Hans Kreuk / DRV2605_KickStartMyHeart

Modified the original DRV2605 library written by Bryce Williams. Team specific uint8_t kick_start_my_heart(int intensity, int duration) function is added to the library, otherwise unchanged. FLY ARMY!!!

Fork of DRV2605 by Bryce Williams

  1. include "mbed.h"
  2. include "DRV2605.h" DRV2605 haptics(p9, p10); *NEEDE FOR KCIKSTART*

PwmOut base(p26); *NEEDED FOR BOOSTER CIRCUIT, if required*

int main() { base.period(.000001);1MHz base=.5;50% duty cycle

*FOLLOWING NEEDED FOR KICKSTART*

haptics.init(3.3); Motor initialization will cause a 1 second vibration

wait(2);

uint8_t stats=haptics.kick_start_my_heart(10, 1); Intensity range 1-10, duratio range 1-8

printf("dig %X/n",haptics.init(3.3)); }

DRV2605.cpp@1:224404f39d98, 2016-12-02 (annotated)

Committer:
hkreuk
Date:
Fri Dec 02 00:20:14 2016 +0000
Revision:
1:224404f39d98
Parent:
0:3b2b4f34aaca 
To integrate to the Mask, just need DRV2605.cpp and its header file. To haptic feedback, example is provided in main.cpp; ; FLY ARMY!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
electromotivated 0:3b2b4f34aaca 1 #include "DRV2605.h"
electromotivated 0:3b2b4f34aaca 2
electromotivated 0:3b2b4f34aaca 3 DRV2605::DRV2605(PinName sda, PinName scl): i2c(sda, scl){
electromotivated 0:3b2b4f34aaca 4 wait_us(250); // Device datasheet specified wait time before I2C
electromotivated 0:3b2b4f34aaca 5 // comms should be used
electromotivated 0:3b2b4f34aaca 6 }
electromotivated 0:3b2b4f34aaca 7
electromotivated 0:3b2b4f34aaca 8 void DRV2605::i2cWriteByte(char reg, char value){
electromotivated 0:3b2b4f34aaca 9 char buff[2] = {reg, value};
electromotivated 0:3b2b4f34aaca 10 i2c.write(SLAVE_ADDR_7_BIT<<1, buff, 2);
electromotivated 0:3b2b4f34aaca 11 }
electromotivated 0:3b2b4f34aaca 12
electromotivated 0:3b2b4f34aaca 13 uint8_t DRV2605::i2cReadByte(char reg){
electromotivated 0:3b2b4f34aaca 14 char result; // Temp result storage
electromotivated 0:3b2b4f34aaca 15 i2c.write(SLAVE_ADDR_7_BIT<<1, &reg, 1, true);
electromotivated 0:3b2b4f34aaca 16 i2c.read(SLAVE_ADDR_7_BIT<<1, &result, 1);
electromotivated 0:3b2b4f34aaca 17
electromotivated 0:3b2b4f34aaca 18 return result;
electromotivated 0:3b2b4f34aaca 19 }
electromotivated 0:3b2b4f34aaca 20
electromotivated 0:3b2b4f34aaca 21 void DRV2605::mode(Mode mode){
electromotivated 0:3b2b4f34aaca 22 i2cWriteByte(MODE, mode);
electromotivated 0:3b2b4f34aaca 23 }
electromotivated 0:3b2b4f34aaca 24
electromotivated 0:3b2b4f34aaca 25 int DRV2605::init(float actuator_peak_voltage, Library lib){
electromotivated 0:3b2b4f34aaca 26 int result =
electromotivated 0:3b2b4f34aaca 27 auto_cal_open_loop(actuator_peak_voltage); // Perform Open-Loop ERM Cal
electromotivated 0:3b2b4f34aaca 28 i2cWriteByte(LIBRARY_SELECTION, lib); // Select ROM Library
electromotivated 0:3b2b4f34aaca 29 mode(STANDBY); // Put device into low- power mode
electromotivated 0:3b2b4f34aaca 30 return result; // Cal/Init Result 0: Pass 1: Fail
electromotivated 0:3b2b4f34aaca 31 }
electromotivated 0:3b2b4f34aaca 32
electromotivated 0:3b2b4f34aaca 33 uint8_t DRV2605::diagnostics(){
electromotivated 0:3b2b4f34aaca 34 mode(DIAG);
electromotivated 0:3b2b4f34aaca 35 i2cWriteByte(GO, 1);
