Texas Instruments DRV2605L User manual

User's Guide
SLOU400–November 2014
DRV2605L Multiple ERM, LRA Haptic Driver Kit
1 Introduction
The DRV2605L device is a haptic driver designed for linear resonant actuators (LRA) and eccentric
rotating mass (ERM) motors. The device has many features that help eliminate the design complexities of
haptic motor control including:
• Reduced solution size
• High-efficiency output drive
• Closed-loop motor control
• Quick device startup
• Embedded waveform library
• Auto-resonance frequency tracking
The DRV2605LEVM-MD evaluation module (EVM) is an evaluation platform for the DRV2605LDGS. The
kit includes 8 DRV2605L devices, MSP430F5510 microcontroller (MCU), terminal output support for up
eight LRAs or ERMs, DRV2605L-integrated waveforms licensed from Immersion, and capacitive touch
buttons which demonstrate the capabilities of the DRV2605L.
This user’s guide contains instructions for setting up and operating the DRV2605LEVM-MD.
Figure 1. DRV2605LEVM-MD
Code Composer Studio is a trademark of Texas Instruments.
All other trademarks are the property of their respective owners.
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USB VBAT
SBW
MSP430
OUT8 OUT7 OUT6 OUT5
OUT4OUT3OUT2
OUT1
DRV2605L
DRV2605L DRV2605L DRV2605L DRV2605L
DRV2605L DRV2605L DRV2605L
BSL RESET
USER SW
TCA9548A
TCA9554A
B1 B2
USB Power
External Power
Programmer
Connector
Effect Buttons
Actuator
Connections
Actuator
Connections
DRV2605L
DRV
MSP
Power selection for MSP430
and DRV2605L
Getting Started www.ti.com
2 Getting Started
The DRV2605LEVM-MD demonstrates how the DRV2605L device can be used in applications that require
multiple haptic drivers (same slave addresses) to be setup independently but be played simultaneously.
The board integrates the TCA9548A I2C switch to control which I2C lines of the possible eight DRV2605L
drivers are connected to the master input I2C bus. The switch has the ability to select any combination of
channels to be connected to the master input I2C bus.
The board also integrates the MSP430F5510 device with USB interface capabilities and bootstrap loading
(BSL) functionality. The USB interfacing provides the user flexibility in controlling the DRV2605L device
without having to modify the firmware. The BSL functionality simplifies the firmware updating process
without the additional hardware and the use of Code Composer Studio™ software.
The board receives power in two ways. For applications that require two or less active DRV2605L devices
device at the same time, the board can be powered through a USB port. For applications that require
more than two drivers, the use of the external power supply terminals with a current rating of 1.6 A is
recommended. Manual selection of USB power or external power can be set using the jumper headers
MSP and DRV. When powered up, button 1 and button 2 (B1, B2) can be used to demonstrate the
functionality of the DRV2605L device. See Section 3 for a detailed description of the demonstration
application program.
Figure 2. Board Diagram
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DRV
MSP
www.ti.com Getting Started
2.1 Quick Start Board Setup
The DRV2605LEVM-MD firmware contains haptic waveform sequences that showcase the features and
benefits of the DRV2605L device in a multi-driver application. Use the following setup instructions to begin
the demand evaluation process:
1. Connect 4 ERM actuators to the terminal block outputs 1 through 4, and connect 4 LRA actuators to
the terminal block outputs 5 through 8 on the board.
2. Connect the 5-V power supply to the VBAT terminal block.
3. Verify that the jumper connections on the board are correct as listed in Table 1.
4. Turn on the power supply. If the DRV2605LEVM-MD is powered correctly, the button LEDs turn on and
flash indicating that the board has been successfully initialized.
Table 1. Default Jumper Settings for Demonstration Program
JUMPER POSITION DESCRIPTION
J1 Shorted Connects decoupling cap to the VDD pin, used for power consumption
measurements
J2 Shorted 3.3-V reference voltage for I2C transactions on the TCA9548A device
J3 Shorted User LED
J4 Don’t care User LED
J5 Shorted Trigger and PWM input to the DRV2605L device
J6 Shorted User switch
MSP Short pins 2 to 3 VBAT power to the MSP430 device (Shown in Figure 3)
DRV Short pins 2 to 3 VBAT power to the DRV2605L device (Shown in Figure 3)
Figure 3. Jumper Position for MSP and DRV Headers
NOTE: This board has the ability to control both ERM and LRA actuators at the same time. The
default firmware is set so that only the actuators that are connected to the board are active.
The connected driver and the actuator type must be hardcoded in the firmware in order for
the system to know the user’s hardware configuration. If the default configuration of 4 ERM
actuators on outputs 1 through 4 and 4 LRA actuators on outputs 5 through 8 is not desired,
see Section 3.4 for more details on how to customize the board.
3 DRV2605L Demonstration Program
Several functionality sections can be initiated to demonstrate how the DRV2605LEVM-MD can be used for
multi-driver applications. The user can interact with the capacitive touch buttons to output a variety of
waveform sequences to the actuators externally connected to the board and to enable all the drivers and
I2C channels for full access to the DRV2605L devices through the I2C headers.
The user can also access USB functionality through the user switch. The capacitive touch buttons (B1 and
B2) and user switch (USER SW) have the following functionality:
• B1: The DRV2605L devices are setup individually and RTP mode is configured. Sequential button
presses activate the next DRV2605L device in sequential order starting at driver 1, ending at driver 8,
and then looping back to driver 1.
• B2:
– Mode 1 – Enables all of the drivers and channels of the TCA9548A device for the user to gain
access to all of the DRV2605L devices.
– Mode 2 – Drivers 1 through 4 are enabled, RTP mode is setup, and all drivers are played
simultaneously
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USB VBAT
SBW
MSP430
OUT8 OUT7 OUT6 OUT5
OUT4OUT3OUT2
OUT1
DRV2605L
DRV2605L DRV2605L DRV2605L DRV2605L
DRV2605L DRV2605L DRV2605L
BSL RESET
USER SW
TCA9548A
TCA9554A
B1 B2
LRA
ERM
DRV
MSP
ERM ERM ERM
LRA LRA LRA
DRV2605L Demonstration Program www.ti.com
– Mode 3 – Drivers 5 through 8 are enabled, RTP mode is setup, and all drivers are played
simultaneously
– Mode 4 – Driver 1 through 4 are setup in RTP mode, played sequentially in order, and then briefly
played simultaneously.
– Mode 5 – Driver 5 through 8 are setup in RTP mode, played sequentially in order, and then briefly
played simultaneously.
• USER SW: Turns on USB communication and disables capacitive touch buttons
Figure 4. Board With Actuator Setup
Figure 4 shows the actuator setup of where the LRAs and ERMs are connected to the board. B1 and B2
are the capacitive touch buttons that, when pressed, play the waveform sequence as described in
Section 3.1 and Section 3.2.
3.1 Button 1
For button 1, each of the DRV2605L devices is independently setup for RTP mode at full magnitude 0x7F
and played sequentially. Each press of the capacitive touch button plays the next driver. The TCA9548A
device (I2C switch) is configured so that only the corresponding DRV2605L device is connected to the
master input I2C bus. When the configuration is complete, default register settings, RTP mode, and the
RTP magnitude are sent to the DRV2605L device. After some time, the RTP mode shuts off.
3.2 Button 2
Button2 has 5 modes that can be accessed through sequential button presses. The user must sequentially
cycle through all of the other modes to get back into the same mode.
3.2.1 Mode 1
Mode 1 allows the user full access to all of the DRV2605L devices on the board by enabling them and
connecting all of the I2C lines. An external host processor can be connected to the I2C headers to allow
communication to the DRV2605L devices without having to use the on-board MSP430F5510.
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www.ti.com DRV2605L Demonstration Program
3.2.2 Mode 2 and Mode 3
Mode 2 and mode 3 enable and connect the I2C lines for drivers 1 through 4 and drivers 5 through 8,
respectively. The four DRV2605L devices are sent the same default initialization settings for the ERM
actuators (Mode 2) and LRA actuators (Mode 3). The drivers are then setup in RTP mode with magnitude
0x7F. The waveform plays for 2 s and then the drivers are changed to internal trigger mode (to stop RTP
mode).
