diff options
| author | Ryan <fauxpark@gmail.com> | 2023-07-21 09:17:39 +1000 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-07-21 09:17:39 +1000 |
| commit | b090354143612d2c0f5c8629510542de5bd4e29e (patch) | |
| tree | 6985cc58bf943d910c83b880fe61ffd8184cd93f | |
| parent | b20b3604042536640b5f29f85656cd55ef459180 (diff) | |
haptic: naming cleanups (#21551)
53 files changed, 667 insertions, 660 deletions
diff --git a/builddefs/common_features.mk b/builddefs/common_features.mk index 5687201d61..2de2bdd56b 100644 --- a/builddefs/common_features.mk +++ b/builddefs/common_features.mk @@ -721,18 +721,23 @@ ifeq ($(strip $(FNV_ENABLE)), yes) SRC += qmk_fnv_type_validation.c hash_32a.c hash_64a.c endif +VALID_HAPTIC_DRIVER_TYPES := drv2605l solenoid ifeq ($(strip $(HAPTIC_ENABLE)),yes) - COMMON_VPATH += $(DRIVER_PATH)/haptic + ifeq ($(filter $(HAPTIC_DRIVER),$(VALID_HAPTIC_DRIVER_TYPES)),) + $(call CATASTROPHIC_ERROR,Invalid HAPTIC_DRIVER,HAPTIC_DRIVER="$(HAPTIC_DRIVER)" is not a valid Haptic driver) + else + COMMON_VPATH += $(DRIVER_PATH)/haptic - ifneq ($(filter DRV2605L, $(HAPTIC_DRIVER)), ) - SRC += DRV2605L.c - QUANTUM_LIB_SRC += i2c_master.c - OPT_DEFS += -DDRV2605L - endif + ifeq ($(strip $(HAPTIC_DRIVER)), drv2605l) + SRC += drv2605l.c + QUANTUM_LIB_SRC += i2c_master.c + OPT_DEFS += -DHAPTIC_DRV2605L + endif - ifneq ($(filter SOLENOID, $(HAPTIC_DRIVER)), ) - SRC += solenoid.c - OPT_DEFS += -DSOLENOID_ENABLE + ifeq ($(strip $(HAPTIC_DRIVER)), solenoid) + SRC += solenoid.c + OPT_DEFS += -DHAPTIC_SOLENOID + endif endif endif diff --git a/docs/feature_haptic_feedback.md b/docs/feature_haptic_feedback.md index b456bad736..02a231138d 100644 --- a/docs/feature_haptic_feedback.md +++ b/docs/feature_haptic_feedback.md @@ -4,11 +4,12 @@ The following options are currently available for haptic feedback in `rules.mk`: -``` +```make HAPTIC_ENABLE = yes -HAPTIC_DRIVER += DRV2605L -HAPTIC_DRIVER += SOLENOID +HAPTIC_DRIVER = drv2605l +# or +HAPTIC_DRIVER = solenoid ``` The following `config.h` settings are available for all types of haptic feedback: @@ -92,7 +93,7 @@ This driver supports 2 different feedback motors. Set the following in your `con Eccentric Rotating Mass vibration motors (ERM) is motor with a off-set weight attached so when drive signal is attached, the off-set weight spins and causes a sinusoidal wave that translate into vibrations. -``` +```c #define FB_ERM_LRA 0 #define FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */ #define FB_LOOPGAIN 1 /* For Low:0, Medium:1, High:2, Very High:3 */ @@ -105,7 +106,7 @@ Eccentric Rotating Mass vibration motors (ERM) is motor with a off-set weight at Linear resonant actuators (LRA, also know as a linear vibrator) works different from a ERM. A LRA has a weight and magnet suspended by springs and a voice coil. When the drive signal is applied, the weight would be vibrate on a single axis (side to side or up and down). Since the weight is attached to a spring, there is a resonance effect at a specific frequency. This frequency is where the LRA will operate the most efficiently. Refer to the motor's datasheet for the recommanded range for this frequency. -``` +```c #define FB_ERM_LRA 1 #define FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */ #define FB_LOOPGAIN 1 /* For Low:0, Medium:1, High:2, Very High:3 */ @@ -170,13 +171,13 @@ List of waveform sequences from the datasheet: | 42 | lg_dblclick_med_80 | 84 | transition_rampup_med_smooth1 | | | ### Optional DRV2605L defines -``` -#define DRV_GREETING *sequence name or number* +```c +#define DRV2605L_GREETING *sequence name or number* ``` If haptic feedback is enabled, the keyboard will vibrate to a specific sequence during startup. That can be selected using the following define: -``` -#define DRV_MODE_DEFAULT *sequence name or number* +```c +#define DRV2605L_DEFAULT_MODE *sequence name or number* ``` This will set what sequence `HF_RST` will set as the active mode. If not defined, mode will be set to 1 when `HF_RST` is pressed. diff --git a/drivers/haptic/DRV2605L.c b/drivers/haptic/DRV2605L.c deleted file mode 100644 index 5a1d2ca0af..0000000000 --- a/drivers/haptic/DRV2605L.c +++ /dev/null @@ -1,122 +0,0 @@ -/* 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); -} diff --git a/drivers/haptic/DRV2605L.h b/drivers/haptic/DRV2605L.h deleted file mode 100644 index 8b8eae38b8..0000000000 --- a/drivers/haptic/DRV2605L.h +++ /dev/null @@ -1,406 +0,0 @@ -/* 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_ |