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haptic: naming cleanups (#21551)

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Ryan 2023-07-21 09:17:39 +10:00 • committed by GitHub
parent b20b360404
commit b090354143
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53 changed files with 667 additions and 660 deletions
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122
drivers/haptic/DRV2605L.c
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/* Copyright 2018 ishtob
* Driver for DRV2605L 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 "DRV2605L.h"
#include "print.h"
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
uint8_t DRV2605L_transfer_buffer[2];
uint8_t DRV2605L_read_register;
void DRV_write(uint8_t drv_register, uint8_t settings) {
DRV2605L_transfer_buffer[0] = drv_register;
DRV2605L_transfer_buffer[1] = settings;
i2c_transmit(DRV2605L_BASE_ADDRESS << 1, DRV2605L_transfer_buffer, 2, 100);
}
uint8_t DRV_read(uint8_t regaddress) {
i2c_readReg(DRV2605L_BASE_ADDRESS << 1, regaddress, &DRV2605L_read_register, 1, 100);
return DRV2605L_read_register;
}
void DRV_init(void) {
i2c_init();
/* 0x07 sets DRV2605 into calibration mode */
DRV_write(DRV_MODE, 0x07);
// DRV_write(DRV_FEEDBACK_CTRL,0xB6);
#if FB_ERM_LRA == 0
/* ERM settings */
DRV_write(DRV_RATED_VOLT, (RATED_VOLTAGE / 21.33) * 1000);
# if ERM_OPEN_LOOP == 0
DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (((V_PEAK * (DRIVE_TIME + BLANKING_TIME + IDISS_TIME)) / 0.02133) / (DRIVE_TIME - 0.0003)));
# elif ERM_OPEN_LOOP == 1
DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK / 0.02196));
# endif
#elif FB_ERM_LRA == 1
DRV_write(DRV_RATED_VOLT, ((V_RMS * sqrt(1 - ((4 * ((150 + (SAMPLE_TIME * 50)) * 0.000001)) + 0.0003) * F_LRA) / 0.02071)));
# if LRA_OPEN_LOOP == 0
DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, ((V_PEAK / sqrt(1 - (F_LRA * 0.0008)) / 0.02133)));
# elif LRA_OPEN_LOOP == 1
DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK / 0.02196));
# endif
#endif
DRVREG_FBR FB_SET;
FB_SET.Bits.ERM_LRA = FB_ERM_LRA;
FB_SET.Bits.BRAKE_FACTOR = FB_BRAKEFACTOR;
FB_SET.Bits.LOOP_GAIN = FB_LOOPGAIN;
FB_SET.Bits.BEMF_GAIN = 0; /* auto-calibration populates this field*/
DRV_write(DRV_FEEDBACK_CTRL, (uint8_t)FB_SET.Byte);
DRVREG_CTRL1 C1_SET;
C1_SET.Bits.C1_DRIVE_TIME = DRIVE_TIME;
C1_SET.Bits.C1_AC_COUPLE = AC_COUPLE;
C1_SET.Bits.C1_STARTUP_BOOST = STARTUP_BOOST;
DRV_write(DRV_CTRL_1, (uint8_t)C1_SET.Byte);
DRVREG_CTRL2 C2_SET;
C2_SET.Bits.C2_BIDIR_INPUT = BIDIR_INPUT;
C2_SET.Bits.C2_BRAKE_STAB = BRAKE_STAB;
C2_SET.Bits.C2_SAMPLE_TIME = SAMPLE_TIME;
C2_SET.Bits.C2_BLANKING_TIME = BLANKING_TIME;
C2_SET.Bits.C2_IDISS_TIME = IDISS_TIME;
DRV_write(DRV_CTRL_2, (uint8_t)C2_SET.Byte);
DRVREG_CTRL3 C3_SET;
C3_SET.Bits.C3_LRA_OPEN_LOOP = LRA_OPEN_LOOP;
C3_SET.Bits.C3_N_PWM_ANALOG = N_PWM_ANALOG;
C3_SET.Bits.C3_LRA_DRIVE_MODE = LRA_DRIVE_MODE;
C3_SET.Bits.C3_DATA_FORMAT_RTO = DATA_FORMAT_RTO;
C3_SET.Bits.C3_SUPPLY_COMP_DIS = SUPPLY_COMP_DIS;
C3_SET.Bits.C3_ERM_OPEN_LOOP = ERM_OPEN_LOOP;
C3_SET.Bits.C3_NG_THRESH = NG_THRESH;
DRV_write(DRV_CTRL_3, (uint8_t)C3_SET.Byte);
DRVREG_CTRL4 C4_SET;
C4_SET.Bits.C4_ZC_DET_TIME = ZC_DET_TIME;
C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME;
DRV_write(DRV_CTRL_4, (uint8_t)C4_SET.Byte);
DRV_write(DRV_LIB_SELECTION, LIB_SELECTION);
DRV_write(DRV_GO, 0x01);
/* 0x00 sets DRV2605 out of standby and to use internal trigger
* 0x01 sets DRV2605 out of standby and to use external trigger */
DRV_write(DRV_MODE, 0x00);
// Play greeting sequence
DRV_write(DRV_GO, 0x00);
DRV_write(DRV_WAVEFORM_SEQ_1, DRV_GREETING);
DRV_write(DRV_GO, 0x01);
}
void DRV_rtp_init(void) {
DRV_write(DRV_GO, 0x00);
DRV_write(DRV_RTP_INPUT, 20); // 20 is the lowest value I've found where haptics can still be felt.
