Texas Instruments DRV2604L ERM User manual

User's Guide
SLOU390A–May 2014–Revised June 2014
DRV2604L ERM, LRA Haptic Driver Evaluation Kit
The DRV2604L is a haptic driver designed for Linear Resonant Actuators (LRA) and Eccentric Rotating
Mass (ERM) motors. It provides many features which help eliminate the design complexities of haptic
motor control including reduced solution size, high efficiency output drive, closed-loop motor control, quick
device startup, memory for waveform storage, and auto-resonance frequency tracking.
The DRV2604LEVM-CT Evaluation Module (EVM) is a complete demo and evaluation platform for the
DRV2604L. The kit includes a microcontroller, linear actuator, eccentric rotating mass motor, and
capacitive touch buttons which can be used to completely demonstrate and evaluate the DRV2604L.
This document contains instructions to setup and operate the DRV2604LEVM-CT in demo and evaluation
mode.
Figure 1. DRV2604LEVM-CT Board
Evaluation Kit Contents:
• DRV2604LEVM-CT demo and evaluation board
• Mini-USB cable
• Demonstration Firmware
Required for programming and advanced configuration:
• Code Composer Studio™ (CCS) or IAR Embedded Workbench IDE for MSP430
• MSP430 LaunchPad (MSP-EXP430G2), or MSP430-FET430UIF hardware programming tool
• DRV2604LEVM-CT firmware available on ti.com
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Contents
1 Getting Started............................................................................................................... 4
1.1 Evaluation Module Operating Parameters ...................................................................... 5
1.2 Quick Start Board Setup........................................................................................... 5
2 DRV2604L Demonstration Program....................................................................................... 5
2.1 Modes and Effects Table .......................................................................................... 6
2.2 Description of the Demo Modes .................................................................................. 7
2.3 RAM Library Mode ................................................................................................ 11
2.4 Waveform Library Effects List ................................................................................... 11
3 Additional Hardware Modes............................................................................................... 12
3.1 Enter Binary Counting Mode..................................................................................... 12
3.2 Exit Binary Counting Mode....................................................................................... 12
3.3 Binary Counting Modes........................................................................................... 13
4 Hardware Configuration ................................................................................................... 14
4.1 Input and Output Overview ...................................................................................... 14
4.2 Power Supply Selection .......................................................................................... 15
4.3 Using an External Actuator....................................................................................... 15
4.4 PWM Input ......................................................................................................... 16
4.5 External Trigger Control ......................................................................................... 17
4.6 External I2C Input.................................................................................................. 18
4.7 Analog Input........................................................................................................ 19
5 Measurement and Analysis .............................................................................................. 19
6 Modifying or Reprogramming the Firmware ............................................................................ 21
6.1 MSP430 Pin-Out .................................................................................................. 22
7 Schematic ................................................................................................................... 23
8 Layout........................................................................................................................ 24
9 Bill of Materials ............................................................................................................. 27
List of Figures
1 DRV2604LEVM-CT Board.................................................................................................. 1
2 Board Diagram............................................................................................................... 4
3 DRV2604LEVM-CT Mode Sets............................................................................................ 5
4 ERM Click and Bounce Waveform (Button 1)............................................................................ 7
5 LRA Ramp-Up and Click Waveform (Button 2).......................................................................... 7
6 ERM Closed-Loop Click Waveform (Button 1)........................................................................... 7
7 ERM Open-Loop Click Waveform (Button 4) ............................................................................ 7
8 LRA Single-Cycle Click (Button 2)......................................................................................... 8
9 LRA Single-Cycle with Braking (Button 3)................................................................................ 8
10 LRA Closed-Loop Click Waveform (Button 1) ........................................................................... 8
11 LRA Open-Loop Click Waveform (Button 4) ............................................................................. 8
12 LRA Auto-Resonance ON Waveform (Button 1) ........................................................................ 9
13 LRA Auto-Resonance OFF Waveform (Button 2)....................................................................... 9
14 Acceleration Versus Frequency............................................................................................ 9