3.2.3 Mode 4 and Mode 5
Mode 4 and mode 5 enable and connect the I2C lines for drivers 1 through 4 and drivers 5 through 8,
respectively. The four DRV2605L devices are sent the same default initialization settings for ERM
actuators (Mode 4) and LRA actuators (Mode 5). When the settings are received by the DRV2605L
devices, each DRV2605L device is individually enabled sequentially and setup for RTP mode with
magnitude 0x7F at a 500-ms interval. Driver 1 or 5 outputs the RTP waveform for 500 ms, then the next
sequential drivers (driver 2 or 6, 3 or 7, 4 or 8) repeat the same conditions as driver 1. As soon as driver 4
or 8 completes the waveform output, all drivers exit of RTP mode for 100 ms and then enter RTP mode
with magnitude 0x7F for 100 ms to create a brief pulse action.
3.3 User Switch
At board startup, the capacitive touch buttons are automatically enabled and USB communication is
disabled even though USB communication was initialized. To enter USB communication for use with the
multi-driver graphical user interface (GUI), the user switch must be pressed. LED1 turns to indicate that
the firmware is active for USB transactions. When the user switch is pressed and the board is in USB
communication mode, the capacitive touch buttons are disabled. A power cycle or software reset is
required to go back to capacitive-touch mode.
3.4 Firmware Modifications
Before the board can accept any combination of LRA and ERM actuators connected to the DRV2605L
devices, the firmware is required to be modified because it must know which actuators are connected to
which haptic drivers. Additional hardware-like dip switches are required to detect real-time changes with
actuators or enable the drivers. The header file, haptics.h, contains the definitions of driver 1 through
driver 8, and actuator 1 through actuator 8 which are mapped to arrays that are used in haptic methods as
follows:
• Haptics_DriversEnableConfig()
• Haptics_EnableAvailableDrivers()
• Haptics_ActuatorTypeConnected()
• Haptics_SwitchAvailableDrivers()
The driver definitions can be either CONNECTED or NOT_CONNECTED. The actuator definitions can be
either ACTUATOR_ERM or ACTUATOR_LRA. When each definition is defined properly, the methods
provided configure the TCA9554A and TCA9548A devices to enable the DRV2605L devices and connect
the I2C lines of the drivers to the master I2C bus properly.
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OUT
470 pF
OUT+ OUT±
100 k100 k
470 pF
From DRV2605L
Measurement and Analysis—Waveform Sequences www.ti.com
4 Measurement and Analysis—Waveform Sequences
The DRV2605L device uses PWM modulation to create the output signal for both ERM and LRA
actuators. To measure and observe the DRV2605L output waveform, connect an oscilloscope or other
measurement equipment to the filtered output test points, OUT+ and OUT–.Figure 5 shows the setup of
the terminal block and test points used to connect external actuators and measure waveforms.
Figure 5. Terminal Block and Test Points
4.1 TripleClick and StrongClick Example Waveforms
Figure 6 displays the tripleClick waveform output for an LRA (trace C1 and C2) and the strongClick
waveform for an ERM (trace C3 and C4) the same time. The differential output (trace Math) is trace C1-
CT the ERM was operated in open-loop mode while the LRA was operated in auto-resonance (closed
loop) mode.
Figure 6. TripleClick and StrongClick Waveform Played at the Same Time
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www.ti.com Measurement and Analysis—Waveform Sequences
4.2 Pulsing Strong Example Waveforms
Figure 7 displays the pulsingStrong waveform output for an ERM (trace C1, C2). The differential output
(trace Math) is trace C1-CT the ERM was operated in open-loop mode. The peak acceleration for the
waveform is 156.1 mVPP or 1.37 G.
Figure 7. Pulsing Strong waveform for ERM in Open-Loop Mode
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Measurement and Analysis—Waveform Sequences www.ti.com
4.3 Strong Buzz Example Waveforms
Figure 8 and Figure 9 show the output waveform (trace C1 and C2), the differential output (trace Math),
and the acceleration profile (trace C4) for the buzz waveform. Figure 8 displays the waveform in auto-
resonance mode while Figure 9 displays the same waveform in open-loop mode. Auto-resonance mode
allows the acceleration profile to have a higher peak acceleration at a lower VRMS voltage.
Figure 8. Strong Buzz Waveform for LRA in Auto-Resonance Mode
Figure 9. Strong Buzz Waveform for LRA in Open-Loop Mode
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www.ti.com TCA9554 - I2C GPIO Expander
5 TCA9554 - I2C GPIO Expander
The TCA9554 GPIO expander is used to enable the DRV2605L device. Because the multi-driver board
has the ability to control up to 8 haptic drivers, the TCA9554 device is able to control the enable lines of
the DRV2605L device through I2C and free up GPIO pin space on the MSP430F5510 device for other
peripherals. The following pseudo code shows how the TCA9554 device is used as an output
configuration.
