to stabilize the system, and external used or not. Figure 8 shows the simplified circuit +ramp compensation is needed. Skip to of the skip mode when both the HS-FET and LS- +application information section for design steps FET are off. +with external ramp compensation. + Vo + + SW L Vo + + R4 C4 R1 ESR + + R1 FB + + IR 4 IC 4 Ro + + R9 I FB Cout + + Ceramic R2 + + FB R2 + + Figure 7: Simplified Circuit in PWM Mode with Figure 8: Simplified Circuit in skip Mode + External Ramp Compensation + The downward slope of the VFB ripple in skip +Figure 7 shows a simplified external ramp mode can be determined as follow: +compensation (R4 and C4) for PWM mode, with +HS-FET off. Chose R1, R2, R9 and C4 of the VREF (8) +external ramp to meet the following condition:  R2 // Ro)  COUT +   VSLOPE2(R1 + + Where Ro is the equivalent load resistor. + + 1  C4  1   R1  R2  R9  (3) As described in Figure 5, VSLOPE2 in the skip +2  FSW 5  R1  R2  mode is lower than that is in the PWM mode, so +   it is reasonable that the jitter in the skip mode is + larger. If one wants a system with less jitter +Where: during light load condition, the values of the VFB + resistors should not be too big, however, that will + IR4  IC4  IFB  IC4 (4) decrease the light load efficiency. + +And the Vramp on the VFB can then be estimated Configuring the EN Control +as: + + VRAMP  VIN  VOUT  TON  R1 // R2 (5) EN is used to enable or disable the whole chip. + R4  C4 R1 // R2  R9 Pull En high to turn on the regulator and pull EN + low to turn it off. Do not float the pin. +The downward slope of the VFB ripple then +follows For automatic start-up the EN pin can be pulled + up to input voltage through a resistive voltage + VSLOPE1  VRAMP  VOUT (6) divider. Choose the values of the pull-up resistor + Toff R4  C4 (Rup from Vin pin to EN pin) and the pull-down + resistor (Rdown from EN pin to GND) to +As can be seen from equation 6, if there is determine the automatic start-up voltage: +instability in PWM mode, we can reduce either +R4 or C4. If C4 can not be reduced further due to VINSTART  1.35  (Rup  Rdown ) ( V ) (9) +limitation from equation 3, then we can only Rdown +reduce R4. For a stable PWM operation, the +Vslope1 should be design follow equation 7. + +MP8765 Rev. 1.1 www.MonolithicPower.com 13 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +For example, for Rup=150kΩ and Power Good (PGOOD) + +Rdown=51kΩ,the VINSTART is set at 5.32V. The MP8765 has power-good (PGOOD) output + used to indicate whether the output voltage of the +To avoid noise, a 10nF ceramic capacitor from Buck regulator is ready or not. The PGOOD pin +EN to GND is recommended. is the open drain of a MOSFET. It should be + connected to VCC or other voltage source through +There is an internal Zener diode on the EN pin, a resistor (e.g. 100k). After the input voltage is +which clamps the EN pin voltage to prevent it applied, the MOSFET is turned on so that the +from running away. The maximum pull up current PGOOD pin is pulled to GND before SS is ready. +assuming a worst case 12V internal Zener clamp After FB voltage reaches 95% of REF voltage, +should be less than 1mA. the PGOOD pin is pulled high after a delay. The + PGOOD delay time is 0.5ms. +Therefore, when EN is driven by an external logic +signal, the EN voltage should be lower than 12V; When the FB voltage drops to 85% of REF +when EN is connected with VIN through a pull-up voltage, the PGOOD pin will be pulled low. +resistor or a resistive voltage divider, the Note: If PG is pulled up to an external voltage, +resistance selection should ensure the maximum PG will not de-assert (Logic low) if EN is low or if +pull up current less than 1mA. Vin < 1.75V (typ). If PG is pulled up to the VCC + pin, PG will de-assert (Logic low) if either EN is +If using a resistive voltage divider and VIN higher Low or if Vin < 1.75V (typ). If connecting two or +than 12V, the allowed minimum pull-up resistor more PG together, please refer to Application +Rup should meet the following equation: section. + + VIN -12V - 12V =1mA (10) + Rup R down + Hiccup Over Current Protection +Especially, just using the pull-up resistor Rup(the + MP8765 has cycle-by-cycle over current limiting +pull-down resistor is not connected), the control. The current-limit circuit employs a + "valley" current-sensing algorithm. The part uses +VIN-START is determined by input UVLO, and the the Rds(on) of the low side MOSFET as a + current-sensing element. If the magnitude of the +minimum resistor value is: current-sense signal is above the current-limit + threshold, the PWM is not allowed to initiate a + Rup = VIN -12V (W ) (11) new cycle. + 1mA + +A typical pull-up resistor is 499kΩ. + +Soft Start + +The MP8765 employs soft start (SS) mechanism The trip level is fixed internally. The inductor +to ensure smooth output during power-up. When current is monitored by the voltage between GND +the EN pin becomes high, the internal reference pin and SW pin. GND is used as the positive +voltage ramps up gradually; hence, the output current sensing node so that GND should be +voltage ramps up smoothly, as well. Once the connected to the source terminal of the bottom +reference voltage reaches the target value, the MOSFET. +soft start finishes and it enters into steady state +operation. Since the comparison is done during the high + side MOSFET OFF and low side MOSFET ON +If the output is pre-biased to a certain voltage +during startup, the IC will disable the switching of state, the OC trip level sets the valley level of the +both high-side and low-side switches until the inductor current. Thus, the load current at over- +voltage on the internal reference exceeds the current threshold, IOC, can be calculated as +sensed output voltage at the FB node. follows: + + IOC  I _ limit  Iinductor (12) + 2 + +MP8765 Rev. 1.1 www.MonolithicPower.com 14 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +In an over-current condition, the current to the RUP IN +load exceeds the current to the output capacitor; RDOWN EN Comparator +thus the output voltage tends to fall off. The +output voltage drops until VFB is below the Under- EN +Voltage (UV) threshold—typically 60% below the +reference. Once UV is triggered, the MP8765 Figure 9: Adjustable UVLO +enters hiccup mode to periodically restart the part. +This protection mode is especially useful when Thermal Shutdown +the output is dead-shorted to ground, and greatly +reduces the average short circuit current to Thermal shutdown is employed in the MP8765. +alleviate thermal issues and protect the regulator. The junction temperature of the IC is internally +The MP8765 exits the hiccup mode once the monitored. If the junction temperature exceeds +over-current condition is removed. the threshold value (typical 150ºC), the converter + shuts off. This is a non-latch protection. There is +Over Voltage Protection (OVP) about 25ºC hysteresis. Once the junction + temperature drops to about 125ºC, it initiates a +MP8765 monitors a resistor divided feedback SS. +voltage to detect over voltage. When the +feedback voltage becomes higher than 115% of Output Discharge +the target voltage, the controller will enter +Dynamic Regulation Period. During this period, MP8765 discharges the output when EN is low, +the LS is on until the LS current goes to -2.5A, or the controller is turned off by the protection +this will then discharge the output and try to keep functions (UVP & OCP, OCP, OVP, UVLO, and +it within the normal range. Part will exit this thermal shutdown). The part discharges outputs +regulation period when feedback voltage is using an internal 6Ω MOSFET which is +decreased to below 105% of the reference connected to VOUT and GND. The external low- +voltage. If the dynamic regulation can not limit side MOSFET is not turned on for the output +the increasing of the Vout, once the feedback discharge operation to avoid the possibility of +voltage becomes higher than 130% of the causing negative voltage at the output. +feedback voltage, the HS turns off and the LS +works at saturated mode as a current source to +discharge the output. This state will keep on until +the feedback voltage drops to below 115% of the +reference voltage. + +UVLO Protection + +The MP8765 has under-voltage lock-out +protection (UVLO). When the VCC voltage is +higher than the UVLO rising threshold voltage, +the part will be powered up. It shuts off when the +VIN voltage is lower than the UVLO falling +threshold voltage. This is non-latch protection. +The part is disabled when the VCC voltage falls +below 4.6V. If an application requires a higher +under-voltage lockout (UVLO), use the EN pin as +shown in Figure 9 to adjust the input voltage +UVLO by using two external resistors. It is +recommended to use the enable resistors to set +the UVLO falling threshold (VSTOP) above 4.6V. +The rising threshold (VSTART) should be set to +provide enough hysteresis to allow for any input +supply variations. + +MP8765 Rev. 1.1 www.MonolithicPower.com 15 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +APPLICATION INFORMATION + +Setting the Output Voltage---without external If the system is not stable enough when low ESR +compensation + ceramic capacitor is used in the output, an + +For applications that electrolytic capacitor or POS external voltage ramp should be added to FB +capacitor with a controlled output of ESR is set +as output capacitors, or the internal through resistor R4 and capacitor C4. The output +compensation is enough for a stable operation +when ceramic capacitors is used, then the voltage is influenced by ramp voltage VRAMP +external compensation is not need. The output +voltage is set by feedback resistors R1 and R2. besides R divider as shown in