diff options
Diffstat (limited to 'drivers/haptic/drv2605l.c')
| -rw-r--r-- | drivers/haptic/drv2605l.c | 126 |
1 files changed, 126 insertions, 0 deletions
diff --git a/drivers/haptic/drv2605l.c b/drivers/haptic/drv2605l.c new file mode 100644 index 0000000000..1ad2ad385f --- /dev/null +++ b/drivers/haptic/drv2605l.c @@ -0,0 +1,126 @@ +/* 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 DRV2605L_FB_ERM_LRA == 0 + /* ERM settings */ + drv2605l_write(DRV2605L_REG_RATED_VOLTAGE, (DRV2605L_RATED_VOLTAGE / 21.33) * 1000); +# if DRV2605L_ERM_OPEN_LOOP == 0 + drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (((DRV2605L_V_PEAK * (DRV2605L_DRIVE_TIME + DRV2605L_BLANKING_TIME + DRV2605L_IDISS_TIME)) / 0.02133) / (DRV2605L_DRIVE_TIME - 0.0003))); +# elif DRV2605L_ERM_OPEN_LOOP == 1 + drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (DRV2605L_V_PEAK / 0.02196)); +# endif +#elif DRV2605L_FB_ERM_LRA == 1 + drv2605l_write(DRV2605L_REG_RATED_VOLTAGE, ((DRV2605L_V_RMS * sqrt(1 - ((4 * ((150 + (DRV2605L_SAMPLE_TIME * 50)) * 0.000001)) + 0.0003) * DRV2605L_F_LRA) / 0.02071))); +# if DRV2605L_LRA_OPEN_LOOP == 0 + drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, ((DRV2605L_V_PEAK / sqrt(1 - (DRV2605L_F_LRA * 0.0008)) / 0.02133))); +# elif DRV2605L_LRA_OPEN_LOOP == 1 + drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (DRV2605L_V_PEAK / 0.02196)); +# endif +#endif + + drv2605l_reg_feedback_ctrl_t reg_feedback_ctrl; + reg_feedback_ctrl.bits.ERM_LRA = DRV2605L_FB_ERM_LRA; + reg_feedback_ctrl.bits.BRAKE_FACTOR = DRV2605L_FB_BRAKEFACTOR; + reg_feedback_ctrl.bits.LOOP_GAIN = DRV2605L_FB_LOOPGAIN; + reg_feedback_ctrl.bits.BEMF_GAIN = 0; /* auto-calibration populates this field*/ + drv2605l_write(DRV2605L_REG_FEEDBACK_CTRL, (uint8_t)reg_feedback_ctrl.raw); + + drv2605l_reg_ctrl1_t reg_ctrl1; + reg_ctrl1.bits.C1_DRIVE_TIME = DRV2605L_DRIVE_TIME; + reg_ctrl1.bits.C1_AC_COUPLE = DRV2605L_AC_COUPLE; + reg_ctrl1.bits.C1_STARTUP_BOOST = DRV2605L_STARTUP_BOOST; + drv2605l_write(DRV2605L_REG_CTRL1, (uint8_t)reg_ctrl1.raw); + + drv2605l_reg_ctrl2_t reg_ctrl2; + reg_ctrl2.bits.C2_BIDIR_INPUT = DRV2605L_BIDIR_INPUT; + reg_ctrl2.bits.C2_BRAKE_STAB = DRV2605L_BRAKE_STAB; + reg_ctrl2.bits.C2_SAMPLE_TIME = DRV2605L_SAMPLE_TIME; + reg_ctrl2.bits.C2_BLANKING_TIME = DRV2605L_BLANKING_TIME; + reg_ctrl2.bits.C2_IDISS_TIME = DRV2605L_IDISS_TIME; + drv2605l_write(DRV2605L_REG_CTRL2, (uint8_t)reg_ctrl2.raw); + + drv2605l_reg_ctrl3_t reg_ctrl3; + reg_ctrl3.bits.C3_LRA_OPEN_LOOP = DRV2605L_LRA_OPEN_LOOP; + reg_ctrl3.bits.C3_N_PWM_ANALOG = DRV2605L_N_PWM_ANALOG; + reg_ctrl3.bits.C3_LRA_DRIVE_MODE = DRV2605L_LRA_DRIVE_MODE; + reg_ctrl3.bits.C3_DATA_FORMAT_RTO = DRV2605L_DATA_FORMAT_RTO; + reg_ctrl3.bits.C3_SUPPLY_COMP_DIS = DRV2605L_SUPPLY_COMP_DIS; + reg_ctrl3.bits.C3_ERM_OPEN_LOOP = DRV2605L_ERM_OPEN_LOOP; + reg_ctrl3.bits.C3_NG_THRESH = DRV2605L_NG_THRESH; + drv2605l_write(DRV2605L_REG_CTRL3, (uint8_t)reg_ctrl3.raw); + + drv2605l_reg_ctrl4_t reg_ctrl4; + reg_ctrl4.bits.C4_ZC_DET_TIME = DRV2605L_ZC_DET_TIME; + reg_ctrl4.bits.C4_AUTO_CAL_TIME = DRV2605L_AUTO_CAL_TIME; + drv2605l_write(DRV2605L_REG_CTRL4, (uint8_t)reg_ctrl4.raw); + + 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); +} |