Texas Instruments DRV2605L User Manual

User's Guide

SLOU389A–May 2014–Revised June 2014

DRV2605L ERM and LRA Haptic Driver Evaluation Kit

The DRV2605L 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

• Embedded waveform library

• Auto-resonance frequency tracking The DRV2605LEVM-CT evaluation module (EVM) is a complete demo and evaluation platform for the

DRV2605L. The kit includes a microcontroller, linear actuator, eccentric rotating mass motor, sample waveforms, and capacitive touch buttons, which can completely demonstrate and evaluate the DRV2605L.

This user's guide contains instructions to setup and operate the DRV2605LEVM-CT in demonstration and evaluation mode.

Evaluation Kit Contents:

• DRV2605LEVM-CT demo and evaluation board

• Mini-USB cable

• Demonstration mode firmware Needed 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

• DRV2605LEVM-CT firmware available on www.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 DRV2605L Demonstration Program....................................................................................... 6

2.1 Demo Mode.......................................................................................................... 7

2.2 Description of the Demo Modes .................................................................................. 8

2.3 ROM Library Mode................................................................................................ 13

2.4 ROM Library Effects List ......................................................................................... 14

3 Additional Hardware Modes............................................................................................... 15

3.1 Enter Binary Counting Mode..................................................................................... 15

3.2 Exit Binary Counting Mode....................................................................................... 15

3.3 Binary Counting Modes........................................................................................... 16

4 Hardware Configuration ................................................................................................... 17

4.1 Input and Output Overview ...................................................................................... 17

4.2 Power Supply Selection .......................................................................................... 17

4.3 Using an External Actuator....................................................................................... 18

4.4 PWM Input ......................................................................................................... 19

4.5 External Trigger Control ......................................................................................... 20

4.6 External I

C Input.................................................................................................. 21

4.7 Audio-to-Haptics Input............................................................................................ 22

5 Measurement and Analysis .............................................................................................. 23

6 MSP430 Firmware ......................................................................................................... 24

6.1 MSP430 Pinout.................................................................................................... 25

7 Schematic ................................................................................................................... 26

8 Layout........................................................................................................................ 27

9 Bill of Materials ............................................................................................................. 30

List of Figures

1 Board Diagram............................................................................................................... 4

2 DRV2605LEVM-CT Mode Sets............................................................................................ 6

3 ERM Click and Ramp-Down Waveform (Button 1)...................................................................... 8

4 LRA Ramp-Up and Pulsing Waveform (Button 4)....................................................................... 8

5 ERM SharpClick_100 (Button 1)........................................................................................... 8

6 ERM StrongClick_60 and Release SharpClick_100 (Button 2)........................................................ 8

7 LRA SharpTick2_80 (Button 1) ............................................................................................ 9

8 LRA StrongClick 100 and Release SharpTick2 80 (Button 2) ......................................................... 9

9 LRA Auto-Resonance On (Button 1)...................................................................................... 9

10 LRA Auto-Resonance Off (Button 2)...................................................................................... 9

11 LRA Acceleration versus Frequency over Output Voltage............................................................ 10

12 ERM Closed Loop (Button 3)............................................................................................. 10

13 ERM Open Loop (Button 4)............................................................................................... 10

14 ERM Audio-to-Haptics Conversion (Button 1).......................................................................... 12

15 LRA Audio-to-Haptics Conversion (Button 2)........................................................................... 12

16 Power Jumper Selection .................................................................................................. 18

17 Terminal Block and Test Points .......................................................................................... 18

18 External PWM Input........................................................................................................ 19

19 External Trigger Control................................................................................................... 20

20 External I

C Input........................................................................................................... 21

21 Audio-to-Haptics Input..................................................................................................... 22

22 Terminal Block and Test Points .......................................................................................... 23

23 DRV2605L Unfiltered Waveform ......................................................................................... 23

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24 DRV2605L Filtered Waveform............................................................................................ 23

25 Measuring the DRV2605L Output Signal With an Analog Low-Pass Filter......................................... 23

26 LaunchPad Programmer Connection.................................................................................... 24

27 DRV2605LEVM-CT Schematic........................................................................................... 26

28 X-Ray Top View ............................................................................................................ 27

29 Top Copper ................................................................................................................. 27

30 Layer 2 Copper............................................................................................................. 28

31 Layer 3 Copper............................................................................................................. 28

32 Bottom Copper.............................................................................................................. 29

1 Jumper Descriptions......................................................................................................... 5

2 Mode and Effects Table..................................................................................................... 7

3 DRV2605L Library Table.................................................................................................. 13

4 Binary Counting Modes.................................................................................................... 16

5 Hardware Overview........................................................................................................ 17

6 MSP430 Pinout............................................................................................................. 25

7 Bill of Materials ............................................................................................................. 30

List of Tables

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Actuators

DRV2605L

MSP430

OUT

USB

VBAT

SBW

MSP

DRV

USB Power

External

Power

Power Select Pins

DRV2605L

Increment Mode

Decrement Mode ERM and LRA Actuators

Effect Buttons

Press to play haptic effects.

