130 lines
4.8 KiB
C
130 lines
4.8 KiB
C
/* 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[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);
|
|
}
|
|
|
|
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];
|
|
#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];
|
|
#endif
|
|
return DRV2605L_read_register;
|
|
}
|
|
|
|
void DRV_init(void) {
|
|
i2c_init();
|
|
/* 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);
|
|
|
|
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);
|
|
|
|
// Play greeting sequence
|
|
DRV_write(DRV_GO, 0x00);
|
|
DRV_write(DRV_WAVEFORM_SEQ_1, DRV_GREETING);
|
|
DRV_write(DRV_GO, 0x01);
|
|
}
|
|
|
|
void DRV_rtp_init(void) {
|
|
DRV_write(DRV_GO, 0x00);
|
|
DRV_write(DRV_RTP_INPUT, 20); // 20 is the lowest value I've found where haptics can still be felt.
|
|
DRV_write(DRV_MODE, 0x05);
|
|
DRV_write(DRV_GO, 0x01);
|
|
}
|
|
|
|
void DRV_amplitude(uint8_t amplitude) { DRV_write(DRV_RTP_INPUT, amplitude); }
|
|
|
|
void DRV_pulse(uint8_t sequence) {
|
|
DRV_write(DRV_GO, 0x00);
|
|
DRV_write(DRV_WAVEFORM_SEQ_1, sequence);
|
|
DRV_write(DRV_GO, 0x01);
|
|
} |