MP6540驱动无刷电机示例程序

以下是MP6540驱动无刷电机的示例程序，供参考：

#include <Arduino.h>
#include <Wire.h>

#define MP6540_ADDRESS 0x2D

#define REG_CTRL1 0x00
#define REG_CTRL2 0x01
#define REG_CTRL3 0x02
#define REG_CTRL4 0x03
#define REG_CTRL5 0x04
#define REG_CTRL6 0x05
#define REG_CTRL7 0x06
#define REG_CTRL8 0x07
#define REG_CTRL9 0x08
#define REG_CTRL10 0x09

#define CTRL1_PWM_MODE 0x80
#define CTRL1_PWM_FREQ 0x40
#define CTRL1_OC_SD 0x20
#define CTRL1_OC_ADJ 0x08
#define CTRL1_TSD 0x04
#define CTRL1_DIS_SNS 0x02
#define CTRL1_EN_GATE 0x01

#define CTRL2_EN_SF 0x80
#define CTRL2_EN_DIAG 0x40
#define CTRL2_EN_GATEDRV 0x20
#define CTRL2_EN_FLIP 0x10
#define CTRL2_SD_THRESH 0x08
#define CTRL2_EN_VREG 0x04
#define CTRL2_EN_LDO 0x02
#define CTRL2_EN_OCP 0x01

#define CTRL3_OCP_TRIP 0xE0
#define CTRL3_OCP_ADJ 0x1F

#define CTRL4_PWM_DEADTIME 0xF0
#define CTRL4_PWM_MIN_OFF 0x0F

#define CTRL5_PWM_START 0x80
#define CTRL5_PWM_STOP 0x40
#define CTRL5_PWM_INT 0x20
#define CTRL5_TRIP 0x10
#define CTRL5_TRIP_INT 0x08
#define CTRL5_PWM_STEP 0x07

#define CTRL6_VREG_TRIP 0xFC
#define CTRL6_VREG_ADJ 0x03

#define CTRL7_LDO_TRIP 0xFC
#define CTRL7_LDO_ADJ 0x03

#define CTRL8_FAULT 0xC0
#define CTRL8_FAULT_INT 0x20
#define CTRL8_FLT_CLEAR 0x10
#define CTRL8_OC_SHUTDOWN 0x04
#define CTRL8_OC_RETRY 0x01

#define CTRL9_DIAG_STATUS 0x80
#define CTRL9_FLIP_STATUS 0x40
#define CTRL9_OC_STATUS 0x20
#define CTRL9_OCP_STATUS 0x10
#define CTRL9_TSD_STATUS 0x08
#define CTRL9_VREG_STATUS 0x04
#define CTRL9_LDO_STATUS 0x02
#define CTRL9_PWM_STATUS 0x01

#define CTRL10_VREG_MODE 0x80
#define CTRL10_VREG_FREQ 0x40
#define CTRL10_VREG_EXT 0x20
#define CTRL10_VREG_ADJ 0x0F

#define PWM_FREQ 20000 // 20kHz

void setup() {
  Wire.begin();
  Serial.begin(9600);
  
  // Set up PWM mode and frequency
  uint8_t ctrl1 = CTRL1_PWM_MODE | CTRL1_PWM_FREQ;
  writeRegister(REG_CTRL1, ctrl1);
  
  // Enable the gate driver
  uint8_t ctrl2 = CTRL2_EN_GATE;
  writeRegister(REG_CTRL2, ctrl2);
  
  // Set OCP trip and adjust
  uint8_t ctrl3 = CTRL3_OCP_TRIP | 0x0F; // 2A trip current
  writeRegister(REG_CTRL3, ctrl3);
  
  // Set PWM deadtime and minimum off-time
  uint8_t ctrl4 = CTRL4_PWM_DEADTIME | 0x01; // 50ns deadtime, 16.7us minimum off-time
  writeRegister(REG_CTRL4, ctrl4);
  
  // Set PWM start and stop
  uint8_t ctrl5 = CTRL5_PWM_START | CTRL5_PWM_STOP;
  writeRegister(REG_CTRL5, ctrl5);
  
  // Set VREG trip and adjust
  uint8_t ctrl6 = CTRL6_VREG_TRIP | 0x1F; // 12V trip voltage
  writeRegister(REG_CTRL6, ctrl6);
  
  // Set LDO trip and adjust
  uint8_t ctrl7 = CTRL7_LDO_TRIP | 0x1F; // 12V trip voltage
  writeRegister(REG_CTRL7, ctrl7);
  
  // Enable fault interrupt and retry on OCP
  uint8_t ctrl8 = CTRL8_FAULT_INT | CTRL8_OC_RETRY;
  writeRegister(REG_CTRL8, ctrl8);
  
  // Set VREG mode and frequency
  uint8_t ctrl10 = CTRL10_VREG_MODE | CTRL10_VREG_FREQ;
  writeRegister(REG_CTRL10, ctrl10);
}

void loop() {
  // Set PWM duty cycle
  uint8_t pwm_step = 0x03; // 75% duty cycle
  uint8_t ctrl5 = CTRL5_PWM_STEP | pwm_step;
  writeRegister(REG_CTRL5, ctrl5);
  
  delay(1000);
  
  // Set PWM duty cycle to zero
  ctrl5 = CTRL5_PWM_STEP;
  writeRegister(REG_CTRL5, ctrl5);
  
  delay(1000);
}

void writeRegister(uint8_t reg, uint8_t value) {
  Wire.beginTransmission(MP6540_ADDRESS);
  Wire.write(reg);
  Wire.write(value);
  Wire.endTransmission();
}

在这个示例程序中，我们使用了 Arduino 的 Wire 库来与 MP6540 芯片通信。程序中定义了许多寄存器和它们的位域，我们使用 writeRegister 函数来写入寄存器值。在 setup 函数中，我们进行了一系列初始化操作，包括设置 PWM 模式和频率、启用门驱动器、设置过流保护、PWM 死区时间和最小关断时间、导通开始和停止、VREG 和 LDO 的保护和故障处理等。在 loop 函数中，我们设置了 PWM 占空比，并延迟一段时间后将占空比设置为零。

需要注意的是，这只是一个示例程序，您需要根据实际情况进行修改和调整。您需要根据电机的额定电压和电流来设置 OCP 保护、PWM 频率和 PWM 占空比等参数，以确保电机的安全和正常运行。