DRV_write(DRV_MODE, 0x05);
DRV_write(DRV_GO, 0x01);
}
void DRV_amplitude(uint8_t amplitude) {
DRV_write(DRV_RTP_INPUT, amplitude);
}
void DRV_pulse(uint8_t sequence) {
DRV_write(DRV_GO, 0x00);
DRV_write(DRV_WAVEFORM_SEQ_1, sequence);
DRV_write(DRV_GO, 0x01);
}

406
drivers/haptic/DRV2605L.h
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/* Copyright 2018 ishtob
* Driver for DRV2605L 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
#include "i2c_master.h"
/* Initialization settings
* Feedback Control Settings */
#ifndef FB_ERM_LRA
# define FB_ERM_LRA 1 /* For ERM:0 or LRA:1*/
#endif
#ifndef FB_BRAKEFACTOR
# define FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */
#endif
#ifndef FB_LOOPGAIN
# define FB_LOOPGAIN 1 /* For Low:0, Medium:1, High:2, Very High:3 */
#endif
/* LRA specific settings */
#if FB_ERM_LRA == 1
# ifndef V_RMS
# define V_RMS 2.0
# endif
# ifndef V_PEAK
# define V_PEAK 2.1
# endif
# ifndef F_LRA
# define F_LRA 205
# endif
# ifndef RATED_VOLTAGE
# define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
# endif
#endif
#ifndef RATED_VOLTAGE
# define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
#endif
#ifndef V_PEAK
# define V_PEAK 2.8
#endif
/* Library Selection */
#ifndef LIB_SELECTION
# if FB_ERM_LRA == 1
# define LIB_SELECTION 6 /* For Empty:0' TS2200 library A to D:1-5, LRA Library: 6 */
# else
# define LIB_SELECTION 1
# endif
#endif
#ifndef DRV_GREETING
# define DRV_GREETING alert_750ms
#endif
#ifndef DRV_MODE_DEFAULT
# define DRV_MODE_DEFAULT strong_click1
#endif
/* Control 1 register settings */
#ifndef DRIVE_TIME
# define DRIVE_TIME 25
#endif
#ifndef AC_COUPLE
# define AC_COUPLE 0
#endif
#ifndef STARTUP_BOOST
# define STARTUP_BOOST 1
#endif
/* Control 2 Settings */
#ifndef BIDIR_INPUT
# define BIDIR_INPUT 1
#endif
#ifndef BRAKE_STAB
# define BRAKE_STAB 1 /* Loopgain is reduced when braking is almost complete to improve stability */
#endif
#ifndef SAMPLE_TIME
# define SAMPLE_TIME 3
#endif
#ifndef BLANKING_TIME
# define BLANKING_TIME 1
#endif
#ifndef IDISS_TIME
# define IDISS_TIME 1
#endif
/* Control 3 settings */
#ifndef NG_THRESH
# define NG_THRESH 2
#endif
#ifndef ERM_OPEN_LOOP
# define ERM_OPEN_LOOP 1
#endif
#ifndef SUPPLY_COMP_DIS
# define SUPPLY_COMP_DIS 0
#endif
#ifndef DATA_FORMAT_RTO
# define DATA_FORMAT_RTO 0
#endif
#ifndef LRA_DRIVE_MODE
# define LRA_DRIVE_MODE 0
#endif
#ifndef N_PWM_ANALOG
# define N_PWM_ANALOG 0
#endif
#ifndef LRA_OPEN_LOOP
# define LRA_OPEN_LOOP 0
#endif
/* Control 4 settings */
#ifndef ZC_DET_TIME
# define ZC_DET_TIME 0
#endif
#ifndef AUTO_CAL_TIME
# define AUTO_CAL_TIME 3
#endif
/* register defines -------------------------------------------------------- */
#define DRV2605L_BASE_ADDRESS 0x5A /* DRV2605L Base address */
#define DRV_STATUS 0x00
#define DRV_MODE 0x01
#define DRV_RTP_INPUT 0x02
#define DRV_LIB_SELECTION 0x03
#define DRV_WAVEFORM_SEQ_1 0x04
#define DRV_WAVEFORM_SEQ_2 0x05
#define DRV_WAVEFORM_SEQ_3 0x06
#define DRV_WAVEFORM_SEQ_4 0x07
#define DRV_WAVEFORM_SEQ_5 0x08
#define DRV_WAVEFORM_SEQ_6 0x09
#define DRV_WAVEFORM_SEQ_7 0x0A
#define DRV_WAVEFORM_SEQ_8 0x0B
#define DRV_GO 0x0C
#define DRV_OVERDRIVE_TIME_OFFSET 0x0D
#define DRV_SUSTAIN_TIME_OFFSET_P 0x0E
#define DRV_SUSTAIN_TIME_OFFSET_N 0x0F
#define DRV_BRAKE_TIME_OFFSET 0x10
#define DRV_AUDIO_2_VIBE_CTRL 0x11
#define DRV_AUDIO_2_VIBE_MIN_IN 0x12
#define DRV_AUDIO_2_VIBE_MAX_IN 0x13
#define DRV_AUDIO_2_VIBE_MIN_OUTDRV 0x14
#define DRV_AUDIO_2_VIBE_MAX_OUTDRV 0x15
