Haptic feedback generalized - DRV2605 and solenoids (#4939)
* initial work to add eeprom to haptic feedback and decouple the feedback process from keyboards * Haptic feedback enhancements: on/off toggle working, feedback order working todo: -work on modes switching -get modes switching to save to eeprom * haptic enhancement - eeprom and modes added * Added set and get functions for haptic feedback * initial implementation of solenoids under haptic feedback * changed eeprom to 32 bits to reserve blocks for future features * start documentation of haptic feedback * change keycode per comment from reviewers * typo fixes * added eeprom for solenoid configs * added solenoid and docs * Add/fix default parameters configs, improve docs * more doc cleanup * add in solenoid buzz toggle, clean up doc * some fixes for error in compiling solenoid * fix a chibios specific i2c read function and added one for AVR controllers in DRV2605L.c * fixes for avr side issues * update keymap * fix keymap compile error * fix bugs found during solenoid testing * set pin that is not powered during bootloader * added warning about certain pins on the MCU may trip solenoid during DFU/bootloader
This commit is contained in:
parent
a7a647b7f6
commit
2cee371bf1
18 changed files with 750 additions and 48 deletions
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@ -21,7 +21,7 @@
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#include <math.h>
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uint8_t DRV2605L_transfer_buffer[20];
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uint8_t DRV2605L_transfer_buffer[2];
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uint8_t DRV2605L_tx_register[0];
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uint8_t DRV2605L_read_buffer[0];
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uint8_t DRV2605L_read_register;
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@ -34,6 +34,11 @@ void DRV_write(uint8_t drv_register, uint8_t settings) {
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}
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uint8_t DRV_read(uint8_t regaddress) {
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#ifdef __AVR__
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i2c_readReg(DRV2605L_BASE_ADDRESS << 1,
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regaddress, DRV2605L_read_buffer, 1, 100);
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DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
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#else
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DRV2605L_tx_register[0] = regaddress;
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if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1,
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DRV2605L_tx_register, 1,
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@ -42,14 +47,13 @@ uint8_t DRV_read(uint8_t regaddress) {
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printf("err reading reg \n");
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}
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DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
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#endif
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return DRV2605L_read_register;
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}
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void DRV_init(void)
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{
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i2c_init();
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i2c_start(DRV2605L_BASE_ADDRESS);
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/* 0x07 sets DRV2605 into calibration mode */
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DRV_write(DRV_MODE,0x07);
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@ -104,21 +108,17 @@ void DRV_init(void)
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C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME;
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DRV_write(DRV_CTRL_4, (uint8_t) C4_SET.Byte);
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DRV_write(DRV_LIB_SELECTION,LIB_SELECTION);
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//start autocalibration
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DRV_write(DRV_GO, 0x01);
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/* 0x00 sets DRV2605 out of standby and to use internal trigger
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* 0x01 sets DRV2605 out of standby and to use external trigger */
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DRV_write(DRV_MODE,0x00);
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/* 0x06: LRA library */
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DRV_write(DRV_WAVEFORM_SEQ_1, 0x01);
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/* 0xB9: LRA, 4x brake factor, medium gain, 7.5x back EMF
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* 0x39: ERM, 4x brake factor, medium gain, 1.365x back EMF */
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/* TODO: setup auto-calibration as part of initiation */
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//Play greeting sequence
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DRV_write(DRV_GO, 0x00);
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DRV_write(DRV_WAVEFORM_SEQ_1, DRV_GREETING);
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DRV_write(DRV_GO, 0x01);
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}
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void DRV_pulse(uint8_t sequence)
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@ -31,13 +31,6 @@
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#define FB_LOOPGAIN 1 /* For Low:0, Medium:1, High:2, Very High:3 */
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#endif
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#ifndef RATED_VOLTAGE
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#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
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#ifndef V_PEAK
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#define V_PEAK 2.8
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#endif
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#endif
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/* LRA specific settings */
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#if FB_ERM_LRA == 1
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#ifndef V_RMS
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@ -49,6 +42,16 @@
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#ifndef F_LRA
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#define F_LRA 205
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#endif
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#ifndef RATED_VOLTAGE
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#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
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#endif
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#endif
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#ifndef RATED_VOLTAGE
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#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
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#endif
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#ifndef V_PEAK
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#define V_PEAK 2.8
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#endif
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/* Library Selection */
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@ -60,6 +63,13 @@
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#endif
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#endif
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#ifndef DRV_GREETING
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#define DRV_GREETING alert_750ms
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#endif
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#ifndef DRV_MODE_DEFAULT
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#define DRV_MODE_DEFAULT strong_click1
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#endif
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/* Control 1 register settings */
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#ifndef DRIVE_TIME
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#define DRIVE_TIME 25
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@ -162,7 +172,6 @@ void DRV_write(const uint8_t drv_register, const uint8_t settings);
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uint8_t DRV_read(const uint8_t regaddress);
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void DRV_pulse(const uint8_t sequence);
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typedef enum DRV_EFFECT{