Programmer

Connector

AUDIO

Audio-to-

Haptics

JP4

JP3

Actuator Disconnect

Getting Started

1 Getting Started

The DRV2605L can be used as a demonstration or evaluation tool. When the DRV2605LEVM-CT is powered on for the first time, a demo application automatically starts. To power the board, connect the DRV2605LEVM-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 to 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 (“–“ and “+”) are used to change between the different banks of effects. See the DRV2605L Demonstration Program section for a more detailed description of the demo application.

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Figure 1. Board Diagram

Code Composer Studio is a trademark of Texas Instruments. All other trademarks are the property of their respective owners.

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1.1 Evaluation Module Operating Parameters

The following table lists the operating conditions for the DRV2605L on the evaluation module.

Parameter Specification

Supply voltage range 2.5 to 5.5 V Power-supply current rating 400 mA

1.2 Quick Start Board Setup

The DRV2605LEVM-CT firmware contains haptic waveforms which showcase the features and benefits of the DRV2605L. 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

can be found in Table 1.

Table 1. Jumper Descriptions

Jumper Default Position Description

JP1 Shorted Connect MSP430 GPIO or PWM output to DRV2605L IN/TRIG JP2 Shorted 3.3-V reference for I2C JP3, JP4 Shorted Connect on-board actuators to DRV2605L 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 DRV2605L

Getting Started

2. Connect the included mini-USB cable to the USB connector on the DRV2605LEVM-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 turn on, four mode LEDs flash, and the LRA

and ERM perform auto-calibration, indicating the board has been successfully initialized.

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Demo Mode

ROM Library

Mode

Binary Counting

Mode

+ +

Hold for 3 s

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

DRV2605L Demonstration Program

2 DRV2605L Demonstration Program

The DRV2605LEVM-CT contains a microcontroller and embedded software to control the DRV2605L. 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.

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DRV2605L ERM and LRA Haptic Driver Evaluation Kit SLOU389A–May 2014–Revised June 2014

Figure 2. DRV2605LEVM-CT Mode Sets

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2.1 Demo Mode

Table 2 lists the effects preloaded on the DRV2605LEVM-CT. The modes are selected using the “+” and

“–“ mode buttons in the center of the board. The current mode can be identified by the white LEDs directly above the mode buttons. Buttons B1 to B4 trigger the effects listed in the description column and change based on the selected mode.

Mode Button Description Actuator Interface

Mode Off LEDs Off

Mode 4 LED M4 On

Mode 3 LED M3 On

Mode 2 LED M2 On

Mode 1 The board gives several waveforms to match. ERM and LED M1 On Must match from a given waveform list each LRA

Mode 0 LED M0 On

DRV2605L Demonstration Program

Table 2. Mode and Effects Table

Waveform Location

B1 Click + Ramp Down B2 Ramp Up + Pulsing B3 Click + Ramp Down B4 Ramp Up + Pulsing B1 SharpClick_100 Internal trigger B2 StrongClick_60 + Release External edge trigger B3 SoftBump_100 Internal trigger B4 DoubleClick_100 External level trigger B1 SharpTick2_80 Internal trigger B2 StrongClick_100 + Release External edge trigger B3 SoftBump_100 Internal trigger B4 DoubleClick_100 External level trigger B1 LRA auto-resonance on RTP B2 LRA auto-resonance off µController PWM B3 ERM buzz alert (closed loop) RTP B4 ERM buzz alert (open loop) ROM Internal trigger B1

Matching Game:

B2 B3

time before going to the next given waveform.

B4 B1 Audio-to-haptics enable ERM B2 Audio-to-haptics enable LRA B3 Exit A2H, click, return to A2H B4 Exit A2H, buzz, return to A2H

ERM

ROM

LRA

ERM ROM

LRA ROM

LRA

ERM

ROM

External analog source

ERM and LRA

ROM

Internal trigger (I2C)

Audio-to-haptics

Internal trigger (I2C)

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DRV2605L Demonstration Program

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 contains a set of haptic sequences that combine a series of haptic effects. The two following effects show combinations of clicks, ramps, and pulses.