#define DRV_RATED_VOLT 0x16
#define DRV_OVERDRIVE_CLAMP_VOLT 0x17
#define DRV_AUTO_CALIB_COMP_RESULT 0x18
#define DRV_AUTO_CALIB_BEMF_RESULT 0x19
#define DRV_FEEDBACK_CTRL 0x1A
#define DRV_CTRL_1 0x1B
#define DRV_CTRL_2 0x1C
#define DRV_CTRL_3 0x1D
#define DRV_CTRL_4 0x1E
#define DRV_CTRL_5 0x1F
#define DRV_OPEN_LOOP_PERIOD 0x20
#define DRV_VBAT_VOLT_MONITOR 0x21
#define DRV_LRA_RESONANCE_PERIOD 0x22
void DRV_init(void);
void DRV_write(const uint8_t drv_register, const uint8_t settings);
uint8_t DRV_read(const uint8_t regaddress);
void DRV_rtp_init(void);
void DRV_amplitude(const uint8_t amplitude);
void DRV_pulse(const uint8_t sequence);
typedef enum DRV_EFFECT {
clear_sequence = 0,
strong_click = 1,
strong_click_60 = 2,
strong_click_30 = 3,
sharp_click = 4,
sharp_click_60 = 5,
sharp_click_30 = 6,
soft_bump = 7,
soft_bump_60 = 8,
soft_bump_30 = 9,
dbl_click = 10,
dbl_click_60 = 11,
trp_click = 12,
soft_fuzz = 13,
strong_buzz = 14,
alert_750ms = 15,
alert_1000ms = 16,
strong_click1 = 17,
strong_click2_80 = 18,
strong_click3_60 = 19,
strong_click4_30 = 20,
medium_click1 = 21,
medium_click2_80 = 22,
medium_click3_60 = 23,
sharp_tick1 = 24,
sharp_tick2_80 = 25,
sharp_tick3_60 = 26,
sh_dblclick_str = 27,
sh_dblclick_str_80 = 28,
sh_dblclick_str_60 = 29,
sh_dblclick_str_30 = 30,
sh_dblclick_med = 31,
sh_dblclick_med_80 = 32,
sh_dblclick_med_60 = 33,
sh_dblsharp_tick = 34,
sh_dblsharp_tick_80 = 35,
sh_dblsharp_tick_60 = 36,
lg_dblclick_str = 37,
lg_dblclick_str_80 = 38,
lg_dblclick_str_60 = 39,
lg_dblclick_str_30 = 40,
lg_dblclick_med = 41,
lg_dblclick_med_80 = 42,
lg_dblclick_med_60 = 43,
lg_dblsharp_tick = 44,
lg_dblsharp_tick_80 = 45,
lg_dblsharp_tick_60 = 46,
buzz = 47,
buzz_80 = 48,
buzz_60 = 49,
buzz_40 = 50,
buzz_20 = 51,
pulsing_strong = 52,
pulsing_strong_80 = 53,
pulsing_medium = 54,
pulsing_medium_80 = 55,
pulsing_sharp = 56,
pulsing_sharp_80 = 57,
transition_click = 58,
transition_click_80 = 59,
transition_click_60 = 60,
transition_click_40 = 61,
transition_click_20 = 62,
transition_click_10 = 63,
transition_hum = 64,
transition_hum_80 = 65,
transition_hum_60 = 66,
transition_hum_40 = 67,
transition_hum_20 = 68,
transition_hum_10 = 69,
transition_rampdown_long_smooth1 = 70,
transition_rampdown_long_smooth2 = 71,
transition_rampdown_med_smooth1 = 72,
transition_rampdown_med_smooth2 = 73,
transition_rampdown_short_smooth1 = 74,
transition_rampdown_short_smooth2 = 75,
transition_rampdown_long_sharp1 = 76,
transition_rampdown_long_sharp2 = 77,
transition_rampdown_med_sharp1 = 78,
transition_rampdown_med_sharp2 = 79,
transition_rampdown_short_sharp1 = 80,
transition_rampdown_short_sharp2 = 81,
transition_rampup_long_smooth1 = 82,
transition_rampup_long_smooth2 = 83,
transition_rampup_med_smooth1 = 84,
transition_rampup_med_smooth2 = 85,
transition_rampup_short_smooth1 = 86,
transition_rampup_short_smooth2 = 87,
transition_rampup_long_sharp1 = 88,
transition_rampup_long_sharp2 = 89,
transition_rampup_med_sharp1 = 90,
transition_rampup_med_sharp2 = 91,
transition_rampup_short_sharp1 = 92,
transition_rampup_short_sharp2 = 93,
transition_rampdown_long_smooth1_50 = 94,
transition_rampdown_long_smooth2_50 = 95,
transition_rampdown_med_smooth1_50 = 96,
transition_rampdown_med_smooth2_50 = 97,
transition_rampdown_short_smooth1_50 = 98,
transition_rampdown_short_smooth2_50 = 99,
transition_rampdown_long_sharp1_50 = 100,
transition_rampdown_long_sharp2_50 = 101,
transition_rampdown_med_sharp1_50 = 102,
transition_rampdown_med_sharp2_50 = 103,
