diff options
Diffstat (limited to 'drivers/haptic/DRV2605L.c')
| -rw-r--r-- | drivers/haptic/DRV2605L.c | 129 |
1 files changed, 129 insertions, 0 deletions
diff --git a/drivers/haptic/DRV2605L.c b/drivers/haptic/DRV2605L.c new file mode 100644 index 0000000000..97ca292b9b --- /dev/null +++ b/drivers/haptic/DRV2605L.c @@ -0,0 +1,129 @@ +/* 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[20]; +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); +} + +uint8_t DRV_read(uint8_t regaddress) { + 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]; +return DRV2605L_read_register; +} + +void DRV_init(void) +{ + i2c_init(); + i2c_start(DRV2605L_BASE_ADDRESS); + + /* 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); + //start autocalibration + 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); + + /* 0x06: LRA library */ + DRV_write(DRV_WAVEFORM_SEQ_1, 0x01); + + /* 0xB9: LRA, 4x brake factor, medium gain, 7.5x back EMF + * 0x39: ERM, 4x brake factor, medium gain, 1.365x back EMF */ + + /* TODO: setup auto-calibration as part of initiation */ + +} + +void DRV_pulse(uint8_t sequence) +{ + DRV_write(DRV_GO, 0x00); + DRV_write(DRV_WAVEFORM_SEQ_1, sequence); + DRV_write(DRV_GO, 0x01); +}
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