15 LRA Scroll Wheel Effect Waveform (Button 4)......................................................................... 10
16 LRA Click with Braking in Open Loop (Button 3) ...................................................................... 10
17 LRA Click with Braking in Auto Resonance (Button 1)................................................................ 10
18 Power Jumper Selection .................................................................................................. 15
19 Terminal Block and Test Points .......................................................................................... 15
20 External PWM Input........................................................................................................ 16
21 External Trigger Control................................................................................................... 17
22 External I2C Input........................................................................................................... 18
23 Analog Input................................................................................................................. 19
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24 Terminal Block and Test Points .......................................................................................... 19
25 DRV2604L Unfiltered Waveform ......................................................................................... 20
26 DRV2604L Filtered Waveform............................................................................................ 20
27 Measuring the DRV2604L Output Signal with an Analog Low-Pass Filter ......................................... 20
28 LaunchPad Programmer Connection.................................................................................... 21
29 DRV2604LEVM-CT Schematic........................................................................................... 23
30 X-Ray Top View ............................................................................................................ 24
31 Top Copper ................................................................................................................. 24
32 Layer 2 Copper............................................................................................................. 25
33 Layer 3 Copper............................................................................................................. 25
34 Bottom Copper.............................................................................................................. 26
List of Tables
1 Mode and Effects Table..................................................................................................... 6
2 Waveform Effects .......................................................................................................... 11
3 Binary Counting Modes.................................................................................................... 13
4 Hardware Overview........................................................................................................ 14
5 MSP430 Pin-Out ........................................................................................................... 22
6 Bill of Materials ............................................................................................................. 27
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Actuators
DRV2604L
MSP430
OUT
USB
VBAT
SBW
MSP
DRV
USB Power
External
Power
Power Select Pins
DRV2604L Increment Mode
Decrement Mode ERM and LRA Actuators
Effect Buttons
Press to play haptic effects.
Programmer
Connector
AUDIO
Analog-In
JP4
JP3
Actuator Disconnect
Getting Started www.ti.com
1 Getting Started
The DRV2604L can be used as a demonstration or evaluation tool. When the DRV2604LEVM-CT
evaluation module is powered on for the first time, a demo application automatically starts. To power the
board, connect the DRV2604LEVM-CT to an available USB port on your computer using the included
mini-USB cable. The demo begins with a board power-up sequence and then enters the demo effects
mode. The four larger buttons (B1–B4) can be used to sample haptic effects using both the ERM and LRA
motor in the top right corner. The two smaller mode buttons (–,+) are used to change between the
different banks of effects. See the DRV2604L Demonstration Program section for a more detailed
description of the demo application.
Figure 2. Board Diagram
Code Composer Studio is a trademark of Texas Instruments.
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Demo Mode ROM Library
Mode
Binary Counting
Mode
+ +
Hold for 3s Hold for 3s
Modes
Mode OFF
Mode 4
Mode 3
.
.
Mode 0
Modes*
Mode 0
Mode 1
Mode 2
.
.
Mode 5
.
.
Mode 30
Mode 31 (Library Select)
Modes*
Mode 0
Mode 1
Mode 2
.
.
Mode 9
Mode 10 (Empty)
.
Mode 29 (Empty)
Mode 30
Mode 31
+
++
* Displayed in Binary
www.ti.com Getting Started
1.1 Evaluation Module Operating Parameters
The following table lists the operating conditions for the DRV2604L on the evaluation module.
Parameter Specification
Supply voltage range 2.5 V to 5. 5 V
Power-supply current rating 400 mA
1.2 Quick Start Board Setup
The DRV2604LEVM-CT firmware contains haptic waveforms which showcase the features and benefits of
the DRV2604L. Follow the instructions below to begin the demo:
1. Out of the box, the jumpers are set to begin demo mode using USB power. The default jumper settings
are found in the table below.
Jumper Default Position Description
JP1 Shorted Connect MSP430 GPIO/PWM output to DRV2604L IN/TRIG
JP2 Shorted 3.3 V reference for I2C
JP3, JP4 Shorted Connect on-board actuators to DRV2604L
MSP USB to MSP Select USB (5 V) or VBAT power for the MSP430
DRV USB to DRV Select USB (5 V) or VBAT power for the DRV2604L
2. Connect the included mini-USB cable to the USB connector on the DRV2604LEVM-CT board.
3. Connect the other end of the USB cable to an available USB port on a computer, USB charger, or USB
battery pack.
4. If the board is powered correctly, the four colored LEDs will turn on, the four mode LEDs will flash, and
the LRA and ERM will perform auto-calibration, indicating the board has been successfully initialized.
2 DRV2604L Demonstration Program
The DRV2604LEVM-CT contains a microcontroller and embedded software to control the DRV2604L.