Figure 11. The +As Figure 10 shows. + VRAMP can be calculated as shown in equation 7. + + R2 should be chosen reasonably, a small R2 will + + lead to considerable quiescent current loss while + + too large R2 makes the FB noise sensitive. It is + + SW recommended to choose a value within 5kΩ- + + L Vo 100kΩ for R2. Typically, set the current through + + R2 between 5-30uA will make a good balance + + R1 ESR between system stability and also the no load + + FB loss. And the value of R1 then is determined as + + R2 POSCAP follow: + + R1= R2 (14) + VFB(AVG) +Figure10: Simplified Circuit of POS Capacitor (VOUT -VFB(AVG) ) - R2 + R4 +R9 + +First, choose a value for R2. R2 should be The VFB(AVG) is the average value on the FB, +chosen reasonably, a small R2 will lead to +considerable quiescent current loss while too VFB(AVG) varies with the Vin, Vo, and load +large R2 makes the FB noise sensitive. It is +recommended to choose a value within 5kΩ- condition, etc., its value on the skip mode would +100kΩ for R2. Typically, set the current through +R2 between 5-30uA will make a good balance be lower than that of the PWM mode, which +between system stability and also the no load +loss. Then R1 is determined as follow with the means the load regulation is strictly related to the +output ripple considered: + VFB(AVG). Also the line regulation is related to the + + VFB(AVG). If one wants to gets a better load or line + + regulation, a lower Vramp is suggested, as long + + as the criterion shown in equation 8 can be met. + + VOUT  1 VOUT  VREF For PWM operation, VFB(AVG) value can be + 2 deduced from the equation below. + +R1  VREF  R2 (13) VFB( AVG)  VREF  1 VRAMP  R1 // R2 (15) + 2 R1 // R2  R9 +VOUT is the output ripple. + Usually, R9 is set to 0Ω, and it can also be set +Setting the Output Voltage---with external +compensation following equation 14 for a better noise immunity. + + It should also set to be 5 times smaller than + + SW R1//R2 to minimize its influence on Vramp. + + L Vo R9 1 (16) + 2C4  2FSW +  + + FB R4 C4 R1 Using equation 13 to calculate the R1 can be + Ceramic + R9 complicated. To simplify the calculation, a DC- + R2 + blocking capacitor Cdc can be added to filter the + + DC influence from R4 and R9. Figure 12 shows + + a simplified circuit with external ramp + +Figure11: Simplified Circuit of Ceramic Capacitor compensation and a DC-blocking capacitor. With + + this capacitor, R1 can easily be obtained by + +MP8765 Rev. 1.1 www.MonolithicPower.com 16 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +using the simplified equation for PWM mode ICIN  IOUT (19) + 2 +operation: + + (VOUT  VREF  1 VRAMP ) (17) For simplification, choose the input capacitor with + 2 an RMS current rating greater than half of the + R1  1 R2 maximum load current. + 2 + VREF  VRAMP + +Cdc is suggested to be at least 10 times larger The input capacitance value determines the input + voltage ripple of the converter. If there is an input +than C4 for better DC blocking performance, and voltage ripple requirement in the system, choose + the input capacitor that meets the specification. +should also not larger than 0.47uF considering + +start up performance. In case one wants to use + +larger Cdc for a better FB noise immunity, The input voltage ripple can be estimated as + follows: +combined with reduced R1 and R2 to limit the + +Cdc in a reasonable value without affecting the + +system start up. Be noted that even when the VIN IOUT VOUT  (1 VOUT ) (20) + FSW  CIN VIN VIN +Cdc is applied, the load and line regulation are   + +still Vramp related. + + SW Under worst-case conditions where VIN = 2VOUT: + + L Vo + + FB R4 C4 R1 VIN  1  IOUT (21) + Ceramic 4 FSW  CIN + + Cdc R2 + + Figure12: Simplified Circuit of Ceramic Capacitor Output Capacitor + with DC blocking capacitor + The output capacitor is required to maintain the +Input Capacitor DC output voltage. Ceramic or POSCAP + capacitors are recommended. The output voltage +The input current to the step-down converter is ripple can be estimated as: +discontinuous and therefore requires a capacitor +to supply the AC current to the step-down VOUT  VOUT  (1 VOUT )  (RESR  1 ) (22) +converter while maintaining the DC input voltage. FSW  L VIN 8  FSW  COUT +Ceramic capacitors are recommended for best +performance and should be placed as close to In the case of ceramic capacitors, the impedance +the VIN pin as possible. Capacitors with X5R and at the switching frequency is dominated by the +X7R ceramic dielectrics are recommended capacitance. The output voltage ripple is mainly +because they are fairly stable with temperature caused by the capacitance. For simplification, the +fluctuations. output voltage ripple can be estimated as: + +The capacitors must also have a ripple current VOUT  VOUT  (1 VOUT ) (23) +rating greater than the maximum input ripple 8  FSW2  L  COUT VIN +current of the converter. The input ripple current +can be estimated as follows: The output voltage ripple caused by ESR is very + small. Therefore, an external ramp is needed to + stabilize the system. The external ramp can be + generated through resistor R4 and capacitor C4. + + ICIN  IOUT  VOUT  (1 VOUT ) (18) In the case of POSCAP capacitors, the ESR + VIN VIN dominates the impedance at the switching + frequency. The ramp voltage generated from the +The worst-case condition occurs at VIN = 2VOUT, ESR is high enough to stabilize the system. +where: Therefore, an external ramp is not needed. A + minimum ESR value around 12mΩ is required to + ensure stable operation of the converter. For + +MP8765 Rev. 1.1 www.MonolithicPower.com 17 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +simplification, the output ripple can be PG Pull-Up +approximated as: + It is recommended that PG is pulled up to VCC +VOUT  VOUT  (1 VOUT )  RESR (24) for proper operation. If PG is pulled up to external + FSW  L VIN voltage or if connecting two or more PG together, + connect a diode from PG to EN as shown in +Maximum output capacitor limitation should be Figure 13 and Figure 14. In this case PG will de- +also considered in design application. MP8765 assert low when EN signal is low. But PG will not +has an around 7ms soft-start time period. If the de-assert low when input power is off and EN +output capacitor value is too high, the output signal is high condition. +voltage can’t reach the design value during the + External 3.3V +soft-start time, and then it will fail to regulate. The +maximum output capacitor value Co_max can be 100kΩ +limited approximately by: + PG +CO _ MAX  (ILIM _ AVG  IOUT )  Tss / VOUT (25) MP8765 + +Where, ILIM_AVG is the average start-up current EN +during soft-start period. Tss is the soft-start time. + Figure 13: PG Pull up to external power supply +Inductor with enable control signal --- Single PG Output + +The inductor is necessary to supply constant External 3.3V +current to the output load while being driven by +the switched input voltage. A larger-value 100kΩ +inductor will result in less ripple current that will +result in lower output ripple voltage. However, a PG +larger-value inductor will have a larger physical MP8765 +footprint, higher series resistance, and/or lower +saturation current. A good rule for determining EN +the inductance value is to design the peak-to- +peak ripple current in the inductor to be in the PG +range of 30% to 40% of the maximum output MP8765 +current, and that the peak inductor current is +below the maximum switch current limit. The EN +inductance value can be calculated by: + Figure 14: PG Pull up to external power supply + L  VOUT  (1 VOUT ) (26) with enable control signal --- PG parallel Output + FSW  IL VIN + +Where ∆IL is the peak-to-peak inductor ripple +current. + +The inductor should not saturate under the +maximum inductor peak current, where the peak +inductor current can be calculated by: + + ILP  IOUT  VOUT  (1 VOUT ) (27) + 2FSW  L VIN + +MP8765 Rev. 1.1 www.MonolithicPower.com 18 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +PCB Layout Guide 5. The external feedback resistors should be +1. The high current paths (GND, IN, and SW) placed next to the FB pin. Make sure that + there is no via on the FB trace. + should be placed very close to the device + with short, direct and wide traces. 6. Keep the BST voltage path (BST, C3, and + SW) as short as possible. +2. Put the input capacitors as close to the IN + and GND pins as possible. 