Diff: DRV2605.cpp

Revision:

0:3b2b4f34aaca

Child:

1:224404f39d98

--- /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, &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){
+    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
+}
+