There are three sets of modes accessible by pressing and holding the “+” button. Follow the instructions in
the following sections to access the effects in each set.
Figure 3. DRV2604LEVM-CT Mode Sets
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2.1 Modes and Effects Table
The effects preloaded on the DRV2604LEVM-CT are listed in Table 1. The modes are selected using the
+and –mode buttons in the center of the board. The current mode is identified by the white LEDs directly
above the mode buttons. Buttons B1–B4 trigger the effects listed in the description column and change
based on the selected mode.
Table 1. Mode and Effects Table
Mode Button Description Actuator Waveform Interface
Location
Mode Off B1 Click + Bounce ERM RAM Internal Trigger (I2C)
LEDs Off B2 Ramp Up + Click LRA
B3 Gallop Alert ERM
B4 Pulsing Alert LRA
Mode 4 B1 Strong Click ERM RAM Ext. Level Trig.
LED M4 On B2 Bump + Release Internal Trigger
B3 Double Strong Click Ext. Edge Trig.
B4 Click (Open Loop) µController PWM
Mode 3 B1 Strong Click LRA RAM Ext. Level Trig.
LED M3 On B2 Single-Cycle Click Internal Trigger
B3 Single-Cycle Click with braking Internal Trigger
B4 Click (Open Loop) µController PWM
Mode 2 B1 Buzz Auto-Resonance ON LRA µController RTP (I2C)
LED M2 On B2 Buzz Auto-Resonance OFF PWM
B3 Buzz Alert ERM
B4 Scroll Wheel LRA RTP (I2C)
Mode 1 B1 Click with braking ERM and LRA RAM Internal Trigger (I2C)
LED M1 On B2 Click without braking
B3 Click with braking (Open Loop)
B4 Selects ERM or LRA
Mode 0 B1 Auto-Calibration ERM Internal Routine Internal Trigger (I2C)
LED M0 On B2 Auto-Calibration LRA
B3 Click ERM/LRA RAM
B4 Buzz
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2.2 Description of the Demo Modes
The following sections describe each demo mode in more detail.
2.2.1 Mode Off – Haptics Effect Sequences
Mode Off is a set of haptic sequences that combine a series of haptic effects. The two effects below show
combinations of clicks and ramps.
Figure 4. ERM Click and Bounce Figure 5. LRA Ramp-Up and Click
Waveform (Button 1) Waveform (Button 2)
2.2.2 Mode 4 – ERM Clicks
Mode 4 shows the difference in open-loop and closed-loop ERM clicks. In closed loop, the driver
automatically overdrives and brakes the actuator. In open-loop, the waveform must be predefined with
overdrive and braking. The image on the left shows a closed-loop waveform and the image on the right
shows the same input waveform without closed-loop feedback enabled.
Figure 6. ERM Closed-Loop Click Waveform (Button 1) Figure 7. ERM Open-Loop Click Waveform (Button 4)
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2.2.3 Mode 3 – LRA Clicks
Mode 3 shows what the waveforms look like with and without braking and how closed-loop and open-loop
mode affects the acceleration profile. Figure 8 and Figure 9 demonstrate single-cycle clicks. In closed
loop, the driver automatically tracks the resonant frequency, and overdrives and brakes the actuator. In
open-loop, the waveform must be predefined with a static drive frequency, and overdrive and braking
times. Figure 10 shows a closed-loop waveform (with overdrive and braking) while Figure 11 shows open-
loop mode that does not have overdrive or braking. Overdrive and braking allows the waveform to feel
more crisp.
Figure 8. LRA Single-Cycle Click (Button 2) Figure 9. LRA Single-Cycle with Braking (Button 3)
Figure 10. LRA Closed-Loop Click Waveform (Button 1) Figure 11. LRA Open-Loop Click Waveform (Button 4)
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2.2.4 Mode 2 – Alerts and Scroll Wheel
Mode 2 showcases the advantages of the Smart Loop Architecture which includes auto-resonance
tracking, automatic overdrive, and automatic braking.
The two images below show the difference in acceleration between LRA auto-resonance ON and LRA
auto-resonance OFF. Notice that the acceleration is higher when driven at the resonant frequency. The
auto-resonance ON waveform has 1.32 G of acceleration and the auto-resonance OFF waveform has
0.92 G of acceleration. The auto-resonance ON waveform has 43% more acceleration.
Figure 12. LRA Auto-Resonance ON Figure 13. LRA Auto-Resonance OFF
Waveform (Button 1) Waveform (Button 2)
The reason for higher acceleration can be seen in the acceleration versus frequency graph below. The
LRA has a very narrow operating frequency range due to the properties of a spring-mass system.