7. Keep the IN and GND pads connected with + large copper to achieve better thermal +3. Put the decoupling capacitor as close to the performance. Add several Vias with + VCC and GND pins as possible. Place the 10mil_drill/18mil_copper_width close to the + Cap close to AGND if the distance is long. IN and GND pads to help on thermal + And place >3 Vias if via is required to reduce dissipation. + the leakage inductance. + 8. Four-layer layout is strongly recommended to +4. Keep the switching node SW short and away achieve better thermal performance. + from the feedback network. + Note: + + Please refer to the PCB Layout Application Note for more details. + + AG ND KL E V IN AG ND + CO NNECT T O PG ND + EN + V IN + 14 13 12 11 10 + + SW + + 1 + + 15 S W 9 + + 2 + + 16 S W 8 + + 3 4 5 6 7 + VO UT + PG MOD E + + GN D V OUT + + Figure 15: Recommend Layout + +Recommend Design Example The detailed application schematic is shown in + Figure 16 when low ESR caps are used. The +A design example is provided below when the typical performance and circuit waveforms have +ceramic capacitors are applied: been shown in the Typical Performance + Characteristics section. For more possible + Table 1: Design Example applications of this device, please refer to + related Evaluation Board Data Sheets. +VOUT Cout L R4 C4 R9 R1 R2 + (V) (F) (μH) (Ω) (F) (Ω) (kΩ) (kΩ) + +1.05 22μx2+47μ 1.2 1M 220p 499 63.4 82 + +5.0 22μx3 2 1M 220p 499 150 18 + +MP8765 Rev. 1.1 www.MonolithicPower.com 19 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +TYPICAL APPLICATION + +Note: Recommend to pull-up PG to IC VCC pin. If need pull-up PG to external power supply, please refer to the PG description in application +information section. + + Figure 16: Typical Application Circuit with Low ESR Ceramic Output Capacitor + VIN=6.5-22V, VOUT=1.05V, IOUT=6A + +Note: Recommend to pull-up PG to IC VCC pin. If need pull-up PG to external power supply, please refer to the PG description in application +information section. + + Figure 17: Typical Application Circuit with Low ESR Ceramic Output Capacitor + + VIN=7-22V, VOUT=5V, IOUT=6A + +MP8765 Rev. 1.1 www.MonolithicPower.com 20 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + MP8765 ─ 24V, HIGH CURRENT SYNCHRONOUS STEP-DOWN CONVERTER + +PACKAGE INFORMATION + + QFN16 (3mm x 3mm) + + PIN 1 ID PIN 1 ID + MARKING 0.10x45° TYP. + +PIN 1 ID +INDEX AREA + + TOP VIEW BOTTOM VIEW + + SIDE VIEW NOTE: + + 0.10x45° 1) ALL DIMENSIONS ARE IN MILLIMETERS. + 2) EXPOSED PADDLE SIZE DOES NOT + RECOMMENDED LAND PATTERN INCLUDE MOLD FLASH. + 3) LEAD COPLANARITY SHALL BE 0.10 + MILLIMETERS MAX. + 4) JEDEC REFERENCE IS MO-220. + 5) DRAWING IS NOT TO SCALE. + +NOTICE: The information in this document is subject to change without notice. Users should warrant and guarantee that third +party Intellectual Property rights are not infringed upon when integrating MPS products into any application. MPS will not +assume any legal responsibility for any said applications. + +MP8765 Rev. 1.1 www.MonolithicPower.com 21 + +7/23/2019 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited. + + © 2019 MPS. All Rights Reserved. + diff --git a/Docs/开发笔记.md b/Docs/开发笔记.md new file mode 100644 index 0000000..65e59f9 --- /dev/null +++ b/Docs/开发笔记.md @@ -0,0 +1,7 @@ +## 1、Pibot电源稳压问题 + +​ `Pibot`采用的是`LM2596S`的稳压方案，1、输入电压范围：直流`3.2V `至 `40V` (输入的电压必须比要输出的电压高`1.5V`以上。不能升压)产品特点。输出电压范围：直流 `1.25V`至 `35V` 电压连续可调，高效率(可高达92%)输出电流可达`3A`。长时间工作建议在`2.5A`以内的电流使用，同时加上散热片(`10W`以上输出)；由于是降压模块,为了保证输出稳定,请保持最小`1.5V`压差。 + +​ **暂时不明白的问题在于，为什么输入`24V`电压多次导致`STM32`损坏。** + +​ \ No newline at end of file diff --git a/Hardware/PCB/RebotHardwareControl_Tiny_v1.0/__Previews/GeekRebot.SchDocPreview b/Hardware/PCB/RebotHardwareControl_Tiny_v1.0/__Previews/GeekRebot.SchDocPreview new file mode 100644 index 0000000..bd76236 --- /dev/null +++ b/Hardware/PCB/RebotHardwareControl_Tiny_v1.0/__Previews/GeekRebot.SchDocPreview @@ -0,0 +1,14 @@ +[Preview] +LargeImageOriginalSize=2860000 +LargeImageWidth=1000 +LargeImageHeight=715 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469E2A635E20E9983F868CFA44CE3EE7B817DB4F7F72D73AFB15796A5E85D7932779735EBF5FEE8D8C74F2FDDAFB534695513E64CCFBE19948CB33E22B878CF7441D50172A233F64D419EFC92FE33D21A7AE9B5E7A5D9E5165E4CF772932FB3EB84EDB0B32AE655D4A959197CA7876EEC5FBE7DE8532BE25CA8A8CF7ADEF90EF8B717FDA2132AECDBF435B17B44D64DC8FF6EC7FBFD417ED5E65FA9E5446BD53E681B31745467E2AEBAB6B90FB11534FDF17F92283674847BD1FFBF9A192FA834B6BB7048532070707876AC2CF4F7ADC1F8DCBBA347EBE224608FE04E8DCC40C611EBB1E13D799F157D5C7F5DA156F0D347C10A61363962BD7CF6DC30F44D64BF6CE6B3A8E73712167E578C9B7B6D49A37F78FB17F5D7B18B9BF3CEC2F2F56669CFD4E8398003C876CBD7508A83FEA58EAC493695DE53093AF0FFC3EA823955197A4555F105DEF44DE9BCD43DF9B9E2FAC6F078720014E4A8D4F0947E9B15FE6BF96D805C45C6EF9F36BD2264E1E3C24E319ED6FBF237339AF7FF477999BC6B5270FDE2F6391B4912BAFBD2EE7E34DCDB2AE91E697BA6EFB222FBE2C73E89B5E7C49AEAF3B708FF0E1C5E70E8B3FF495BFBC21D7713DEDF7CBC77F23FBE4FBC52FEF96F6153DF7B5B431CAC335671EFBF5066EAC15CC24D35277D40131D138D776F46F793F7C6433A98CEC9FB8E75E8985C2FA76A4A33EE0A086471F137F4CAD4BEA0A9F73D210BBAEFEC18724DD85679E953854F87BF23E49CF79EAB396C6DA283B739A798E55DF7BA70EF05D146ECFCE481D1267CDFF6CB2B6D3166B643B040BA5DAAF007383E111E26DF02D343CF2A8693B72D4A4AEE5D6B0C1079DB6C53E32C9A3372C7CC53EEDE6D4A15F99AB6FBC69BE7AEA69F97EDADFCE5DDF5F7F467CFDEB1F78D0E6F1B6097DF2A99C47AE6DF5F2CBB6AFFDDE07F95869DC833C290BC7C77E769739FDF0A379CEAC45C0BF5A77D4373C73F9E557F275804CD71CCB3FBFE71F0E7F9DFFFD3379FF62E4E84ED40F7309475AAE4AFDC059AC95A7EF4D21D75B7ED3FAAC259C3AF4803C6BF8C4299927C99A891DEFBE27BAA5FAD45FF8C3B3F6DB59338DCFBF20FFB5E6575E95EBE0387CF1ABFD0C0EDBA31CBE623DCC734F3C296D84794879BEEACAC518662E7CDB5B47657F1D5FBDFE57D927DD897B0FE6F32BE4AB9E7F7D2EE9E09B338F3D2EE795AFF8479EB8F73EF926F1F94546FB645EDAA4A71B921699725D2DC2CF571DEFBC671A0FBF203A4F31BE82DB89E535E6C5784646CC26384BE5AC7DA76B98B236A5D62B79B30E93BC17AB6FD0AED1AF323DE17C7DD612B4CE40DDDD07CCC9FBEEB7DFCC0FBE86D459E31F0FCB3ECFCDFCEF2F7E7177D5CBED501ECAE12BBE01FDC65913B6FE8187E45F4CAC6EB8E8DA871F899D6A2E3391FBF7DB7640FBA14F875D85F55E63E71BF3F9D1DF6B7DF388D85FBEFADD5332D683FE85FDA9CE7211D7B4BE7544DA1CFFCDD0C7B939D7C416206FFA351CD3966FFDE73B49CBFF5239B31641FC4AEA95786F9FFCE8C712F78573D40173B4A857F88B391AFEE7CFBD9F83F23E4E3FF4881CAB9CB4526FC7EBA41ED947BFE878F7FD7C5F91BE78FD830FAFCBAF96A07CA576027859E737A9AD4FF90AFD93FF2CDF8BA6E79A6A3F83C3F62895AF789FFED8F47C17FC8735763776007886F3FE5811CC4FA68F814EAE71B415B42DAE215EADFCE3ED3DB04110EB6CCD9BAF297328ED753A9732776ED8D33972EB4A61BB4127937DCFB653AB80BBA967E2886BBF16DB0B75809EA4F54AFF458FD9D247669F741A439DBA149B8D176352E2ABFB7C9468CF5CC39C55DE9DE64D7D56BB1ECA418EA30EC8F711FAC7271247806F84F80FE88DAC91C0339DFDED1312BB029B06314791A7ED7F977A561E770836CAD1AF1C1C82089D0BCFBFD16F4B670C8839C3E88EF971D7827163F4D8D9F484F05AB59FC3617B38BE727070A81538BE727070A815549AAFC66D9AA19184992A33B6E5ECC2B299767E8A0E0E0E5BA054BEC2A639108B9BA9D9799318CBC8DA80A11BBD263BBB6092E971590F21161F913451BB1D4EA4E4383BB760C6C6274DA8A7D74C64676C1E43263C103533DEDA6E71CB6DA465BD17D2683C3EF24C138F727AD64CCF2F9AD8F0681E431623C931131F4DCA3D280FF761BFDAF5E9E0E0B0772847BFEAF5C6B9A766E6CDE5962B2691CAF184F2137264F0C7682A2DC7F05957778F5C832C3C30289C93F5C6BEB866D2EA629A7ECEB387DEFAF6BFA6C75B2B957D649AFFA0E5CD5466227F4EF3EBADC17178070787D2B113BE42DFE9EEE913DD2731362EBAD0E4F49CF403E79756452F8243E0A8C1A16133BBB86C26ECB57018D7A95E465E5DDD374C5F64407430FA92D373B9F332E7D0F60FD1A338EEBCDE65228331AB8B6585DB66E6974CB87FD00C4487E45EF018FA56B5EBD3C12148E09FCF3A9ED52E47A5504E7F90678767E0A09522FE75734BA5CD3186C7C8873C37D3891656D6F2DCC6BDFA229BC763D6FC4ABDBF83C37E057D11FEE7D86DB009DFE80D4BFF85E3EE9E5E3946AFC00E43BBD1FE096D1A7B4D64206AFA077331996953F495D02338874E909EC8E6B8201C11B0F630EBCA913FBA85F681D04DC67DFC413F8CFC973C1F5EBF6EC1FDFDE926B29BC75D74E3830E0EFB07F47D92E9DCFA9063E353C203F04B7BE7B53C3F69BF4579028E8287E833A9ED85F41C93167B4ECEB6332F761864D89BE143F86C61794DF84CFB44C865BE4B574838887E51BFED07710EBEECEB1F30972E374B3F2CA2E9E6FDE9368F65ECF8CAC161FF009D4839852DBA16FA14E35BF457DA3BAF0B8720C39ED3793D64FB25ABC25F8BAB3745B7A14F437AD6B64427D2317FC6B334EE147D4C7434D26103828F3837E7D983566E7E63A243C3F972F54763DE76486C39FE7E15E9B8AFA68B796B241743397C4579C997BE197A5DC7B5DCB3F3CCE87794010EE7F942377A640D347446EECF96B521A90BECF4C3A329E174F8996B576F6F3D7F0BDE8F0C4645FFBC1EBA21CFAFFD3FFAA973351AEFCAC1A192A05F46BB624E16B6E5C2F5EF18ABF21FAF16F8F573BD9F673603ED9DB67CEBDBEFE57EF0245C405B5EB4ED1C7BB4F62B01FA13DC016F90C6CF49F0053A9CA6DBEAFEE5F095EA69F0133C03475356784AC70387BC7274F7F6E56D4FDC1F2EA70FCB35F01DBA22D7616F2F655C0F1E4F6526858B972D07C3E92A23FD5291758E1D1C1CF617CA1A1F8CE478054E8687E1727888F13FFACCF0061C09D8476742F74127C2C78AF36DED9DC2CDE89EE356D7A4BF7B3DD4BD81E7FDE05E23C9B47015D78B2F58F487B9D78EAF1C1CFE3F500E5F615FD331836279D1C7654BDF0D7D4FF948E537BFF92EEF9FE0C7CD32D63581B3D033E3233FAC790BFF151BAF747070D85F70F6760707875A81E32B0707875A81E32B0707875A81E32B0707875AC1567C85DD9CE36AA3373258F532D44AB98258A6A0962B88650A6AB98252A6B582B139CE5582074752E90D79578A53770AFCB6525E0CF820956B666159FC82835426C65B87469281AB2B7C8E67BD35E88352A6D9C515F1430C5A5DE1CF1EB43251573A5F2848E51A4E6CF45BA87699D66E7F1B48BECA4CCD048EAFD0AD83C857C3C9B4CC13095299F03F0C225FD1062B159BA15265621E4A6C385191BC4050F4BE20EAA2B550AE209629A8E50A6299825AAE209609FC0FEAA620BB + diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/delay.c b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/delay.c index 0c91fb4..2257c81 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/delay.c +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/delay.c @@ -33,19 +33,19 @@ void SysTick_Handler(void) } } -float PB_Get_System_Time(void) +float getSystemTime(void) { float count , time; - count = (float)( (reload + 1 - SysTick->VAL) + (float)(reload + 1) * count_time ); + count = (float)( (reload + 1 - SysTick->VAL) + (float)(reload + 1) * count_time); time = count/count_us; return time; } -float PB_Get_Dtime(void) +float getDeltaTime(void) { - static float lasttime ; + static float lasttime; float temp1,temp2; - temp1 = PB_Get_System_Time(); + temp1 = getSystemTime(); temp2 = temp1 - lasttime; if(temp2 < 0) { diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/delay.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/delay.h index b8ea020..363b3af 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/delay.