Diff: DRV2605.cpp

Revision:

0:03cdee95fb5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV2605.cpp	Wed May 30 02:34:33 2018 +0000
@@ -0,0 +1,115 @@
+#include "DRV2605.h"
+
+DRV2605::DRV2605(PinName sda, PinName scl, PinName en): i2c(sda, scl), _en(en) {
+    _en = 1;
+    wait_us(250);   // Device datasheet specified wait time before I2C
+    // comms should be used
+    // Exit Standby Mode; Enter Auto- Cal Mode
+    mode(AUTO_CAL);
+    
+    /* Set the following registers to the appropriate values:
+        • Rated Voltage (0x16)
+        • Overdrive Voltage (0x17)
+        • Feedback Control (0x1A) – Bits [1:0] can be left blank and will be
+          populated by the auto-calibration engine
+        • Control 1 (0x1B), Control 2 (0x1C), and Control 3 (0x1D)
+        • Mode (0x01) – Set mode to Auto-Calibration
+        • Auto-calibration Memory Interface (0x1E) – the auto-calibration time
+          can be increased to improve calibration, but can be left as default
+          for the initial calibration
+    */
+    // Rated Voltage (0x16), use default values
+
+    // Calc and Set Overdrive Voltage Register (0x17), use default values
+
+    // Set Feedback Control Register (0x1A), set LRA
+    i2cWriteByte(FEEDBACK_CONTROL, i2cReadByte(FEEDBACK_CONTROL) | LRA); // set LRA
+
+    // Set Control 1 Register (0x1B), use default values
+
+    // Set Control 2 Register (0x1C), use default values
+
+    // Set Control3 Register (0x1D), use default values
+    i2cWriteByte(CONTROL3, i2cReadByte(CONTROL3) | 0x08); // set data format rtp unsigned
+
+    // Set Control 4 Register (0x1E), use default values
+
+    // Device already set to Auto- Cal Mode at top of this code block
+
+    // Start auto- calibration
+    i2cWriteByte(GO, 0x01);
+
+    // Wait for calibration to complete
+    while(i2cReadByte(GO));
+}
+
+void DRV2605::i2cWriteByte(char reg, char value)
+{
+    char buff[2] = {reg, value};
+    i2c.write(SLAVE_ADDR_7_BIT<<1, buff, 2);
+}
+
+uint8_t DRV2605::i2cReadByte(char reg)
+{
+    char result;                                    // Temp result storage
+    i2c.write(SLAVE_ADDR_7_BIT<<1, &reg, 1, true);
+    i2c.read(SLAVE_ADDR_7_BIT<<1, &result, 1);
+
+    return result;
+}
+
+void DRV2605::mode(Mode mode)
+{
+    i2cWriteByte(MODE, mode);
+}
+
+int DRV2605::init(float actuator_peak_voltage, Library lib)
+{
+    i2cWriteByte(LIBRARY_SELECTION, lib);     // Select ROM Library
+    mode(STANDBY);                            // Put device into low- power mode
+    return 0;                            // Cal/Init Result 0: Pass 1: Fail
+}
+
+uint8_t DRV2605::diagnostics()
+{
+    mode(DIAG);
+    i2cWriteByte(GO, 1);
+    while(i2cReadByte(GO));     // Wait for GO bit to clear
+
+    return i2cReadByte(STATUS); // Return Status Reg Value
+}
+
+void DRV2605::play_waveform(int waveform_effect)
+{
+    mode(INTERNAL_TRIG);                                 // Bring device out of standby and set to internal trigger
+    i2cWriteByte(WAVEFORM_SEQUENCER_1, waveform_effect); // Load waveform index to play
+    i2cWriteByte(WAVEFORM_SEQUENCER_2, 0);               // Insert stop condition so we don't play other registers if filled
+    i2cWriteByte(GO, 0x01);                              // Set GO bit to start playback
+}
+
+void DRV2605::load_waveform_sequence(int effect1, int effect2,
+                                     int effect3, int effect4,
+                                     int effect5, int effect6,
+                                     int effect7, int effect8)
+{
+    i2cWriteByte(WAVEFORM_SEQUENCER_1, effect1);
+    i2cWriteByte(WAVEFORM_SEQUENCER_2, effect2);
+    i2cWriteByte(WAVEFORM_SEQUENCER_3, effect3);
+    i2cWriteByte(WAVEFORM_SEQUENCER_4, effect4);
+    i2cWriteByte(WAVEFORM_SEQUENCER_5, effect5);
+    i2cWriteByte(WAVEFORM_SEQUENCER_6, effect6);
+    i2cWriteByte(WAVEFORM_SEQUENCER_7, effect7);
+    i2cWriteByte(WAVEFORM_SEQUENCER_8, effect8);
+}
+
+void DRV2605::play()
+{
+    i2cWriteByte(MODE, INTERNAL_TRIG);      // Internal Trigger Mode
+    i2cWriteByte(GO, 1);
+}
+
+void DRV2605::rtp(char amp)
+{
+    i2cWriteByte(MODE, RTP);      // RTP Mode
+    i2cWriteByte(REAL_TIME_PLAYBACK, amp);
+}