taku hachisu / DRV2605

Library for TI's DRV 2605

Dependents:   sonar_vibrator

DRV2605.h@2:08f047da9397, 2017-11-20 (annotated)

Committer:
takuhachisu
Date:
Mon Nov 20 07:06:21 2017 +0000
Revision:
2:08f047da9397
Parent:
1:0747096351be 
Modified the name of function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takuhachisu 0:d47ac72f4048 1 #ifndef DRV2605_H
takuhachisu 0:d47ac72f4048 2 #define DRV2605_H
takuhachisu 0:d47ac72f4048 3
takuhachisu 0:d47ac72f4048 4 #include "mbed.h"
takuhachisu 0:d47ac72f4048 5
takuhachisu 0:d47ac72f4048 6 // DRV2605 Slave Address
takuhachisu 0:d47ac72f4048 7 #define DRV2605_SLAVE_ADDR 0x5A
takuhachisu 0:d47ac72f4048 8
takuhachisu 0:d47ac72f4048 9 // DRV2605 Registers
takuhachisu 0:d47ac72f4048 10 #define STATUS 0x00
takuhachisu 0:d47ac72f4048 11 #define MODE 0x01
takuhachisu 0:d47ac72f4048 12 #define REAL_TIME_PLAYBACK 0x02
takuhachisu 0:d47ac72f4048 13 #define LIBRARY_SELECTION 0x03
takuhachisu 0:d47ac72f4048 14 #define WAVEFORM_SEQUENCER_1 0x04
takuhachisu 0:d47ac72f4048 15 #define WAVEFORM_SEQUENCER_2 0x05
takuhachisu 0:d47ac72f4048 16 #define WAVEFORM_SEQUENCER_3 0x06
takuhachisu 0:d47ac72f4048 17 #define WAVEFORM_SEQUENCER_4 0x07
takuhachisu 0:d47ac72f4048 18 #define WAVEFORM_SEQUENCER_5 0x08
takuhachisu 0:d47ac72f4048 19 #define WAVEFORM_SEQUENCER_6 0x09
takuhachisu 0:d47ac72f4048 20 #define WAVEFORM_SEQUENCER_7 0x0A
takuhachisu 0:d47ac72f4048 21 #define WAVEFORM_SEQUENCER_8 0x0B
takuhachisu 0:d47ac72f4048 22 #define GO 0x0C
takuhachisu 0:d47ac72f4048 23 #define OVERDRIVE_TIME_OFFSET 0x0D
takuhachisu 0:d47ac72f4048 24 #define POSITIVE_SUSTAIN_TIME_OFFSET 0x0E
takuhachisu 0:d47ac72f4048 25 #define NEGATIVE_SUSTAIN_TIME_OFFSET 0x0F
takuhachisu 0:d47ac72f4048 26 #define BRAKE_TIME_OFFSET 0x10
takuhachisu 0:d47ac72f4048 27 #define AUDIO_TO_VIBE_CONTROL 0x11
takuhachisu 0:d47ac72f4048 28 #define AUDIO_TO_VIBE_MINIMUM_INPUT_LEVEL 0x12
takuhachisu 0:d47ac72f4048 29 #define AUDIO_TO_VIBE_MAXIMUM_INPUT_LEVEL 0x13
takuhachisu 0:d47ac72f4048 30 #define AUDIO_TO_VIBE_MINIMUM_OUPUT_DRIVE 0x14
takuhachisu 0:d47ac72f4048 31 #define AUDIO_TO_VIBE_MAXIMUM_OUTPUT_DRIVE 0x15
takuhachisu 0:d47ac72f4048 32 #define RATED_VOLTAGE 0x16
takuhachisu 0:d47ac72f4048 33 #define OVERDRIVE_CLAMP_VOLTAGE 0x17
takuhachisu 0:d47ac72f4048 34 #define AUTO_CALIBRATION_COMPENSATION_RESULT 0x18
takuhachisu 0:d47ac72f4048 35 #define AUTO_CALIBRATION_BACK_EMF_RESULT 0x19
takuhachisu 0:d47ac72f4048 36 #define FEEDBACK_CONTROL 0x1A
takuhachisu 1:0747096351be 37 #define CONTROL1 0x1B
takuhachisu 0:d47ac72f4048 38 #define CONTROL2 0x1C
takuhachisu 0:d47ac72f4048 39 #define CONTROL3 0x1D
takuhachisu 0:d47ac72f4048 40 #define CONTROL4 0x1E
takuhachisu 0:d47ac72f4048 41 #define CONTROL5 0x1F
takuhachisu 0:d47ac72f4048 42 #define LRA_OPEN_LOOP_PERIOD 0x20
takuhachisu 0:d47ac72f4048 43 #define VBAT_VOLTAGE_MONITOR 0x21
takuhachisu 0:d47ac72f4048 44 #define LRA_RESONANCE_PERIOD 0x22
takuhachisu 0:d47ac72f4048 45
takuhachisu 0:d47ac72f4048 46 // Modes defines the possible modes of the DRV2605L (Register Addr: 0x01)
takuhachisu 0:d47ac72f4048 47 #define Mode_INTERNAL_TRIG 0x00 // Waveforms fired by Setting GO bit in Register 0x0C
takuhachisu 0:d47ac72f4048 48 #define Mode_EXTERNAL_EDGE 0x01 // Rising Edge on IN/TRIG pin set GO Bit.