Furthermore, the resonance frequency drifts over various conditions such as temperature and drive
voltage. With the Smart Loop auto-resonance feature, the DRV2604L dynamically tracks the exact
resonant frequency to maximize the vibration force.
Figure 14. Acceleration Versus Frequency
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Button 4 uses a series of clicks to create a scroll wheel effect. See the oscilloscope capture in Figure 15.
Figure 15. LRA Scroll Wheel Effect Waveform (Button 4)
2.2.5 Mode 1 – Click Waveforms
Mode 1 shows the advantages and disadvantages of the click waveform in the different modes of
operation. Button 1 plays the click waveform with braking in auto-resonance. Button 2 plays the click
waveform with no braking in auto-resonance. It is apparent that braking allows the waveform to dampen
faster so there is no excessive oscillations at the end of the waveform. Button 3 plays the click with
braking but in open loop. Braking is not supported in open loop, thus there is no reverse operation of the
actuator shown in the graph.
Figure 16. LRA Click with Braking in Open Loop Figure 17. LRA Click with Braking in Auto Resonance
(Button 3) (Button 1)
2.2.6 Mode 0 – Auto-Calibration
Auto-calibration is a DRV2604L-embedded routine that detects the characteristics and behavior of an
actuator and adjusts the drive waveform automatically.
Perform auto-calibration using the following steps:
1. Connect an actuator to the green output terminal (OUT) or use the on-board actuators
2. For an ERM actuator, run the ERM auto-calibration by pressing button B1
3. For an LRA actuator, run the LRA auto-calibration by pressing button B2
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4. Read the auto-calibration register values using I2C
5. Test using buttons B3 and B4
2.3 RAM Library Mode
Access the RAM library effects by holding the +button until the mode LEDs flash and the colored LEDs
flash ONCE.
Once in Library Mode the DRV2604L loaded RAM effects can be accessed in sequential order. For
example, with all Mode LEDs off, B1 is waveform 1, B2 is waveform 2, and so on. Then when Mode LED
M0 is on, B1 is waveform 5, B2 is waveform 6, and so on.
The equations for calculating the Mode and Button of an effect are:
Mode = RoundDown( [Effect No.] / 4 )
Button = ([Effect No.] – 1) % 4 + 1
% - modulo operator
To change between ERM and LRA:
1. Select mode 31 (11111'b) using the +or –buttons.
• B1 – Press to select ERM
• B2 – Press to select LRA
2. Then use the RAM effects as described above.
2.4 Waveform Library Effects List
Table 2 lists the descriptions of the waveforms embedded in the DRV2604L.
Table 2. Waveform Effects
Effect ID Waveform Name
1 Strong Click
2 Medium Click
3 Light Click
4 Tick
5 Bump
6 Strong Double Click
7 Medium Double Click
8 Light Double Click
9 Strong Triple Click
10 Buzz
11 Ramp Up
12 Ramp Down
13 Gallop Alert
14 Pulsing Alert
15 Test Click with Braking
16 Test Buzz with Braking
17 Life Test Buzz with Braking
18 Life Test Continuous Buzz
19 ERM OL 1 ms Interval Click
20 LRA OL 1 ms Interval Click
21 ERM/LRA Click for 5 ms playback interval
22 ERM/LRA Click for 1 ms playback interval
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3 Additional Hardware Modes
Additional modes are available on the DRV2604LEVM-CT providing increased board control and
functionality. The additional modes are not available in demo mode, but can be accessed by switching to
binary counting mode. In binary counting mode the mode LEDs count in binary (32 modes) rather than in
demo mode format (only 6 modes including off).
3.1 Enter Binary Counting Mode
To enter binary counting mode and access the additional modes:
1. Press and hold the increment mode button (+) for approximately 3 seconds until the mode LEDs flash
and the colored LEDs flash once.
2. Press and hold the increment mode button (+) one more time until the mode LEDs flash and the
colored LEDs flash twice.
