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Allow direct register access through API.
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‎examples/directRegisterControl/directRegisterControl.ino

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/*!
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* \name directRegisterControl
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* \author Infineon Technologies AG
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* \copyright 2025 Infineon Technologies AG
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* \brief This example demonstrates how to control two motors via direct register setting
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* \details
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* If motors are connected to the TLE94112 on certain half bridges, than they can be controlled via direct register
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* setting which reduces greatly the overhead and allows fast motor controlling.
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* therefore the half bridges HB1 to HB4, HB5 to HB8 and HB9 to HB12 must be used together, either for controlling
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* two motors on one tuple (0.9 A), or one motor on one tuple (1.8 A).
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*
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* SPDX-License-Identifier: MIT
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*
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*/
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#include <tle94112-ino.hpp>
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//! Tle94112 Object
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Tle94112Ino controller = Tle94112Ino();
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//! Tle94112 registers for motor 1 and 2
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uint8_t motor[2][2] = {
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{REG_ACT_1, REG_PWM_DC_1},
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{REG_ACT_3, REG_PWM_DC_3}
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};
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//! Tle94112 register for motor direction
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volatile uint8_t oldDirection [] = { LL_HH, HH_LL };
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/**
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* @brief Changes the motor direction and speed
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* The motor direction is set by the change of the High/Low switching of the motor half bridges in one register.
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* This needs some time to change the direction, so its avoided if not needed.
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* Setting the speed is done by setting the PWM register.
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*
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* @param motorNum uint8_t motor number (0 or 1)
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* @param dir uint8_t direction (HH_LL or LL_HH for forward/backward of one motor on four half bridges)
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* @param speed uint8_t speed (0-255)
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* @param errorCheck bool if true, the error register is cleared after setting the speed
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*/
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void motorSet(uint8_t motorNum, uint8_t dir, uint8_t speed, bool errorCheck = false)
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{
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if (dir != oldDirection[motorNum]) {
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controller.directWriteReg(motor[motorNum][0], dir);
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oldDirection[motorNum] = dir;
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}
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controller.directWriteReg(motor[motorNum][1], speed);
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if (errorCheck) {
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controller.clearErrors();
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}
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}
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//! connect motor between halfbridge 1 and halfbridge 2
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void setup()
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{
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Serial.begin(9600);
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while (!Serial) {
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; // wait for serial port to connect. Needed for native USB port only
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}
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Serial.println("TLE94112 Motor Speed Control Example");
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delay(1000);
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// Enable MotorController Tle94112
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// Note: Required to be done before starting to configure the motor
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controller.begin();
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// four half bridges and two PWM channels are used to control two motors
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controller.configHB(controller.TLE_HB1, controller.TLE_HIGH, controller.TLE_PWM1);
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controller.configHB(controller.TLE_HB2, controller.TLE_HIGH, controller.TLE_PWM1);
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controller.configHB(controller.TLE_HB3, controller.TLE_LOW, controller.TLE_NOPWM);
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controller.configHB(controller.TLE_HB4, controller.TLE_LOW, controller.TLE_NOPWM);
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controller.configHB(controller.TLE_HB9, controller.TLE_HIGH, controller.TLE_PWM3);
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controller.configHB(controller.TLE_HB10, controller.TLE_HIGH, controller.TLE_PWM3);
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controller.configHB(controller.TLE_HB11, controller.TLE_LOW, controller.TLE_NOPWM);
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controller.configHB(controller.TLE_HB12, controller.TLE_LOW, controller.TLE_NOPWM);
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// all stop
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controller.configPWM(controller.TLE_PWM1, controller.TLE_FREQ200HZ, 0);
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controller.configPWM(controller.TLE_PWM3, controller.TLE_FREQ200HZ, 0);
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controller.clearErrors();
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delay(1000);
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}
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void loop() {
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controller.clearErrors();
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Serial.println("forward / backward");
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motorSet(0, HH_LL, 100);
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motorSet(1, LL_HH, 100);
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delay(1000);
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Serial.println(" speed up / down");
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motorSet(0, HH_LL, 255);
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motorSet(1, LL_HH, 50);
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delay(1000);
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Serial.print("backward / forward ");
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motorSet(0, LL_HH, 255);
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motorSet(1, HH_LL, 255);
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delay(1000);
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}

