Uchida Masayuki
test
Diff: DRV2605.h
- Revision:
- 0:03cdee95fb5a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV2605.h Wed May 30 02:34:33 2018 +0000
@@ -0,0 +1,210 @@
+/*
+ Taku Hachisu 06/01/2017
+ Modifined by Masayuki Uchida 10/18/2017
+
+ Library for the TI DRV2605L for LRA
+ Modifined from Bryce WilliamsBryce Williams's code
+
+ References:
+ http://www.ti.com/product/DRV2605L/description&lpos=Middle_Container&lid=Alternative_Devices
+ http://www.ti.com/lit/ds/symlink/drv2605l.pdf (Datasheet)
+ http://www.ti.com/lit/an/sloa189/sloa189.pdf (Setup Guide; SLOA189)
+ https://developer.mbed.org/users/electromotivated/code/DRV2605/
+*/
+
+#ifndef DRV2605_H
+#define DRV2605_H
+
+#include "mbed.h"
+
+/******************************************************************************
+***** DRV2605 Addresses
+******************************************************************************/
+#define SLAVE_ADDR_7_BIT 0x5A // 7-bit slave address
+
+/******************************************************************************
+****** DRV2605 REGISTERS ******************************************************
+******************************************************************************/
+#define STATUS 0x00
+#define MODE 0x01
+#define REAL_TIME_PLAYBACK 0x02
+#define LIBRARY_SELECTION 0x03
+#define WAVEFORM_SEQUENCER_1 0x04
+#define WAVEFORM_SEQUENCER_2 0x05
+#define WAVEFORM_SEQUENCER_3 0x06
+#define WAVEFORM_SEQUENCER_4 0x07
+#define WAVEFORM_SEQUENCER_5 0x08
+#define WAVEFORM_SEQUENCER_6 0x09
+#define WAVEFORM_SEQUENCER_7 0x0A
+#define WAVEFORM_SEQUENCER_8 0x0B
+#define GO 0x0C
+#define OVERDRIVE_TIME_OFFSET 0x0D
+#define POSITIVE_SUSTAIN_TIME_OFFSET 0x0E
+#define NEGATIVE_SUSTAIN_TIME_OFFSET 0x0F
+#define BRAKE_TIME_OFFSET 0x10
+#define AUDIO_TO_VIBE_CONTROL 0x11
+#define AUDIO_TO_VIBE_MINIMUM_INPUT_LEVEL 0x12
+#define AUDIO_TO_VIBE_MAXIMUM_INPUT_LEVEL 0x13
+#define AUDIO_TO_VIBE_MINIMUM_OUPUT_DRIVE 0x14
+#define AUDIO_TO_VIBE_MAXIMUM_OUTPUT_DRIVE 0x15
+#define RATED_VOLTAGE 0x16
+#define OVERDRIVE_CLAMP_VOLTAGE 0x17
+#define AUTO_CALIBRATION_COMPENSATION_RESULT 0x18
+#define AUTO_CALIBRATION_BACK_EMF_RESULT 0x19
+#define FEEDBACK_CONTROL 0x1A
+#define CONTROL 0x1B
+#define CONTROL2 0x1C
+#define CONTROL3 0x1D
+#define CONTROL4 0x1E
+#define CONTROL5 0x1F
+#define LRA_OPEN_LOOP_PERIOD 0x20
+#define VBAT_VOLTAGE_MONITOR 0x21
+#define LRA_RESONANCE_PERIOD 0x22
+
+class DRV2605{
+
+ public:
+ //// modes defines the possible modes of the DRV2605L
+ enum Mode{
+ INTERNAL_TRIG, // 0x00: Waveforms fired by Setting GO bit in Register 0x0C
+ EXTERNAL_EDGE, // 0x01: Rising Edge on IN/TRIG pin set GO Bit.
+ EXTERNAL_LEVEL, // 0x02: GO bit follows state of edge on IN/TRIG pin.
+ PWM_ANALOG, // 0x03: PWM or Analog Signal accepted at IN/TRIG pin.
+ AUDIO_TO_VIBE, // 0x04: An AC-coupled audio signal is accepted at the IN/TRIG pin.
