Bryce Williams / DRV2605

Basic I2C Driver for the TI DRV2605 Haptic Driver. Currently only supports Open-Loop ERM operation using internal Immersion TouchSense 2200 software/library, although user can use the Read/Write Byte methods to manually set registers and control the device.

Dependents:   DRV2605L_Haptic_Driver_Demo IoT_Haptic_Noise_Irritator DuelingTanks

DRV2605.h@0:3b2b4f34aaca, 2015-10-21 (annotated)

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electromotivated
Date:
Wed Oct 21 01:02:59 2015 +0000
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0:3b2b4f34aaca
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electromotivated 0:3b2b4f34aaca 1 /*
electromotivated 0:3b2b4f34aaca 2 Bryce Williams 10/16/2015
electromotivated 0:3b2b4f34aaca 3
electromotivated 0:3b2b4f34aaca 4 Library for the TI DRV2605L 2 to 5.2 V Haptic Driver for LRA and ERM
electromotivated 0:3b2b4f34aaca 5 With Effect Library and Smart-Loop Architecture
electromotivated 0:3b2b4f34aaca 6
electromotivated 0:3b2b4f34aaca 7 References:
electromotivated 0:3b2b4f34aaca 8 http://www.ti.com/product/DRV2605L/description&lpos=Middle_Container&lid=Alternative_Devices
electromotivated 0:3b2b4f34aaca 9 http://www.ti.com/lit/ds/symlink/drv2605l.pdf (Datasheet)
electromotivated 0:3b2b4f34aaca 10 http://www.ti.com/lit/an/sloa189/sloa189.pdf (Setup Guide; SLOA189)
electromotivated 0:3b2b4f34aaca 11 */
electromotivated 0:3b2b4f34aaca 12
electromotivated 0:3b2b4f34aaca 13 #ifndef DRV2605_H
electromotivated 0:3b2b4f34aaca 14 #define DRV2605_H
electromotivated 0:3b2b4f34aaca 15
electromotivated 0:3b2b4f34aaca 16 #include "mbed.h"
electromotivated 0:3b2b4f34aaca 17
electromotivated 0:3b2b4f34aaca 18 /******************************************************************************
electromotivated 0:3b2b4f34aaca 19 ***** DRV2605 Addresses
electromotivated 0:3b2b4f34aaca 20 ******************************************************************************/
electromotivated 0:3b2b4f34aaca 21 #define SLAVE_ADDR_7_BIT 0x5A // 7-bit slave address
electromotivated 0:3b2b4f34aaca 22
electromotivated 0:3b2b4f34aaca 23 /******************************************************************************
electromotivated 0:3b2b4f34aaca 24 ****** DRV2605 REGISTERS ******************************************************
electromotivated 0:3b2b4f34aaca 25 ******************************************************************************/
electromotivated 0:3b2b4f34aaca 26 #define STATUS 0x00
electromotivated 0:3b2b4f34aaca 27 #define MODE 0x01
electromotivated 0:3b2b4f34aaca 28 #define REAL_TIME_PLAYBACK 0x02
electromotivated 0:3b2b4f34aaca 29 #define LIBRARY_SELECTION 0x03
electromotivated 0:3b2b4f34aaca 30 #define WAVEFORM_SEQUENCER_1 0x04
electromotivated 0:3b2b4f34aaca 31 #define WAVEFORM_SEQUENCER_2 0x05
electromotivated 0:3b2b4f34aaca 32 #define WAVEFORM_SEQUENCER_3 0x06
electromotivated 0:3b2b4f34aaca 33 #define WAVEFORM_SEQUENCER_4 0x07
electromotivated 0:3b2b4f34aaca 34 #define WAVEFORM_SEQUENCER_5 0x08
electromotivated 0:3b2b4f34aaca 35 #define WAVEFORM_SEQUENCER_6 0x09
electromotivated 0:3b2b4f34aaca 36 #define WAVEFORM_SEQUENCER_7 0x0A
electromotivated 0:3b2b4f34aaca 37 #define WAVEFORM_SEQUENCER_8 0x0B
electromotivated 0:3b2b4f34aaca 38 #define GO 0x0C
electromotivated 0:3b2b4f34aaca 39 #define OVERDRIVE_TIME_OFFSET 0x0D
electromotivated 0:3b2b4f34aaca 40 #define POSITIVE_SUSTAIN_TIME_OFFSET 0x0E