transition_rampdown_short_sharp1_50 = 104,
transition_rampdown_short_sharp2_50 = 105,
transition_rampup_long_smooth1_50 = 106,
transition_rampup_long_smooth2_50 = 107,
transition_rampup_med_smooth1_50 = 108,
transition_rampup_med_smooth2_50 = 109,
transition_rampup_short_smooth1_50 = 110,
transition_rampup_short_smooth2_50 = 111,
transition_rampup_long_sharp1_50 = 112,
transition_rampup_long_sharp2_50 = 113,
transition_rampup_med_sharp1_50 = 114,
transition_rampup_med_sharp2_50 = 115,
transition_rampup_short_sharp1_50 = 116,
transition_rampup_short_sharp2_50 = 117,
long_buzz_for_programmatic_stopping = 118,
smooth_hum1_50 = 119,
smooth_hum2_40 = 120,
smooth_hum3_30 = 121,
smooth_hum4_20 = 122,
smooth_hum5_10 = 123,
drv_effect_max = 124,
} DRV_EFFECT;
/* Register bit array unions */
typedef union DRVREG_STATUS { /* register 0x00 */
uint8_t Byte;
struct {
uint8_t OC_DETECT : 1; /* set to 1 when overcurrent event is detected */
uint8_t OVER_TEMP : 1; /* set to 1 when device exceeds temp threshold */
uint8_t FB_STS : 1; /* set to 1 when feedback controller has timed out */
/* auto-calibration routine and diagnostic result
* result | auto-calibation | diagnostic |
* 0 | passed | actuator func normal |
* 1 | failed | actuator func fault* |
* * actuator is not present or is shorted, timing out, or giving out–of-range back-EMF */
uint8_t DIAG_RESULT : 1;
uint8_t : 1;
uint8_t DEVICE_ID : 3; /* Device IDs 3: DRV2605 4: DRV2604 5: DRV2604L 6: DRV2605L */
} Bits;
} DRVREG_STATUS;
typedef union DRVREG_MODE { /* register 0x01 */
uint8_t Byte;
struct {
uint8_t MODE : 3; /* Mode setting */
uint8_t : 3;
uint8_t STANDBY : 1; /* 0:standby 1:ready */
} Bits;
} DRVREG_MODE;
typedef union DRVREG_WAIT {
uint8_t Byte;
struct {
uint8_t WAIT_MODE : 1; /* Set to 1 to interpret as wait for next 7 bits x10ms */
uint8_t WAIT_TIME : 7;
} Bits;
} DRVREG_WAIT;
typedef union DRVREG_FBR { /* register 0x1A */
uint8_t Byte;
struct {
uint8_t BEMF_GAIN : 2;
uint8_t LOOP_GAIN : 2;
uint8_t BRAKE_FACTOR : 3;
uint8_t ERM_LRA : 1;
} Bits;
} DRVREG_FBR;
typedef union DRVREG_CTRL1 { /* register 0x1B */
uint8_t Byte;
struct {
uint8_t C1_DRIVE_TIME : 5;
uint8_t C1_AC_COUPLE : 1;
uint8_t : 1;
uint8_t C1_STARTUP_BOOST : 1;
} Bits;
} DRVREG_CTRL1;
typedef union DRVREG_CTRL2 { /* register 0x1C */
uint8_t Byte;
struct {
uint8_t C2_IDISS_TIME : 2;
uint8_t C2_BLANKING_TIME : 2;
uint8_t C2_SAMPLE_TIME : 2;
uint8_t C2_BRAKE_STAB : 1;
uint8_t C2_BIDIR_INPUT : 1;
} Bits;
} DRVREG_CTRL2;
typedef union DRVREG_CTRL3 { /* register 0x1D */
uint8_t Byte;
struct {
uint8_t C3_LRA_OPEN_LOOP : 1;
uint8_t C3_N_PWM_ANALOG : 1;
uint8_t C3_LRA_DRIVE_MODE : 1;
uint8_t C3_DATA_FORMAT_RTO : 1;
uint8_t C3_SUPPLY_COMP_DIS : 1;
uint8_t C3_ERM_OPEN_LOOP : 1;
uint8_t C3_NG_THRESH : 2;
} Bits;
} DRVREG_CTRL3;
typedef union DRVREG_CTRL4 { /* register 0x1E */
uint8_t Byte;
struct {
uint8_t C4_OTP_PROGRAM : 1;
uint8_t : 1;
uint8_t C4_OTP_STATUS : 1;
uint8_t : 1;
uint8_t C4_AUTO_CAL_TIME : 2;
uint8_t C4_ZC_DET_TIME : 2;
} Bits;
} DRVREG_CTRL4;
typedef union DRVREG_CTRL5 { /* register 0x1F */
uint8_t Byte;
struct {
uint8_t C5_IDISS_TIME : 2;
uint8_t C5_BLANKING_TIME : 2;
uint8_t C5_PLAYBACK_INTERVAL : 1;
uint8_t C5_LRA_AUTO_OPEN_LOOP : 1;
uint8_t C5_AUTO_OL_CNT : 2;
} Bits;
} DRVREG_CTRL5;

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drivers/haptic/drv2605l.c Normal file
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/* Copyright 2018 ishtob