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/delay.h @@ -8,12 +8,12 @@ extern "C" { #include "stm32f10x.h" /**********************************************************************************************************************/ -void delay_ms(uint16_t t); //using timer to delay time, max delay time is 1864ms -void delay_us(uint16_t t); //using timer to delay time, max delay time is 1864ms +void delay_ms(uint16_t t); // using timer to delay time, max delay time is 1864ms +void delay_us(uint16_t t); // using timer to delay time, max delay time is 1864ms /**********************************************************************************************************************/ -void PB_System_Timer_Init(void); //Initialize the Time measurement system -float GetSystemTime(void); //Return the current time(us), max:281474976s--->3257.8 days -float PB_Get_Dtime(void); // Return the time difference(us). max:655s +void PB_System_Timer_Init(void); // Initialize the Time measurement system +float getSystemTime(void); // Return the current time(us), max:281474976s--->3257.8 days +float getDeltaTime(void); // Return the time difference(us). max:655s #ifdef __cplusplus } diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c index 85c5b83..1931d4c 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c @@ -126,7 +126,7 @@ float PB_Get_Encode_TIM2(void) return cnt; } -float PB_Get_Encode_TIM3(void) +float Get_EncoderTIM3(void) { float cnt; cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM3->CNT)) ; @@ -134,7 +134,7 @@ float PB_Get_Encode_TIM3(void) return cnt; } -float PB_Get_Encode_TIM4(void) +float Get_EncoderTIM4(void) { float cnt; cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM4->CNT)) ; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.h index ae9db96..b95f6f7 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.h @@ -9,8 +9,8 @@ extern "C" { void Encoder_Init(TIM_TypeDef* TIMx , unsigned char GPIO_AF); float PB_Get_Encode_TIM5(void);//What you get here is the total angle. -float GetEncoderTIM4(void); -float GetEncoderTIM3(void); +float Get_EncoderTIM4(void); +float Get_EncoderTIM3(void); float PB_Get_Encode_TIM2(void); #ifdef __cplusplus diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/usart.c b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/usart.c index 99682e8..bc0d3f4 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/usart.c +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/usart.c @@ -251,7 +251,7 @@ static char *itoa(int value, char *string, int radix) } /* NCL_Itoa */ -void PB_USART_printf(USART_TypeDef* USARTx, uint8_t *Data,...) +void USART_printf(USART_TypeDef* USARTx, uint8_t *Data,...) { const char *s; int d; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/usart.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/usart.h index daad000..463f69d 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/usart.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/usart.h @@ -12,7 +12,7 @@ extern "C" { //Initilaize the serial, First Parameter:USART1,USART2,USART3; 2nd Para:bits rate; 3rd: IO reuse void PB_USART_Init(uint8_t USART_Channel ,unsigned int BaudRate,unsigned char GPIO_AF); void PB_USART_Put_Char(uint8_t USART_Channel , unsigned char Tx_Byte); //USARTx to print 1 byte -void PB_USART_printf(USART_TypeDef* USARTx, uint8_t *Data, ...); //format output as printf in C standard library +void USART_printf(USART_TypeDef* USARTx, uint8_t *Data, ...); //format output as printf in C standard library //int fputc(int ch, FILE *f); diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp index f398238..0484f34 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp @@ -311,7 +311,7 @@ void Board_STM32::motor_pwm(unsigned char num, long pwm_value) unsigned long Board_STM32::getTickCount() { - return GetSystemTime() / 1000; + return getSystemTime() / 1000; } void Board_STM32::encoder_init(unsigned char motor_id) @@ -326,9 +326,9 @@ void Board_STM32::encoder_init(unsigned char motor_id) long Board_STM32::getEncoderCount(unsigned char motorId) { if (motorId == MOTOR_1) { - return GetEncoderTIM3(); + return Get_EncoderTIM3(); } else if (motorId == MOTOR_2) { - return GetEncoderTIM4(); + return Get_EncoderTIM4(); } return 0; } diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Board/print.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Board/print.h index 1eb1cd3..eefd6d3 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Board/print.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Board/print.h @@ -4,9 +4,9 @@ #include #if DEBUG_ENABLE -#define pb_printf(format,...) printf("" __FILE__ ":%d - " format "\r\n", __LINE__, ##__VA_ARGS__) + #define log(format,...) printf("" __FILE__ ":%d - " format "\r\n", __LINE__, ##__VA_ARGS__) #else -#define pb_printf(format,...) + #define log(format,...) #endif #endif diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp index 86b0138..cdc97c8 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp @@ -2,7 +2,7 @@ #include "board.h" #include -Data_holder::Data_holder() +DataHolder::DataHolder() { strncpy((char*)&firmware_info.version, FW_VERSION, strlen(FW_VERSION)>sizeof(firmware_info.version)?sizeof(firmware_info.version):strlen(FW_VERSION)); sprintf(firmware_info.time, "%s", "20220301"); @@ -13,7 +13,7 @@ Data_holder::Data_holder() memset(imu_data, 0, sizeof(imu_data)); } -void Data_holder::load_parameter() +void DataHolder::loadParameter() { Board::get()->get_config((unsigned char*)¶meter, sizeof(parameter)); @@ -30,7 +30,7 @@ void Data_holder::load_parameter() parameter.params.model_type = MODEL_TYPE_2WD_DIFF; // in stm32f1 fix 2wd } -void Data_holder::save_parameter() +void DataHolder::save_parameter() { Board::get()->set_config((unsigned char*)¶meter, sizeof(parameter)); parameter.params.model_type = MODEL_TYPE_2WD_DIFF; // in stm32f1 fix 2wd diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h index 6004afd..116cf9e 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h @@ -1,5 +1,5 @@ -#ifndef DATA_HOLDER_H_ -#define DATA_HOLDER_H_ +#ifndef DataHolder_H_ +#define DataHolder_H_ #include @@ -82,20 +82,20 @@ struct Robot_pwm_value short value[4]; }; -class Data_holder +class DataHolder { public: - static Data_holder* get() { - static Data_holder dh; + static DataHolder* get() { + static DataHolder dh; return &dh; } - void load_parameter(); + void loadParameter(); void save_parameter(); private: - Data_holder(); + DataHolder(); public: struct Robot_firmware firmware_info;//版本信息 struct Robot_parameter parameter; //参数 diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY65.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY65.cpp index f7958c1..42035eb 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY65.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY65.cpp @@ -15,7 +15,7 @@ bool GY65::init() if (!mpu6050.testConnection()) { #if IMU_DEBUG_ENABLE - pb_printf("MPU6050 NOT FOUND!"); + log("MPU6050 NOT FOUND!"); #endif return false; } @@ -26,14 +26,14 @@ bool GY65::init() #if IMU_DEBUG_ENABLE uint8_t buffer=0; Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, &buffer); - pb_printf("MPU6050_RA_PWR_MGMT_1=%d", buffer); + log("MPU6050_RA_PWR_MGMT_1=%d", buffer); Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, &buffer); - pb_printf("MPU6050_RA_GYRO_CONFIG=%d", buffer); + log("MPU6050_RA_GYRO_CONFIG=%d", buffer); Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, &buffer); - pb_printf("MPU6050_RA_ACCEL_CONFIG=%d", buffer); + log("MPU6050_RA_ACCEL_CONFIG=%d", buffer); #endif - pb_printf("GY65 INIT SUCCESS!"); + log("GY65 INIT SUCCESS!"); return true; } @@ -43,7 +43,7 @@ void GY65::get_data(float* imu_data) mpu6050.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); #if IMU_DEBUG_ENABLE - pb_printf("[%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz); + log("[%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz); #endif imu_data[0] = ax*ADX_SCALE; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY85.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY85.cpp index d549951..c2e6603 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY85.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY85.cpp @@ -15,7 +15,7 @@ bool GY85::init() if (!accel.testConnection()) { #if IMU_DEBUG_ENABLE - pb_printf("ADXL345 NOT FOUND!"); + log("ADXL345 NOT FOUND!"); #endif return false; } @@ -34,16 +34,16 @@ bool GY85::init() #if IMU_DEBUG_ENABLE uint8_t buffer=0; Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_POWER_CTL, &buffer); - pb_printf("ADXL345_RA_POWER_CTL=%d", buffer); + log("ADXL345_RA_POWER_CTL=%d", buffer); Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_DATA_FORMAT, &buffer); - pb_printf("ADXL345_RA_DATA_FORMAT=%d", buffer); + log("ADXL345_RA_DATA_FORMAT=%d", buffer); Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_BW_RATE, &buffer); - pb_printf("ADXL345_RA_BW_RATE=%d", buffer); + log("ADXL345_RA_BW_RATE=%d", buffer); #endif if (!gyro.testConnection()) { #if IMU_DEBUG_ENABLE - pb_printf("ITG3205 NOT FOUND!"); + log("ITG3205 NOT FOUND!"); #endif return false; } @@ -62,16 +62,16 @@ bool GY85::init() #if IMU_DEBUG_ENABLE Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_PWR_MGM, &buffer); - pb_printf("ITG3200_RA_PWR_MGM=%d", buffer); + log("ITG3200_RA_PWR_MGM=%d", buffer); Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_DLPF_FS, &buffer); - pb_printf("ITG3200_RA_DLPF_FS=%d", buffer); + log("ITG3200_RA_DLPF_FS=%d", buffer); Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_SMPLRT_DIV, &buffer); - pb_printf("ITG3200_RA_SMPLRT_DIV=%d", buffer); + log("ITG3200_RA_SMPLRT_DIV=%d", buffer); #endif if (!mag.testConnection()) { #if IMU_DEBUG_ENABLE - pb_printf("HMC5883L NOT FOUND!"); + log("HMC5883L NOT FOUND!"); #endif return false; } @@ -89,14 +89,14 @@ bool GY85::init() #if IMU_DEBUG_ENABLE Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_B, &buffer); - pb_printf("HMC5883L_RA_CONFIG_B=%d", buffer); + log("HMC5883L_RA_CONFIG_B=%d", buffer); Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_A, &buffer); - pb_printf("HMC5883L_RA_CONFIG_A=%d", buffer); + log("HMC5883L_RA_CONFIG_A=%d", buffer); Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_MODE, &buffer); - pb_printf("HMC5883L_RA_MODE=%d", buffer); + log("HMC5883L_RA_MODE=%d", buffer); #endif - pb_printf("GY85 INIT SUCCESS!"); + log("GY85 INIT SUCCESS!"); return true; } @@ -119,7 +119,7 @@ void GY85::get_data(float* imu_data) } i++; #if IMU_DEBUG_ENABLE - pb_printf("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz); + log("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz); #endif imu_data[0] = ax*ADXL345_SCALE; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY87.