takuhachisu 0:d47ac72f4048 49 #define Mode_EXTERNAL_LEVEL 0x02 // GO bit follows state of edge on IN/TRIG pin.
takuhachisu 0:d47ac72f4048 50 #define Mode_PWM_ANALOG 0x03 // PWM or Analog Signal accepted at IN/TRIG pin.
takuhachisu 0:d47ac72f4048 51 #define Mode_AUDIO_TO_VIBE 0x04 // An AC-coupled audio signal is accepted at the IN/TRIG pin.
takuhachisu 0:d47ac72f4048 52 #define Mode_RTP 0x05 // Real- Time Playback
takuhachisu 0:d47ac72f4048 53 #define Mode_DIAG 0x06 // Set to perform actuator diagnostics
takuhachisu 0:d47ac72f4048 54 #define Mode_AUTO_CAL 0x07 // Set to perform auto calibration of device for actuator
takuhachisu 0:d47ac72f4048 55 #define Mode_STANDBY 0x40 // Set Device to Software Standby (Low- Power Mode)
takuhachisu 0:d47ac72f4048 56 #define Mode_RESET 0x80 // Reset Device (equivalent of power cycling the device)
takuhachisu 0:d47ac72f4048 57
takuhachisu 0:d47ac72f4048 58 // FeedBack_Controls Fields Bitmasks (Register Addr: 0x1A)
takuhachisu 0:d47ac72f4048 59
takuhachisu 0:d47ac72f4048 60 // ROM Waveform Library Selections
takuhachisu 0:d47ac72f4048 61 #define LibraryEMPTY 0x00
takuhachisu 0:d47ac72f4048 62 #define LibraryA 0x01
takuhachisu 0:d47ac72f4048 63 #define LibraryB 0x02
takuhachisu 0:d47ac72f4048 64 #define LibraryC 0x03
takuhachisu 0:d47ac72f4048 65 #define LibraryD 0x04
takuhachisu 0:d47ac72f4048 66 #define LibraryE 0x05
takuhachisu 0:d47ac72f4048 67 #define LibraryLRA 0x06
takuhachisu 0:d47ac72f4048 68 #define LibraryF 0x07
takuhachisu 0:d47ac72f4048 69
takuhachisu 0:d47ac72f4048 70 /** Library for the TI DRV2605
takuhachisu 0:d47ac72f4048 71 *
takuhachisu 0:d47ac72f4048 72 */
takuhachisu 0:d47ac72f4048 73
takuhachisu 0:d47ac72f4048 74 class DRV2605
takuhachisu 0:d47ac72f4048 75 {
takuhachisu 0:d47ac72f4048 76
takuhachisu 0:d47ac72f4048 77 public:
takuhachisu 1:0747096351be 78 // FeedBack_Controls Fields Bitmasks
takuhachisu 1:0747096351be 79 enum ActuatorType {ERM = 0, LRA = 0x80};
takuhachisu 1:0747096351be 80 enum BrakeFactor {x1 = 0x00, x2 = 0x10, x3 = 0x20, x4 = 0x30, x6 = 0x40, x8 = 0x50, x16 = 0x60, DISABLE = 0x70};
takuhachisu 1:0747096351be 81 enum LoopGain {LOW = 0x00, MEDIUM = 0x04, HIGH = 0x08, VERYHIGH = 0x0C};
takuhachisu 1:0747096351be 82
takuhachisu 1:0747096351be 83 // Control2 Fields Bitmasks
takuhachisu 1:0747096351be 84 enum SampleTime {us150 = 0x00, us200 = 0x10, us250 = 0x20, us300 = 0x30};
takuhachisu 1:0747096351be 85
takuhachisu 1:0747096351be 86 // Control4 Fields Bitmasks
takuhachisu 1:0747096351be 87 enum AutoCalTime {ms150_350 = 0x00, ms250_450 = 0x10, ms500_700 = 0x20, ms1000_1200 = 0x30};
takuhachisu 1:0747096351be 88
takuhachisu 0:d47ac72f4048 89 /**
takuhachisu 0:d47ac72f4048 90 * Create a DRV2605 object
takuhachisu 0:d47ac72f4048 91 *
takuhachisu 0:d47ac72f4048 92 * @param &i2c pointer of I2C object
