File content as of revision 0:03cdee95fb5a:

#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);
}