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY87.cpp index 248ffdc..6c48de9 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY87.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY87.cpp @@ -13,13 +13,13 @@ bool GY87::init() { delay_ms(500); #if IMU_DEBUG_ENABLE - pb_printf("GY87::init"); + log("GY87::init"); #endif Board::get()->i2c_init(); if (!mpu6050.testConnection()) { #if IMU_DEBUG_ENABLE - pb_printf("MPU6050 NOT FOUND!"); + log("MPU6050 NOT FOUND!"); #endif return false; } @@ -30,16 +30,16 @@ bool GY87::init() #if IMU_DEBUG_ENABLE uint8_t buffer=0; Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, &buffer); - pb_printf("MPU6050_RA_PWR_MGMT_1=%d", buffer); + log("MPU6050_RA_PWR_MGMT_1=%d", buffer); Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, &buffer); - pb_printf("MPU6050_RA_GYRO_CONFIG=%d", buffer); + log("MPU6050_RA_GYRO_CONFIG=%d", buffer); Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, &buffer); - pb_printf("MPU6050_RA_ACCEL_CONFIG=%d", buffer); + log("MPU6050_RA_ACCEL_CONFIG=%d", buffer); #endif if (!mag.testConnection()) { #if IMU_DEBUG_ENABLE - pb_printf("HMC5883L NOT FOUND!"); + log("HMC5883L NOT FOUND!"); #endif return false; } @@ -57,14 +57,14 @@ bool GY87::init() #if IMU_DEBUG_ENABLE Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_B, &buffer); - pb_printf("HMC5883L_RA_CONFIG_B=%d", buffer); + log("HMC5883L_RA_CONFIG_B=%d", buffer); Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_A, &buffer); - pb_printf("HMC5883L_RA_CONFIG_A=%d", buffer); + log("HMC5883L_RA_CONFIG_A=%d", buffer); Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_MODE, &buffer); - pb_printf("HMC5883L_RA_MODE=%d", buffer); + log("HMC5883L_RA_MODE=%d", buffer); #endif - pb_printf("GY87 INIT SUCCESS!"); + log("GY87 INIT SUCCESS!"); return true; } @@ -83,7 +83,7 @@ void GY87::get_data(float* imu_data) i++; #if IMU_DEBUG_ENABLE -// pb_printf("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz); +// log("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz); #endif imu_data[0] = ax*ADX_SCALE; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp index fa69919..28a82cb 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp @@ -74,6 +74,6 @@ uint8_t MPU6050::getDeviceID() { buffer[0]=0xff; Board::get()->i2c_read_bits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer); - pb_printf("MPU6050 id: 0x%02x", buffer[0]); + log("MPU6050 id: 0x%02x", buffer[0]); return buffer[0]; } diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp index ec82306..bbb7a6d 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp @@ -12,28 +12,28 @@ Joystick::Joystick() bool Joystick::init() { - pb_printf("init joystick"); + log("init joystick"); //PS2_SetInit(); #if 0 - unsigned long start = Board::get()->get_tick_count(); - while(Board::get()->get_tick_count()-start>500){ + unsigned long start = Board::get()->getTickCount(); + while(Board::get()->getTickCount()-start>500){ ; } error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble); if (error == 0) { - pb_printf("Teleop start"); + log("Teleop start"); return true; } if (error == 1) - pb_printf("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips"); + log("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips"); else if (error == 2) - pb_printf("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips"); + log("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips"); else if (error == 3) - pb_printf("Controller refusing to enter Pressures mode, may not support it. "); + log("Controller refusing to enter Pressures mode, may not support it. "); else - pb_printf("Teleop err"); + log("Teleop err"); #endif return false; } @@ -43,66 +43,66 @@ void Joystick::test() { #ifdef JOYSTICK_TEST - unsigned char key=PS2_DataKey(); + unsigned char key = PS2_DataKey(); //有按键按下 if(key!=0) { switch (key) { case PSB_SELECT: - pb_printf("SELECT"); + log("SELECT"); break; case PSB_L3: - pb_printf("L3"); + log("L3"); break; case PSB_R3: - pb_printf("R3"); + log("R3"); break; case PSB_START: - pb_printf("START"); + log("START"); break; case PSB_PAD_UP: - pb_printf("UP"); + log("UP"); break; case PSB_PAD_RIGHT: - pb_printf("RIGHT"); + log("RIGHT"); break; case PSB_PAD_DOWN: - pb_printf("DOWN"); + log("DOWN"); break; case PSB_PAD_LEFT: - pb_printf("LEFT"); + log("LEFT"); break; case PSB_L2: - pb_printf("L2"); + log("L2"); break; case PSB_R2: - pb_printf("R2"); + log("R2"); break; case PSB_L1: - pb_printf("L1"); + log("L1"); break; case PSB_R1: - pb_printf("R1"); + log("R1"); break; case PSB_TRIANGLE: - pb_printf("TRIANGLE"); + log("TRIANGLE"); break; case PSB_CIRCLE: - pb_printf("CIRCLE"); + log("CIRCLE"); break; case PSB_CROSS: - pb_printf("CROSS"); + log("CROSS"); break; case PSB_SQUARE: - pb_printf("SQUARE"); + log("SQUARE"); break; default: - pb_printf("UNKNOWN"); + log("UNKNOWN"); break; } } - pb_printf("(need to switch mode) %5d %5d %5d %5d",PS2_AnologData(PSS_LX),PS2_AnologData(PSS_LY), PS2_AnologData(PSS_RX),PS2_AnologData(PSS_RY) ); + log("(need to switch mode) %5d %5d %5d %5d",PS2_AnologData(PSS_LX),PS2_AnologData(PSS_LY), PS2_AnologData(PSS_RX),PS2_AnologData(PSS_RY) ); #endif } @@ -117,13 +117,13 @@ bool Joystick::check(short& liner_x, short liner_y, short& angular_z){ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){ bool rtn = false; - unsigned char key=PS2_DataKey(); + unsigned char key = PS2_DataKey(); liner_y = liner_y; //up down left right for liner x, y if (key == PSB_PAD_UP) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("UP"); + log("UP"); #endif liner_x = MAX_LINER_X; rtn = true; @@ -131,7 +131,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){ if(key == PSB_PAD_DOWN) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("DOWN"); + log("DOWN"); #endif liner_x = -MAX_LINER_X; rtn = true; @@ -139,7 +139,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){ if(key == PSB_PAD_RIGHT) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("RIGHT"); + log("RIGHT"); #endif liner_y = MAX_LINER_Y; rtn = true; @@ -147,7 +147,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){ if(key == PSB_PAD_LEFT) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("LEFT"); + log("LEFT"); #endif liner_y = -MAX_LINER_Y; rtn = true; @@ -156,7 +156,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){ //triangle square circle cross for angular z if (key == PSB_SQUARE) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("SQUARE"); + log("SQUARE"); #endif angular_z = MAX_ANGULAR_Z; rtn = true; @@ -164,7 +164,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){ if(key == PSB_CIRCLE) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("CIRCLE"); + log("CIRCLE"); #endif angular_z = -MAX_ANGULAR_Z; rtn = true; @@ -172,25 +172,25 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){ if (key == PSB_L1) { //print stick values if either is TRUE #if JOYSTICK_DEBUG_ENABLE - pb_printf("Stick Values:"); - pb_printf("%d", PS2_AnologData(PSS_LY)); - pb_printf(","); - pb_printf("%d", PS2_AnologData(PSS_LX)); - pb_printf(","); - pb_printf("%d", PS2_AnologData(PSS_RY)); - pb_printf(","); - pb_printf("%d", PS2_AnologData(PSS_RX)); + log("Stick Values:"); + log("%d", PS2_AnologData(PSS_LY)); + log(","); + log("%d", PS2_AnologData(PSS_LX)); + log(","); + log("%d", PS2_AnologData(PSS_RY)); + log(","); + log("%d", PS2_AnologData(PSS_RX)); #endif if (PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("switch mode for use rocker"); + log("switch mode for use rocker"); #endif } else { - liner_x = ((255.0/2)-PS2_AnologData(PSS_LY))/(255.0/2)*MAX_LINER_X; - liner_y = ((255.0/2)-PS2_AnologData(PSS_LX))/(255.0/2)*MAX_LINER_Y; - angular_z = ((255.0/2)-PS2_AnologData(PSS_RX))/(255.0/2)*MAX_ANGULAR_Z; + liner_x = ((255.0/2) - PS2_AnologData(PSS_LY)) / (255.0/2) * MAX_LINER_X; + liner_y = ((255.0/2) - PS2_AnologData(PSS_LX)) / (255.0/2) * MAX_LINER_Y; + angular_z = ((255.0/2) - PS2_AnologData(PSS_RX)) / (255.0/2) * MAX_ANGULAR_Z; rtn = true; } } @@ -210,7 +210,7 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_ //will be TRUE if button was JUST pressed if (key == PSB_PAD_UP) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("Up held this hard: "); + log("Up held this hard: "); #endif liner_x = MAX_LINER_X; rtn = true; @@ -218,7 +218,7 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_ if(key == PSB_PAD_RIGHT) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("Right held this hard: "); + log("Right held this hard: "); #endif angular_z = MAX_ANGULAR_Z; rtn = true; @@ -226,7 +226,7 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_ if(key == PSB_PAD_LEFT) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("LEFT held this hard: "); + log("LEFT held this hard: "); #endif angular_z = -MAX_ANGULAR_Z; rtn = true; @@ -234,7 +234,7 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_ if(key == PSB_PAD_DOWN) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("DOWN held this hard: "); + log("DOWN held this hard: "); #endif liner_x = -MAX_LINER_X; rtn = true; @@ -242,20 +242,20 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_ if (key == PSB_L1) { //print stick values if either is TRUE #if JOYSTICK_DEBUG_ENABLE - pb_printf("Stick Values:"); - pb_printf("%d", PS2_AnologData(PSS_LY)); - pb_printf(","); - pb_printf("%d", PS2_AnologData(PSS_LX)); - pb_printf(","); - pb_printf("%d", PS2_AnologData(PSS_RY)); - pb_printf(","); - pb_printf("%d", PS2_AnologData(PSS_RX)); + log("Stick Values:"); + log("%d", PS2_AnologData(PSS_LY)); + log(","); + log("%d", PS2_AnologData(PSS_LX)); + log(","); + log("%d", PS2_AnologData(PSS_RY)); + log(","); + log("%d", PS2_AnologData(PSS_RX)); #endif if (PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255) { #if JOYSTICK_DEBUG_ENABLE - pb_printf("switch mode for use rocker"); + log("switch mode for use rocker"); #endif } else { liner_x = ((255.0/2)-PS2_AnologData(PSS_LY))/(255.0/2)*MAX_LINER_X; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h index c3f9ff7..b06e9d6 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h @@ -16,7 +16,7 @@ public: Differential(float _wheel_radius, float _body_radius) : Model(_wheel_radius, _body_radius) {} //运动解算 把给到机器人的速度分解为各个轮子速度 - virtual void motion_solver(float* robot_speed, float* motor_speed) { + virtual void motionSolver(float* robot_speed, float* motor_speed) { // robot_speed[0] x robot_speed[1] y robot_speed[2] z motor_speed[0] = (-robot_speed[0] + robot_speed[2] * body_radius)/ wheel_radius; motor_speed[1] = (robot_speed[0] + robot_speed[2] * body_radius) / wheel_radius; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/model.