* Driver for DRV2605L 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 "drv2605l.h"
#include "i2c_master.h"
#include <math.h>
uint8_t drv2605l_write_buffer[2];
uint8_t drv2605l_read_buffer;
void drv2605l_write(uint8_t reg_addr, uint8_t data) {
drv2605l_write_buffer[0] = reg_addr;
drv2605l_write_buffer[1] = data;
i2c_transmit(DRV2605L_I2C_ADDRESS << 1, drv2605l_write_buffer, 2, 100);
}
uint8_t drv2605l_read(uint8_t reg_addr) {
i2c_readReg(DRV2605L_I2C_ADDRESS << 1, reg_addr, &drv2605l_read_buffer, 1, 100);
return drv2605l_read_buffer;
}
void drv2605l_init(void) {
i2c_init();
/* 0x07 sets DRV2605 into calibration mode */
drv2605l_write(DRV2605L_REG_MODE, 0x07);
// drv2605l_write(DRV2605L_REG_FEEDBACK_CTRL,0xB6);
#if FB_ERM_LRA == 0
/* ERM settings */
drv2605l_write(DRV2605L_REG_RATED_VOLTAGE, (RATED_VOLTAGE / 21.33) * 1000);
# if ERM_OPEN_LOOP == 0
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (((V_PEAK * (DRIVE_TIME + BLANKING_TIME + IDISS_TIME)) / 0.02133) / (DRIVE_TIME - 0.0003)));
# elif ERM_OPEN_LOOP == 1
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (V_PEAK / 0.02196));
# endif
#elif FB_ERM_LRA == 1
drv2605l_write(DRV2605L_REG_RATED_VOLTAGE, ((V_RMS * sqrt(1 - ((4 * ((150 + (SAMPLE_TIME * 50)) * 0.000001)) + 0.0003) * F_LRA) / 0.02071)));
# if LRA_OPEN_LOOP == 0
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, ((V_PEAK / sqrt(1 - (F_LRA * 0.0008)) / 0.02133)));
# elif LRA_OPEN_LOOP == 1
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (V_PEAK / 0.02196));
# endif
#endif
DRVREG_FBR FB_SET;
FB_SET.Bits.ERM_LRA = FB_ERM_LRA;
FB_SET.Bits.BRAKE_FACTOR = FB_BRAKEFACTOR;
FB_SET.Bits.LOOP_GAIN = FB_LOOPGAIN;
FB_SET.Bits.BEMF_GAIN = 0; /* auto-calibration populates this field*/
drv2605l_write(DRV2605L_REG_FEEDBACK_CTRL, (uint8_t)FB_SET.Byte);
DRVREG_CTRL1 C1_SET;
C1_SET.Bits.C1_DRIVE_TIME = DRIVE_TIME;
C1_SET.Bits.C1_AC_COUPLE = AC_COUPLE;
C1_SET.Bits.C1_STARTUP_BOOST = STARTUP_BOOST;
drv2605l_write(DRV2605L_REG_CTRL1, (uint8_t)C1_SET.Byte);
DRVREG_CTRL2 C2_SET;
C2_SET.Bits.C2_BIDIR_INPUT = BIDIR_INPUT;
C2_SET.Bits.C2_BRAKE_STAB = BRAKE_STAB;
C2_SET.Bits.C2_SAMPLE_TIME = SAMPLE_TIME;
C2_SET.Bits.C2_BLANKING_TIME = BLANKING_TIME;
C2_SET.Bits.C2_IDISS_TIME = IDISS_TIME;
drv2605l_write(DRV2605L_REG_CTRL2, (uint8_t)C2_SET.Byte);
DRVREG_CTRL3 C3_SET;
C3_SET.Bits.C3_LRA_OPEN_LOOP = LRA_OPEN_LOOP;
C3_SET.Bits.C3_N_PWM_ANALOG = N_PWM_ANALOG;
C3_SET.Bits.C3_LRA_DRIVE_MODE = LRA_DRIVE_MODE;
C3_SET.Bits.C3_DATA_FORMAT_RTO = DATA_FORMAT_RTO;
C3_SET.Bits.C3_SUPPLY_COMP_DIS = SUPPLY_COMP_DIS;
C3_SET.Bits.C3_ERM_OPEN_LOOP = ERM_OPEN_LOOP;
C3_SET.Bits.C3_NG_THRESH = NG_THRESH;
drv2605l_write(DRV2605L_REG_CTRL3, (uint8_t)C3_SET.Byte);
DRVREG_CTRL4 C4_SET;
C4_SET.Bits.C4_ZC_DET_TIME = ZC_DET_TIME;
C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME;
drv2605l_write(DRV2605L_REG_CTRL4, (uint8_t)C4_SET.Byte);
drv2605l_write(DRV2605L_REG_LIBRARY_SELECTION, DRV2605L_LIBRARY);
drv2605l_write(DRV2605L_REG_GO, 0x01);
/* 0x00 sets DRV2605 out of standby and to use internal trigger
* 0x01 sets DRV2605 out of standby and to use external trigger */
drv2605l_write(DRV2605L_REG_MODE, 0x00);
// Play greeting sequence
drv2605l_write(DRV2605L_REG_GO, 0x00);
drv2605l_write(DRV2605L_REG_WAVEFORM_SEQUENCER_1, DRV2605L_GREETING);
drv2605l_write(DRV2605L_REG_GO, 0x01);
}
void drv2605l_rtp_init(void) {
drv2605l_write(DRV2605L_REG_GO, 0x00);
drv2605l_write(DRV2605L_REG_RTP_INPUT, 20); // 20 is the lowest value I've found where haptics can still be felt.