electromotivated 0:3b2b4f34aaca 41 #define NEGATIVE_SUSTAIN_TIME_OFFSET 0x0F
electromotivated 0:3b2b4f34aaca 42 #define BRAKE_TIME_OFFSET 0x10
electromotivated 0:3b2b4f34aaca 43 #define AUDIO_TO_VIBE_CONTROL 0x11
electromotivated 0:3b2b4f34aaca 44 #define AUDIO_TO_VIBE_MINIMUM_INPUT_LEVEL 0x12
electromotivated 0:3b2b4f34aaca 45 #define AUDIO_TO_VIBE_MAXIMUM_INPUT_LEVEL 0x13
electromotivated 0:3b2b4f34aaca 46 #define AUDIO_TO_VIBE_MINIMUM_OUPUT_DRIVE 0x14
electromotivated 0:3b2b4f34aaca 47 #define AUDIO_TO_VIBE_MAXIMUM_OUTPUT_DRIVE 0x15
electromotivated 0:3b2b4f34aaca 48 #define RATED_VOLTAGE 0x16
electromotivated 0:3b2b4f34aaca 49 #define OVERDRIVE_CLAMP_VOLTAGE 0x17
electromotivated 0:3b2b4f34aaca 50 #define AUTO_CALIBRATION_COMPENSATION_RESULT 0x18
electromotivated 0:3b2b4f34aaca 51 #define AUTO_CALIBRATION_BACK_EMF_RESULT 0x19
electromotivated 0:3b2b4f34aaca 52 #define FEEDBACK_CONTROL 0x1A
electromotivated 0:3b2b4f34aaca 53 #define CONTROL 0x1B
electromotivated 0:3b2b4f34aaca 54 #define CONTROL2 0x1C
electromotivated 0:3b2b4f34aaca 55 #define CONTROL3 0x1D
electromotivated 0:3b2b4f34aaca 56 #define CONTROL4 0x1E
electromotivated 0:3b2b4f34aaca 57 #define CONTROL5 0x1F
electromotivated 0:3b2b4f34aaca 58 #define LRA_OPEN_LOOP_PERIOD 0x20
electromotivated 0:3b2b4f34aaca 59 #define VBAT_VOLTAGE_MONITOR 0x21
electromotivated 0:3b2b4f34aaca 60 #define LRA_RESONANCE_PERIOD 0x22
electromotivated 0:3b2b4f34aaca 61
electromotivated 0:3b2b4f34aaca 62 class DRV2605{
electromotivated 0:3b2b4f34aaca 63
electromotivated 0:3b2b4f34aaca 64 public:
electromotivated 0:3b2b4f34aaca 65 //// modes defines the possible modes of the DRV2605L
electromotivated 0:3b2b4f34aaca 66 enum Mode{
electromotivated 0:3b2b4f34aaca 67 INTERNAL_TRIG, // 0x00: Waveforms fired by Setting GO bit in Register 0x0C
electromotivated 0:3b2b4f34aaca 68 EXTERNAL_EDGE, // 0x01: Rising Edge on IN/TRIG pin set GO Bit.
electromotivated 0:3b2b4f34aaca 69 EXTERNAL_LEVEL, // 0x02: GO bit follows state of edge on IN/TRIG pin.
electromotivated 0:3b2b4f34aaca 70 PWM_ANALOG, // 0x03: PWM or Analog Signal accepted at IN/TRIG pin.
electromotivated 0:3b2b4f34aaca 71 AUDIO_TO_VIBE, // 0x04: An AC-coupled audio signal is accepted at the IN/TRIG pin.
electromotivated 0:3b2b4f34aaca 72 RTP, // 0x05: Real- Time Playback
electromotivated 0:3b2b4f34aaca 73 DIAG, // 0x06: Set to perform actuator diagnostics
electromotivated 0:3b2b4f34aaca 74 AUTO_CAL, // 0x07: Set to perform auto calibration of device for actuator
electromotivated 0:3b2b4f34aaca 75 STANDBY = 0x40, // 0x40: Set Device to Software Standby (Low- Power Mode)
electromotivated 0:3b2b4f34aaca 76 RESET = 0x80, // 0x80: Reset Device (equivalent of power cycling the device)
electromotivated 0:3b2b4f34aaca 77 };
electromotivated 0:3b2b4f34aaca 78
electromotivated 0:3b2b4f34aaca 79 //// FeedBack_Controls Fields Bitmasks (Register Addr: 0x1A)
electromotivated 0:3b2b4f34aaca 80 enum Actuator_Type{ERM = 0, LRA = 0x80}; // bit-7
electromotivated 0:3b2b4f34aaca 81 enum Brake_Factor{x1 = 0x00, x2 = 0x10, x3 = 0x20,
electromotivated 0:3b2b4f34aaca 82 x4 = 0x40, x6 = 0x80, x8 = 0x50,
electromotivated 0:3b2b4f34aaca 83 x16 = 0x60, DISABLE = 0x70}; // bit-6..4
electromotivated 0:3b2b4f34aaca 84 enum Loop_Gain{LOW = 0x00,
electromotivated 0:3b2b4f34aaca 85 MED = 0x04,
electromotivated 0:3b2b4f34aaca 86 HIGH = 0x08,
electromotivated 0:3b2b4f34aaca 87 VERY_HIGH = 0x0C}; // bit-3..2
electromotivated 0:3b2b4f34aaca 88
