taku hachisu / DRV2605

Library for TI's DRV 2605

Dependents:   sonar_vibrator

DRV2605.cpp@0:d47ac72f4048, 2017-11-10 (annotated)

Committer:
takuhachisu
Date:
Fri Nov 10 09:34:15 2017 +0000
Revision:
0:d47ac72f4048
Child:
1:0747096351be
Library for DRV2605

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takuhachisu 0:d47ac72f4048 1 #include "DRV2605.h"
takuhachisu 0:d47ac72f4048 2
takuhachisu 0:d47ac72f4048 3 DRV2605::DRV2605(I2C &i2c, bool isERM)
takuhachisu 0:d47ac72f4048 4 {
takuhachisu 0:d47ac72f4048 5 wait_us(250); // Device datasheet specified wait time before I2C
takuhachisu 0:d47ac72f4048 6 _i2c = &i2c;
takuhachisu 0:d47ac72f4048 7
takuhachisu 0:d47ac72f4048 8 // comms should be used
takuhachisu 0:d47ac72f4048 9 // Exit Standby Mode; Enter Auto- Cal Mode
takuhachisu 0:d47ac72f4048 10 mode(Mode_AUTO_CAL);
takuhachisu 0:d47ac72f4048 11
takuhachisu 0:d47ac72f4048 12 /* Set the following registers to the appropriate values:
takuhachisu 0:d47ac72f4048 13 • Rated Voltage (0x16)
takuhachisu 0:d47ac72f4048 14 • Overdrive Voltage (0x17)
takuhachisu 0:d47ac72f4048 15 • Feedback Control (0x1A) – Bits [1:0] can be left blank and will be
takuhachisu 0:d47ac72f4048 16 populated by the auto-calibration engine
takuhachisu 0:d47ac72f4048 17 • Control 1 (0x1B), Control 2 (0x1C), and Control 3 (0x1D)
takuhachisu 0:d47ac72f4048 18 • Mode (0x01) – Set mode to Auto-Calibration
takuhachisu 0:d47ac72f4048 19 • Auto-calibration Memory Interface (0x1E) – the auto-calibration time
takuhachisu 0:d47ac72f4048 20 can be increased to improve calibration, but can be left as default
takuhachisu 0:d47ac72f4048 21 for the initial calibration
takuhachisu 0:d47ac72f4048 22 */
takuhachisu 0:d47ac72f4048 23
takuhachisu 0:d47ac72f4048 24 // Rated Voltage (0x16), use default values
takuhachisu 0:d47ac72f4048 25
takuhachisu 0:d47ac72f4048 26 // Calc and Set Overdrive Voltage Register (0x17), use default values
takuhachisu 0:d47ac72f4048 27
takuhachisu 0:d47ac72f4048 28 // Set Feedback Control Register (0x1A)
takuhachisu 0:d47ac72f4048 29 if(isERM)
takuhachisu 0:d47ac72f4048 30 i2cWriteByte(FEEDBACK_CONTROL, i2cReadByte(FEEDBACK_CONTROL) | Actuator_ERM); // set ERM
takuhachisu 0:d47ac72f4048 31 else
takuhachisu 0:d47ac72f4048 32 i2cWriteByte(FEEDBACK_CONTROL, i2cReadByte(FEEDBACK_CONTROL) | Actuator_LRA); // set LRA
takuhachisu 0:d47ac72f4048 33
takuhachisu 0:d47ac72f4048 34 // Set Control 1 Register (0x1B), use default values
takuhachisu 0:d47ac72f4048 35
takuhachisu 0:d47ac72f4048 36 // Set Control 2 Register (0x1C), use default values
takuhachisu 0:d47ac72f4048 37
takuhachisu 0:d47ac72f4048 38 // Set Control 3 Register (0x1D), set data format for RTP unsinged
takuhachisu 0:d47ac72f4048 39 i2cWriteByte(CONTROL3, i2cReadByte(CONTROL3) | 0x08); // set unsigned
takuhachisu 0:d47ac72f4048 40
takuhachisu 0:d47ac72f4048 41 // Set Control 4 Register (0x1E), use default values
takuhachisu 0:d47ac72f4048 42
takuhachisu 0:d47ac72f4048 43 // Device already set to Auto- Cal Mode at top of this code block
takuhachisu 0:d47ac72f4048 44
takuhachisu 0:d47ac72f4048 45 if(isERM){
takuhachisu 0:d47ac72f4048 46 // Start auto- calibration
takuhachisu 0:d47ac72f4048 47 i2cWriteByte(GO, 0x01);
takuhachisu 0:d47ac72f4048 48 // Wait for calibration to complete
takuhachisu 0:d47ac72f4048 49 while(i2cReadByte(GO));
takuhachisu 0:d47ac72f4048 50 }
takuhachisu 0:d47ac72f4048 51 }
takuhachisu 0:d47ac72f4048 52
takuhachisu 0:d47ac72f4048 53 void DRV2605::i2cWriteByte(char reg, char value)
takuhachisu 0:d47ac72f4048 54 {
takuhachisu 0:d47ac72f4048 55 char buff[2] = {reg, value};
takuhachisu 0:d47ac72f4048 56 _i2c->write(DRV2605_SLAVE_ADDR<<1, buff, 2);