drv2605l_write(DRV2605L_REG_MODE, 0x05);
drv2605l_write(DRV2605L_REG_GO, 0x01);
}
void drv2605l_amplitude(uint8_t amplitude) {
drv2605l_write(DRV2605L_REG_RTP_INPUT, amplitude);
}
void drv2605l_pulse(uint8_t sequence) {
drv2605l_write(DRV2605L_REG_GO, 0x00);
drv2605l_write(DRV2605L_REG_WAVEFORM_SEQUENCER_1, sequence);
drv2605l_write(DRV2605L_REG_GO, 0x01);
}

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drivers/haptic/drv2605l.h Normal file
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/* Copyright 2018 ishtob
* Driver for DRV2605L 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
#include <stdint.h>
/* Initialization settings
* Feedback Control Settings */
#ifndef FB_ERM_LRA
# define FB_ERM_LRA 1 /* For ERM:0 or LRA:1*/
#endif
#ifndef FB_BRAKEFACTOR
# define FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */
#endif
#ifndef FB_LOOPGAIN
# define FB_LOOPGAIN 1 /* For Low:0, Medium:1, High:2, Very High:3 */
#endif
/* LRA specific settings */
#if FB_ERM_LRA == 1
# ifndef V_RMS
# define V_RMS 2.0
# endif
# ifndef V_PEAK
# define V_PEAK 2.1
# endif
# ifndef F_LRA
# define F_LRA 205
# endif
# ifndef RATED_VOLTAGE
# define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
# endif
#endif
#ifndef RATED_VOLTAGE
# define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
#endif
#ifndef V_PEAK
# define V_PEAK 2.8
#endif
/* Library Selection */
#ifndef DRV2605L_LIBRARY
# if FB_ERM_LRA == 1
# define DRV2605L_LIBRARY 6 /* For Empty:0' TS2200 library A to D:1-5, LRA Library: 6 */
# else
# define DRV2605L_LIBRARY 1
# endif
#endif
#ifndef DRV2605L_GREETING
# define DRV2605L_GREETING alert_750ms
#endif
#ifndef DRV2605L_DEFAULT_MODE
# define DRV2605L_DEFAULT_MODE strong_click1
#endif
/* Control 1 register settings */
#ifndef DRIVE_TIME
# define DRIVE_TIME 25
#endif
#ifndef AC_COUPLE
# define AC_COUPLE 0
#endif
#ifndef STARTUP_BOOST
# define STARTUP_BOOST 1
#endif
/* Control 2 Settings */
#ifndef BIDIR_INPUT
# define BIDIR_INPUT 1
#endif
#ifndef BRAKE_STAB
# define BRAKE_STAB 1 /* Loopgain is reduced when braking is almost complete to improve stability */
#endif
#ifndef SAMPLE_TIME
# define SAMPLE_TIME 3
#endif
#ifndef BLANKING_TIME
# define BLANKING_TIME 1
#endif
#ifndef IDISS_TIME
# define IDISS_TIME 1
#endif
/* Control 3 settings */
#ifndef NG_THRESH
# define NG_THRESH 2
#endif
#ifndef ERM_OPEN_LOOP
# define ERM_OPEN_LOOP 1
#endif
#ifndef SUPPLY_COMP_DIS
# define SUPPLY_COMP_DIS 0
#endif
#ifndef DATA_FORMAT_RTO
# define DATA_FORMAT_RTO 0
#endif
#ifndef LRA_DRIVE_MODE
# define LRA_DRIVE_MODE 0
#endif
#ifndef N_PWM_ANALOG
# define N_PWM_ANALOG 0
#endif
#ifndef LRA_OPEN_LOOP
# define LRA_OPEN_LOOP 0
#endif
/* Control 4 settings */
#ifndef ZC_DET_TIME
# define ZC_DET_TIME 0
#endif
#ifndef AUTO_CAL_TIME
# define AUTO_CAL_TIME 3
#endif
#define DRV2605L_I2C_ADDRESS 0x5A
#define DRV2605L_REG_STATUS 0x00
#define DRV2605L_REG_MODE 0x01
#define DRV2605L_REG_RTP_INPUT 0x02
#define DRV2605L_REG_LIBRARY_SELECTION 0x03
#define DRV2605L_REG_WAVEFORM_SEQUENCER_1 0x04
#define DRV2605L_REG_WAVEFORM_SEQUENCER_2 0x05
#define DRV2605L_REG_WAVEFORM_SEQUENCER_3 0x06
#define DRV2605L_REG_WAVEFORM_SEQUENCER_4 0x07
#define DRV2605L_REG_WAVEFORM_SEQUENCER_5 0x08
#define DRV2605L_REG_WAVEFORM_SEQUENCER_6 0x09
#define DRV2605L_REG_WAVEFORM_SEQUENCER_7 0x0A
#define DRV2605L_REG_WAVEFORM_SEQUENCER_8 0x0B
#define DRV2605L_REG_GO 0x0C