3. Select from the binary counting mode using the +and –buttons.
3.2 Exit Binary Counting Mode
To exit binary counting mode and return to demo mode:
1. Press and hold the decrement mode button (–) for approximately 3 seconds.
2. Release the button when the actuator buzzes and mode LEDs flash.
3. Select from the demo modes using the +and –buttons.
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3.3 Binary Counting Modes
Table 3 lists the modes available in binary counting mode.
Table 3. Binary Counting Modes
Mode Button Description Notes
Mode 0 B1 Set ERM Output Use this mode to control the DRV2604L using an external I2C Master. Press B1 or B2
to choose between the ERM or LRA. Press B3 to choose the trigger type. (1 - Internal,
External I2C Mode B2 Set LRA Output 2 - Ext. Edge, 3 - Ext. Level). Press B4 to trigger the waveform sequencer.
LEDs: 00000 B3 Choose Trigger
B4 Trigger Button
Mode 1 B1 ERM Auto-Calibration Run the auto-calibration. The new auto-calibration results are used for all board effects.
Auto-Calibration & 1 flash = successful, 3 flashes = error.
B2 LRA Auto-Calibration
Diagnostics
LEDs: 00001 B3 ERM Diagnostics Run diagnostics. 1 flash = successful, 3 flashes = error. The status register bits [3:0]
are displayed on the mode LEDs [3:0] when complete.
B4 LRA Diagnostics
Mode 2 B1 Disable PWM Mode External PWM - disconnect MSP430 PWM using JP1. Connect external PWM signal to
External PWM the "PWM" testpoint at the top of the board. Select actuator using buttons B2 and B3.
B2 Set ERM Output
LEDs: 00010 B3 Set LRA Output
B4 -
Mode 3 B1 Return to normal mode External PWM and Enable - disconnect MSP430 PWM using JP1. Connect external
External PWM and Enable PWM signal to the "PWM" testpoint at the top of the board. Connect an external enable
B2 Set ERM Output
LEDs: 00011 signal to the "EN" testpoint. Select actuator using buttons B2 and B3. Press B1 before
switching modes.
B3 Set LRA Output
B4 -
Mode 4 B1 AC Coupling - ERM Analog Input - apply an external analog signal for AC coupling on the "Audio" jack.
Analog Input Apply a DC coupled signal to the "PWM" testpoint.
B2 DC Coupling - ERM
LEDs: 00100 B3 AC Coupling - LRA
B4 DC Coupling - LRA
Mode 5 B1 Alert (Auto-resonance On) Vary the auto-resonance OFF (open-loop) output frequency and see the change in
Auto-resonance OFF vibration force over frequency. Hold B3 or B4 for quick frequency adjustment. Compare
B2 Alert (Auto-resonance Off)
frequency adjust B2 (auto-resonance off) with B1 (auto-resonance on).
LEDs: 00101 B3 Decrease output frequency
B4 Increase output frequency
Mode 6 B1 Begin Life Test Life Test using RTP (2 seconds on, 1 second off) - life test repeats infinite times and
Life Test (RTP) 2s ON, 1s board must be powered down to stop. Increment / Decrement amplitude using B3 and
B2 Test Buzz
OFF B4. Test new amplitude using B2. Choose actuator using buttons B1 and B2 in Mode 0
LEDs: 00110 or Mode 1.
B3 Decrease output voltage (–1)
B4 Increase output voltage (+1)
Mode 7 B1 Begin Life Test Life Test using RTP (Infinite Buzz) - board must be powered down to stop buzz.
Life Test (RTP) Infinite Buzz Increment / Decrement amplitude using B3 and B4. Test new amplitude using B2
B2 Test Buzz
LEDs: 00111 before beginning life test. Choose actuator using buttons B1 and B2 in Mode 0 or
Mode 1.
B3 Decrease output voltage (–1)
B4 Increase output voltage (+1)
Mode 8 B1 Begin Life Test Life Test using PWM (2 seconds on, 1 second off) - life test repeats infinite times and
Life Test (PWM) 2s ON, 1s board must be powered down to stop. Increment / Decrement amplitude using B3 and
B2 Test Buzz
OFF B4. Test new amplitude using B2. Choose actuator using buttons B1 and B2 in Mode 0
LEDs: 01000 or Mode 1.
B3 Decrease output voltage (–1)
B4 Increase output voltage (+1)
Mode 9 B1 Start/Stop Recording Recorder - use this mode to create a single amplitude pattern. Start by pressing the
Recorder record button (B1). Then use B2 to create the pattern by tapping the button. When
B2 Create Pattern
LEDs: 01001 finished press the play back button (B3).
