Uchida Masayuki
/
FootileSoftware
test
DRV2605.cpp
- Committer:
- Uchida0923
- Date:
- 2018-05-30
- Revision:
- 0:03cdee95fb5a
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, ®, 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); }