electromotivated 0:3b2b4f34aaca 89 enum Library{EMPTY, A, B, C, D, E,
electromotivated 0:3b2b4f34aaca 90 LRA_LIB, F}; // ROM Waveform Library Selections
electromotivated 0:3b2b4f34aaca 91
electromotivated 0:3b2b4f34aaca 92 /**
electromotivated 0:3b2b4f34aaca 93 Constructor for DRV2605 Objects
electromotivated 0:3b2b4f34aaca 94 */
electromotivated 0:3b2b4f34aaca 95 DRV2605(PinName sda, PinName scl);
electromotivated 0:3b2b4f34aaca 96
electromotivated 0:3b2b4f34aaca 97 /**
electromotivated 0:3b2b4f34aaca 98 Write value to specified register of device
electromotivated 0:3b2b4f34aaca 99 @param reg The device register to write
electromotivated 0:3b2b4f34aaca 100 @param value The value to write to the register
electromotivated 0:3b2b4f34aaca 101 */
electromotivated 0:3b2b4f34aaca 102 void i2cWriteByte(char reg, char value);
electromotivated 0:3b2b4f34aaca 103
electromotivated 0:3b2b4f34aaca 104 /**
electromotivated 0:3b2b4f34aaca 105 Read value from register of device
electromotivated 0:3b2b4f34aaca 106 @param reg The device register to read
electromotivated 0:3b2b4f34aaca 107 @return The result
electromotivated 0:3b2b4f34aaca 108 */
electromotivated 0:3b2b4f34aaca 109 uint8_t i2cReadByte(char reg);
electromotivated 0:3b2b4f34aaca 110
electromotivated 0:3b2b4f34aaca 111 /**
electromotivated 0:3b2b4f34aaca 112 Place device into specified mode
electromotivated 0:3b2b4f34aaca 113 @param mode The mode to place device into
electromotivated 0:3b2b4f34aaca 114 */
electromotivated 0:3b2b4f34aaca 115 void mode(Mode mode);
electromotivated 0:3b2b4f34aaca 116
electromotivated 0:3b2b4f34aaca 117 /**
electromotivated 0:3b2b4f34aaca 118 TODO: Expand to allow initialization for LRAs and Closed Loop operation
electromotivated 0:3b2b4f34aaca 119 Initialize the device for Open- Loop ERM mode using specified ROM
electromotivated 0:3b2b4f34aaca 120 Waveform Library as specified in Section 9.3 of Device Datasheet.
electromotivated 0:3b2b4f34aaca 121 See also Device Setup Guide 1.6.1 ERM Initialization Example
electromotivated 0:3b2b4f34aaca 122 @param actuator_peak_voltage The Peak Voltage Rating of Actuator
electromotivated 0:3b2b4f34aaca 123 @param lib The ROM Waveform Library to use
electromotivated 0:3b2b4f34aaca 124 */
electromotivated 0:3b2b4f34aaca 125 int init(float actuator_peak_voltage, Library lib = B);
electromotivated 0:3b2b4f34aaca 126
electromotivated 0:3b2b4f34aaca 127 /**
electromotivated 0:3b2b4f34aaca 128 Runs diagnostics on the Actuator and Device and returns the results.
electromotivated 0:3b2b4f34aaca 129 The results indicate if an actuator is detected, over- current events,
electromotivated 0:3b2b4f34aaca 130 etc. Refer to STATUS Register (0x00) in device datasheet for more
electromotivated 0:3b2b4f34aaca 131 description register values.
electromotivated 0:3b2b4f34aaca 132
electromotivated 0:3b2b4f34aaca 133 Note: This should be run if the user is having trouble getting the actuator
electromotivated 0:3b2b4f34aaca 134 to work.
electromotivated 0:3b2b4f34aaca 135
electromotivated 0:3b2b4f34aaca 136 @return The results of the diagnostics (i.e. Status Reg (0x00))
electromotivated 0:3b2b4f34aaca 137 */
electromotivated 0:3b2b4f34aaca 138 uint8_t diagnostics();
electromotivated 0:3b2b4f34aaca 139
electromotivated 0:3b2b4f34aaca 140 /**
electromotivated 0:3b2b4f34aaca 141 Play single waveform from ROM Library as outlined in Section 9.3.2.1
electromotivated 0:3b2b4f34aaca 142 of Device Datasheet.
