qmk_firmware/drivers/haptic/DRV2605L.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);
}