B3 Start/Stop Play Back
B4 -
Mode 10 B1 Life Test Infinite Buzz Life Test (RAM Mode) - Increment / Decrement amplitude using B3 and B4. B1 -
Life Test (RAM) Infinite Buzz Start/Stop Infinite Buzz Life Test. B2 - Start/Stop 2s ON, 1s OFF life test. Choose
B2 Life Test 2 s ON, 1 s OFF
LEDs: 01010 actuator using buttons B1 and B2 in Mode 0 or Mode 1.
B3 Decrease output voltage (–1)
B4 Increase output voltage (+1)
Mode 11 B1 Infinite Buzz at Frequency Frequency Sweep (ROM Mode) - Increment/Decrement the frequency using B3 and
Frequency Sweep B4. B1 - Start/stop infinite buzz at chosen frequency. B2 - Start/Stop infinite buzz using
B2 Infinite Buzz at Resonance
LEDs: 01011 auto-resonance. Frequency range: (50 Hz - 300 Hz)
B3 Decrease Frequency (–1)
B4 Increase Frequency (+1)
Mode 12 B1 Never Transition to Open Loop 2nd Cycle Test - closed-loop drive to a resistive load on the output. B1 plays a buzz
2nd Cycle Test alert with OL drive disabled. B2 plays an infinite buzz with the automatic transition to
B2 Auto-transition to OL Drive
LEDs: 01100 open loop drive enabled (when back-EMF not detected). Demonstrates DRV2604L
improved algorithm to sync
B3
B4
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Table 3. Binary Counting Modes (continued)
Mode Button Description Notes
Mode 13 B1 5 ms playback interval enabled Playback Interval - demonstrates the 1 ms or 5 ms playback interval. Affects waveform
RAM Playback Interval by multiplying the time data either by 1 ms or 5 ms. B1 - 5 ms mode enabled, B2 - 1
B2 1 ms playback interval enabled
LEDs: 01101 ms mode enabled, B3 - selects between ERM or LRA
B3 Selects ERM or LRA
B4
Mode 30 B1 Begin Actuator Break-in Actuator Break-in - used to break in new actuators
Actuator Break-in B2
LEDs: 11110 B3
B4
Mode 31 B1 Device ID About the Board - the value will appear on the mode LEDs in binary.
About the Board DRV2604L Device ID = 00100
B2 Silicon Revision
LEDs: 11111 B3 Code Revision
B4
4 Hardware Configuration
The DRV2604LEVM-CT is very flexible and can be used to completely evaluate the DRV2604L. The
following sections list the various hardware configurations.
4.1 Input and Output Overview
The DRV2604LEVM-CT allows complete evaluation of the DRV2604L though test points, jacks, and
connectors. Table 4 gives a brief description of the hardware.
Table 4. Hardware Overview
Signal Description I/O
PWM External input to DRV2604L IN/TRIG pin Input/Observe
EN External DRV2604L enable control Input/Observe
Filtered output test points for observation, connect to oscilloscope or
OUT+/OUT– Output
measurement equipment
OUT Unfiltered output terminal block, connect to actuator Output
USB USB power (5 V) Input
VBAT External Supply Power (2.5 V–5.5 V) Input
SBW MSP430 programming header Input/Output
I2C DRV2604L and MSP430 I2C bus Input/Output
The audio jack is connected to the IN/TRIG pin of the DRV2604L. When the
Audio DRV2604L is in analog input mode, an analog signal from this jack controls Input
the amplitude envelope of the output waveform.
Hardware configuration details can be found in the following sections.
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100k
470pF 100k 470pF
OUT
OUT- OUT+
From DRV2604L
USB
VBAT
MSP
DRV
USB
VBAT
USB
VBAT
www.ti.com Hardware Configuration
4.2 Power Supply Selection
The DRV2604LEVM-CT can be powered by USB or an external power supply (VBAT). Jumpers DRV and
MSP are used to select USB or VBAT for the DRV2604L and MSP430G2553, respectively. See the
following table for possible configurations.
Figure 18. Power Jumper Selection
Supply Configuration DRV MSP DRV2604L Supply Voltage(1)
USB – Both USB USB 5 V
DRV2604L external supply, VBAT USB VBAT
MSP430 USB
External supply – both VBAT VBAT VBAT
USB with 3.3-V LDO(2) – both USB USB 3.3 V (R4 = Short, R5 = Open)
(1) The DRV2604L supply must be on before operating the MSP430.
