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path: root/drivers/haptic/DRV2605L.c
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Diffstat (limited to 'drivers/haptic/DRV2605L.c')
-rw-r--r--drivers/haptic/DRV2605L.c150
1 files changed, 71 insertions, 79 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
generated by cgit v1.2.3 (git 2.39.1) at 2024-05-18 20:43:41 +0000