I2C_SetSlaveAddr(TCA9554_SLAVE_ADDR) //setslave address
I2C_WriteSingleByte(0x03, ~(bit_set_for_output)) //configure as output port
I2C_WriteSingleByte(0x01, output_bits) //output values
The TCA9554 device is configured completely through I2C commands. The expander must be configured
as an output port for the corresponding drivers (8 drivers). The output port command register is 0x03.
Each bit of the 8-bit value represents the 8 output ports of the device. A value of zero in each bit
corresponds to an output configuration. The variable, bit_set_for_output, has the respective bits set as
outputs. When the output port is configured, register 0x03 does not need to be accessed unless those
ports will be used as some other port function. After the ports are configured as outputs, a write command
to register 0x01 is used to set the value of the output to either 0 or 1. The default values for outputs are
initialized to 0. See the TCA9554 data sheet, SCPS233, for more information on the TCA9554 device.
5.1 I2C Register Value Examples
The following examples listed in Table 2 and Table 3 show exact I2C transactions with slave addresses,
registers, and values to enable one DRV2605L device and to enable three or more DRV2605L devices.
Table 2. TCA9554 I2C Transaction for Enabling driver 1
Slave Address (7-bit) Register Value Description
I2C Action
Configures IO expander for output port at
1 Write 0x20 0x03 0xFE channel 1
2 Write 0x20 0x01 0x01 Sends a high signal to output channel 1
Table 3. TCA9554 I2C Transaction for Enabling drivers 1, 4, 5, and 8
Slave Address (7-bit) Register Value Description
I2C Action
Configures IO expander for output port at
1 Write 0x20 0x03 0x66 channel 1, 4, 5, and (corresponds to drivers
1, 4, 5, 8).
Sends a high signal to output channel 1, 4,
2 Write 0x20 0x01 0x99 5, and (corresponds to drivers 1, 4, 5, 8).
6 TCA9548A - I2C Switch
The DRV2605LEVM-MD is designed for multi-driver applications. The TCA9548A I2C switch was used to
independently setup haptic drivers and play the waveforms simultaneously. The pseudo code listed in the
following code allows the user to verify proper operation of the I2C switch and communication with the
DRV2605L device.
I2C_SetSlaveAddr(TCA9548_SLAVE_ADDR) //setslave address
I2C_WriteSingleByte(driver_position) //channelselection
This code lists the sequence for how to command the TCA9548A I2C switch. Any combination of channels
can be selected. When the slave address of the TCA9548A device is set, a single byte is required to
initialize channel selection. No register address is needed to send the channel selection value, but if a
register input must be available for the I2C write function, use the data value as the register value because
the device will take the last byte sent to it.
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TCA9548A - I2C Switch www.ti.com
6.1 I2C Register Value Examples
The examples listed in Table 4 and Table 5 show exact I2C transactions with slave addresses, registers,
and values to enable one DRV2605L device and to enable three or more DRV2605L devices.
Table 4. TCA9548A I2C Transaction for Enabling Driver 1
I2C Action Slave Address (7-bit) Register Value Description
Configures I2C switch to connect
1 Write 0x70 N/A 0x01 channel 1 I2C lines
Table 5. TCA9548A I2C Transaction for Enabling Driver 1, 4, 5, and 8
I2C Action Slave Address (7-bit) Register Value Description
Configures I2C switch to contact
1 Write 0x70 N/A 0x99 channel 1, 4, 5, and (corresponds to
drivers 1, 4, 5, 8).
6.2 Operation Analysis
The TCA9548A operation can be verified with a logic analyzer hooked up to the master I2C bus input into
the device and to the channel outputs. Figure 10 shows the data and clock lines of the I2C commands to
the switch and to the GPIO expander to show proper operation of the devices together.
Figure 10. TCA9548A Logic Analyzer Operation
The TCA9554 device is first configured for output ports for drivers 6 and 7 with a value of 1 at the output.
The TCA9548A device is switched to driver 7 (channel 8) and sent a read command to the DRV2605L
device to verify communication with the haptic driver. The switch is then configured to select driver 6
(channel 7) and is then sent the same read command. Figure 10 shows proper operation of the switch in
the case of isolating specific channels.
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