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clear_sequence = 0,
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strong_click = 1,
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@ -288,6 +297,7 @@ typedef enum DRV_EFFECT{
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smooth_hum3_30 = 121,
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smooth_hum4_20 = 122,
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smooth_hum5_10 = 123,
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drv_effect_max = 124,
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} DRV_EFFECT;
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/* Register bit array unions */
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248
drivers/haptic/haptic.c
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248
drivers/haptic/haptic.c
Normal file
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@ -0,0 +1,248 @@
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/* Copyright 2019 ishtob
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* Driver for haptic feedback written for QMK
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "haptic.h"
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#include "eeconfig.h"
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#include "progmem.h"
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#include "debug.h"
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#ifdef DRV2605L
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#include "DRV2605L.h"
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#endif
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#ifdef SOLENOID_ENABLE
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#include "solenoid.h"
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#endif
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haptic_config_t haptic_config;
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void haptic_init(void) {
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debug_enable = 1; //Debug is ON!
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if (!eeconfig_is_enabled()) {
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eeconfig_init();
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}
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haptic_config.raw = eeconfig_read_haptic();
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if (haptic_config.mode < 1){
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haptic_config.mode = 1;
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}
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if (!haptic_config.mode){
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dprintf("No haptic config found in eeprom, setting default configs\n");
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haptic_reset();
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}
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#ifdef SOLENOID_ENABLE
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solenoid_setup();
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dprintf("Solenoid driver initialized\n");
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#endif
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#ifdef DRV2605L
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DRV_init();
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dprintf("DRV2605 driver initialized\n");
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#endif
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eeconfig_debug_haptic();
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}
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void haptic_task(void) {
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#ifdef SOLENOID_ENABLE
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solenoid_check();
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#endif
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}
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void eeconfig_debug_haptic(void) {
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dprintf("haptic_config eprom\n");
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dprintf("haptic_config.enable = %d\n", haptic_config.enable);
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dprintf("haptic_config.mode = %d\n", haptic_config.mode);
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}
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void haptic_enable(void) {
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haptic_config.enable = 1;
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xprintf("haptic_config.enable = %u\n", haptic_config.enable);
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eeconfig_update_haptic(haptic_config.raw);
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}
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void haptic_disable(void) {
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haptic_config.enable = 0;
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xprintf("haptic_config.enable = %u\n", haptic_config.enable);
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eeconfig_update_haptic(haptic_config.raw);
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}
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void haptic_toggle(void) {
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if (haptic_config.enable) {
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haptic_disable();
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} else {
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haptic_enable();
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}
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eeconfig_update_haptic(haptic_config.raw);
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}
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void haptic_feedback_toggle(void){
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haptic_config.feedback++;
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if (haptic_config.feedback >= HAPTIC_FEEDBACK_MAX)
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haptic_config.feedback = KEY_PRESS;
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xprintf("haptic_config.feedback = %u\n", !haptic_config.feedback);
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eeconfig_update_haptic(haptic_config.raw);
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}
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void haptic_buzz_toggle(void) {
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bool buzz_stat = !haptic_config.buzz;
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haptic_config.buzz = buzz_stat;
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haptic_set_buzz(buzz_stat);
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}
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void haptic_mode_increase(void) {
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uint8_t mode = haptic_config.mode + 1;
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#ifdef DRV2605L
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if (haptic_config.mode >= drv_effect_max) {
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mode = 1;
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}
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#endif
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haptic_set_mode(mode);
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}
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void haptic_mode_decrease(void) {
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uint8_t mode = haptic_config.mode -1;
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#ifdef DRV2605L
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if (haptic_config.mode < 1) {
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mode = (drv_effect_max - 1);
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}
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#endif
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haptic_set_mode(mode);
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}
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void haptic_dwell_increase(void) {
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uint8_t dwell = haptic_config.dwell + 1;
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#ifdef SOLENOID_ENABLE
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if (haptic_config.dwell >= SOLENOID_MAX_DWELL) {
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dwell = 1;
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}
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solenoid_set_dwell(dwell);
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#endif
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haptic_set_dwell(dwell);
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}
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void haptic_dwell_decrease(void) {