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/model.h index 93cf09a..b387345 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/model.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/model.h @@ -29,7 +29,7 @@ struct Model ~Model(){} //robot speed ------------> motor speed 运动解算 把给到机器人的速度分解为各个轮子速度 - virtual void motion_solver(float* robot_speed, float* motor_speed) = 0; + virtual void motionSolver(float* robot_speed, float* motor_speed) = 0; //motor speed-------------> robot speed 反解算， 把各个轮子的速度转为机器人的速度 ，这里通过固定时间间隔转为里程 //interval ms diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h index cc1485c..9028c3c 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h @@ -18,7 +18,7 @@ public: Omni3(float _wheel_radius, float _body_radius) : Model(_wheel_radius, _body_radius) {} //运动解算 把给到机器人的速度分解为各个轮子速度 - void motion_solver(float* robot_speed, float* motor_speed) { + void motionSolver(float* robot_speed, float* motor_speed) { // robot_speed[0] x robot_speed[1] y robot_speed[2] z motor_speed[0] = (robot_speed[1] + robot_speed[2] * body_radius)/ wheel_radius; motor_speed[1] = (-robot_speed[0]*sqrt_of_3*0.5 - robot_speed[1]*0.5 + robot_speed[2] * body_radius) / wheel_radius; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/PID/pid.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/PID/pid.cpp index fac9bb7..7bfed1e 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/PID/pid.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/PID/pid.cpp @@ -34,17 +34,17 @@ short PID::compute(float interval) if (ki != 0) { #if PID_DEBUG_OUTPUT - pb_printf("integra=%ld max_output=%ld %ld", long(integra*1000), long(-(max_output/ki*1000)), long(max_output/ki*1000)); + log("integra=%ld max_output=%ld %ld", long(integra*1000), long(-(max_output/ki*1000)), long(max_output/ki*1000)); #endif if (integra < -(max_output/ki)) { #if PID_DEBUG_OUTPUT - pb_printf("integra clear-"); + log("integra clear-"); #endif integra = -(max_output/ki); } if (integra > max_output/ki) { #if PID_DEBUG_OUTPUT - pb_printf("integra clear+"); + log("integra clear+"); #endif integra = max_output/ki; } @@ -58,7 +58,7 @@ short PID::compute(float interval) val = max_output-1; #if PID_DEBUG_OUTPUT - pb_printf("error=%ld integra=%ld derivative=%ld val=%ld", long(error*1000), long(integra*1000), long(derivative*1000), long(val*1000)); + log("error=%ld integra=%ld derivative=%ld val=%ld", long(error*1000), long(integra*1000), long(derivative*1000), long(val*1000)); #endif return val; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp index b3da4c5..1af6a1e 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp @@ -68,9 +68,9 @@ bool Simple_dataframe::dataParse() { MESSAGE_ID id = (MESSAGE_ID)active_rx_msg.head.msg_id; - //pb_printf("\r\ndata_parse:id=%d", id); + //log("\r\ndata_parse:id=%d", id); - Data_holder* dh = Data_holder::get(); + DataHolder* dh = DataHolder::get(); //更新接收到的id执行响应操作，一般分为读取，写入，和执行动作3个操作 switch (id) { case ID_GET_VERSION://读取版本 diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp index e1799f9..4f83b61 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp @@ -12,7 +12,7 @@ USART_transport::USART_transport(unsigned char num, unsigned long buad) : usart_ bool USART_transport::init() { - //pb_printf("port=%d %ld", usart_num, usart_buad); + //log("port=%d %ld", usart_num, usart_buad); Board::get()->usart_init(usart_num, usart_buad); return true; } diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/main.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/main.cpp index 3d5df38..e66e30e 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/main.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/main.cpp @@ -1,36 +1,24 @@ #include "robot.h" -#include "delay.h" -#include "board.h" -#include "print.h" + int main(void) { //初始化 - Robot::get()->init(); + Robot::get()->Init(); while (1) { // 检测接收的命令 - Robot::get()->check_command(); + Robot::get()->CheckCommand(); // 运动解算 把上位机下发的机器人的速度（线速度角速度）转为各个轮子的速度 - Robot::get()->do_kinmatics(); + Robot::get()->DoKinmatics(); // 根据轮子的编码器计算得到机器人的里程计 - Robot::get()->calc_odom(); + Robot::get()->CalcOdom(); // 读取imu的值 - Robot::get()->get_imu_data(); + Robot::get()->GetImuData(); // 检测处理ps2的按键信息 - Robot::get()->check_joystick(); - - -//// Board::get()->motor_pwm(0, 2479); -//// Board::get()->motor_pwm(1, -2107); -// -// int count_left = Board::get()->get_encoder_count(0); -// int count_right = Board::get()->get_encoder_count(1); -// -// pb_printf("left = %d, right = %d\n", count_left, count_right); -// delay_ms(10); + Robot::get()->CheckJoystick(); } } diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.cpp index b5315fe..0e0e7fc 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.cpp @@ -61,7 +61,7 @@ Robot::Robot() #endif } -void Robot::init() +void Robot::Init() { // board初始化 Board::get()->init(); @@ -71,52 +71,50 @@ void Robot::init() Board::get()->usart_debug_init(); #endif - // 加载参数， 该参数一般存储在flash或者eeprom - Data_holder::get()->load_parameter(); + // 加载参数, 该参数一般存储在flash或者eeprom + DataHolder::get()->loadParameter(); - PB_USART_printf(USART1, (uint8_t *)"Init\n"); - - pb_printf("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d", - Data_holder::get()->parameter.params.wheel_diameter, Data_holder::get()->parameter.params.wheel_track, Data_holder::get()->parameter.params.encoder_resolution, Data_holder::get()->parameter.params.motor_ratio, - Data_holder::get()->parameter.params.do_pid_interval, Data_holder::get()->parameter.params.kp, Data_holder::get()->parameter.params.ki, Data_holder::get()->parameter.params.kd, Data_holder::get()->parameter.params.ko, - Data_holder::get()->parameter.params.cmd_last_time, Data_holder::get()->parameter.params.max_v_liner_x, Data_holder::get()->parameter.params.max_v_liner_y, Data_holder::get()->parameter.params.max_v_angular_z); + log("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d", + DataHolder::get()->parameter.params.wheel_diameter, DataHolder::get()->parameter.params.wheel_track, DataHolder::get()->parameter.params.encoder_resolution, DataHolder::get()->parameter.params.motor_ratio, + DataHolder::get()->parameter.params.do_pid_interval, DataHolder::get()->parameter.params.kp, DataHolder::get()->parameter.params.ki, DataHolder::get()->parameter.params.kd, DataHolder::get()->parameter.params.ko, + DataHolder::get()->parameter.params.cmd_last_time, DataHolder::get()->parameter.params.max_v_liner_x, DataHolder::get()->parameter.params.max_v_liner_y, DataHolder::get()->parameter.params.max_v_angular_z); #if IMU_ENABLE // imu 初始化 init_imu(); #endif - pb_printf("init_motor"); + log("init_motor"); // 电机相关初始化 - init_motor(); + InitMotor(); - pb_printf("init_trans"); + log("init_trans"); // 通讯相关初始化 - init_trans(); + InitTrans(); // joystick初始化 - init_joystick(); + InitJoystick(); - pb_printf("pibot startup"); + log("gebot init finish."); } void Robot::init_imu() { #if IMU_ENABLE - if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY65) { - pb_printf("imu gy65"); + if (DataHolder::get()->parameter.params.imu_type == IMU_TYPE_GY65) { + log("imu gy65"); static GY65 gy65; imu = &gy65; - } else if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY85) { - pb_printf("imu gy85"); + } else if (DataHolder::get()->parameter.params.imu_type == IMU_TYPE_GY85) { + log("imu gy85"); static GY85 gy85; imu = &gy85; - } else if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY87) { - pb_printf("imu gy87"); + } else if (DataHolder::get()->parameter.params.imu_type == IMU_TYPE_GY87) { + log("imu gy87"); static GY87 gy87; imu = &gy87; } else { - pb_printf("imu default null driver"); + log("imu default null driver"); imu = NULL; } @@ -126,7 +124,7 @@ void Robot::init_imu() #endif } -void Robot::init_joystick() +void Robot::InitJoystick() { #if JOYSTICK_ENABLE static Joystick joy; @@ -136,50 +134,50 @@ void Robot::init_joystick() #endif } -void Robot::init_motor() +void Robot::InitMotor() { //MOTOR_COUNT为电机数量 该宏定义在相应的机器人模型文件中， KinematicModels/differential.h #if MOTOR_COUNT>0 //电机1 // MOTOR_CONTROLLER在params.mk中定义 表示电机控制器类型 // 当前使用的COMMON_CONTROLLER为2个io控制方向一个PWD控制速度类型的控制器 #if MOTOR_CONTROLLER == COMMON_CONTROLLER - static CommonMotorController motor1(MOTOR_1, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换 + static CommonMotorController motor1(MOTOR_1, MAX_PWM_VALUE, (DataHolder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换 #elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER static AFSMotorController motor1(MOTOR_1_PORT_NUM, MAX_PWM_VALUE); #endif // 定义使用的编码器 传入参数为编码器的AB GPIO引脚 定义在params.mk中 - static EncoderImp encoder1(MOTOR_1, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0); + static EncoderImp encoder1(MOTOR_1, (DataHolder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0); // 定义PID控制对象 传入参数为输入和输出的地址及kp ki