‎src/tle94112-types.hpp

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@@ -30,6 +30,40 @@ namespace tle94112
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READ_ERROR = -3, /**< Read error */
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WRITE_ERROR = -4, /**< Write error */
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};
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#define REG_ACT_1 0x03
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#define REG_ACT_2 0x43
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#define REG_ACT_3 0x23
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#define REG_MODE_1 0x63
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#define REG_MODE_2 0x13
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#define REG_MODE_3 0x53
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#define REG_PWM_CH_FREQ 0x33
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#define REG_PWM_DC_1 0x73
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#define REG_PWM_DC_2 0x0B
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#define REG_PWM_DC_3 0x4B
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#define REG_SYS_DIAG 0x1B
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#define REG_ERR1 0x5B
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#define REG_ERR2 0x3B
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#define REG_ERR3 0x7B
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#define REG_ERR4 0x07
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#define REG_ERR5 0x47
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#define REG_ERR6 0x27
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#define REG_FW_OL 0x2B
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#define REG_FW_CTRL 0x6B
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#define HL_HL 0b10011001
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#define HL_LH 0b10010110
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#define LH_HL 0b01101001
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#define LH_LH 0b01100110
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#define HH_LL 0b10100101
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#define LL_HH 0b01011010
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/** @} */
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/** @} */

‎src/tle94112.cpp

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/*! \brief time in milliseconds to wait for chipselect signal raised */
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#define TLE94112_CS_RISETIME 2
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void Tle94112::directWriteReg(uint8_t reg, uint8_t data)
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{
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TLE94112_LOG_MSG(__FUNCTION__);
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uint8_t address = reg | TLE94112_CMD_WRITE;
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uint8_t byte0;
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uint8_t byte1;
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cs->disable();
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sBus->transfer(address, byte0);
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sBus->transfer(data, byte1);
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cs->enable();
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timer->delayMilli(TLE94112_CS_RISETIME);
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}
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void Tle94112::writeReg(uint8_t reg, uint8_t mask, uint8_t shift, uint8_t data)
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{
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uint8_t address = mCtrlRegAddresses[reg];

‎src/tle94112.hpp

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//! \brief clears all clearable error flags
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void clearErrors();
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/*! \brief writes data bits directly to a register of the TLE94112
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*
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* \param reg address of the register to be written to.
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* \param data the data byte that has to be written.
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*
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* \see mCtrlRegAddresses
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* \see mCtrlRegData
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*/
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void directWriteReg(uint8_t reg, uint8_t data);
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/*! \brief reads one byte from a status register of the TLE94112
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*
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* \param reg status register number(mapping array index / StatusRegisters constant) of the register
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*
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* \return data byte that has been read
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*
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* \see StatusRegisters
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* \see TLE94112_NUM_STATUS_REGS
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* \see mStatusRegAddresses
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*/
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uint8_t readStatusReg(uint8_t reg);
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SPIC *sBus; //<! \brief SPI cover class as representation of the SPI bus
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GPIOC *cs; //<! \brief shield enable GPIO to switch chipselect on/off
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GPIOC *en; //<! \brief shield enable GPIO to switch shield on/off
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*/
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void writeReg(uint8_t reg, uint8_t mask, uint8_t shift, uint8_t data);
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/*! \brief reads one byte from a status register of the TLE94112
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*
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* \param reg status register number(mapping array index / StatusRegisters constant) of the register
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*
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* \return data byte that has been read
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*
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* \see StatusRegisters
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* \see TLE94112_NUM_STATUS_REGS
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* \see mStatusRegAddresses
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*/
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uint8_t readStatusReg(uint8_t reg);
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/*! \brief reads some bits from a status register of the TLE94112
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*
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* \param reg status register number(mapping array index / StatusRegisters constant) of the register

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