electromotivated 0:3b2b4f34aaca 143 The library used is the one that is currently written
electromotivated 0:3b2b4f34aaca 144 to the Library_Selection Register (0x03). This library
electromotivated 0:3b2b4f34aaca 145 is set in the init(Library lib) method, but can be
electromotivated 0:3b2b4f34aaca 146 changed manually.
electromotivated 0:3b2b4f34aaca 147 @param waveform_effect The Waveform Effect Library Index value to play
electromotivated 0:3b2b4f34aaca 148 (valid values are 1 to 123)
electromotivated 0:3b2b4f34aaca 149 */
electromotivated 0:3b2b4f34aaca 150 void play_waveform(int waveform_effect);
electromotivated 0:3b2b4f34aaca 151
electromotivated 0:3b2b4f34aaca 152 /**
electromotivated 0:3b2b4f34aaca 153 Load Wave Sequence into DRV2605 Sequence Registers
electromotivated 0:3b2b4f34aaca 154 @param effect1... effect8 The effect to play. Valid inputs are
electromotivated 0:3b2b4f34aaca 155 0 to 123; 0: Stop Condition,
electromotivated 0:3b2b4f34aaca 156 1- 123: Waveform Index
electromotivated 0:3b2b4f34aaca 157 */
electromotivated 0:3b2b4f34aaca 158 void load_waveform_sequence(int effect1 = 0, int effect2 = 0,
electromotivated 0:3b2b4f34aaca 159 int effect3 = 0, int effect4 = 0,
electromotivated 0:3b2b4f34aaca 160 int effect5 = 0, int effect6 = 0,
electromotivated 0:3b2b4f34aaca 161 int effect7 = 0, int effect8 = 0);
electromotivated 0:3b2b4f34aaca 162
electromotivated 0:3b2b4f34aaca 163 /**
electromotivated 0:3b2b4f34aaca 164 Plays the currently loaded waveform or waveform sequence.
electromotivated 0:3b2b4f34aaca 165 Call this after calling play_waveform() or after calling
electromotivated 0:3b2b4f34aaca 166 load_waveform_sequence()
electromotivated 0:3b2b4f34aaca 167 Preconditions: User must have already loaded waveform(s)
electromotivated 0:3b2b4f34aaca 168 using play_waveform() or load_waveform_sequence()
electromotivated 0:3b2b4f34aaca 169 */
electromotivated 0:3b2b4f34aaca 170 void play();
electromotivated 0:3b2b4f34aaca 171
electromotivated 0:3b2b4f34aaca 172 /**
electromotivated 0:3b2b4f34aaca 173 TODO: Add Closed Loop Calibration
electromotivated 0:3b2b4f34aaca 174
electromotivated 0:3b2b4f34aaca 175 Run basic DRV2605L Auto- Calibration as detailed in Section 2 of
electromotivated 0:3b2b4f34aaca 176 the Device Setup Guide for OPEN- LOOP ONLY.
electromotivated 0:3b2b4f34aaca 177 This must be done before using the device in closed- loop mode
electromotivated 0:3b2b4f34aaca 178 (unless cal has been done before with values stored in non-volatile
electromotivated 0:3b2b4f34aaca 179 mem; see datasheet for more info).
electromotivated 0:3b2b4f34aaca 180
electromotivated 0:3b2b4f34aaca 181 NOTE: It is NOT recommended to store cal values into device
electromotivated 0:3b2b4f34aaca 182 non-volatile memory as this can be done only once. Thus do not
electromotivated 0:3b2b4f34aaca 183 use this feature unless the device is being used in a final
electromotivated 0:3b2b4f34aaca 184 project AND values have been confirmed to result in satisfactory
electromotivated 0:3b2b4f34aaca 185 performance).
electromotivated 0:3b2b4f34aaca 186
electromotivated 0:3b2b4f34aaca 187 This uses many of the default device register values such as
electromotivated 0:3b2b4f34aaca 188 the default DRIVE_TIME .
electromotivated 0:3b2b4f34aaca 189
electromotivated 0:3b2b4f34aaca 190 @param actuator_peak_voltage The maximum/peak voltage rating of the actuator
electromotivated 0:3b2b4f34aaca 191 */
electromotivated 0:3b2b4f34aaca 192 uint8_t auto_cal_open_loop(float actuator_peak_voltage);
electromotivated 0:3b2b4f34aaca 193
electromotivated 0:3b2b4f34aaca 194 private:
electromotivated 0:3b2b4f34aaca 195 I2C i2c;
electromotivated 0:3b2b4f34aaca 196
electromotivated 0:3b2b4f34aaca 197 };
electromotivated 0:3b2b4f34aaca 198
electromotivated 0:3b2b4f34aaca 199 #endif