qmk-dactyl-manuform-a/drivers/haptic/DRV2605L.h

/* 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_rtp_init(void);
void    DRV_amplitude(const uint8_t amplitude);
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;