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uint8_t dwell = haptic_config.dwell -1;
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#ifdef SOLENOID_ENABLE
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if (haptic_config.dwell < SOLENOID_MIN_DWELL) {
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dwell = SOLENOID_MAX_DWELL;
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}
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solenoid_set_dwell(dwell);
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#endif
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haptic_set_dwell(dwell);
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}
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void haptic_reset(void){
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haptic_config.enable = true;
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uint8_t feedback = HAPTIC_FEEDBACK_DEFAULT;
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haptic_config.feedback = feedback;
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#ifdef DRV2605L
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uint8_t mode = HAPTIC_MODE_DEFAULT;
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haptic_config.mode = mode;
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#endif
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#ifdef SOLENOID_ENABLE
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uint8_t dwell = SOLENOID_DEFAULT_DWELL;
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haptic_config.dwell = dwell;
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#endif
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eeconfig_update_haptic(haptic_config.raw);
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xprintf("haptic_config.feedback = %u\n", haptic_config.feedback);
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xprintf("haptic_config.mode = %u\n", haptic_config.mode);
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}
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void haptic_set_feedback(uint8_t feedback) {
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haptic_config.feedback = feedback;
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eeconfig_update_haptic(haptic_config.raw);
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xprintf("haptic_config.feedback = %u\n", haptic_config.feedback);
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}
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void haptic_set_mode(uint8_t mode) {
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haptic_config.mode = mode;
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eeconfig_update_haptic(haptic_config.raw);
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xprintf("haptic_config.mode = %u\n", haptic_config.mode);
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}
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void haptic_set_buzz(uint8_t buzz) {
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haptic_config.buzz = buzz;
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eeconfig_update_haptic(haptic_config.raw);
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xprintf("haptic_config.buzz = %u\n", haptic_config.buzz);
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}
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void haptic_set_dwell(uint8_t dwell) {
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haptic_config.dwell = dwell;
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eeconfig_update_haptic(haptic_config.raw);
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xprintf("haptic_config.dwell = %u\n", haptic_config.dwell);
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}
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uint8_t haptic_get_mode(void) {
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if (!haptic_config.enable){
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return false;
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}
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return haptic_config.mode;
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}
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uint8_t haptic_get_feedback(void) {
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if (!haptic_config.enable){
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return false;
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}
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return haptic_config.feedback;
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}
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uint8_t haptic_get_dwell(void) {
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if (!haptic_config.enable){
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return false;
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}
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return haptic_config.dwell;
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}
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void haptic_play(void) {
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#ifdef DRV2605L
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uint8_t play_eff = 0;
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play_eff = haptic_config.mode;
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DRV_pulse(play_eff);
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#endif
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#ifdef SOLENOID_ENABLE
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solenoid_fire();
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#endif
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}
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bool process_haptic(uint16_t keycode, keyrecord_t *record) {
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if (keycode == HPT_ON && record->event.pressed) { haptic_enable(); }
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if (keycode == HPT_OFF && record->event.pressed) { haptic_disable(); }
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if (keycode == HPT_TOG && record->event.pressed) { haptic_toggle(); }
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if (keycode == HPT_RST && record->event.pressed) { haptic_reset(); }
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if (keycode == HPT_FBK && record->event.pressed) { haptic_feedback_toggle(); }
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if (keycode == HPT_BUZ && record->event.pressed) { haptic_buzz_toggle(); }
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if (keycode == HPT_MODI && record->event.pressed) { haptic_mode_increase(); }
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if (keycode == HPT_MODD && record->event.pressed) { haptic_mode_decrease(); }
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if (keycode == HPT_DWLI && record->event.pressed) { haptic_dwell_increase(); }
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if (keycode == HPT_DWLD && record->event.pressed) { haptic_dwell_decrease(); }
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if (haptic_config.enable) {
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if ( record->event.pressed ) {
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// keypress
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if (haptic_config.feedback < 2) {
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haptic_play();
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}
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} else {
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//keyrelease
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if (haptic_config.feedback > 0) {
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haptic_play();
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}
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}
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}
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return true;
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}
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void haptic_shutdown(void) {
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#ifdef SOLENOID_ENABLE
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solenoid_shutdown();
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#endif
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}
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82
drivers/haptic/haptic.h
Normal file
82
drivers/haptic/haptic.h
Normal file
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@ -0,0 +1,82 @@
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/* Copyright 2019 ishtob
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* Driver for haptic feedback written for QMK
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
|
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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* GNU General Public License for more details.