(2) If a 3.3-V DRV2604L supply voltage is preferred while using the USB as the power source, remove R5 and add a 0-Ωresistor
across R4.
4.3 Using an External Actuator
Figure 19. Terminal Block and Test Points
The DRV2604LEVM-CT can be used with an external actuator. Follow the instructions below to attach an
actuator to the OUT terminal block.
1. Remove jumpers JP3 and JP4, which disconnects the on-board actuators from the DRV2604L.
2. Attach the positive and negative leads of the actuator to the green OUT terminal block keeping in mind
polarity.
3. Screw down the terminal block to secure the actuator leads.
It is important to use the green terminal block when connecting an external actuator. The OUT+ and OUT–
test points have low-pass filters and should only be used for oscilloscope and bench measurements.
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JP1
VDD
DRV2604L
EN
IN/TRIG GND
OUT+
OUT-
MSP430
PWM/
GPIO
P3.1 R8
EN PWM
SDA
SCL SDA
SCL
C11
AUDIO R40, 0Q
R41, NP
SDA SCL
R43, 0Q
Hardware Configuration www.ti.com
4.4 PWM Input
Figure 20. External PWM Input
JP1 PWM Source
Shorted MSP430
Open External PWM using PWM test point
To control the DRV2604L using PWM, follow the instructions below:
1. Enter Additional Hardware Modes.
2. Select Mode 2 (00010'b) using the increment mode button (+).
• B1 – Disable Amplifier
• B2 – ERM Mode
• B3 – LRA Mode
• B4 – No function
3. Choose either the on-board ERM or LRA using buttons B1 or B2.
4. Apply the PWM signal to the PWM test point at the top of the board.
16 DRV2604L ERM, LRA Haptic Driver Evaluation Kit SLOU390A–May 2014–Revised June 2014
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JP1
VDD
DRV2604L
EN
IN/TRIG GND
OUT+
OUT-
MSP430
PWM/
GPIO
P3.1 R8
EN PWM
SDA
SCL SDA
SCL
C11
AUDIO R40, 0Q
R41, NP
SDA SCL
R43, 0Q
www.ti.com Hardware Configuration
4.5 External Trigger Control
Figure 21. External Trigger Control
JP1 PWM Source
Shorted MSP430
Open External GPIO using PWM test point
The DRV2604L internal waveform sequencer can be triggered by controlling the IN/TRIG pin. There are
two external trigger options: edge trigger and level trigger. See the data sheet for more information on
these Input Trigger Modes.
In Mode 0 in the Additional Hardware Modes section, the DRV2604L can be set in external trigger mode
and then triggered by using the trigger button control on button B4 or alternatively by applying an external
trigger signal to the PWM test point.
4.5.1 MSP430 Trigger Control
1. Enter Additional Hardware Modes.
2. Select Mode 0 (00000’b) using the increment mode button (+).
• B1 – Select the on-board ERM
• B2 – Select the on-board LRA
• B3 – Trigger Select (1 = Internal Trigger, 2 = Ext. Edge, 3 = Ext. Level)
• B4 – Trigger the waveform sequence using the MSP430.
3. Fill the waveform sequencer with waveforms using the external I2C port.
4. Choose either the on-board ERM or LRA using buttons B1 or B2.
5. Select either External Edge (2) or External Level (3) trigger using the B3 button. The trigger type
appears in binary on the mode LEDs.
6. Apply the trigger signal to the IN/TRIG pin by pressing the B4 button.
4.5.2 External Source Trigger Control
1. Remove jumper JP1.
2. Enter Additional Hardware Modes.
3. Select Mode 0 (00000’b) using the increment mode button (+).
• B1 – Select the on-board ERM
17
SLOU390A–May 2014–Revised June 2014 DRV2604L ERM, LRA Haptic Driver Evaluation Kit
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JP1
VDD
DRV2604L
EN
IN/TRIG GND
OUT+
OUT-
MSP430
PWM/
GPIO
P3.1 R8
EN PWM
SDA
SCL SDA
SCL
C11
AUDIO R40, 0Q
R41, NP
SDA SCL
R43, 0Q
Hardware Configuration www.ti.com
• B2 – Select the on-board LRA
• B3 – Trigger Select (1 = Internal Trigger, 2 = Ext. Edge, 3 = Ext. Level)
• B4 – Trigger the waveform sequence using the MSP430.
