taku hachisu / DRV2605

Library for TI's DRV 2605

Dependents:   sonar_vibrator

DRV2605.h@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 #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 /** Modifined from Bryce WilliamsBryce Williams's code
takuhachisu 0:d47ac72f4048 7 * References:
takuhachisu 0:d47ac72f4048 8 * http://www.ti.com/product/DRV2605L/description&lpos=Middle_Container&lid=Alternative_Devices
takuhachisu 0:d47ac72f4048 9 * http://www.ti.com/lit/ds/symlink/drv2605l.pdf (Datasheet)
takuhachisu 0:d47ac72f4048 10 * http://www.ti.com/lit/an/sloa189/sloa189.pdf (Setup Guide; SLOA189)
takuhachisu 0:d47ac72f4048 11 * https://developer.mbed.org/users/electromotivated/code/DRV2605/
takuhachisu 0:d47ac72f4048 12 */
takuhachisu 0:d47ac72f4048 13
takuhachisu 0:d47ac72f4048 14 // DRV2605 Slave Address
takuhachisu 0:d47ac72f4048 15 #define DRV2605_SLAVE_ADDR 0x5A
takuhachisu 0:d47ac72f4048 16
takuhachisu 0:d47ac72f4048 17 // DRV2605 Registers
takuhachisu 0:d47ac72f4048 18 #define STATUS 0x00
takuhachisu 0:d47ac72f4048 19 #define MODE 0x01
takuhachisu 0:d47ac72f4048 20 #define REAL_TIME_PLAYBACK 0x02
takuhachisu 0:d47ac72f4048 21 #define LIBRARY_SELECTION 0x03
takuhachisu 0:d47ac72f4048 22 #define WAVEFORM_SEQUENCER_1 0x04
takuhachisu 0:d47ac72f4048 23 #define WAVEFORM_SEQUENCER_2 0x05
takuhachisu 0:d47ac72f4048 24 #define WAVEFORM_SEQUENCER_3 0x06
takuhachisu 0:d47ac72f4048 25 #define WAVEFORM_SEQUENCER_4 0x07
takuhachisu 0:d47ac72f4048 26 #define WAVEFORM_SEQUENCER_5 0x08
takuhachisu 0:d47ac72f4048 27 #define WAVEFORM_SEQUENCER_6 0x09
takuhachisu 0:d47ac72f4048 28 #define WAVEFORM_SEQUENCER_7 0x0A
takuhachisu 0:d47ac72f4048 29 #define WAVEFORM_SEQUENCER_8 0x0B
takuhachisu 0:d47ac72f4048 30 #define GO 0x0C
takuhachisu 0:d47ac72f4048 31 #define OVERDRIVE_TIME_OFFSET 0x0D
takuhachisu 0:d47ac72f4048 32 #define POSITIVE_SUSTAIN_TIME_OFFSET 0x0E
takuhachisu 0:d47ac72f4048 33 #define NEGATIVE_SUSTAIN_TIME_OFFSET 0x0F
takuhachisu 0:d47ac72f4048 34 #define BRAKE_TIME_OFFSET 0x10
takuhachisu 0:d47ac72f4048 35 #define AUDIO_TO_VIBE_CONTROL 0x11
takuhachisu 0:d47ac72f4048 36 #define AUDIO_TO_VIBE_MINIMUM_INPUT_LEVEL 0x12
takuhachisu 0:d47ac72f4048 37 #define AUDIO_TO_VIBE_MAXIMUM_INPUT_LEVEL 0x13
takuhachisu 0:d47ac72f4048 38 #define AUDIO_TO_VIBE_MINIMUM_OUPUT_DRIVE 0x14
takuhachisu 0:d47ac72f4048 39 #define AUDIO_TO_VIBE_MAXIMUM_OUTPUT_DRIVE 0x15
takuhachisu 0:d47ac72f4048 40 #define RATED_VOLTAGE 0x16
takuhachisu 0:d47ac72f4048 41 #define OVERDRIVE_CLAMP_VOLTAGE 0x17
takuhachisu 0:d47ac72f4048 42 #define AUTO_CALIBRATION_COMPENSATION_RESULT 0x18
takuhachisu 0:d47ac72f4048 43 #define AUTO_CALIBRATION_BACK_EMF_RESULT 0x19
takuhachisu 0:d47ac72f4048 44 #define FEEDBACK_CONTROL 0x1A
takuhachisu 0:d47ac72f4048 45 #define CONTROL 0x1B
takuhachisu 0:d47ac72f4048 46 #define CONTROL2 0x1C
takuhachisu 0:d47ac72f4048 47 #define CONTROL3 0x1D
takuhachisu 0:d47ac72f4048 48 #define CONTROL4 0x1E
takuhachisu 0:d47ac72f4048 49 #define CONTROL5 0x1F
takuhachisu 0:d47ac72f4048 50 #define LRA_OPEN_LOOP_PERIOD 0x20
takuhachisu 0:d47ac72f4048 51 #define VBAT_VOLTAGE_MONITOR 0x21
takuhachisu 0:d47ac72f4048 52 #define LRA_RESONANCE_PERIOD 0x22
takuhachisu 0:d47ac72f4048 53
takuhachisu 0:d47ac72f4048 54 // Modes defines the possible modes of the DRV2605L (Register Addr: 0x01)
takuhachisu 0:d47ac72f4048 55 #define Mode_INTERNAL_TRIG 0x00 // Waveforms fired by Setting GO bit in Register 0x0C
takuhachisu 0:d47ac72f4048 56 #define Mode_EXTERNAL_EDGE 0x01 // Rising Edge on IN/TRIG pin set GO Bit.
