Revision 0:3b2b4f34aaca, committed 2015-10-21
- Comitter:
- electromotivated
- Date:
- Wed Oct 21 01:02:59 2015 +0000
- Commit message:
- v1 Upload;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV2605.cpp Wed Oct 21 01:02:59 2015 +0000
@@ -0,0 +1,115 @@
+#include "DRV2605.h"
+
+DRV2605::DRV2605(PinName sda, PinName scl): i2c(sda, scl){
+ wait_us(250); // Device datasheet specified wait time before I2C
+ // comms should be used
+}
+
+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){
+ int result =
+ auto_cal_open_loop(actuator_peak_voltage); // Perform Open-Loop ERM Cal
+ i2cWriteByte(LIBRARY_SELECTION, lib); // Select ROM Library
+ mode(STANDBY); // Put device into low- power mode
+ return result; // 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);
+}
+
+uint8_t DRV2605::auto_cal_open_loop(float actuator_peak_voltage){
+ // 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) not referenced for open-loop operation, skip calc
+
+ // Calc and Set Overdrive Voltage Register (0x17)
+ int od_clamp = (int)(((actuator_peak_voltage*255)/5.6)+0.5);
+ i2cWriteByte(OVERDRIVE_CLAMP_VOLTAGE,
+ i2cReadByte(OVERDRIVE_CLAMP_VOLTAGE) | od_clamp);
+
+ // Set Feedback Control Register (0x1A), use default values
+
+
+ // Set Control 1 Register (0x1B), use default values
+
+
+ // Set Control 2 Register (0x1C), use default values
+
+ // Set Control3 Register (0x1D), Set to ERM Open-Loop Operation
+ i2cWriteByte(CONTROL3, 0xA0);
+
+ // Set Control 4 Register (0x1E)
+ i2cWriteByte(CONTROL4,
+ i2cReadByte(CONTROL4 | 0x30)); // Max Calibration Time
+
+ // 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));
+
+ // Read and return DIAG_RESULT in Status Register (0x00)
+ return (i2cReadByte(STATUS)); // Return the Diag_Result Bit Result
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV2605.h Wed Oct 21 01:02:59 2015 +0000
@@ -0,0 +1,199 @@
+/*
+ Bryce Williams 10/16/2015
+
+ Library for the TI DRV2605L 2 to 5.2 V Haptic Driver for LRA and ERM
+ With Effect Library and Smart-Loop Architecture
+
+ 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)
+*/
+
+#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
+
+ /**
+ Constructor for DRV2605 Objects
+ */
+ DRV2605(PinName sda, PinName scl);
+
+ /**
+ 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();
+
+ /**
+ 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;
+
+};
+
+#endif
\ No newline at end of file
Bryce Williams
DRV2605 Haptics Driver