electromotivated 0:3b2b4f34aaca 36 while(i2cReadByte(GO)); // Wait for GO bit to clear
electromotivated 0:3b2b4f34aaca 37
electromotivated 0:3b2b4f34aaca 38 return i2cReadByte(STATUS); // Return Status Reg Value
electromotivated 0:3b2b4f34aaca 39 }
electromotivated 0:3b2b4f34aaca 40
electromotivated 0:3b2b4f34aaca 41 void DRV2605::play_waveform(int waveform_effect){
electromotivated 0:3b2b4f34aaca 42 mode(INTERNAL_TRIG); // Bring device out of standby and set to internal trigger
electromotivated 0:3b2b4f34aaca 43 i2cWriteByte(WAVEFORM_SEQUENCER_1, waveform_effect); // Load waveform index to play
electromotivated 0:3b2b4f34aaca 44 i2cWriteByte(WAVEFORM_SEQUENCER_2, 0); // Insert stop condition so we don't play other registers if filled
electromotivated 0:3b2b4f34aaca 45 i2cWriteByte(GO, 0x01); // Set GO bit to start playback
electromotivated 0:3b2b4f34aaca 46 }
electromotivated 0:3b2b4f34aaca 47
electromotivated 0:3b2b4f34aaca 48 void DRV2605::load_waveform_sequence(int effect1, int effect2,
electromotivated 0:3b2b4f34aaca 49 int effect3, int effect4,
electromotivated 0:3b2b4f34aaca 50 int effect5, int effect6,
electromotivated 0:3b2b4f34aaca 51 int effect7, int effect8){
electromotivated 0:3b2b4f34aaca 52 i2cWriteByte(WAVEFORM_SEQUENCER_1, effect1);
electromotivated 0:3b2b4f34aaca 53 i2cWriteByte(WAVEFORM_SEQUENCER_2, effect2);
electromotivated 0:3b2b4f34aaca 54 i2cWriteByte(WAVEFORM_SEQUENCER_3, effect3);
electromotivated 0:3b2b4f34aaca 55 i2cWriteByte(WAVEFORM_SEQUENCER_4, effect4);
electromotivated 0:3b2b4f34aaca 56 i2cWriteByte(WAVEFORM_SEQUENCER_5, effect5);
electromotivated 0:3b2b4f34aaca 57 i2cWriteByte(WAVEFORM_SEQUENCER_6, effect6);
electromotivated 0:3b2b4f34aaca 58 i2cWriteByte(WAVEFORM_SEQUENCER_7, effect7);
electromotivated 0:3b2b4f34aaca 59 i2cWriteByte(WAVEFORM_SEQUENCER_8, effect8);
electromotivated 0:3b2b4f34aaca 60 }
electromotivated 0:3b2b4f34aaca 61
electromotivated 0:3b2b4f34aaca 62 void DRV2605::play(){
electromotivated 0:3b2b4f34aaca 63 i2cWriteByte(MODE, INTERNAL_TRIG); // Internal Trigger Mode
electromotivated 0:3b2b4f34aaca 64 i2cWriteByte(GO, 1);
electromotivated 0:3b2b4f34aaca 65 }
electromotivated 0:3b2b4f34aaca 66
hkreuk 1:224404f39d98 67 uint8_t DRV2605::kick_start_my_heart(int inten, int dur) { //inten range 1-10, dur range 1-8
hkreuk 1:224404f39d98 68 //intensity values(1-123) refer to dvr2605_waveform.pdf, page60
hkreuk 1:224404f39d98 69 int left_over;
hkreuk 1:224404f39d98 70 uint8_t res;
hkreuk 1:224404f39d98 71 for ( int ind=0x04; ind<=(dur+0x003); ind++ ) {
hkreuk 1:224404f39d98 72 i2cWriteByte(ind, inten);
hkreuk 1:224404f39d98 73 left_over=ind;
hkreuk 1:224404f39d98 74 }
hkreuk 1:224404f39d98 75 for (int ind=(left_over+1); ind<=0x0B; ind++) {
hkreuk 1:224404f39d98 76 i2cWriteByte(ind, 0);
hkreuk 1:224404f39d98 77 }
hkreuk 1:224404f39d98 78 res=diagnostics();
hkreuk 1:224404f39d98 79 printf("%X", res);
hkreuk 1:224404f39d98 80 play();
hkreuk 1:224404f39d98 81 return res;
hkreuk 1:224404f39d98 82 }
hkreuk 1:224404f39d98 83
hkreuk 1:224404f39d98 84
electromotivated 0:3b2b4f34aaca 85 uint8_t DRV2605::auto_cal_open_loop(float actuator_peak_voltage){