takuhachisu 0:d47ac72f4048 57 }
takuhachisu 0:d47ac72f4048 58
takuhachisu 0:d47ac72f4048 59 uint8_t DRV2605::i2cReadByte(char reg)
takuhachisu 0:d47ac72f4048 60 {
takuhachisu 0:d47ac72f4048 61 char result; // Temp result storage
takuhachisu 0:d47ac72f4048 62 _i2c->write(DRV2605_SLAVE_ADDR<<1, &reg, 1, true);
takuhachisu 0:d47ac72f4048 63 _i2c->read(DRV2605_SLAVE_ADDR<<1, &result, 1);
takuhachisu 0:d47ac72f4048 64
takuhachisu 0:d47ac72f4048 65 return result;
takuhachisu 0:d47ac72f4048 66 }
takuhachisu 0:d47ac72f4048 67
takuhachisu 0:d47ac72f4048 68 void DRV2605::mode(char mode)
takuhachisu 0:d47ac72f4048 69 {
takuhachisu 0:d47ac72f4048 70 i2cWriteByte(MODE, mode);
takuhachisu 0:d47ac72f4048 71 }
takuhachisu 0:d47ac72f4048 72
takuhachisu 0:d47ac72f4048 73 uint8_t DRV2605::diagnostics()
takuhachisu 0:d47ac72f4048 74 {
takuhachisu 0:d47ac72f4048 75 mode(Mode_DIAG);
takuhachisu 0:d47ac72f4048 76 i2cWriteByte(GO, 1);
takuhachisu 0:d47ac72f4048 77 while(i2cReadByte(GO)); // Wait for GO bit to clear
takuhachisu 0:d47ac72f4048 78
takuhachisu 0:d47ac72f4048 79 return i2cReadByte(STATUS); // Return Status Reg Value
takuhachisu 0:d47ac72f4048 80 }
takuhachisu 0:d47ac72f4048 81
takuhachisu 0:d47ac72f4048 82 void DRV2605::setLibrary(char lib)
takuhachisu 0:d47ac72f4048 83 {
takuhachisu 0:d47ac72f4048 84 i2cWriteByte(LIBRARY_SELECTION, lib); // Select ROM Library
takuhachisu 0:d47ac72f4048 85 }
takuhachisu 0:d47ac72f4048 86
takuhachisu 0:d47ac72f4048 87 void DRV2605::setWaveform(int effect)
takuhachisu 0:d47ac72f4048 88 {
takuhachisu 0:d47ac72f4048 89 i2cWriteByte(WAVEFORM_SEQUENCER_1, effect); // Load waveform index to play
takuhachisu 0:d47ac72f4048 90 i2cWriteByte(WAVEFORM_SEQUENCER_2, 0); // Insert stop condition so we don't play other registers if filled
takuhachisu 0:d47ac72f4048 91 }
takuhachisu 0:d47ac72f4048 92
takuhachisu 0:d47ac72f4048 93 void DRV2605::setWaveformSequence(int effect1, int effect2,
takuhachisu 0:d47ac72f4048 94 int effect3, int effect4,
takuhachisu 0:d47ac72f4048 95 int effect5, int effect6,
takuhachisu 0:d47ac72f4048 96 int effect7, int effect8)
takuhachisu 0:d47ac72f4048 97 {
takuhachisu 0:d47ac72f4048 98 i2cWriteByte(WAVEFORM_SEQUENCER_1, effect1);
takuhachisu 0:d47ac72f4048 99 i2cWriteByte(WAVEFORM_SEQUENCER_2, effect2);
takuhachisu 0:d47ac72f4048 100 i2cWriteByte(WAVEFORM_SEQUENCER_3, effect3);
takuhachisu 0:d47ac72f4048 101 i2cWriteByte(WAVEFORM_SEQUENCER_4, effect4);
takuhachisu 0:d47ac72f4048 102 i2cWriteByte(WAVEFORM_SEQUENCER_5, effect5);
takuhachisu 0:d47ac72f4048 103 i2cWriteByte(WAVEFORM_SEQUENCER_6, effect6);
takuhachisu 0:d47ac72f4048 104 i2cWriteByte(WAVEFORM_SEQUENCER_7, effect7);
takuhachisu 0:d47ac72f4048 105 i2cWriteByte(WAVEFORM_SEQUENCER_8, effect8);
takuhachisu 0:d47ac72f4048 106 }
takuhachisu 0:d47ac72f4048 107
takuhachisu 0:d47ac72f4048 108 void DRV2605::play()
takuhachisu 0:d47ac72f4048 109 {
takuhachisu 0:d47ac72f4048 110 i2cWriteByte(GO, 1);
takuhachisu 0:d47ac72f4048 111 }
takuhachisu 0:d47ac72f4048 112
takuhachisu 0:d47ac72f4048 113 void DRV2605::stop()
takuhachisu 0:d47ac72f4048 114 {
takuhachisu 0:d47ac72f4048 115 i2cWriteByte(GO, 0);
takuhachisu 0:d47ac72f4048 116 }
takuhachisu 0:d47ac72f4048 117
takuhachisu 0:d47ac72f4048 118 void DRV2605::playRtp(char rtp)
takuhachisu 0:d47ac72f4048 119 {
takuhachisu 0:d47ac72f4048 120 i2cWriteByte(REAL_TIME_PLAYBACK, rtp);
takuhachisu 0:d47ac72f4048 121 }
takuhachisu 0:d47ac72f4048 122
takuhachisu 0:d47ac72f4048 123 float DRV2605::battery_voltage(void)
takuhachisu 0:d47ac72f4048 124 {
takuhachisu 0:d47ac72f4048 125 return (float)i2cReadByte(VBAT_VOLTAGE_MONITOR) / 255.0 * 5.6;
takuhachisu 0:d47ac72f4048 126 }