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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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