mg/qmk_sweep_skeletyl
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity
qmk_sweep_skeletyl/drivers/haptic/DRV2605L.h
ishtob 2cee371bf1 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
2019-02-16 18:39:30 -08:00

404 lines
No EOL
12 KiB
C
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

/* 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_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;
Reference in a new issue View git blame Copy permalink