takuhachisu 1:0747096351be 93 * @param at actuator type
takuhachisu 1:0747096351be 94 * @param bf brake factor
takuhachisu 1:0747096351be 95 * @param lg loop gain
takuhachisu 1:0747096351be 96 * @param rv rated voltage
takuhachisu 1:0747096351be 97 * @param ocv overdirve clamp voltage
takuhachisu 1:0747096351be 98 * @param act auto caliblration time
takuhachisu 1:0747096351be 99 * @param dt drive time
takuhachisu 1:0747096351be 100 * @param st sample time
takuhachisu 1:0747096351be 101 * @param bt braking time
takuhachisu 1:0747096351be 102 * @param it current dissipation time
takuhachisu 0:d47ac72f4048 103 */
takuhachisu 1:0747096351be 104 DRV2605(I2C &i2c, ActuatorType at = ERM, BrakeFactor bf = x4,
takuhachisu 1:0747096351be 105 LoopGain lg = MEDIUM, uint8_t rv = 0x3F, uint8_t ocv = 0x89,
takuhachisu 1:0747096351be 106 AutoCalTime act = ms500_700, uint8_t dt = 0x13,
takuhachisu 1:0747096351be 107 SampleTime st = us200, uint8_t bt = 2, uint8_t it = 2);
takuhachisu 0:d47ac72f4048 108
takuhachisu 0:d47ac72f4048 109 /**
takuhachisu 1:0747096351be 110 * Write value to register
takuhachisu 0:d47ac72f4048 111 *
takuhachisu 1:0747096351be 112 * @param reg Register to write
takuhachisu 1:0747096351be 113 * @param value Value to write to the register
takuhachisu 0:d47ac72f4048 114 */
takuhachisu 0:d47ac72f4048 115 void i2cWriteByte(char reg, char value);
takuhachisu 0:d47ac72f4048 116
takuhachisu 0:d47ac72f4048 117 /**
takuhachisu 1:0747096351be 118 * Read value from register
takuhachisu 1:0747096351be 119 *
takuhachisu 1:0747096351be 120 * @param reg Register to read
takuhachisu 1:0747096351be 121 * @return Value
takuhachisu 0:d47ac72f4048 122 */
takuhachisu 0:d47ac72f4048 123 uint8_t i2cReadByte(char reg);
takuhachisu 0:d47ac72f4048 124
takuhachisu 0:d47ac72f4048 125 /**
takuhachisu 1:0747096351be 126 * Set the device into specified mode
takuhachisu 1:0747096351be 127 *
takuhachisu 1:0747096351be 128 * @param mode Mode to set
takuhachisu 0:d47ac72f4048 129 */
takuhachisu 1:0747096351be 130 void mode(uint8_t mode);
takuhachisu 0:d47ac72f4048 131
takuhachisu 0:d47ac72f4048 132 /**
takuhachisu 1:0747096351be 133 * Runs diagnostics
takuhachisu 0:d47ac72f4048 134 *
takuhachisu 1:0747096351be 135 * @return Results of the diagnostics
takuhachisu 0:d47ac72f4048 136 */
takuhachisu 0:d47ac72f4048 137 uint8_t diagnostics();
takuhachisu 1:0747096351be 138
takuhachisu 1:0747096351be 139 /**
takuhachisu 1:0747096351be 140 * Select the input data interpretation for RTP
takuhachisu 1:0747096351be 141 *
takuhachisu 1:0747096351be 142 * @param isSigned true: singed(-127~127), false: unsigned (0~255)
takuhachisu 1:0747096351be 143 */
takuhachisu 1:0747096351be 144 void dataFormatRTP(bool isSigned);
takuhachisu 1:0747096351be 145
takuhachisu 0:d47ac72f4048 146 /**
takuhachisu 0:d47ac72f4048 147 * Set ROM Library