#define DRV2605L_REG_OVERDRIVE_TIME_OFFSET 0x0D
#define DRV2605L_REG_SUSTAIN_TIME_OFFSET_P 0x0E
#define DRV2605L_REG_SUSTAIN_TIME_OFFSET_N 0x0F
#define DRV2605L_REG_BRAKE_TIME_OFFSET 0x10
#define DRV2605L_REG_AUDIO_TO_VIBE_CTRL 0x11
#define DRV2605L_REG_AUDIO_TO_VIBE_MIN_INPUT 0x12
#define DRV2605L_REG_AUDIO_TO_VIBE_MAX_INPUT 0x13
#define DRV2605L_REG_AUDIO_TO_VIBE_MIN_OUTPUT_DRIVE 0x14
#define DRV2605L_REG_AUDIO_TO_VIBE_MAX_OUTPUT_DRIVE 0x15
#define DRV2605L_REG_RATED_VOLTAGE 0x16
#define DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE 0x17
#define DRV2605L_REG_AUTO_CALIBRATION_COMPENSATION_RESULT 0x18
#define DRV2605L_REG_AUTO_CALIBRATION_BACK_EMF_RESULT 0x19
#define DRV2605L_REG_FEEDBACK_CTRL 0x1A
#define DRV2605L_REG_CTRL1 0x1B
#define DRV2605L_REG_CTRL2 0x1C
#define DRV2605L_REG_CTRL3 0x1D
#define DRV2605L_REG_CTRL4 0x1E
#define DRV2605L_REG_CTRL5 0x1F
#define DRV2605L_REG_LRA_OPEN_LOOP_PERIOD 0x20
#define DRV2605L_REG_VBAT_VOLTAGE_MONITOR 0x21
#define DRV2605L_REG_LRA_RESONANCE_PERIOD 0x22
void drv2605l_init(void);
void drv2605l_write(const uint8_t reg_addr, const uint8_t data);
uint8_t drv2605l_read(const uint8_t reg_addr);
void drv2605l_rtp_init(void);
void drv2605l_amplitude(const uint8_t amplitude);
void drv2605l_pulse(const uint8_t sequence);
typedef enum DRV_EFFECT {
clear_sequence,
strong_click,
strong_click_60,
strong_click_30,
sharp_click,
sharp_click_60,
sharp_click_30,
soft_bump,
soft_bump_60,
soft_bump_30,
dbl_click,
dbl_click_60,
trp_click,
soft_fuzz,
strong_buzz,
alert_750ms,
alert_1000ms,
strong_click1,
strong_click2_80,
strong_click3_60,
strong_click4_30,
medium_click1,
medium_click2_80,
medium_click3_60,
sharp_tick1,
sharp_tick2_80,
sharp_tick3_60,
sh_dblclick_str,
sh_dblclick_str_80,
sh_dblclick_str_60,
sh_dblclick_str_30,
sh_dblclick_med,
sh_dblclick_med_80,
sh_dblclick_med_60,
sh_dblsharp_tick,
sh_dblsharp_tick_80,
sh_dblsharp_tick_60,
lg_dblclick_str,
lg_dblclick_str_80,
lg_dblclick_str_60,
lg_dblclick_str_30,
lg_dblclick_med,
lg_dblclick_med_80,
lg_dblclick_med_60,
lg_dblsharp_tick,
lg_dblsharp_tick_80,
lg_dblsharp_tick_60,
buzz,
buzz_80,
buzz_60,
buzz_40,
buzz_20,
pulsing_strong,
pulsing_strong_80,
pulsing_medium,
pulsing_medium_80,
pulsing_sharp,
pulsing_sharp_80,
transition_click,
transition_click_80,
transition_click_60,
transition_click_40,
transition_click_20,
transition_click_10,
transition_hum,
transition_hum_80,
transition_hum_60,
transition_hum_40,
transition_hum_20,
transition_hum_10,
transition_rampdown_long_smooth1,
transition_rampdown_long_smooth2,
transition_rampdown_med_smooth1,
transition_rampdown_med_smooth2,
transition_rampdown_short_smooth1,
transition_rampdown_short_smooth2,
transition_rampdown_long_sharp1,
transition_rampdown_long_sharp2,
transition_rampdown_med_sharp1,
transition_rampdown_med_sharp2,
transition_rampdown_short_sharp1,
transition_rampdown_short_sharp2,
transition_rampup_long_smooth1,
transition_rampup_long_smooth2,
transition_rampup_med_smooth1,
transition_rampup_med_smooth2,
transition_rampup_short_smooth1,
transition_rampup_short_smooth2,
transition_rampup_long_sharp1,
transition_rampup_long_sharp2,
transition_rampup_med_sharp1,
transition_rampup_med_sharp2,
transition_rampup_short_sharp1,
transition_rampup_short_sharp2,
transition_rampdown_long_smooth1_50,
transition_rampdown_long_smooth2_50,
transition_rampdown_med_smooth1_50,