kd 这里ko为比例 - static PID pid1(&input[0], &feedback[0], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko, - float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko, - float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE); + static PID pid1(&input[0], &feedback[0], float(DataHolder::get()->parameter.params.kp)/DataHolder::get()->parameter.params.ko, + float(DataHolder::get()->parameter.params.ki)/DataHolder::get()->parameter.params.ko, + float(DataHolder::get()->parameter.params.kd)/DataHolder::get()->parameter.params.ko , MAX_PWM_VALUE); #endif #if MOTOR_COUNT>1 //电机2 #if MOTOR_CONTROLLER == COMMON_CONTROLLER - static CommonMotorController motor2(MOTOR_2, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换 + static CommonMotorController motor2(MOTOR_2, MAX_PWM_VALUE, (DataHolder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换 #elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER static AFSMotorController motor2(MOTOR_2_PORT_NUM, MAX_PWM_VALUE); #endif - static EncoderImp encoder2(MOTOR_2, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0); - static PID pid2(&input[1], &feedback[1], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko, - float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko, - float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE); + static EncoderImp encoder2(MOTOR_2, (DataHolder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0); + static PID pid2(&input[1], &feedback[1], float(DataHolder::get()->parameter.params.kp)/DataHolder::get()->parameter.params.ko, + float(DataHolder::get()->parameter.params.ki)/DataHolder::get()->parameter.params.ko, + float(DataHolder::get()->parameter.params.kd)/DataHolder::get()->parameter.params.ko , MAX_PWM_VALUE); #endif #if MOTOR_COUNT>2 //电机3 #if MOTOR_CONTROLLER == COMMON_CONTROLLER - static CommonMotorController motor3(MOTOR_3, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换 + static CommonMotorController motor3(MOTOR_3, MAX_PWM_VALUE, (DataHolder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换 #elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER static AFSMotorController motor3(MOTOR_3); #endif - static EncoderImp encoder3(MOTOR_3, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0); - static PID pid3(&input[2], &feedback[2], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko, - float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko, - float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE); + static EncoderImp encoder3(MOTOR_3, (DataHolder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0); + static PID pid3(&input[2], &feedback[2], float(DataHolder::get()->parameter.params.kp)/DataHolder::get()->parameter.params.ko, + float(DataHolder::get()->parameter.params.ki)/DataHolder::get()->parameter.params.ko, + float(DataHolder::get()->parameter.params.kd)/DataHolder::get()->parameter.params.ko , MAX_PWM_VALUE); #endif // 分别把地址保存在统一的数组内， 方便处理 @@ -203,12 +201,12 @@ void Robot::init_motor() // 根据定义的模型参数ROBOT_MODEL， 创建模型对象及保存地址 #if ROBOT_MODEL == MODEL_TYPE_2WD_DIFF //2轮差分 - static Differential diff(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005); + static Differential diff(DataHolder::get()->parameter.params.wheel_diameter*0.0005, DataHolder::get()->parameter.params.wheel_track*0.0005); model = &diff; #endif #if ROBOT_MODEL == MODEL_TYPE_3WD_OMNI //三轮全向 - static Omni3 omni3(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005); + static Omni3 omni3(DataHolder::get()->parameter.params.wheel_diameter*0.0005, DataHolder::get()->parameter.params.wheel_track*0.0005); model = &omni3; #endif @@ -228,7 +226,7 @@ void Robot::init_motor() last_velocity_command_time = 0; } -void Robot::init_trans() +void Robot::InitTrans() { //定义一个串口通讯对象 ！！！注意这里USART_transport继承实现Transport接口， // 实现了一个通讯对象，这么做的原因是，如果我换为其他通讯方式，例如USB，只需要创建一个USB_Transport继承实现实现Transport接口就可以实现 @@ -254,7 +252,7 @@ void Robot::init_trans() frame->register_notify(ID_SET_MOTOR_PWM, this); } -void Robot::check_command() +void Robot::CheckCommand() { static unsigned long lastMillis = 0; if (Board::get()->getTickCount() - lastMillis >= 50){ @@ -263,7 +261,7 @@ void Robot::check_command() Board::get()->setDOState(_RUN_LED, 2); } - unsigned char ch = 0; + uint8_t ch = 0; // 从通讯设备(trans)读取数据交给协议处理模块(frame)处理 if (trans->read(ch)) { @@ -280,28 +278,28 @@ void Robot::update(const MESSAGE_ID id, void* data) switch (id) { case ID_SET_ROBOT_PARAMTER: //设置参数的回调， 这里会更新pid的参数， model的参数， 最终保存到flash - pb_printf("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d", - Data_holder::get()->parameter.params.wheel_diameter, Data_holder::get()->parameter.params.wheel_track, Data_holder::get()->parameter.params.encoder_resolution, Data_holder::get()->parameter.params.motor_ratio, - Data_holder::get()->parameter.params.do_pid_interval, Data_holder::get()->parameter.params.kp, Data_holder::get()->parameter.params.ki, Data_holder::get()->parameter.params.kd, Data_holder::get()->parameter.params.ko, - Data_holder::get()->parameter.params.cmd_last_time, Data_holder::get()->parameter.params.max_v_liner_x, Data_holder::get()->parameter.params.max_v_liner_y, Data_holder::get()->parameter.params.max_v_angular_z); + log("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d", + DataHolder::get()->parameter.params.wheel_diameter, DataHolder::get()->parameter.params.wheel_track, DataHolder::get()->parameter.params.encoder_resolution, DataHolder::get()->parameter.params.motor_ratio, + DataHolder::get()->parameter.params.do_pid_interval, DataHolder::get()->parameter.params.kp, DataHolder::get()->parameter.params.ki, DataHolder::get()->parameter.params.kd, DataHolder::get()->parameter.params.ko, + DataHolder::get()->parameter.params.cmd_last_time, DataHolder::get()->parameter.params.max_v_liner_x, DataHolder::get()->parameter.params.max_v_liner_y, DataHolder::get()->parameter.params.max_v_angular_z); // 更新pid参数， 这样可以保证设置参数实时生效 for (int i=0;iupdate(float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko, - float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko, - float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE); + pid[i]->update(float(DataHolder::get()->parameter.params.kp)/DataHolder::get()->parameter.params.ko, + float(DataHolder::get()->parameter.params.ki)/DataHolder::get()->parameter.params.ko, + float(DataHolder::get()->parameter.params.kd)/DataHolder::get()->parameter.params.ko , MAX_PWM_VALUE); } // 更新模型参数， 这样可以保证设置参数实时生效 - model->set(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005); + model->set(DataHolder::get()->parameter.params.wheel_diameter*0.0005, DataHolder::get()->parameter.params.wheel_track*0.0005); // 保存参数到flash - Data_holder::get()->save_parameter(); + DataHolder::get()->save_parameter(); break; case ID_CLEAR_ODOM: // 清除里程计信息 clear_odom(); break; case ID_SET_VELOCITY: // 设置机器人的速度 - update_velocity(); //更新机器人的期望速度 + updateVelocity(); //更新机器人的期望速度 break; case ID_GET_ENCODER_COUNT: update_encoder_count(); // 更新encoder count @@ -322,30 +320,32 @@ void Robot::clear_odom() } memset(&odom, 0, sizeof(odom)); - memset(&Data_holder::get()->odom, 0, sizeof(Data_holder::get()->odom)); + memset(&DataHolder::get()->odom, 0, sizeof(DataHolder::get()->odom)); } #define __PI 3.1415926535897932384626433832795 -//根据下发的速度更新期望速度， 并转为pid时间间隔内的期望编码器的变化值 -void Robot::update_velocity() +// 根据下发的速度更新期望速度， 并转为pid时间间隔内的期望编码器的变化值 +void Robot::updateVelocity() { // 下发速度检测 保证限制在设置的最大最小值内 - short vx = min(max(Data_holder::get()->velocity.v_liner_x, -(short(Data_holder::get()->parameter.params.max_v_liner_x))), short(Data_holder::get()->parameter.params.max_v_liner_x)); - short vy = min(max(Data_holder::get()->velocity.v_liner_y, -(short(Data_holder::get()->parameter.params.max_v_liner_y))), short(Data_holder::get()->parameter.params.max_v_liner_y)); - short vz = min(max(Data_holder::get()->velocity.v_angular_z, -(short(Data_holder::get()->parameter.params.max_v_angular_z))), short(Data_holder::get()->parameter.params.max_v_angular_z)); + short vx = min(max(DataHolder::get()->velocity.v_liner_x, -(short(DataHolder::get()->parameter.params.max_v_liner_x))), short(DataHolder::get()->parameter.params.max_v_liner_x)); + short vy = min(max(DataHolder::get()->velocity.v_liner_y, -(short(DataHolder::get()->parameter.params.max_v_liner_y))), short(DataHolder::get()->parameter.params.max_v_liner_y)); + short vz = min(max(DataHolder::get()->velocity.v_angular_z, -(short(DataHolder::get()->parameter.params.max_v_angular_z))), short(DataHolder::get()->parameter.params.max_v_angular_z)); - float vel[3]={vx/100.0, vy/100.0, vz/100.0}; // 保存速度转换单位 传入的速度值为cm/s 0.01rad/s 转为m/s 和rad/s + // 保存速度转换单位,传入的速度值为cm/s 0.01rad/s 转为m/s 和rad/s + float vel[3]={vx/100.0, vy/100.0, vz/100.0}; float motor_speed[MOTOR_COUNT]={0}; - model->motion_solver(vel, motor_speed); // 期望的机器人的速度转换为各个电机的速度(通过设置的机器人模型接口) + + model->motionSolver(vel, motor_speed); // 期望的机器人的速度转换为各个电机的速度(通过设置的机器人模型接口) // 把得到的期望电机速度 (m/s)转换为期望pid时间间隔内编码器反馈的输入 // 该值即为PID的输入 - for(int i=0;iparameter.params.encoder_resolution)*short(Data_holder::get()->parameter.params.motor_ratio)/(2*__PI)*short(Data_holder::get()->parameter.params.do_pid_interval)*0.001; + for(int i = 0;i < MOTOR_COUNT; i++) { + input[i] = motor_speed[i]*short(DataHolder::get()->parameter.params.encoder_resolution)*short(DataHolder::get()->parameter.params.motor_ratio)/(2*__PI)*short(DataHolder::get()->parameter.params.do_pid_interval)*0.001; } - //pb_printf("vx=%d %d motor_speed=%ld %ld", vx, vz, long(motor_speed[0]*1000), long(motor_speed[1]*1000)); + //log("vx=%d %d motor_speed=%ld %ld", vx, vz, long(motor_speed[0]*1000), long(motor_speed[1]*1000)); //保存时间戳 last_velocity_command_time = Board::get()->getTickCount(); @@ -357,7 +357,7 @@ void Robot::update_velocity() void Robot::update_encoder_count() { for (int i=0; iencoder_count[i] = encoder[i]->get_total_count();//输出累计编码器值 用于调试 + DataHolder::get()->encoder_count[i] = encoder[i]->get_total_count();//输出累计编码器值 用于调试 } } @@ -367,13 +367,13 @@ void Robot::update_pwm_value() } // pid运算， 控制电机 -void Robot::do_kinmatics() +void Robot::DoKinmatics() { if (do_set_pwm_flag) { do_set_pwm_flag = false; for (int i=0; icontrol(Data_holder::get()->pwm.value[i]); + motor[i]->control(DataHolder::get()->pwm.value[i]); } } @@ -387,7 +387,7 @@ void Robot::do_kinmatics() static unsigned long last_millis=0; // 判断时间间隔做pid运算 - if (Board::get()->getTickCount()-last_millis>=Data_holder::get()->parameter.params.do_pid_interval) { + if (Board::get()->getTickCount()-last_millis>=DataHolder::get()->parameter.params.do_pid_interval) { last_millis = Board::get()->getTickCount(); //得到编码器的反馈差值， 即在do_pid_interval这段间隔时间内编码器的差值， 该值作为pid的反馈 @@ -396,15 +396,15 @@ void Robot::do_kinmatics() } #if PID_DEBUG_OUTPUT #if MOTOR_COUNT==2 - pb_printf("input=%ld %ld feedback=%ld %ld", long(input[0]*1000), long(input[1]*1000), + log("input=%ld %ld feedback=%ld %ld", long(input[0]*1000), long(input[1]*1000), long(feedback[0]), long(feedback[1])); #endif #if MOTOR_COUNT==3 - pb_printf("input=%ld %ld %ld feedback=%ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000), + log("input=%ld %ld %ld feedback=%ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000), long(feedback[0]), long(feedback[1]), long(feedback[2])); #endif #if MOTOR_COUNT==4 - pb_printf("input=%ld %ld %ld %ld feedback=%ld %ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000), long(input[3]*1000), + log("input=%ld %ld %ld %ld feedback=%ld %ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000), long(input[3]*1000), long(feedback[0]), long(feedback[1]), long(feedback[2]), long(feedback[3])); #endif #endif @@ -423,33 +423,33 @@ void Robot::do_kinmatics() } else { // 没有需要停止则做pid运算，得到out值，该值作为电机模块控制器输入 for(int i=0;icompute(Data_holder::get()->parameter.params.do_pid_interval*0.001); + output[i] = pid[i]->compute(DataHolder::get()->parameter.params.do_pid_interval*0.001); } } //当次计算完成 重置变量 for (int i=0;ipid_data.input[i] = int(input[i]); - Data_holder::get()->pid_data.output[i] = int(feedback[i]); + DataHolder::get()->pid_data.input[i] = int(input[i]); + DataHolder::get()->pid_data.output[i] = int(feedback[i]); } #if PID_DEBUG_OUTPUT #if MOTOR_COUNT==2 - pb_printf("output=%ld %ld", output[0], output[1]); + log("output=%ld %ld", output[0], output[1]); #endif #if MOTOR_COUNT==3 - pb_printf("output=%ld %ld %ld", output[0], output[1], output[2]); + log("output=%ld %ld %ld", output[0], output[1], output[2]); #endif #if MOTOR_COUNT==4 - pb_printf("output=%ld %ld %ld %ld", output[0], output[1], output[2], output[3]); + log("output=%ld %ld %ld %ld", output[0], output[1], output[2], output[3]); #endif #endif long elapsed_ms = Board::get()->getTickCount()-last_velocity_command_time; //判断上次下发的时间戳，如果超时，把各个电机期望的输入置零，pid下次会根据改期望计算pid输出转速，慢慢停止点击 - if (elapsed_ms > Data_holder::get()->parameter.params.cmd_last_time) { + if (elapsed_ms > DataHolder::get()->parameter.params.cmd_last_time) { memset(input, 0, sizeof(input)); - if (elapsed_ms > Data_holder::get()->parameter.params.cmd_last_time*2) { + if (elapsed_ms > DataHolder::get()->parameter.params.cmd_last_time*2) { memset(output, 0, sizeof(output)); } } @@ -462,7 +462,7 @@ void Robot::do_kinmatics() } //计算里程计 -void Robot::calc_odom() +void Robot::CalcOdom() { static unsigned long last_millis=0; //根据实际间隔计算轮子里程 @@ -475,48 +475,44 @@ void Robot::calc_odom() } #if MOTOR_COUNT==2 - pb_printf("total_count=[%ld %ld]", total_count[0], total_count[1]); + log("total_count=[%ld %ld]", total_count[0], total_count[1]); #endif #if MOTOR_COUNT==3 - pb_printf("total_count=[%ld %ld %ld]", total_count[0], total_count[1], total_count[2]); + log("total_count=[%ld %ld %ld]", total_count[0], total_count[1], total_count[2]); #endif #if MOTOR_COUNT==4 - pb_printf("total_count=[%ld %ld %ld %ld]", total_count[0], total_count[1], total_count[2], total_count[3]); + log("total_count=[%ld %ld %ld %ld]", total_count[0], total_count[1], total_count[2], total_count[3]); #endif #endif float dis[MOTOR_COUNT] = {0}; for (int i=0;iget_increment_count_for_odom()*__PI*Data_holder::get()->parameter.params.wheel_diameter*0.001/Data_holder::get()->parameter.params.encoder_resolution/Data_holder::get()->parameter.params.motor_ratio; + dis[i] = encoder[i]->get_increment_count_for_odom()*__PI*DataHolder::get()->parameter.params.wheel_diameter*0.001/DataHolder::get()->parameter.params.encoder_resolution/DataHolder::get()->parameter.params.motor_ratio; #if ODOM_DEBUG_OUTPUT - pb_printf(" %ld ", long(dis[i]*1000000)); + log(" %ld ", long(dis[i]*1000000)); #endif } -// long total_count[MOTOR_COUNT]={0}; -// for (int i=0;iget_total_count(); //输出累计编码器值 用于调试 -// } // 把计算得到的各个电机的里程转为为机器人里程(通过机器人运动模型对象) model->get_odom(&odom, dis, CALC_ODOM_INTERVAL); #if ODOM_DEBUG_OUTPUT // 输出机器人的里程 - pb_printf(" x=%ld y=%ld yaw=%ld", long(odom.x*1000), long(odom.y*1000), long(odom.z*1000));//mm - pb_printf(""); + log(" x=%ld y=%ld yaw=%ld", long(odom.x*1000), long(odom.y*1000), long(odom.z*1000));//mm + log(""); #endif - // 转换单位保存到Data_holder - Data_holder::get()->odom.v_liner_x = odom.vel_x*100; //转为cm/s - Data_holder::get()->odom.v_liner_y = odom.vel_y*100; - Data_holder::get()->odom.v_angular_z = odom.vel_z*100; - Data_holder::get()->odom.x = odom.x*100; //转为cm - Data_holder::get()->odom.y = odom.y*100; - Data_holder::get()->odom.yaw = long(odom.z*100)%628;//转为0.01rad 628为2pi*100 + // 转换单位保存到DataHolder + DataHolder::get()->odom.v_liner_x = odom.vel_x*100; //转为cm/s + DataHolder::get()->odom.v_liner_y = odom.vel_y*100; + DataHolder::get()->odom.v_angular_z = odom.vel_z*100; + DataHolder::get()->odom.x = odom.x*100; //转为cm + DataHolder::get()->odom.y = odom.y*100; + DataHolder::get()->odom.yaw = long(odom.z*100)%628;//转为0.01rad 628为2pi*100 } } //获取imu数据 -void Robot::get_imu_data() +void Robot::GetImuData() { #if IMU_ENABLE if (imu == NULL) { @@ -525,15 +521,15 @@ void Robot::get_imu_data() static unsigned long last_millis=0; //按照设置的时间间隔获取imu数据 - if (Board::get()->get_tick_count()-last_millis>=CALC_IMU_INTERVAL) { - last_millis = Board::get()->get_tick_count(); - imu->get_data(Data_holder::get()->imu_data); + if (Board::get()->getTickCount()-last_millis>=CALC_IMU_INTERVAL) { + last_millis = Board::get()->getTickCount(); + imu->get_data(DataHolder::get()->imu_data); } #endif } //检测joystick -void Robot::check_joystick() +void Robot::CheckJoystick() { #if JOYSTICK_ENABLE if (joystick == NULL) { @@ -542,13 +538,13 @@ void Robot::check_joystick() static unsigned long last_millis=0; short liner_x=0, liner_y=0, angular_z=0; - if (Board::get()->get_tick_count()-last_millis>=CHECK_JOYSTICK_INTERVAL){ - last_millis = Board::get()->get_tick_count(); + if (Board::get()->getTickCount()-last_millis>=CHECK_JOYSTICK_INTERVAL){ + last_millis = Board::get()->getTickCount(); // 按照设置的间隔间隔 更新期望速度 if (joystick->check(liner_x, liner_y, angular_z)) { - Data_holder::get()->velocity.v_liner_x = liner_x; - Data_holder::get()->velocity.v_liner_y = liner_y; - Data_holder::get()->velocity.v_angular_z = angular_z; + DataHolder::get()->velocity.v_liner_x = liner_x; + DataHolder::get()->velocity.v_liner_y = liner_y; + DataHolder::get()->velocity.v_angular_z = angular_z; update_velocity(); } diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.h index f0e1e9d..4995c2e 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.h @@ -1,6 +1,7 @@ #ifndef PIBOT_ROBOT_H_ #define PIBOT_ROBOT_H_ +#include "stdint.h" #include "dataframe.h" #if ROBOT_MODEL == MODEL_TYPE_2WD_DIFF @@ -30,22 +31,22 @@ public: } // 初始化 - void init(); + void Init(); // 检测串口数据命令 - void check_command(); + void CheckCommand(); // 运动解算 - void do_kinmatics(); + void DoKinmatics(); // 计算里程计 - void calc_odom(); + void CalcOdom(); //获取imu数据 - void get_imu_data(); + void GetImuData(); // 检测joystick的按键 - void check_joystick(); + void CheckJoystick(); // 实现Notify接口处理 绑定的消息 virtual void update(const MESSAGE_ID id, void* data); @@ -53,15 +54,15 @@ private: Robot(); //初始化 void init_imu(); - void init_joystick(); - void init_motor(); - void init_trans(); + void InitJoystick(); + void InitMotor(); + void InitTrans(); private: // 清除里程计 void clear_odom(); // 更新当前机器人的速度 - void update_velocity(); + void updateVelocity(); // 更新编码器值 void update_encoder_count(); diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvoptx b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvoptx index 48e1b10..c0f2aba 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvoptx +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvoptx @@ -506,18 +506,6 @@ 0 0 0 - .\Lib\DataHolder\data_holder.cpp - data_holder.cpp - 0 - 0 - - - 5 - 24 - 8 - 0 - 0 - 0 .\Lib\Board\board_stm32.cpp board_stm32.cpp 0 @@ -525,7 +513,7 @@ 5 - 25 + 24 8 0 0 @@ -537,7 +525,7 @@ 5 - 26 + 25 8 0 0 @@ -549,7 +537,7 @@ 5 - 27 + 26 8 0 0 @@ -561,7 +549,7 @@ 5 - 28 + 27 8 0 0 @@ -573,7 +561,7 @@ 5 - 29 + 28 8 0 0 @@ -585,7 +573,7 @@ 5 - 30 + 29 8 0 0 @@ -597,7 +585,7 @@ 5 - 31 + 30 8 0 0 @@ -609,7 +597,7 @@ 5 - 32 + 31 8 0 0 @@ -621,7 +609,7 @@ 5 - 33 + 32 8 0 0 @@ -631,6 +619,18 @@ 0 0 + + 5 + 33 + 8 + 0 + 0 + 0 + .\Lib\DataHolder\data_holder.cpp + data_holder.cpp + 0 + 0 + diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvprojx b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvprojx index cfb0a8f..9530e03 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvprojx +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvprojx @@ -509,11 +509,6 @@ 8 .\Lib\Encoder\encoder_implement.cpp - - data_holder.cpp - 8 - .\Lib\DataHolder\data_holder.cpp - board_stm32.cpp 8 @@ -564,6 +559,11 @@ 8 .\Lib\IMU\GY87.cpp + + data_holder.cpp + 8 + .\Lib\DataHolder\data_holder.cpp +