pHAT Module Series

pHAT-RV Technical Description

pHAT-RV Technical Description

Page 4 of 27

Contents

Page No.

1 Introduction .......................................................................................................................6

2 Product Concept ................................................................................................................7

2.1 General Description .........................................................................................................7

2.2 Key Features ....................................................................................................................8

3 Application.........................................................................................................................9

3.1 Stepper Motor Connection ..............................................................................................9

3.2 Servo Motor Connection..................................................................................................9

3.3 Raspberry-Pi Board Support.............................................................................................9

3.4 Operation ........................................................................................................................9

3.5 Pin Assignment ..............................................................................................................10

3.5.1 Raspberry-Pi Header ...................................................................................................10

3.5.2 Lithium Battery Dean XT60 Socket ..............................................................................10

3.5.3 Stepper Motor Header................................................................................................10

3.5.4 Servo Header ..............................................................................................................11

3.5.5 Charger Input Socket ..................................................................................................11

3.6 Power Supply.................................................................................................................12

3.6.1 Lithium Battery ...........................................................................................................12

3.6.2 Charger Input..............................................................................................................12

3.6.3 Raspberry-Pi Power ....................................................................................................12

3.7 I

2C Interface...................................................................................................................13

3.7.1 I

2C Interface Pins.........................................................................................................13

3.7.2 I

2C Communication .....................................................................................................13

3.7.3 I

2C Registers................................................................................................................14

3.7.4 I

2C Stepper Control Register Format ...........................................................................19

3.7.5 I

2C Stepper Status Register Format .............................................................................19

3.7.6 I

2C Servo Control Register Format...............................................................................20

3.7.7 I

2C Servo Status Register Format.................................................................................20

3.7.8 Servo Movement Complete Determination ................................................................20

3.7.9 I

2C Global Update Register..........................................................................................21

3.7.10 I

2C Write Example .....................................................................................................21

3.8 Application Software .....................................................................................................21

3.8.1 Demonstration Software.............................................................................................21

4 Electrical Characteristics ..................................................................................................22

4.1 Absolute Maximum Ratings ...........................................................................................22

4.2 Operating Conditions.....................................................................................................22

4.3 Current Consumption ....................................................................................................23

5 Mechanical.......................................................................................................................24

5.1 Dimensions ....................................................................................................................24

6 References .......................................................................................................................25

6.1 I

2C protocols ..................................................................................................................25

7 Appendix..........................................................................................................................26