takuhachisu 0:d47ac72f4048 148 *
takuhachisu 1:0747096351be 149 * Note: This should be called before setWaveform function
takuhachisu 0:d47ac72f4048 150 * @param lib Set library (see library's macro)
takuhachisu 0:d47ac72f4048 151 */
takuhachisu 1:0747096351be 152 void setLibrary(uint8_t lib);
takuhachisu 0:d47ac72f4048 153
takuhachisu 0:d47ac72f4048 154 /**
takuhachisu 1:0747096351be 155 * Set single waveform from ROM Library
takuhachisu 0:d47ac72f4048 156 *
takuhachisu 1:0747096351be 157 * Note: This should be called after setLibrary function
takuhachisu 1:0747096351be 158 * @param effect The Waveform Effect Library Index value to play (1 to 123)
takuhachisu 0:d47ac72f4048 159 */
takuhachisu 0:d47ac72f4048 160 void setWaveform(int effect);
takuhachisu 0:d47ac72f4048 161
takuhachisu 0:d47ac72f4048 162 /**
takuhachisu 1:0747096351be 163 * Set waveform Sequence
takuhachisu 0:d47ac72f4048 164 *
takuhachisu 1:0747096351be 165 * Note: This should be called after setLibrary function
takuhachisu 1:0747096351be 166 * @param effect1... effect8 The Waveform Effect Library Index value to play
takuhachisu 1:0747096351be 167 * (1 to 123): 0 = Stop Condition; 1- 123 = Waveform Index
takuhachisu 0:d47ac72f4048 168 */
takuhachisu 0:d47ac72f4048 169 void setWaveformSequence(int effect1 = 0, int effect2 = 0,
takuhachisu 1:0747096351be 170 int effect3 = 0, int effect4 = 0,
takuhachisu 1:0747096351be 171 int effect5 = 0, int effect6 = 0,
takuhachisu 1:0747096351be 172 int effect7 = 0, int effect8 = 0);
takuhachisu 0:d47ac72f4048 173
takuhachisu 0:d47ac72f4048 174 /**
takuhachisu 0:d47ac72f4048 175 * Plays the currently loaded waveform or waveform sequence.
takuhachisu 0:d47ac72f4048 176 */
takuhachisu 0:d47ac72f4048 177 void play();
takuhachisu 1:0747096351be 178
takuhachisu 0:d47ac72f4048 179 /**
takuhachisu 0:d47ac72f4048 180 * Stops the currently loaded waveform or waveform sequence.
takuhachisu 0:d47ac72f4048 181 */
takuhachisu 0:d47ac72f4048 182 void stop();
takuhachisu 0:d47ac72f4048 183
takuhachisu 0:d47ac72f4048 184 /**
takuhachisu 0:d47ac72f4048 185 * Real time play back
takuhachisu 0:d47ac72f4048 186 *
takuhachisu 0:d47ac72f4048 187 * @param rtp intensity of the vibration (0 - 255)
takuhachisu 0:d47ac72f4048 188 */
takuhachisu 1:0747096351be 189 void playRtp(uint8_t rtp);
takuhachisu 0:d47ac72f4048 190
takuhachisu 0:d47ac72f4048 191 /**
takuhachisu 0:d47ac72f4048 192 * Battery voltage monitor
takuhachisu 0:d47ac72f4048 193 *
takuhachisu 0:d47ac72f4048 194 * @return battery voltage
takuhachisu 0:d47ac72f4048 195 */
takuhachisu 2:08f047da9397 196 float batteryVoltage(void);
takuhachisu 0:d47ac72f4048 197
takuhachisu 0:d47ac72f4048 198 private:
takuhachisu 0:d47ac72f4048 199 I2C *_i2c;
takuhachisu 0:d47ac72f4048 200 };
takuhachisu 0:d47ac72f4048 201
takuhachisu 0:d47ac72f4048 202 #endif