drivers/haptic/DRV2605L.c

   1 /* Copyright 2018 ishtob
   2  * Driver for DRV2605L written for QMK
   3  *
   4  * This program is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17 #include "DRV2605L.h"
  18 #include "print.h"
  19 #include <stdlib.h>
  20 #include <stdio.h>
  21 #include <math.h>
  22
  23
  24 uint8_t DRV2605L_transfer_buffer[2];
  25 uint8_t DRV2605L_tx_register[0];
  26 uint8_t DRV2605L_read_buffer[0];
  27 uint8_t DRV2605L_read_register;
  28
  29
  30 void DRV_write(uint8_t drv_register, uint8_t settings) {
  31   DRV2605L_transfer_buffer[0] = drv_register;
  32   DRV2605L_transfer_buffer[1] = settings;
  33   i2c_transmit(DRV2605L_BASE_ADDRESS << 1, DRV2605L_transfer_buffer, 2, 100);
  34 }
  35
  36 uint8_t DRV_read(uint8_t regaddress) {
  37 #ifdef __AVR__
  38   i2c_readReg(DRV2605L_BASE_ADDRESS << 1,
  39     regaddress, DRV2605L_read_buffer, 1, 100);
  40   DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
  41 #else
  42   DRV2605L_tx_register[0] = regaddress;
  43   if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1,
  44     DRV2605L_tx_register, 1,
  45     DRV2605L_read_buffer, 1
  46 )){
  47     printf("err reading reg \n");
  48   }
  49   DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
  50 #endif
  51 return DRV2605L_read_register;
  52 }
  53
  54 void DRV_init(void)
  55 {
  56   i2c_init();
  57   /* 0x07 sets DRV2605 into calibration mode */
  58   DRV_write(DRV_MODE,0x07);
  59
  60 //  DRV_write(DRV_FEEDBACK_CTRL,0xB6);
  61
  62   #if FB_ERM_LRA == 0
  63     /* ERM settings */
  64   DRV_write(DRV_RATED_VOLT, (RATED_VOLTAGE/21.33)*1000);
  65   #if ERM_OPEN_LOOP == 0
  66   DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (((V_PEAK*(DRIVE_TIME+BLANKING_TIME+IDISS_TIME))/0.02133)/(DRIVE_TIME-0.0003)));
  67   #elif ERM_OPEN_LOOP == 1
  68   DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196));
  69   #endif
  70   #elif FB_ERM_LRA == 1
  71   DRV_write(DRV_RATED_VOLT, ((V_RMS * sqrt(1 - ((4 * ((150+(SAMPLE_TIME*50))*0.000001)) + 0.0003)* F_LRA)/0.02071)));
  72   #if LRA_OPEN_LOOP == 0
  73     DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, ((V_PEAK/sqrt(1-(F_LRA*0.0008))/0.02133)));
  74   #elif LRA_OPEN_LOOP == 1
  75     DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196));
  76   #endif
  77   #endif
  78
  79   DRVREG_FBR FB_SET;
  80     FB_SET.Bits.ERM_LRA = FB_ERM_LRA;
  81     FB_SET.Bits.BRAKE_FACTOR = FB_BRAKEFACTOR;
  82     FB_SET.Bits.LOOP_GAIN =FB_LOOPGAIN;
  83     FB_SET.Bits.BEMF_GAIN = 0; /* auto-calibration populates this field*/
  84     DRV_write(DRV_FEEDBACK_CTRL, (uint8_t) FB_SET.Byte);
  85   DRVREG_CTRL1 C1_SET;
  86     C1_SET.Bits.C1_DRIVE_TIME = DRIVE_TIME;
  87     C1_SET.Bits.C1_AC_COUPLE = AC_COUPLE;
  88     C1_SET.Bits.C1_STARTUP_BOOST = STARTUP_BOOST;
  89     DRV_write(DRV_CTRL_1, (uint8_t) C1_SET.Byte);
  90   DRVREG_CTRL2 C2_SET;
  91     C2_SET.Bits.C2_BIDIR_INPUT = BIDIR_INPUT;
  92     C2_SET.Bits.C2_BRAKE_STAB = BRAKE_STAB;
  93     C2_SET.Bits.C2_SAMPLE_TIME = SAMPLE_TIME;
  94     C2_SET.Bits.C2_BLANKING_TIME = BLANKING_TIME;
  95     C2_SET.Bits.C2_IDISS_TIME = IDISS_TIME;
  96     DRV_write(DRV_CTRL_2, (uint8_t) C2_SET.Byte);
  97   DRVREG_CTRL3 C3_SET;
  98     C3_SET.Bits.C3_LRA_OPEN_LOOP = LRA_OPEN_LOOP;
  99     C3_SET.Bits.C3_N_PWM_ANALOG = N_PWM_ANALOG;
 100     C3_SET.Bits.C3_LRA_DRIVE_MODE = LRA_DRIVE_MODE;
 101     C3_SET.Bits.C3_DATA_FORMAT_RTO = DATA_FORMAT_RTO;
 102     C3_SET.Bits.C3_SUPPLY_COMP_DIS = SUPPLY_COMP_DIS;
 103     C3_SET.Bits.C3_ERM_OPEN_LOOP = ERM_OPEN_LOOP;
 104     C3_SET.Bits.C3_NG_THRESH = NG_THRESH;
 105     DRV_write(DRV_CTRL_3, (uint8_t) C3_SET.Byte);
 106   DRVREG_CTRL4 C4_SET;
 107     C4_SET.Bits.C4_ZC_DET_TIME = ZC_DET_TIME;
 108     C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME;
 109     DRV_write(DRV_CTRL_4, (uint8_t) C4_SET.Byte);
 110   DRV_write(DRV_LIB_SELECTION,LIB_SELECTION);
 111
 112   DRV_write(DRV_GO, 0x01);
 113
 114   /* 0x00 sets DRV2605 out of standby and to use internal trigger
 115    * 0x01 sets DRV2605 out of standby and to use external trigger */
 116   DRV_write(DRV_MODE,0x00);
 117
 118 //Play greeting sequence
 119   DRV_write(DRV_GO, 0x00);
 120   DRV_write(DRV_WAVEFORM_SEQ_1, DRV_GREETING);
 121   DRV_write(DRV_GO, 0x01);
 122 }
 123
 124 void DRV_pulse(uint8_t sequence)
 125 {
 126   DRV_write(DRV_GO, 0x00);
 127   DRV_write(DRV_WAVEFORM_SEQ_1, sequence);
 128   DRV_write(DRV_GO, 0x01);
 129 }