4. Fill the waveform sequencer with waveforms using the external I2C port.
5. Choose either the on-board ERM or LRA using buttons B1 or B2.
6. Select either External Edge (2) or External Level (3) trigger using the B3 button. The trigger type
appears in binary on the mode LEDs.
7. Apply the external logic signal to the PWM test point to trigger the waveform.
4.6 External I2C Input
Figure 22. External I2C Input
The DV2604 can be controlled by an external I2C source. Attach the external controller to the I2C header
at the top of the board; be sure to connect SDA, SCL and GND from the external source.
I2C communication is possible only when the EN pin is set high. To enable the DRV2604L and allow
external I2C control, follow the instructions below.
1. Enter Additional Hardware Modes.
2. Select Mode 0 (00000’b) using the increment mode button (+).
• B1 – Select the on-board ERM
• B2 – Select the on-board LRA
• B3 – Trigger Select (1 = Internal Trigger, 2 = Ext. Edge, 3 = Ext. Level)
• B4 – Trigger the waveform sequence using the MSP430.
3. Choose either the on-board ERM or LRA using buttons B1 or B2. Either button sets the EN pin high
and turns on the Active LED.
4. Begin controlling the DRV2604L using the external I2C source.
18 DRV2604L ERM, LRA Haptic Driver Evaluation Kit SLOU390A–May 2014–Revised June 2014
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100k
470pF 100k 470pF
OUT
OUT- OUT+
From DRV2604L
JP1
VDD
DRV2604L
EN
IN/TRIG GND
OUT+
OUT-
MSP430
PWM/
GPIO
P3.1 R8
EN PWM
SDA
SCL SDA
SCL
C11
AUDIO R40, 0Q
R41, NP
SDA SCL
R43, 0Q
www.ti.com Hardware Configuration
4.7 Analog Input
Figure 23. Analog Input
The analog input accepts an analog signal to control the envelope of the output waveform.
Use the following steps to use analog input mode:
1. Apply an analog signal (not PWM) to the AUDIO jack on the left side of the board. The tip of the
inserted male 3.5 mm jack is applied to the IN/TRIG pin of the DRV2604L. See Figure 23.
2. Enter Additional Hardware Modes.
3. Select Mode 5 (00101’b) using the increment mode button (+).
4. In Mode 5, choose button B1–B4, depending on the actuator and input coupling.
• B1 – AC Coupling – ERM
• B2 – DC Coupling – ERM
• B3 – AC Coupling – LRA
• B4 – DC Coupling – LRA
5. Enable the analog input signal.
5 Measurement and Analysis
The DRV2604L uses PWM modulation to create the output signal for both ERM and LRA actuators. To
measure and observe the DRV2604L output waveform, connect an oscilloscope or other measurement
equipment to the filtered output test points, OUT+ and OUT–.
Figure 24. Terminal Block and Test Points
19
SLOU390A–May 2014–Revised June 2014 DRV2604L ERM, LRA Haptic Driver Evaluation Kit
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ERM
Or
LRA
OUT+
OUT-
100k
100k
470 pF
470 pF
Ch1-Ch2
(Differential)
Oscilloscope
Ch1
Ch2
Measurement and Analysis www.ti.com
The DRV2604L drives LRA and ERM actuators using a 20-kHz PWM modulated waveform, but only the
frequencies around the LRA resonant frequency or the ERM DC drive voltage are relevant to the haptic
actuator vibration. The higher frequency switching content does not contribute to the vibration strength of
the actuator and can make it difficult to interpret the modulated output waveform on an oscilloscope. The
oscilloscope image on the left shows the DRV2604L unfiltered waveform and the image on the right
shows a filtered version used for observation and measurement.
Figure 25. DRV2604L Unfiltered Waveform Figure 26. DRV2604L Filtered Waveform
If the DRV2604LEVM-CT filter is not used, TI recommends using a 1st-order, low-pass filter with a cutoff
between 1kHz and 3.5kHz . Below is a recommended output filter for use while measuring and
characterizing the DRV2604L in the lab.
Figure 27. Measuring the DRV2604L Output Signal with an Analog Low-Pass Filter
20 DRV2604L ERM, LRA Haptic Driver Evaluation Kit SLOU390A–May 2014–Revised June 2014
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