Diff: Haptics.cpp

Revision:

2:4f76784f8968

Parent:

0:8c0ecbdd3449

Child:

3:b64f3abb3c0b

--- a/Haptics.cpp	Mon Feb 08 18:52:46 2016 +0000
+++ b/Haptics.cpp	Thu Feb 25 00:19:46 2016 +0000
@@ -12,12 +12,14 @@
  * 			(ERM, LRA, Piezo)
  *
  ******************************************************************************/
-#include "Haptics.h"
+ 
 #include "Actuator_Waveforms.h"
 
 // private variables
 //static uint8_t  j,k;
 
+extern float lraEffectMultiplier; // defined in main.cpp
+
 // public variables
 uint16_t Haptics_dumbModeTick = DUMBTICK;		// Sets the LRA Auto-resonance off frequency (use DUMBTICK above to set frequency)
 uint16_t Haptics_resonantModeTick;
@@ -27,6 +29,12 @@
 
 extern DigitalOut led1;
 
+
+// Used for off-mode haptics and LED signature
+Timeout firstLEDOff;
+Timeout secondBuzz;
+Timeout secondLEDOff;
+	
 Ticker hapticsTicker;
 volatile uint16_t lraPlaybackMode = 0;
 volatile int lraCurrent = 0;
@@ -35,7 +43,10 @@
 volatile uint16_t placeInWaveform = 0;
 volatile uint16_t waveformDelayCounter = 0;
 const Waveform* volatile waveform;
-const Waveform* volatile heartbeatWaveform = &lra_tick;
+//const Waveform* volatile heartbeatWaveform = &lra_tick;
+const Waveform* volatile heartbeatWaveform = &lra_rampdown;
+
+
 
 
 // TODO: Support haptics modalities here: off, waveform, delayed waveform, ramp to target
@@ -52,9 +63,10 @@
 				LRA_EN = 0;
 			} else {
 				LRA_EN = 1;
-				//LRA.pulsewidth_us(90);
-				LRA.pulsewidth_us(((((uint16_t)waveform->data[placeInWaveform])*3) >> 3));  // mult by 3 shift right by 4 to get in range of 0..47
-				
+				float scaledWaveform = ((float)waveform->data[placeInWaveform]) * 0.375 * lraEffectMultiplier;  // 0.375 is 96/256
+				LRA.pulsewidth_us((uint16_t)scaledWaveform); 
+				//LRA.pulsewidth_us(((((uint16_t)waveform->data[placeInWaveform])*3) >> 3));  // mult by 3 shift right by 3 to get in range of 0..96
+				//LRA.pulsewidth_us(90);   // used for fixed intensity output (for testing)				
 			}	
 
 			// run down the timer on this amplitude
@@ -189,7 +201,41 @@
 		//printf("Haptics: mode=%d, delay=%d, until=%d, place=%d\n\r", lraPlaybackMode, waveformDelayCounter, lraDelay, placeInWaveform);
 	}
 }
+
+
+void LEDOffCallback() {
+   led1=0;
+}
+
+void BuzzCallback() {
+    Haptics_OutputWaveform(&lra_alert);
+    led1 = 1;
+}
+
+// generate off mode haptic response
+// This is 2 buzzes separated by 300 ms, and 2 led blinks with the same timing.
+void LeavingOffModeHapticResponse(int ledFinalState) {
 	
+	// Turn on LED and generate first buzz
+    BuzzCallback();
+    
+	// Setup callback to turn off LED after 50ms
+	firstLEDOff.attach(&LEDOffCallback,0.05);
+	
+	// Setup callback to generate second buzz after 300ms, and turn on LED second time
+	secondBuzz.attach(&BuzzCallback,0.3);
+	
+	// Setup callback to turn off LED after 350mS
+	if (ledFinalState == 0) {
+        secondLEDOff.attach(&LEDOffCallback,0.35);
+    }
+}
+
+void EnteringOffModeHapticResponse() {
+	Haptics_OutputWaveform(&lra_rampdown);
+	led1 = 0;
+}
+		
 // Ignored while waveform is playing or queued. Overridden by waveforms.
 void Haptics_SetRampTarget(float amplitude)
 {