Diff: Haptics.h

Revision:

0:8c0ecbdd3449

Child:

2:4f76784f8968

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Haptics.h	Tue Feb 02 22:00:49 2016 +0000
@@ -0,0 +1,87 @@
+/******************************************************************************
+ * Haptics.c
+ *
+ * Created on: Dec 16, 2011
+ * Board: DRV2603EVM-CT RevD
+ * Author: a0866685
+ *
+ * Description: This file contains the functions for sending haptics waveforms.
+ * 		Edit this file when changing actuators.
+ *
+ * @TODO - Update this file when changing between actuators types
+ * 			(ERM, LRA, Piezo)
+ *
+ ******************************************************************************/
+
+#ifndef HAPTICS_H_
+#define HAPTICS_H_
+
+#include "mbed.h"
+
+//#include "msp430.h"
+//#include "CTS/structure.h"
+//#include "timer.h"
+
+#define LRA_MODE_OFF 0
+#define LRA_MODE_WAVEFORM 1
+#define LRA_MODE_DELAYED_WAVEFORM 2
+#define LRA_MODE_RAMP_TO_TARGET 3
+
+#define DELAY 		250
+#define DUMBTICK  	LRAFREQ_185	// Select the LRA resonant frequency for "dumb" (auto-resonance off) mode
+
+// LRA Resonant Frequencies (see DUMBTICK above)
+#define LRAFREQ_220	18182	// 220Hz
+#define LRAFREQ_215	18605	// 215Hz
+#define LRAFREQ_210	19048 	// 210Hz
+#define LRAFREQ_205	19512 	// 205Hz
+#define LRAFREQ_200 20000	// 200Hz
+#define LRAFREQ_195 20513   // 195Hz
+#define LRAFREQ_190 21052	// 190Hz
+#define LRAFREQ_185	21621	// 185Hz
+#define LRAFREQ_180	22222 	// 180Hz
+#define LRAFREQ_175	22857	// 175Hz
+#define LRAFREQ_170	23529	// 170Hz
+#define LRAFREQ_165 24242	// 165Hz
+#define LRAFREQ_160 25000	// 160Hz
+#define LRAFREQ_155 15806	// 155Hz
+#define LRAFREQ_150	26667	// 150Hz
+#define LRAFREQ_145	27586	// 145Hz
+
+// PWM output modes
+#define LRA_AUTOON 		0		// LRA Auto-resonance on
+#define LRA_AUTOOFF		1		// LRA Auto-resonance off
+#define ERM 			2		// ERM Output Mode
+
+extern uint16_t Haptics_dumbModeTick;		// Sets the LRA Auto-resonance off frequency (use DUMBTICK above to set frequency)
+extern uint16_t Haptics_resonantModeTick;
+
+// Waveform Structure Type Definition
+typedef struct Haptics_Waveform {
+	const unsigned char 	outputMode; 		// ERM, LRA_AUTOON, or LRA_AUTOOFF (see output modes above)
+	const unsigned char		length;				// size of array in bytes
+	const unsigned char* volatile data;				// pointer to waveform array data (waveform array is in (amplitude, time) pairs
+} Waveform;
+
+/**
+ * Haptics_Init - initialize haptics variables and settings
+ */
+void Haptics_Init(void);
+
+/**
+ * Haptics_OutputWaveform - control the PWM output pattern
+ * @param struct Waveform - the waveform output type, length in bytes, and data
+ * @TODO - Modify this function to change actuator types (ERM, LRA, Piezo)
+ */
+
+void Haptics_OutputWaveform(const Waveform* waveform);
+void Haptics_OverrideOutputWaveform(const Waveform* newWaveform);
+void Haptics_OutputCount(uint16_t count);
+void Haptics_SetHeartbeatWaveform (int waveformNum);
+void Haptics_OutputDelayedHeartbeat(uint16_t delay);
+void Haptics_OutputDelayedWaveform(const Waveform* newWaveform, uint16_t delay);
+void Haptics_SetRampTarget(float amplitude);
+void Haptics_Off();
+bool isHapticsOff();
+
+#endif /* HAPTICS_H_ */