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*
|
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdint.h>
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#include <stdbool.h>
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#include "quantum.h"
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#ifdef DRV2605L
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#include "DRV2605L.h"
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#endif
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#ifndef HAPTIC_FEEDBACK_DEFAULT
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#define HAPTIC_FEEDBACK_DEFAULT 0
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#endif
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#ifndef HAPTIC_MODE_DEFAULT
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#define HAPTIC_MODE_DEFAULT DRV_MODE_DEFAULT
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#endif
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/* EEPROM config settings */
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typedef union {
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uint32_t raw;
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struct {
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bool enable :1;
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uint8_t feedback :2;
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uint8_t mode :7;
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bool buzz :1;
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uint8_t dwell :7;
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uint16_t reserved :16;
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};
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} haptic_config_t;
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typedef enum HAPTIC_FEEDBACK{
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KEY_PRESS,
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KEY_PRESS_RELEASE,
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KEY_RELEASE,
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HAPTIC_FEEDBACK_MAX,
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} HAPTIC_FEEDBACK;
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bool process_haptic(uint16_t keycode, keyrecord_t *record);
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void haptic_init(void);
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void haptic_task(void);
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void eeconfig_debug_haptic(void);
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void haptic_enable(void);
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void haptic_disable(void);
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void haptic_toggle(void);
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void haptic_feedback_toggle(void);
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void haptic_mode_increase(void);
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void haptic_mode_decrease(void);
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void haptic_mode(uint8_t mode);
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void haptic_reset(void);
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void haptic_set_feedback(uint8_t feedback);
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void haptic_set_mode(uint8_t mode);
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void haptic_set_dwell(uint8_t dwell);
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void haptic_set_buzz(uint8_t buzz);
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void haptic_buzz_toggle(void);
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uint8_t haptic_get_mode(void);
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uint8_t haptic_get_feedback(void);
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||||
void haptic_dwell_increase(void);
|
