DRV2605.h

00001 #ifndef DRV2605_H
00002 #define DRV2605_H
00003 
00004 #include "mbed.h"
00005 
00006 // DRV2605 Slave Address
00007 #define DRV2605_SLAVE_ADDR 0x5A
00008 
00009 // DRV2605 Registers
00010 #define STATUS                               0x00
00011 #define MODE                                 0x01
00012 #define REAL_TIME_PLAYBACK                   0x02
00013 #define LIBRARY_SELECTION                    0x03
00014 #define WAVEFORM_SEQUENCER_1                 0x04
00015 #define WAVEFORM_SEQUENCER_2                 0x05
00016 #define WAVEFORM_SEQUENCER_3                 0x06
00017 #define WAVEFORM_SEQUENCER_4                 0x07
00018 #define WAVEFORM_SEQUENCER_5                 0x08
00019 #define WAVEFORM_SEQUENCER_6                 0x09
00020 #define WAVEFORM_SEQUENCER_7                 0x0A
00021 #define WAVEFORM_SEQUENCER_8                 0x0B
00022 #define GO                                   0x0C
00023 #define OVERDRIVE_TIME_OFFSET                0x0D
00024 #define POSITIVE_SUSTAIN_TIME_OFFSET         0x0E
00025 #define NEGATIVE_SUSTAIN_TIME_OFFSET         0x0F
00026 #define BRAKE_TIME_OFFSET                    0x10
00027 #define AUDIO_TO_VIBE_CONTROL                0x11
00028 #define AUDIO_TO_VIBE_MINIMUM_INPUT_LEVEL    0x12
00029 #define AUDIO_TO_VIBE_MAXIMUM_INPUT_LEVEL    0x13
00030 #define AUDIO_TO_VIBE_MINIMUM_OUPUT_DRIVE    0x14
00031 #define AUDIO_TO_VIBE_MAXIMUM_OUTPUT_DRIVE   0x15
00032 #define RATED_VOLTAGE                        0x16
00033 #define OVERDRIVE_CLAMP_VOLTAGE              0x17
00034 #define AUTO_CALIBRATION_COMPENSATION_RESULT 0x18
00035 #define AUTO_CALIBRATION_BACK_EMF_RESULT     0x19
00036 #define FEEDBACK_CONTROL                     0x1A
00037 #define CONTROL1                             0x1B
00038 #define CONTROL2                             0x1C
00039 #define CONTROL3                             0x1D
00040 #define CONTROL4                             0x1E
00041 #define CONTROL5                             0x1F
00042 #define LRA_OPEN_LOOP_PERIOD                 0x20
00043 #define VBAT_VOLTAGE_MONITOR                 0x21
00044 #define LRA_RESONANCE_PERIOD                 0x22
00045 
00046 // Modes defines the possible modes of the DRV2605L (Register Addr: 0x01)
00047 #define Mode_INTERNAL_TRIG   0x00 // Waveforms fired by Setting GO bit in Register 0x0C
00048 #define Mode_EXTERNAL_EDGE   0x01 // Rising Edge on IN/TRIG pin set GO Bit.
00049 #define Mode_EXTERNAL_LEVEL  0x02 // GO bit follows state of edge on IN/TRIG pin.
00050 #define Mode_PWM_ANALOG      0x03 // PWM or Analog Signal accepted at IN/TRIG pin.
00051 #define Mode_AUDIO_TO_VIBE   0x04 // An AC-coupled audio signal is accepted at the IN/TRIG pin.