electromotivated 0:3b2b4f34aaca 86 // Exit Standby Mode; Enter Auto- Cal Mode
electromotivated 0:3b2b4f34aaca 87 mode(AUTO_CAL);
electromotivated 0:3b2b4f34aaca 88
electromotivated 0:3b2b4f34aaca 89 /* Set the following registers to the appropriate values:
electromotivated 0:3b2b4f34aaca 90 • Rated Voltage (0x16)
electromotivated 0:3b2b4f34aaca 91 • Overdrive Voltage (0x17)
electromotivated 0:3b2b4f34aaca 92 • Feedback Control (0x1A) – Bits [1:0] can be left blank and will be
electromotivated 0:3b2b4f34aaca 93 populated by the auto-calibration engine
electromotivated 0:3b2b4f34aaca 94 • Control 1 (0x1B), Control 2 (0x1C), and Control 3 (0x1D)
electromotivated 0:3b2b4f34aaca 95 • Mode (0x01) – Set mode to Auto-Calibration
electromotivated 0:3b2b4f34aaca 96 • Auto-calibration Memory Interface (0x1E) – the auto-calibration time
electromotivated 0:3b2b4f34aaca 97 can be increased to improve calibration, but can be left as default
electromotivated 0:3b2b4f34aaca 98 for the initial calibration
electromotivated 0:3b2b4f34aaca 99 */
electromotivated 0:3b2b4f34aaca 100 // Rated Voltage (0x16) not referenced for open-loop operation, skip calc
electromotivated 0:3b2b4f34aaca 101
electromotivated 0:3b2b4f34aaca 102 // Calc and Set Overdrive Voltage Register (0x17)
electromotivated 0:3b2b4f34aaca 103 int od_clamp = (int)(((actuator_peak_voltage*255)/5.6)+0.5);
electromotivated 0:3b2b4f34aaca 104 i2cWriteByte(OVERDRIVE_CLAMP_VOLTAGE,
electromotivated 0:3b2b4f34aaca 105 i2cReadByte(OVERDRIVE_CLAMP_VOLTAGE) | od_clamp);
electromotivated 0:3b2b4f34aaca 106
electromotivated 0:3b2b4f34aaca 107 // Set Feedback Control Register (0x1A), use default values
electromotivated 0:3b2b4f34aaca 108
electromotivated 0:3b2b4f34aaca 109
electromotivated 0:3b2b4f34aaca 110 // Set Control 1 Register (0x1B), use default values
electromotivated 0:3b2b4f34aaca 111
electromotivated 0:3b2b4f34aaca 112
electromotivated 0:3b2b4f34aaca 113 // Set Control 2 Register (0x1C), use default values
electromotivated 0:3b2b4f34aaca 114
electromotivated 0:3b2b4f34aaca 115 // Set Control3 Register (0x1D), Set to ERM Open-Loop Operation
electromotivated 0:3b2b4f34aaca 116 i2cWriteByte(CONTROL3, 0xA0);
electromotivated 0:3b2b4f34aaca 117
electromotivated 0:3b2b4f34aaca 118 // Set Control 4 Register (0x1E)
electromotivated 0:3b2b4f34aaca 119 i2cWriteByte(CONTROL4,
electromotivated 0:3b2b4f34aaca 120 i2cReadByte(CONTROL4 | 0x30)); // Max Calibration Time
electromotivated 0:3b2b4f34aaca 121
electromotivated 0:3b2b4f34aaca 122 // Device already set to Auto- Cal Mode at top of this code block
electromotivated 0:3b2b4f34aaca 123
electromotivated 0:3b2b4f34aaca 124 // Start auto- calibration
electromotivated 0:3b2b4f34aaca 125 i2cWriteByte(GO, 0x01);
electromotivated 0:3b2b4f34aaca 126
electromotivated 0:3b2b4f34aaca 127 // Wait for calibration to complete
electromotivated 0:3b2b4f34aaca 128 while(i2cReadByte(GO));
electromotivated 0:3b2b4f34aaca 129
electromotivated 0:3b2b4f34aaca 130 // Read and return DIAG_RESULT in Status Register (0x00)
electromotivated 0:3b2b4f34aaca 131 return (i2cReadByte(STATUS)); // Return the Diag_Result Bit Result
electromotivated 0:3b2b4f34aaca 132 }
electromotivated 0:3b2b4f34aaca 133