||||
void haptic_dwell_decrease(void);
|
||||
|
||||
void haptic_play(void);
|
||||
void haptic_shutdown(void);
|
||||
|
||||
|
||||
|
||||
|
||||
|
109
drivers/haptic/solenoid.c
Normal file
109
drivers/haptic/solenoid.c
Normal file
|
@ -0,0 +1,109 @@
|
|||
/* Copyright 2018 mtdjr - modified by ishtob
|
||||
* Driver for solenoid written for QMK
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <timer.h>
|
||||
#include "solenoid.h"
|
||||
#include "haptic.h"
|
||||
|
||||
bool solenoid_on = false;
|
||||
bool solenoid_buzzing = false;
|
||||
uint16_t solenoid_start = 0;
|
||||
uint8_t solenoid_dwell = SOLENOID_DEFAULT_DWELL;
|
||||
|
||||
extern haptic_config_t haptic_config;
|
||||
|
||||
|
||||
void solenoid_buzz_on(void) {
|
||||
haptic_set_buzz(1);
|
||||
}
|
||||
|
||||
void solenoid_buzz_off(void) {
|
||||
haptic_set_buzz(0);
|
||||
}
|
||||
|
||||
void solenoid_set_buzz(int buzz) {
|
||||
haptic_set_buzz(buzz);
|
||||
}
|
||||
|
||||
|
||||
void solenoid_dwell_minus(uint8_t solenoid_dwell) {
|
||||
if (solenoid_dwell > 0) solenoid_dwell--;
|
||||
}
|
||||
|
||||
void solenoid_dwell_plus(uint8_t solenoid_dwell) {
|
||||
if (solenoid_dwell < SOLENOID_MAX_DWELL) solenoid_dwell++;
|
||||
}
|
||||
|
||||
void solenoid_set_dwell(uint8_t dwell) {
|
||||
solenoid_dwell = dwell;
|
||||
}
|
||||
|
||||
void solenoid_stop(void) {
|
||||
writePinLow(SOLENOID_PIN);
|
||||
solenoid_on = false;
|
||||
solenoid_buzzing = false;
|
||||
}
|
||||
|
||||
void solenoid_fire(void) {
|
||||
if (!haptic_config.buzz && solenoid_on) return;
|
||||
if (haptic_config.buzz && solenoid_buzzing) return;
|
||||
|
||||
solenoid_on = true;
|
||||
solenoid_buzzing = true;
|
||||
solenoid_start = timer_read();
|
||||
writePinHigh(SOLENOID_PIN);
|
||||
}
|
||||
|
||||
void solenoid_check(void) {
|
||||
uint16_t elapsed = 0;
|
||||
|
||||
if (!solenoid_on) return;
|
||||
|
||||
elapsed = timer_elapsed(solenoid_start);
|
||||
|
||||
//Check if it's time to finish this solenoid click cycle
|
||||
if (elapsed > solenoid_dwell) {
|
||||
solenoid_stop();
|
||||
return;
|
||||
}
|
||||
|
||||
//Check whether to buzz the solenoid on and off
|
||||
if (haptic_config.buzz) {
|
||||
if (elapsed / SOLENOID_MIN_DWELL % 2 == 0){
|
||||
if (!solenoid_buzzing) {
|
||||
solenoid_buzzing = true;
|
||||
writePinHigh(SOLENOID_PIN);
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (solenoid_buzzing) {
|
||||
solenoid_buzzing = false;
|
||||
writePinLow(SOLENOID_PIN);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void solenoid_setup(void) {
|
||||
setPinOutput(SOLENOID_PIN);
|
||||
solenoid_fire();
|
||||
}
|
||||
|
||||
void solenoid_shutdown(void) {
|
||||
writePinLow(SOLENOID_PIN);
|
||||
|
||||
}
|
54
drivers/haptic/solenoid.h
Normal file
54
drivers/haptic/solenoid.h
Normal file
|
@ -0,0 +1,54 @@
|
|||
/* Copyright 2018 mtdjr - modified by ishtob
|
||||
* Driver for solenoid written for QMK
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifndef SOLENOID_DEFAULT_DWELL
|
||||
#define SOLENOID_DEFAULT_DWELL 12
|
||||
#endif
|
||||
|
||||
#ifndef SOLENOID_MAX_DWELL
|
||||
#define SOLENOID_MAX_DWELL 100
|
||||
#endif
|
||||
|
||||
#ifndef SOLENOID_MIN_DWELL
|
||||
#define SOLENOID_MIN_DWELL 4
|
||||
#endif
|
||||
|
||||
#ifndef SOLENOID_ACTIVE
|
||||
#define SOLENOID_ACTIVE false
|
||||
#endif
|
||||
|
||||
#ifndef SOLENOID_PIN
|
||||
#define SOLENOID_PIN F6
|
||||
#endif
|
||||
|
||||
void solenoid_buzz_on(void);
|
||||
void solenoid_buzz_off(void);
|
||||
void solenoid_set_buzz(int buzz);
|
||||
|
||||
void solenoid_dwell_minus(uint8_t solenoid_dwell);
|
||||
void solenoid_dwell_plus(uint8_t solenoid_dwell);
|
||||
void solenoid_set_dwell(uint8_t dwell);
|
||||
|
||||
void solenoid_stop(void);
|
||||
void solenoid_fire(void);
|
||||
|
||||
void solenoid_check(void);
|
||||
|
||||
void solenoid_setup(void);
|
||||
void solenoid_shutdown(void);
|
Loading…
Add table
Add a link
Reference in a new issue