diff options
Diffstat (limited to 'drivers/haptic')
| -rw-r--r-- | drivers/haptic/DRV2605L.c | 150 | ||||
| -rw-r--r-- | drivers/haptic/DRV2605L.h | 574 | ||||
| -rw-r--r-- | drivers/haptic/haptic.c | 316 | ||||
| -rw-r--r-- | drivers/haptic/haptic.h | 78 | ||||
| -rw-r--r-- | drivers/haptic/solenoid.c | 100 | ||||
| -rw-r--r-- | drivers/haptic/solenoid.h | 10 |
6 files changed, 609 insertions, 619 deletions
diff --git a/drivers/haptic/DRV2605L.c b/drivers/haptic/DRV2605L.c index 215e6be3e7..f74c965253 100644 --- a/drivers/haptic/DRV2605L.c +++ b/drivers/haptic/DRV2605L.c @@ -20,110 +20,102 @@ #include <stdio.h> #include <math.h> - uint8_t DRV2605L_transfer_buffer[2]; uint8_t DRV2605L_tx_register[0]; uint8_t DRV2605L_read_buffer[0]; 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); + 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) { #ifdef __AVR__ - i2c_readReg(DRV2605L_BASE_ADDRESS << 1, - regaddress, DRV2605L_read_buffer, 1, 100); - DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0]; + i2c_readReg(DRV2605L_BASE_ADDRESS << 1, regaddress, DRV2605L_read_buffer, 1, 100); + DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0]; #else - DRV2605L_tx_register[0] = regaddress; - if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1, - DRV2605L_tx_register, 1, - DRV2605L_read_buffer, 1 -)){ - printf("err reading reg \n"); - } - DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0]; + DRV2605L_tx_register[0] = regaddress; + if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1, DRV2605L_tx_register, 1, DRV2605L_read_buffer, 1)) { + printf("err reading reg \n"); + } + DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0]; #endif -return DRV2605L_read_register; + return DRV2605L_read_register; } -void DRV_init(void) -{ - i2c_init(); - /* 0x07 sets DRV2605 into calibration mode */ - DRV_write(DRV_MODE,0x07); +void DRV_init(void) { + i2c_init(); + /* 0x07 sets DRV2605 into calibration mode */ + DRV_write(DRV_MODE, 0x07); + + // DRV_write(DRV_FEEDBACK_CTRL,0xB6); -// DRV_write(DRV_FEEDBACK_CTRL,0xB6); - - #if FB_ERM_LRA == 0 +#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; + 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; + 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; + 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; + 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; + 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_CTRL_4, (uint8_t)C4_SET.Byte); + DRV_write(DRV_LIB_SELECTION, LIB_SELECTION); - DRV_write(DRV_GO, 0x01); + 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); + /* 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); + // Play greeting sequence + DRV_write(DRV_GO, 0x00); + DRV_write(DRV_WAVEFORM_SEQ_1, DRV_GREETING); + DRV_write(DRV_GO, 0x01); } -void DRV_pulse(uint8_t sequence) -{ - DRV_write(DRV_GO, 0x00); - DRV_write(DRV_WAVEFORM_SEQ_1, sequence); - DRV_write(DRV_GO, 0x01); +void DRV_pulse(uint8_t sequence) { + DRV_write(DRV_GO, 0x00); + DRV_write(DRV_WAVEFORM_SEQ_1, sequence); + DRV_write(DRV_GO, 0x01); }
\ No newline at end of file diff --git a/drivers/haptic/DRV2605L.h b/drivers/haptic/DRV2605L.h index 836e9cbcd2..f550b859f7 100644 --- a/drivers/haptic/DRV2605L.h +++ b/drivers/haptic/DRV2605L.h @@ -22,383 +22,383 @@ * Feedback Control Settings */ #ifndef FB_ERM_LRA -#define FB_ERM_LRA 1 /* For ERM:0 or LRA:1*/ +# 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 */ +# 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 */ +# 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 +# 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 */ +# define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */ #endif #ifndef V_PEAK -#define V_PEAK 2.8 +# 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 +# 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 +# define DRV_GREETING alert_750ms #endif #ifndef DRV_MODE_DEFAULT -#define DRV_MODE_DEFAULT strong_click1 +# define DRV_MODE_DEFAULT strong_click1 #endif /* Control 1 register settings */ #ifndef DRIVE_TIME -#define DRIVE_TIME 25 +# define DRIVE_TIME 25 #endif #ifndef AC_COUPLE -#define AC_COUPLE 0 +# define AC_COUPLE 0 #endif #ifndef STARTUP_BOOST -#define STARTUP_BOOST 1 +# define STARTUP_BOOST 1 #endif /* Control 2 Settings */ #ifndef BIDIR_INPUT -#define BIDIR_INPUT 1 +# define BIDIR_INPUT 1 #endif #ifndef BRAKE_STAB -#define BRAKE_STAB 1 /* Loopgain is reduced when braking is almost complete to improve stability */ +# define BRAKE_STAB 1 /* Loopgain is reduced when braking is almost complete to improve stability */ #endif -#ifndef SAMPLE_TIME -#define SAMPLE_TIME 3 +#ifndef SAMPLE_TIME +# define SAMPLE_TIME 3 #endif #ifndef BLANKING_TIME -#define BLANKING_TIME 1 +# define BLANKING_TIME 1 #endif #ifndef IDISS_TIME -#define IDISS_TIME 1 +# define IDISS_TIME 1 #endif /* Control 3 settings */ #ifndef NG_THRESH -#define NG_THRESH 2 +# define NG_THRESH 2 #endif #ifndef ERM_OPEN_LOOP -#define ERM_OPEN_LOOP 1 +# define ERM_OPEN_LOOP 1 #endif #ifndef SUPPLY_COMP_DIS -#define SUPPLY_COMP_DIS 0 +# define SUPPLY_COMP_DIS 0 #endif #ifndef DATA_FORMAT_RTO -#define DATA_FORMAT_RTO 0 +# define DATA_FORMAT_RTO 0 #endif #ifndef LRA_DRIVE_MODE -#define LRA_DRIVE_MODE 0 +# define LRA_DRIVE_MODE 0 #endif #ifndef N_PWM_ANALOG -#define N_PWM_ANALOG 0 +# define N_PWM_ANALOG 0 #endif #ifndef LRA_OPEN_LOOP -#define LRA_OPEN_LOOP 0 +# define LRA_OPEN_LOOP 0 #endif /* Control 4 settings */ #ifndef ZC_DET_TIME -#define ZC_DET_TIME 0 +# define ZC_DET_TIME 0 #endif #ifndef AUTO_CAL_TIME -#define AUTO_CAL_TIME 3 +# 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 +#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); +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); +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, +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; + 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; + 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; + 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; +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; +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; +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; +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; +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; +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;
\ No newline at end of file diff --git a/drivers/haptic/haptic.c b/drivers/haptic/haptic.c index a94f05565c..ded6d8a44a 100644 --- a/drivers/haptic/haptic.c +++ b/drivers/haptic/haptic.c @@ -19,230 +19,248 @@ #include "progmem.h" #include "debug.h" #ifdef DRV2605L -#include "DRV2605L.h" +# include "DRV2605L.h" #endif #ifdef SOLENOID_ENABLE -#include "solenoid.h" +# include "solenoid.h" #endif haptic_config_t haptic_config; void haptic_init(void) { - debug_enable = 1; //Debug is ON! - if (!eeconfig_is_enabled()) { - eeconfig_init(); - } - haptic_config.raw = eeconfig_read_haptic(); - if (haptic_config.mode < 1){ - haptic_config.mode = 1; - } - if (!haptic_config.mode){ - dprintf("No haptic config found in eeprom, setting default configs\n"); - haptic_reset(); - } - #ifdef SOLENOID_ENABLE + debug_enable = 1; // Debug is ON! + if (!eeconfig_is_enabled()) { + eeconfig_init(); + } + haptic_config.raw = eeconfig_read_haptic(); + if (haptic_config.mode < 1) { + haptic_config.mode = 1; + } + if (!haptic_config.mode) { + dprintf("No haptic config found in eeprom, setting default configs\n"); + haptic_reset(); + } +#ifdef SOLENOID_ENABLE solenoid_setup(); dprintf("Solenoid driver initialized\n"); - #endif - #ifdef DRV2605L +#endif +#ifdef DRV2605L DRV_init(); dprintf("DRV2605 driver initialized\n"); - #endif - eeconfig_debug_haptic(); +#endif + eeconfig_debug_haptic(); } void haptic_task(void) { - #ifdef SOLENOID_ENABLE - solenoid_check(); - #endif +#ifdef SOLENOID_ENABLE + solenoid_check(); +#endif } void eeconfig_debug_haptic(void) { - dprintf("haptic_config eprom\n"); - dprintf("haptic_config.enable = %d\n", haptic_config.enable); - dprintf("haptic_config.mode = %d\n", haptic_config.mode); + dprintf("haptic_config eprom\n"); + dprintf("haptic_config.enable = %d\n", haptic_config.enable); + dprintf("haptic_config.mode = %d\n", haptic_config.mode); } void haptic_enable(void) { - haptic_config.enable = 1; - xprintf("haptic_config.enable = %u\n", haptic_config.enable); - eeconfig_update_haptic(haptic_config.raw); + haptic_config.enable = 1; + xprintf("haptic_config.enable = %u\n", haptic_config.enable); + eeconfig_update_haptic(haptic_config.raw); } void haptic_disable(void) { - haptic_config.enable = 0; - xprintf("haptic_config.enable = %u\n", haptic_config.enable); - eeconfig_update_haptic(haptic_config.raw); + haptic_config.enable = 0; + xprintf("haptic_config.enable = %u\n", haptic_config.enable); + eeconfig_update_haptic(haptic_config.raw); } void haptic_toggle(void) { -if (haptic_config.enable) { - haptic_disable(); - } else { - haptic_enable(); - } - eeconfig_update_haptic(haptic_config.raw); + if (haptic_config.enable) { + haptic_disable(); + } else { + haptic_enable(); + } + eeconfig_update_haptic(haptic_config.raw); } -void haptic_feedback_toggle(void){ - haptic_config.feedback++; - if (haptic_config.feedback >= HAPTIC_FEEDBACK_MAX) - haptic_config.feedback = KEY_PRESS; - xprintf("haptic_config.feedback = %u\n", !haptic_config.feedback); - eeconfig_update_haptic(haptic_config.raw); +void haptic_feedback_toggle(void) { + haptic_config.feedback++; + if (haptic_config.feedback >= HAPTIC_FEEDBACK_MAX) haptic_config.feedback = KEY_PRESS; + xprintf("haptic_config.feedback = %u\n", !haptic_config.feedback); + eeconfig_update_haptic(haptic_config.raw); } void haptic_buzz_toggle(void) { - bool buzz_stat = !haptic_config.buzz; - haptic_config.buzz = buzz_stat; - haptic_set_buzz(buzz_stat); + bool buzz_stat = !haptic_config.buzz; + haptic_config.buzz = buzz_stat; + haptic_set_buzz(buzz_stat); } void haptic_mode_increase(void) { - uint8_t mode = haptic_config.mode + 1; - #ifdef DRV2605L - if (haptic_config.mode >= drv_effect_max) { - mode = 1; - } - #endif + uint8_t mode = haptic_config.mode + 1; +#ifdef DRV2605L + if (haptic_config.mode >= drv_effect_max) { + mode = 1; + } +#endif haptic_set_mode(mode); } void haptic_mode_decrease(void) { - uint8_t mode = haptic_config.mode -1; - #ifdef DRV2605L - if (haptic_config.mode < 1) { - mode = (drv_effect_max - 1); - } - #endif - haptic_set_mode(mode); + uint8_t mode = haptic_config.mode - 1; +#ifdef DRV2605L + if (haptic_config.mode < 1) { + mode = (drv_effect_max - 1); + } +#endif + haptic_set_mode(mode); } void haptic_dwell_increase(void) { - uint8_t dwell = haptic_config.dwell + 1; - #ifdef SOLENOID_ENABLE - if (haptic_config.dwell >= SOLENOID_MAX_DWELL) { - dwell = 1; - } - solenoid_set_dwell(dwell); - #endif - haptic_set_dwell(dwell); |