takuhachisu 0:d47ac72f4048 57 #define Mode_EXTERNAL_LEVEL 0x02 // GO bit follows state of edge on IN/TRIG pin.
takuhachisu 0:d47ac72f4048 58 #define Mode_PWM_ANALOG 0x03 // PWM or Analog Signal accepted at IN/TRIG pin.
takuhachisu 0:d47ac72f4048 59 #define Mode_AUDIO_TO_VIBE 0x04 // An AC-coupled audio signal is accepted at the IN/TRIG pin.
takuhachisu 0:d47ac72f4048 60 #define Mode_RTP 0x05 // Real- Time Playback
takuhachisu 0:d47ac72f4048 61 #define Mode_DIAG 0x06 // Set to perform actuator diagnostics
takuhachisu 0:d47ac72f4048 62 #define Mode_AUTO_CAL 0x07 // Set to perform auto calibration of device for actuator
takuhachisu 0:d47ac72f4048 63 #define Mode_STANDBY 0x40 // Set Device to Software Standby (Low- Power Mode)
takuhachisu 0:d47ac72f4048 64 #define Mode_RESET 0x80 // Reset Device (equivalent of power cycling the device)
takuhachisu 0:d47ac72f4048 65
takuhachisu 0:d47ac72f4048 66 // FeedBack_Controls Fields Bitmasks (Register Addr: 0x1A)
takuhachisu 0:d47ac72f4048 67 #define Actuator_ERM 0x00
takuhachisu 0:d47ac72f4048 68 #define Actuator_LRA 0x80
takuhachisu 0:d47ac72f4048 69 #define Brake_FACTORTx1 0x00
takuhachisu 0:d47ac72f4048 70 #define Brake_FACTORTx2 0x10
takuhachisu 0:d47ac72f4048 71 #define Brake_FACTORTx3 0x20
takuhachisu 0:d47ac72f4048 72 #define Brake_FACTORTx4 0x40
takuhachisu 0:d47ac72f4048 73 #define Brake_FACTORTx6 0x80
takuhachisu 0:d47ac72f4048 74 #define Brake_FACTORTx8 0x50
takuhachisu 0:d47ac72f4048 75 #define Brake_FACTORTx16 0x60
takuhachisu 0:d47ac72f4048 76 #define Brake_FACTORTxDISABLE 0x70
takuhachisu 0:d47ac72f4048 77 #define Loop_GainLOW 0x00
takuhachisu 0:d47ac72f4048 78 #define Loop_GainMED 0x04
takuhachisu 0:d47ac72f4048 79 #define Loop_GainHIGH 0x08
takuhachisu 0:d47ac72f4048 80 #define Loop_GainVERYHIGH 0x0C
takuhachisu 0:d47ac72f4048 81
takuhachisu 0:d47ac72f4048 82 // ROM Waveform Library Selections
takuhachisu 0:d47ac72f4048 83 #define LibraryEMPTY 0x00
takuhachisu 0:d47ac72f4048 84 #define LibraryA 0x01
takuhachisu 0:d47ac72f4048 85 #define LibraryB 0x02
takuhachisu 0:d47ac72f4048 86 #define LibraryC 0x03
takuhachisu 0:d47ac72f4048 87 #define LibraryD 0x04
takuhachisu 0:d47ac72f4048 88 #define LibraryE 0x05
takuhachisu 0:d47ac72f4048 89 #define LibraryLRA 0x06
takuhachisu 0:d47ac72f4048 90 #define LibraryF 0x07
takuhachisu 0:d47ac72f4048 91
takuhachisu 0:d47ac72f4048 92
takuhachisu 0:d47ac72f4048 93 /** Library for the TI DRV2605
takuhachisu 0:d47ac72f4048 94 *
takuhachisu 0:d47ac72f4048 95 */
takuhachisu 0:d47ac72f4048 96
takuhachisu 0:d47ac72f4048 97 class DRV2605
takuhachisu 0:d47ac72f4048 98 {
takuhachisu 0:d47ac72f4048 99
takuhachisu 0:d47ac72f4048 100 public:
takuhachisu 0:d47ac72f4048 101 /**
takuhachisu 0:d47ac72f4048 102 * Create a DRV2605 object
takuhachisu 0:d47ac72f4048 103 *
takuhachisu 0:d47ac72f4048 104 * @param &i2c pointer of I2C object
takuhachisu 0:d47ac72f4048 105 * @param isERM Set the actuator type
takuhachisu 0:d47ac72f4048 106 */
takuhachisu 0:d47ac72f4048 107 DRV2605(I2C &i2c, bool isERM);
takuhachisu 0:d47ac72f4048 108
takuhachisu 0:d47ac72f4048 109 /**
takuhachisu 0:d47ac72f4048 110 * Write value to specified register of device
takuhachisu 0:d47ac72f4048 111 *
takuhachisu 0:d47ac72f4048 112 * @param reg The device register to write
takuhachisu 0:d47ac72f4048 113 * @param value The 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 0:d47ac72f4048 118 * Read value from register of device
