diff options
Diffstat (limited to 'drivers/haptic/DRV2605L.c')
-rw-r--r-- | drivers/haptic/DRV2605L.c | 150 |
1 files changed, 71 insertions, 79 deletions
diff --git a/drivers/haptic/DRV2605L.c b/drivers/haptic/DRV2605L.c index 215e6be3e..f74c96525 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); }
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