transition_rampdown_med_smooth2_50,
transition_rampdown_short_smooth1_50,
transition_rampdown_short_smooth2_50,
transition_rampdown_long_sharp1_50,
transition_rampdown_long_sharp2_50,
transition_rampdown_med_sharp1_50,
transition_rampdown_med_sharp2_50,
transition_rampdown_short_sharp1_50,
transition_rampdown_short_sharp2_50,
transition_rampup_long_smooth1_50,
transition_rampup_long_smooth2_50,
transition_rampup_med_smooth1_50,
transition_rampup_med_smooth2_50,
transition_rampup_short_smooth1_50,
transition_rampup_short_smooth2_50,
transition_rampup_long_sharp1_50,
transition_rampup_long_sharp2_50,
transition_rampup_med_sharp1_50,
transition_rampup_med_sharp2_50,
transition_rampup_short_sharp1_50,
transition_rampup_short_sharp2_50,
long_buzz_for_programmatic_stopping,
smooth_hum1_50,
smooth_hum2_40,
smooth_hum3_30,
smooth_hum4_20,
smooth_hum5_10,
drv_effect_max
} DRV_EFFECT;
/* Register bit array unions */
typedef union DRVREG_STATUS { /* register 0x00 */
uint8_t Byte;
struct {
uint8_t OC_DETECT : 1; /* set to 1 when overcurrent event is detected */
uint8_t OVER_TEMP : 1; /* set to 1 when device exceeds temp threshold */
uint8_t FB_STS : 1; /* set to 1 when feedback controller has timed out */
/* auto-calibration routine and diagnostic result
* result | auto-calibation | diagnostic |
* 0 | passed | actuator func normal |
* 1 | failed | actuator func fault* |
* * actuator is not present or is shorted, timing out, or giving out–of-range back-EMF */
uint8_t DIAG_RESULT : 1;
uint8_t : 1;
uint8_t DEVICE_ID : 3; /* Device IDs 3: DRV2605 4: DRV2604 5: DRV2604L 6: DRV2605L */
} Bits;
} DRVREG_STATUS;
typedef union DRVREG_MODE { /* register 0x01 */
uint8_t Byte;
struct {
uint8_t MODE : 3; /* Mode setting */
uint8_t : 3;
uint8_t STANDBY : 1; /* 0:standby 1:ready */
} Bits;
} DRVREG_MODE;
typedef union DRVREG_WAIT {
uint8_t Byte;
struct {
uint8_t WAIT_MODE : 1; /* Set to 1 to interpret as wait for next 7 bits x10ms */
uint8_t WAIT_TIME : 7;
} Bits;
} DRVREG_WAIT;
typedef union DRVREG_FBR { /* register 0x1A */
uint8_t Byte;
struct {
uint8_t BEMF_GAIN : 2;
uint8_t LOOP_GAIN : 2;
uint8_t BRAKE_FACTOR : 3;
uint8_t ERM_LRA : 1;
} Bits;
} DRVREG_FBR;
typedef union DRVREG_CTRL1 { /* register 0x1B */
uint8_t Byte;
struct {
uint8_t C1_DRIVE_TIME : 5;
uint8_t C1_AC_COUPLE : 1;
uint8_t : 1;
uint8_t C1_STARTUP_BOOST : 1;
} Bits;
} DRVREG_CTRL1;
typedef union DRVREG_CTRL2 { /* register 0x1C */
uint8_t Byte;
struct {
uint8_t C2_IDISS_TIME : 2;
uint8_t C2_BLANKING_TIME : 2;
uint8_t C2_SAMPLE_TIME : 2;
uint8_t C2_BRAKE_STAB : 1;
uint8_t C2_BIDIR_INPUT : 1;
} Bits;
} DRVREG_CTRL2;
typedef union DRVREG_CTRL3 { /* register 0x1D */
uint8_t Byte;
struct {
uint8_t C3_LRA_OPEN_LOOP : 1;
uint8_t C3_N_PWM_ANALOG : 1;
uint8_t C3_LRA_DRIVE_MODE : 1;
uint8_t C3_DATA_FORMAT_RTO : 1;
uint8_t C3_SUPPLY_COMP_DIS : 1;
uint8_t C3_ERM_OPEN_LOOP : 1;
uint8_t C3_NG_THRESH : 2;
} Bits;
} DRVREG_CTRL3;
typedef union DRVREG_CTRL4 { /* register 0x1E */
uint8_t Byte;
struct {
uint8_t C4_OTP_PROGRAM : 1;
uint8_t : 1;
uint8_t C4_OTP_STATUS : 1;
uint8_t : 1;
uint8_t C4_AUTO_CAL_TIME : 2;
uint8_t C4_ZC_DET_TIME : 2;
} Bits;
} DRVREG_CTRL4;
typedef union DRVREG_CTRL5 { /* register 0x1F */
uint8_t Byte;
struct {
uint8_t C5_IDISS_TIME : 2;
uint8_t C5_BLANKING_TIME : 2;
uint8_t C5_PLAYBACK_INTERVAL : 1;
uint8_t C5_LRA_AUTO_OPEN_LOOP : 1;
uint8_t C5_AUTO_OL_CNT : 2;
} Bits;
} DRVREG_CTRL5;