00052 #define Mode_RTP             0x05 // Real- Time Playback
00053 #define Mode_DIAG            0x06 // Set to perform actuator diagnostics
00054 #define Mode_AUTO_CAL        0x07 // Set to perform auto calibration of device for actuator
00055 #define Mode_STANDBY         0x40 // Set Device to Software Standby (Low- Power Mode)
00056 #define Mode_RESET           0x80 // Reset Device (equivalent of power cycling the device)
00057 
00058 // FeedBack_Controls Fields Bitmasks (Register Addr: 0x1A)
00059 
00060 // ROM Waveform Library Selections
00061 #define LibraryEMPTY            0x00
00062 #define LibraryA                0x01
00063 #define LibraryB                0x02
00064 #define LibraryC                0x03
00065 #define LibraryD                0x04
00066 #define LibraryE                0x05
00067 #define LibraryLRA              0x06
00068 #define LibraryF                0x07
00069 
00070 /** Library for the TI DRV2605
00071  *
00072  */
00073 
00074 class DRV2605
00075 {
00076 
00077 public:
00078     // FeedBack_Controls Fields Bitmasks
00079     enum ActuatorType {ERM = 0, LRA = 0x80};
00080     enum BrakeFactor {x1 = 0x00, x2 = 0x10, x3 = 0x20, x4 = 0x30, x6 = 0x40, x8 = 0x50, x16 = 0x60, DISABLE = 0x70};
00081     enum LoopGain {LOW = 0x00, MEDIUM = 0x04, HIGH = 0x08, VERYHIGH = 0x0C};
00082 
00083     // Control2 Fields Bitmasks
00084     enum SampleTime {us150 = 0x00, us200 = 0x10, us250 = 0x20, us300 = 0x30};
00085 
00086     // Control4 Fields Bitmasks
00087     enum AutoCalTime {ms150_350 = 0x00, ms250_450 = 0x10, ms500_700 = 0x20, ms1000_1200 = 0x30};
00088 
00089     /**
00090     * Create a DRV2605 object
00091     *
00092     * @param &i2c pointer of I2C object
00093     * @param at actuator type
00094     * @param bf brake factor
00095     * @param lg loop gain
00096     * @param rv rated voltage
00097     * @param ocv overdirve clamp voltage
00098     * @param act auto caliblration time
00099     * @param dt drive time
00100     * @param st sample time
00101     * @param bt braking time
00102     * @param it current dissipation time
00103     */
00104     DRV2605(I2C &i2c, ActuatorType at = ERM, BrakeFactor bf = x4,
00105             LoopGain lg = MEDIUM, uint8_t rv = 0x3F, uint8_t ocv = 0x89,
00106             AutoCalTime act = ms500_700, uint8_t dt = 0x13,
00107             SampleTime st = us200, uint8_t bt = 2, uint8_t it = 2);
00108 
00109     /**
00110     * Write value to register
00111     *
00112     * @param reg Register to write
00113     * @param value Value to write to the register
00114     */
00115     void i2cWriteByte(char reg, char value);
00116 
00117     /**
00118     * Read value from register
00119     *
00120     * @param reg Register to read
00121     * @return Value
00122     */
00123     uint8_t i2cReadByte(char reg);
00124 
00125     /**
00126     * Set the device into specified mode
00127     *
00128     * @param mode Mode to set
00129     */
00130     void mode(uint8_t mode);
00131 
00132     /**
00133     * Runs diagnostics
00134     *
00135     * @return Results of the diagnostics
00136     */
00137     uint8_t diagnostics();
00138 
00139     /**
00140     * Select the input data interpretation for RTP
00141     *
00142     * @param isSigned true: singed(-127~127), false: unsigned (0~255)
00143     */
00144     void dataFormatRTP(bool isSigned);
00145 
00146     /**
00147     * Set ROM Library
00148     *
00149     * Note: This should be called before setWaveform function
00150     * @param lib Set library (see library's macro)
00151     */
00152     void setLibrary(uint8_t lib);
00153 
00154     /**
00155     * Set single waveform from ROM Library
00156     *
00157     * Note: This should be called after setLibrary function
00158     * @param effect The Waveform Effect Library Index value to play (1 to 123)
00159     */
00160     void setWaveform(int effect);
00161 
00162     /**
00163     * Set waveform Sequence
00164     *
00165     * Note: This should be called after setLibrary function
00166     * @param effect1... effect8 The Waveform Effect Library Index value to play
00167     * (1 to 123): 0 = Stop Condition; 1- 123 = Waveform Index
00168     */
00169     void setWaveformSequence(int effect1 = 0, int effect2 = 0,
00170                              int effect3 = 0, int effect4 = 0,
00171                              int effect5 = 0, int effect6 = 0,
00172                              int effect7 = 0, int effect8 = 0);
00173 
00174     /**
00175     *    Plays the currently loaded waveform or waveform sequence.
00176     */
00177     void play();
00178 
00179     /**
00180     *    Stops the currently loaded waveform or waveform sequence.
00181     */
00182     void stop();
00183 
00184     /**
00185     * Real time play back
00186     *
00187     * @param rtp  intensity of the vibration (0 - 255)
00188     */
00189     void playRtp(uint8_t rtp);
00190 
00191     /**
00192     * Battery voltage monitor
00193     *
00194     * @return battery voltage
00195     */
00196     float batteryVoltage(void);
00197 
00198 private:
00199     I2C *_i2c;
00200 };
00201 
00202 #endif