+ RTP, // 0x05: Real- Time Playback
+ DIAG, // 0x06: Set to perform actuator diagnostics
+ AUTO_CAL, // 0x07: Set to perform auto calibration of device for actuator
+ STANDBY = 0x40, // 0x40: Set Device to Software Standby (Low- Power Mode)
+ RESET = 0x80, // 0x80: Reset Device (equivalent of power cycling the device)
+ };
+
+ //// FeedBack_Controls Fields Bitmasks (Register Addr: 0x1A)
+ enum Actuator_Type{ERM = 0, LRA = 0x80}; // bit-7
+ enum Brake_Factor{x1 = 0x00, x2 = 0x10, x3 = 0x20,
+ x4 = 0x40, x6 = 0x80, x8 = 0x50,
+ x16 = 0x60, DISABLE = 0x70}; // bit-6..4
+ enum Loop_Gain{LOW = 0x00,
+ MED = 0x04,
+ HIGH = 0x08,
+ VERY_HIGH = 0x0C}; // bit-3..2
+
+ enum Library{EMPTY, A, B, C, D, E,
+ LRA_LIB, F}; // ROM Waveform Library Selections
+
+ enum AUD {
+ a=0x00,b=0x44,c=0x55
+ };
+
+ /**
+ Constructor for DRV2605 Objects
+ */
+ DRV2605(PinName sda, PinName scl, PinName en);
+
+ /**
+ Write value to specified register of device
+ @param reg The device register to write
+ @param value The value to write to the register
+ */
+ void i2cWriteByte(char reg, char value);
+
+ /**
+ Read value from register of device
+ @param reg The device register to read
+ @return The result
+ */
+ uint8_t i2cReadByte(char reg);
+
+ /**
+ Place device into specified mode
+ @param mode The mode to place device into
+ */
+ void mode(Mode mode);
+
+ /**
+ TODO: Expand to allow initialization for LRAs and Closed Loop operation
+ Initialize the device for Open- Loop ERM mode using specified ROM
+ Waveform Library as specified in Section 9.3 of Device Datasheet.
+ See also Device Setup Guide 1.6.1 ERM Initialization Example
+ @param actuator_peak_voltage The Peak Voltage Rating of Actuator
+ @param lib The ROM Waveform Library to use
+ */
+ int init(float actuator_peak_voltage, Library lib = B);
+
+ /**
+ Runs diagnostics on the Actuator and Device and returns the results.
+ The results indicate if an actuator is detected, over- current events,
+ etc. Refer to STATUS Register (0x00) in device datasheet for more
+ description register values.
+
+ Note: This should be run if the user is having trouble getting the actuator
+ to work.
+
+ @return The results of the diagnostics (i.e. Status Reg (0x00))
+ */
+ uint8_t diagnostics();
+
+ /**
+ Play single waveform from ROM Library as outlined in Section 9.3.2.1
+ of Device Datasheet.
+ The library used is the one that is currently written
+ to the Library_Selection Register (0x03). This library
+ is set in the init(Library lib) method, but can be
+ changed manually.
+ @param waveform_effect The Waveform Effect Library Index value to play
+ (valid values are 1 to 123)
+ */
+ void play_waveform(int waveform_effect);
+
+ /**
+ Load Wave Sequence into DRV2605 Sequence Registers
+ @param effect1... effect8 The effect to play. Valid inputs are
+ 0 to 123; 0: Stop Condition,
+ 1- 123: Waveform Index
+ */
+ void load_waveform_sequence(int effect1 = 0, int effect2 = 0,
+ int effect3 = 0, int effect4 = 0,
+ int effect5 = 0, int effect6 = 0,
+ int effect7 = 0, int effect8 = 0);
+
+ /**
+ Plays the currently loaded waveform or waveform sequence.
+ Call this after calling play_waveform() or after calling
+ load_waveform_sequence()
+ Preconditions: User must have already loaded waveform(s)
+ using play_waveform() or load_waveform_sequence()
+ */
+ void play();
+
+ /**
+ hogehoge
+ */
+ void rtp(char amp);
+
+ /**
+ TODO: Add Closed Loop Calibration
+
+ Run basic DRV2605L Auto- Calibration as detailed in Section 2 of
+ the Device Setup Guide for OPEN- LOOP ONLY.
+ This must be done before using the device in closed- loop mode
+ (unless cal has been done before with values stored in non-volatile
+ mem; see datasheet for more info).
+
+ NOTE: It is NOT recommended to store cal values into device
+ non-volatile memory as this can be done only once. Thus do not
+ use this feature unless the device is being used in a final
+ project AND values have been confirmed to result in satisfactory
+ performance).
+
+ This uses many of the default device register values such as
+ the default DRIVE_TIME .
+
+ @param actuator_peak_voltage The maximum/peak voltage rating of the actuator
+ */
+ uint8_t auto_cal_open_loop(float actuator_peak_voltage);
+
+ private:
+ I2C i2c;
+ DigitalOut _en;
+};
+
+#endif