takuhachisu 0:d47ac72f4048 119 * @param reg The device register to read
takuhachisu 0:d47ac72f4048 120 * @return The result
takuhachisu 0:d47ac72f4048 121 */
takuhachisu 0:d47ac72f4048 122 uint8_t i2cReadByte(char reg);
takuhachisu 0:d47ac72f4048 123
takuhachisu 0:d47ac72f4048 124 /**
takuhachisu 0:d47ac72f4048 125 * Place device into specified mode
takuhachisu 0:d47ac72f4048 126 * @param mode The mode to place device into
takuhachisu 0:d47ac72f4048 127 */
takuhachisu 0:d47ac72f4048 128 void mode(char mode);
takuhachisu 0:d47ac72f4048 129
takuhachisu 0:d47ac72f4048 130 /**
takuhachisu 0:d47ac72f4048 131 * Runs diagnostics on the Actuator and Device and returns the results.
takuhachisu 0:d47ac72f4048 132 * The results indicate if an actuator is detected, over- current events,
takuhachisu 0:d47ac72f4048 133 * etc. Refer to STATUS Register (0x00) in device datasheet for more
takuhachisu 0:d47ac72f4048 134 * description register values.
takuhachisu 0:d47ac72f4048 135 *
takuhachisu 0:d47ac72f4048 136 * Note: This should be run if the user is having trouble getting the actuator
takuhachisu 0:d47ac72f4048 137 * to work.
takuhachisu 0:d47ac72f4048 138 *
takuhachisu 0:d47ac72f4048 139 * @return The results of the diagnostics (i.e. Status Reg (0x00))
takuhachisu 0:d47ac72f4048 140 */
takuhachisu 0:d47ac72f4048 141 uint8_t diagnostics();
takuhachisu 0:d47ac72f4048 142
takuhachisu 0:d47ac72f4048 143
takuhachisu 0:d47ac72f4048 144 /**
takuhachisu 0:d47ac72f4048 145 * Set ROM Library
takuhachisu 0:d47ac72f4048 146 *
takuhachisu 0:d47ac72f4048 147 * Note: This should be run before setWaveform function
takuhachisu 0:d47ac72f4048 148 * @param lib Set library (see library's macro)
takuhachisu 0:d47ac72f4048 149 */
takuhachisu 0:d47ac72f4048 150 void setLibrary(char lib);
takuhachisu 0:d47ac72f4048 151
takuhachisu 0:d47ac72f4048 152 /**
takuhachisu 0:d47ac72f4048 153 * Play single waveform from ROM Library
takuhachisu 0:d47ac72f4048 154 *
takuhachisu 0:d47ac72f4048 155 * Note: This should be run after setLibrary function
takuhachisu 0:d47ac72f4048 156 * @param effect The Waveform Effect Library Index value to play
takuhachisu 0:d47ac72f4048 157 * (valid values are 1 to 123)
takuhachisu 0:d47ac72f4048 158 */
takuhachisu 0:d47ac72f4048 159 void setWaveform(int effect);
takuhachisu 0:d47ac72f4048 160
takuhachisu 0:d47ac72f4048 161 /**
takuhachisu 0:d47ac72f4048 162 * Load Wave Sequence into DRV2605 Sequence Registers
takuhachisu 0:d47ac72f4048 163 *
takuhachisu 0:d47ac72f4048 164 * Note: This should be run before setWaveform function
takuhachisu 0:d47ac72f4048 165 * @param effect1... effect8 The effect to play. Valid inputs are
takuhachisu 0:d47ac72f4048 166 * 0 to 123;
takuhachisu 0:d47ac72f4048 167 * 0: Stop Condition,
takuhachisu 0:d47ac72f4048 168 * 1- 123: Waveform Index
takuhachisu 0:d47ac72f4048 169 */
takuhachisu 0:d47ac72f4048 170 void setWaveformSequence(int effect1 = 0, int effect2 = 0,
takuhachisu 0:d47ac72f4048 171 int effect3 = 0, int effect4 = 0,
takuhachisu 0:d47ac72f4048 172 int effect5 = 0, int effect6 = 0,
takuhachisu 0:d47ac72f4048 173 int effect7 = 0, int effect8 = 0);
takuhachisu 0:d47ac72f4048 174
takuhachisu 0:d47ac72f4048 175 /**
takuhachisu 0:d47ac72f4048 176 * Plays the currently loaded waveform or waveform sequence.
takuhachisu 0:d47ac72f4048 177 */
takuhachisu 0:d47ac72f4048 178 void play();
takuhachisu 0:d47ac72f4048 179
takuhachisu 0:d47ac72f4048 180 /**
takuhachisu 0:d47ac72f4048 181 * Stops the currently loaded waveform or waveform sequence.
takuhachisu 0:d47ac72f4048 182 */
takuhachisu 0:d47ac72f4048 183 void stop();
takuhachisu 0:d47ac72f4048 184
takuhachisu 0:d47ac72f4048 185 /**
takuhachisu 0:d47ac72f4048 186 * Real time play back
takuhachisu 0:d47ac72f4048 187 *
takuhachisu 0:d47ac72f4048 188 * @param rtp intensity of the vibration (0 - 255)
takuhachisu 0:d47ac72f4048 189 */
takuhachisu 0:d47ac72f4048 190 void playRtp(char rtp);
takuhachisu 0:d47ac72f4048 191
takuhachisu 0:d47ac72f4048 192 /**
takuhachisu 0:d47ac72f4048 193 TODO: Add Closed Loop Calibration
takuhachisu 0:d47ac72f4048 194
takuhachisu 0:d47ac72f4048 195 Run basic DRV2605L Auto- Calibration as detailed in Section 2 of
takuhachisu 0:d47ac72f4048 196 the Device Setup Guide for OPEN- LOOP ONLY.
takuhachisu 0:d47ac72f4048 197 This must be done before using the device in closed- loop mode
takuhachisu 0:d47ac72f4048 198 (unless cal has been done before with values stored in non-volatile
takuhachisu 0:d47ac72f4048 199 mem; see datasheet for more info).
takuhachisu 0:d47ac72f4048 200
takuhachisu 0:d47ac72f4048 201 NOTE: It is NOT recommended to store cal values into device
takuhachisu 0:d47ac72f4048 202 non-volatile memory as this can be done only once. Thus do not
takuhachisu 0:d47ac72f4048 203 use this feature unless the device is being used in a final
takuhachisu 0:d47ac72f4048 204 project AND values have been confirmed to result in satisfactory
takuhachisu 0:d47ac72f4048 205 performance).
takuhachisu 0:d47ac72f4048 206
takuhachisu 0:d47ac72f4048 207 This uses many of the default device register values such as
takuhachisu 0:d47ac72f4048 208 the default DRIVE_TIME .
takuhachisu 0:d47ac72f4048 209
takuhachisu 0:d47ac72f4048 210 @param actuator_peak_voltage The maximum/peak voltage rating of the actuator
takuhachisu 0:d47ac72f4048 211 */
takuhachisu 0:d47ac72f4048 212 uint8_t auto_cal_open_loop(float actuator_peak_voltage);
takuhachisu 0:d47ac72f4048 213
takuhachisu 0:d47ac72f4048 214 /**
takuhachisu 0:d47ac72f4048 215 * Battery voltage monitor
takuhachisu 0:d47ac72f4048 216 *
takuhachisu 0:d47ac72f4048 217 * @return battery voltage
takuhachisu 0:d47ac72f4048 218 */
takuhachisu 0:d47ac72f4048 219 float battery_voltage(void);
takuhachisu 0:d47ac72f4048 220
takuhachisu 0:d47ac72f4048 221 private:
takuhachisu 0:d47ac72f4048 222 I2C *_i2c;
takuhachisu 0:d47ac72f4048 223 };
takuhachisu 0:d47ac72f4048 224
takuhachisu 0:d47ac72f4048 225 #endif