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Figure 3. ERM Click and Ramp-Down Waveform Figure 4. LRA Ramp-Up and Pulsing Waveform

(Button 1) (Button 4)

2.2.2 Mode 4 – ERM Clicks

Mode 4 shows two different ERM click styles. Button 1 shoes a single sharp click. Button 2 shows a click and release effect. The click and release effect provides a haptic waveform on both the button press and the button release.

Figure 5. ERM SharpClick_100 (Button 1) Figure 6. ERM StrongClick_60 and Release

SharpClick_100 (Button 2)

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2.2.3 Mode 3 – LRA Clicks

Mode 3 shows two different LRA click styles. Button 1 shoes a single sharp click and Button 2 shows a click and release effect. The click and release effect provides a haptic waveform on both the button press and the button release.

Figure 7. LRA SharpTick2_80 (Button 1) Figure 8. LRA StrongClick 100 and Release SharpTick2

DRV2605L Demonstration Program

80 (Button 2)

2.2.4 Mode 2 – Alerts

Mode 2 showcases the advantages of the smart loop architecture, which includes auto-resonance tracking, automatic overdrive, and automatic braking.

Figure 9 and Figure 10 show the difference in acceleration when using LRA auto-resonance on and LRA

auto-resonance off. Notice that the acceleration is higher when driven at the resonant frequency. Also, notice the start and stop time of the acceleration are much quicker when using the overdrive and braking feature of the DRV2605L.

Figure 9. LRA Auto-Resonance On (Button 1) Figure 10. LRA Auto-Resonance Off (Button 2)

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Acceleration (G)

Frequency (Hz)

DRV2605L Demonstration Program

The reason for higher acceleration can be seen in Figure 11. 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 (the effects shown in Figure 11). With the smart loop auto-resonance feature, the DRV2605L dynamically tracks the exact resonant frequency to maximize the vibration force.

Figure 11. LRA Acceleration versus Frequency over Output Voltage

Figure 12 and Figure 13 show the difference between an ERM with automatic closed-loop overdrive and

braking, and the open-loop library waveform with a predefined overdrive period. The closed-loop version starts and stops the actuator perfectly and does not drive too long or too short. Automatic overdrive and braking simplify the design of haptic effects by eliminating the tuning time for actuator startup and stop.

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Figure 12. ERM Closed Loop (Button 3) Figure 13. ERM Open Loop (Button 4)

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2.2.5 Mode 1 – Waveform Matching Game

Mode 1 is a game that incorporates the various LRA effects. This can be used to demonstrate haptics in a real application.

To begin playing Matching:

1. Press any of the large effect buttons.

2. The game then counts down.

3. Once the countdown completes, a waveform will play from the LRA and the user must match that

given waveform from the given options list before going to the next waveform match.

• B1 - Play/repeat selected waveform from the options list

• B2 - Cycle through the waveforms in the options list to choose from

• B3 - Selects the guessed waveform (B1) as answer

• B4 - Play/repeat the given waveform

4. After each successfully successful match, the board will buzz from the LRA and count down to the next

given waveform. If the user selects incorrectly, then the ERM will buzz and the game is over. If the user matches all of the given waveforms, the LEDs will scroll and flash twice.

DRV2605L Demonstration Program

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DRV2605L Demonstration Program

2.2.6 Mode 0 – Audio-to-Haptics

Audio-to-haptics is a unique feature that converts an audio signal to haptics. Take audio from music, games, or movies and automatically create haptic effects.

Buttons B1 to B4 perform the following actions:

• Button 1 – Audio-to-haptics using ERM

• Button 2 – Audio-to-haptics using LRA

• Button 3 – Switch to internal trigger and play library click effect

• Button 4 – Switch to internal trigger and play library buzz effect To use this mode:

1. Connect an audio source to the audio jack on the left side of the board. The tip of the audio connector

is applied to the input of the DRV2605L.

2. Press button 1 which enables audio-to-haptics using the on-board ERM

3. Decrease the volume of the audio source, if the ERM is constantly vibrating, or increase the volume, if

the ERM is not vibrating at all.

4. Feel the haptic vibrations as the audio plays.

5. Press button 2 which enables audio-to-haptics using the on-board LRA.

6. Decrease the volume of the audio source if the LRA is constantly vibrating or increase the volume if

the LRA is not vibrating at all.

7. Feel the haptic vibrations as the audio plays.

8. Press button 3 or 4 to trigger a click or buzz during audio-to-haptics playback.

Figure 14 and Figure 15 show the conversion process from audio to hatpics for both ERM and LRA.

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Figure 14. ERM Audio-to-Haptics Conversion Figure 15. LRA Audio-to-Haptics Conversion

(Button 1) (Button 2)

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Texas Instruments DRV2605L User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual