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qmk-keychron-q3-colemak-dh/drivers/haptic/DRV2605L.h
ishtob 2cee371bf1 Haptic feedback generalized - DRV2605 and solenoids (#4939) 
* initial work to add eeprom to haptic feedback and decouple the feedback process from keyboards

* Haptic feedback enhancements: on/off toggle working, feedback order working
todo:
-work on modes switching
-get modes switching to save to eeprom

* haptic enhancement - eeprom and modes added

* Added set and get functions for haptic feedback

* initial implementation of solenoids under haptic feedback

* changed eeprom to 32 bits to reserve blocks for future features

* start documentation of haptic feedback

* change keycode per comment from reviewers

* typo fixes

* added eeprom for solenoid configs

* added solenoid and docs

* Add/fix default parameters configs, improve docs

* more doc cleanup

* add in solenoid buzz toggle, clean up doc

* some fixes for error in compiling solenoid

* fix a chibios specific i2c read function and added one for AVR controllers in DRV2605L.c

* fixes for avr side issues

* update keymap

* fix keymap compile error

* fix bugs found during solenoid testing

* set pin that is not powered during bootloader

* added warning about certain pins on the MCU may trip solenoid during DFU/bootloader
2019-02-16 18:39:30 -08:00

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/* Copyright 2018 ishtob
* Driver for DRV2605L written for QMK
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "i2c_master.h"
/* Initialization settings
* Feedback Control Settings */
#ifndef FB_ERM_LRA
#define FB_ERM_LRA 1 /* For ERM:0 or LRA:1*/
#endif
#ifndef FB_BRAKEFACTOR
#define FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */
#endif
#ifndef FB_LOOPGAIN
#define FB_LOOPGAIN 1 /* For Low:0, Medium:1, High:2, Very High:3 */
#endif
/* LRA specific settings */
#if FB_ERM_LRA == 1
#ifndef V_RMS
#define V_RMS 2.0
#endif
#ifndef V_PEAK
#define V_PEAK 2.1
#endif
#ifndef F_LRA
#define F_LRA 205
#endif
#ifndef RATED_VOLTAGE
#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
#endif
#endif
#ifndef RATED_VOLTAGE
#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
#endif
#ifndef V_PEAK
#define V_PEAK 2.8
#endif
/* Library Selection */
#ifndef LIB_SELECTION
#if FB_ERM_LRA == 1
#define LIB_SELECTION 6 /* For Empty:0' TS2200 library A to D:1-5, LRA Library: 6 */
#else
#define LIB_SELECTION 1
#endif
#endif
#ifndef DRV_GREETING
#define DRV_GREETING alert_750ms
#endif
#ifndef DRV_MODE_DEFAULT
#define DRV_MODE_DEFAULT strong_click1
#endif
/* Control 1 register settings */
#ifndef DRIVE_TIME
#define DRIVE_TIME 25
#endif
#ifndef AC_COUPLE
#define AC_COUPLE 0
#endif
#ifndef STARTUP_BOOST
#define STARTUP_BOOST 1
#endif
/* Control 2 Settings */
#ifndef BIDIR_INPUT
#define BIDIR_INPUT 1
#endif
#ifndef BRAKE_STAB
#define BRAKE_STAB 1 /* Loopgain is reduced when braking is almost complete to improve stability */
#endif
#ifndef SAMPLE_TIME
#define SAMPLE_TIME 3
#endif
#ifndef BLANKING_TIME
#define BLANKING_TIME 1
#endif
#ifndef IDISS_TIME
#define IDISS_TIME 1
#endif
/* Control 3 settings */
#ifndef NG_THRESH
#define NG_THRESH 2
#endif
#ifndef ERM_OPEN_LOOP
#define ERM_OPEN_LOOP 1
#endif
#ifndef SUPPLY_COMP_DIS
#define SUPPLY_COMP_DIS 0
#endif
#ifndef DATA_FORMAT_RTO
#define DATA_FORMAT_RTO 0
#endif
#ifndef LRA_DRIVE_MODE
#define LRA_DRIVE_MODE 0
#endif
#ifndef N_PWM_ANALOG
#define N_PWM_ANALOG 0
#endif
#ifndef LRA_OPEN_LOOP
#define LRA_OPEN_LOOP 0
#endif
/* Control 4 settings */
#ifndef ZC_DET_TIME
#define ZC_DET_TIME 0
#endif
#ifndef AUTO_CAL_TIME
#define AUTO_CAL_TIME 3
#endif
/* register defines -------------------------------------------------------- */
#define DRV2605L_BASE_ADDRESS 0x5A /* DRV2605L Base address */
#define DRV_STATUS 0x00
#define DRV_MODE 0x01
#define DRV_RTP_INPUT 0x02
#define DRV_LIB_SELECTION 0x03
#define DRV_WAVEFORM_SEQ_1 0x04
#define DRV_WAVEFORM_SEQ_2 0x05
#define DRV_WAVEFORM_SEQ_3 0x06
#define DRV_WAVEFORM_SEQ_4 0x07
#define DRV_WAVEFORM_SEQ_5 0x08
#define DRV_WAVEFORM_SEQ_6 0x09
#define DRV_WAVEFORM_SEQ_7 0x0A
#define DRV_WAVEFORM_SEQ_8 0x0B
#define DRV_GO 0x0C
#define DRV_OVERDRIVE_TIME_OFFSET 0x0D
#define DRV_SUSTAIN_TIME_OFFSET_P 0x0E
#define DRV_SUSTAIN_TIME_OFFSET_N 0x0F
#define DRV_BRAKE_TIME_OFFSET 0x10
#define DRV_AUDIO_2_VIBE_CTRL 0x11
#define DRV_AUDIO_2_VIBE_MIN_IN 0x12
#define DRV_AUDIO_2_VIBE_MAX_IN 0x13
#define DRV_AUDIO_2_VIBE_MIN_OUTDRV 0x14
#define DRV_AUDIO_2_VIBE_MAX_OUTDRV 0x15
#define DRV_RATED_VOLT 0x16
#define DRV_OVERDRIVE_CLAMP_VOLT 0x17
#define DRV_AUTO_CALIB_COMP_RESULT 0x18
#define DRV_AUTO_CALIB_BEMF_RESULT 0x19
#define DRV_FEEDBACK_CTRL 0x1A
#define DRV_CTRL_1 0x1B
#define DRV_CTRL_2 0x1C
#define DRV_CTRL_3 0x1D
#define DRV_CTRL_4 0x1E
#define DRV_CTRL_5 0x1F
#define DRV_OPEN_LOOP_PERIOD 0x20
#define DRV_VBAT_VOLT_MONITOR 0x21
#define DRV_LRA_RESONANCE_PERIOD 0x22
void DRV_init(void);
void DRV_write(const uint8_t drv_register, const uint8_t settings);
uint8_t DRV_read(const uint8_t regaddress);
void DRV_pulse(const uint8_t sequence);
typedef enum DRV_EFFECT{
clear_sequence = 0,
strong_click = 1,
strong_click_60 = 2,
strong_click_30 = 3,
sharp_click = 4,
sharp_click_60 = 5,
sharp_click_30 = 6,
soft_bump = 7,
soft_bump_60 = 8,
soft_bump_30 = 9,
dbl_click = 10,
dbl_click_60 = 11,
trp_click = 12,
soft_fuzz = 13,
strong_buzz = 14,
alert_750ms = 15,
alert_1000ms = 16,
strong_click1 = 17,
strong_click2_80 = 18,
strong_click3_60 = 19,
strong_click4_30 = 20,
medium_click1 = 21,
medium_click2_80 = 22,
medium_click3_60 = 23,
sharp_tick1 = 24,
sharp_tick2_80 = 25,
sharp_tick3_60 = 26,
sh_dblclick_str = 27,
sh_dblclick_str_80 = 28,
sh_dblclick_str_60 = 29,
sh_dblclick_str_30 = 30,
sh_dblclick_med = 31,
sh_dblclick_med_80 = 32,
sh_dblclick_med_60 = 33,
sh_dblsharp_tick = 34,
sh_dblsharp_tick_80 = 35,
sh_dblsharp_tick_60 = 36,
lg_dblclick_str = 37,
lg_dblclick_str_80 = 38,
lg_dblclick_str_60 = 39,
lg_dblclick_str_30 = 40,
lg_dblclick_med = 41,
lg_dblclick_med_80 = 42,
lg_dblclick_med_60 = 43,
lg_dblsharp_tick = 44,
lg_dblsharp_tick_80 = 45,
lg_dblsharp_tick_60 = 46,
buzz = 47,
buzz_80 = 48,
buzz_60 = 49,
buzz_40 = 50,
buzz_20 = 51,
pulsing_strong = 52,
pulsing_strong_80 = 53,
pulsing_medium = 54,
pulsing_medium_80 = 55,
pulsing_sharp = 56,
pulsing_sharp_80 = 57,
transition_click = 58,
transition_click_80 = 59,
transition_click_60 = 60,
transition_click_40 = 61,
transition_click_20 = 62,
transition_click_10 = 63,
transition_hum = 64,
transition_hum_80 = 65,
transition_hum_60 = 66,
transition_hum_40 = 67,
transition_hum_20 = 68,
transition_hum_10 = 69,
transition_rampdown_long_smooth1 = 70,
transition_rampdown_long_smooth2 = 71,
transition_rampdown_med_smooth1 = 72,
transition_rampdown_med_smooth2 = 73,
transition_rampdown_short_smooth1 = 74,
transition_rampdown_short_smooth2 = 75,
transition_rampdown_long_sharp1 = 76,
transition_rampdown_long_sharp2 = 77,
transition_rampdown_med_sharp1 = 78,
transition_rampdown_med_sharp2 = 79,
transition_rampdown_short_sharp1 = 80,
transition_rampdown_short_sharp2 = 81,
transition_rampup_long_smooth1 = 82,
transition_rampup_long_smooth2 = 83,
transition_rampup_med_smooth1 = 84,
transition_rampup_med_smooth2 = 85,
transition_rampup_short_smooth1 = 86,
transition_rampup_short_smooth2 = 87,
transition_rampup_long_sharp1 = 88,
transition_rampup_long_sharp2 = 89,
transition_rampup_med_sharp1 = 90,
transition_rampup_med_sharp2 = 91,
transition_rampup_short_sharp1 = 92,
transition_rampup_short_sharp2 = 93,
transition_rampdown_long_smooth1_50 = 94,
transition_rampdown_long_smooth2_50 = 95,
transition_rampdown_med_smooth1_50 = 96,
transition_rampdown_med_smooth2_50 = 97,
transition_rampdown_short_smooth1_50 = 98,
transition_rampdown_short_smooth2_50 = 99,
transition_rampdown_long_sharp1_50 = 100,
transition_rampdown_long_sharp2_50 = 101,
transition_rampdown_med_sharp1_50 = 102,
transition_rampdown_med_sharp2_50 = 103,
transition_rampdown_short_sharp1_50 = 104,
transition_rampdown_short_sharp2_50 = 105,
transition_rampup_long_smooth1_50 = 106,
transition_rampup_long_smooth2_50 = 107,
transition_rampup_med_smooth1_50 = 108,
transition_rampup_med_smooth2_50 = 109,
transition_rampup_short_smooth1_50 = 110,
transition_rampup_short_smooth2_50 = 111,
transition_rampup_long_sharp1_50 = 112,
transition_rampup_long_sharp2_50 = 113,
transition_rampup_med_sharp1_50 = 114,
transition_rampup_med_sharp2_50 = 115,
transition_rampup_short_sharp1_50 = 116,
transition_rampup_short_sharp2_50 = 117,
long_buzz_for_programmatic_stopping = 118,
smooth_hum1_50 = 119,
smooth_hum2_40 = 120,
smooth_hum3_30 = 121,
smooth_hum4_20 = 122,
smooth_hum5_10 = 123,
drv_effect_max = 124,
} DRV_EFFECT;
/* Register bit array unions */
typedef union DRVREG_STATUS { /* register 0x00 */
uint8_t Byte;
struct {
uint8_t OC_DETECT :1; /* set to 1 when overcurrent event is detected */
uint8_t OVER_TEMP :1; /* set to 1 when device exceeds temp threshold */
uint8_t FB_STS :1; /* set to 1 when feedback controller has timed out */
/* auto-calibration routine and diagnostic result
* result | auto-calibation | diagnostic |
* 0 | passed | actuator func normal |
* 1 | failed | actuator func fault* |
* * actuator is not present or is shorted, timing out, or giving out–of-range back-EMF */
uint8_t DIAG_RESULT :1;
uint8_t :1;
uint8_t DEVICE_ID :3; /* Device IDs 3: DRV2605 4: DRV2604 5: DRV2604L 6: DRV2605L */
} Bits;
} DRVREG_STATUS;
typedef union DRVREG_MODE { /* register 0x01 */
uint8_t Byte;
struct {
uint8_t MODE :3; /* Mode setting */
uint8_t :3;
uint8_t STANDBY :1; /* 0:standby 1:ready */
} Bits;
} DRVREG_MODE;
typedef union DRVREG_WAIT {
uint8_t Byte;
struct {
uint8_t WAIT_MODE :1; /* Set to 1 to interpret as wait for next 7 bits x10ms */
uint8_t WAIT_TIME :7;
} Bits;
} DRVREG_WAIT;
typedef union DRVREG_FBR{ /* register 0x1A */
uint8_t Byte;
struct {
uint8_t BEMF_GAIN :2;
uint8_t LOOP_GAIN :2;
uint8_t BRAKE_FACTOR :3;
uint8_t ERM_LRA :1;
} Bits;
} DRVREG_FBR;
typedef union DRVREG_CTRL1{ /* register 0x1B */
uint8_t Byte;
struct {
uint8_t C1_DRIVE_TIME :5;
uint8_t C1_AC_COUPLE :1;
uint8_t :1;
uint8_t C1_STARTUP_BOOST :1;
} Bits;
} DRVREG_CTRL1;
typedef union DRVREG_CTRL2{ /* register 0x1C */
uint8_t Byte;
struct {
uint8_t C2_IDISS_TIME :2;
uint8_t C2_BLANKING_TIME :2;
uint8_t C2_SAMPLE_TIME :2;
uint8_t C2_BRAKE_STAB :1;
uint8_t C2_BIDIR_INPUT :1;
} Bits;
} DRVREG_CTRL2;
typedef union DRVREG_CTRL3{ /* register 0x1D */
uint8_t Byte;
struct {
uint8_t C3_LRA_OPEN_LOOP :1;
uint8_t C3_N_PWM_ANALOG :1;
uint8_t C3_LRA_DRIVE_MODE :1;
uint8_t C3_DATA_FORMAT_RTO :1;
uint8_t C3_SUPPLY_COMP_DIS :1;
uint8_t C3_ERM_OPEN_LOOP :1;
uint8_t C3_NG_THRESH :2;
} Bits;
} DRVREG_CTRL3;
typedef union DRVREG_CTRL4{ /* register 0x1E */
uint8_t Byte;
struct {
uint8_t C4_OTP_PROGRAM :1;
uint8_t :1;
uint8_t C4_OTP_STATUS :1;
uint8_t :1;
uint8_t C4_AUTO_CAL_TIME :2;
uint8_t C4_ZC_DET_TIME :2;
} Bits;
} DRVREG_CTRL4;
typedef union DRVREG_CTRL5{ /* register 0x1F */
uint8_t Byte;
struct {
uint8_t C5_IDISS_TIME :2;
uint8_t C5_BLANKING_TIME :2;
uint8_t C5_PLAYBACK_INTERVAL :1;
uint8_t C5_LRA_AUTO_OPEN_LOOP :1;
uint8_t C5_AUTO_OL_CNT :2;
} Bits;
} DRVREG_CTRL5;
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