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qmk-dactyl-manuform-a/docs/feature_haptic_feedback.md

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Haptic Feedback

Haptic feedback rules.mk options

The following options are currently available for haptic feedback in rules.mk:

HAPTIC_ENABLE = yes

HAPTIC_DRIVER += DRV2605L
HAPTIC_DRIVER += SOLENOID

Known Supported Hardware

Name Description
LV061228B-L65-A z-axis 2v LRA
Mini Motor Disc small 2-5v ERM

Haptic Keycodes

Not all keycodes below will work depending on which haptic mechanism you have chosen.

Name Description
HPT_ON Turn haptic feedback on
HPT_OFF Turn haptic feedback off
HPT_TOG Toggle haptic feedback on/off
HPT_RST Reset haptic feedback config to default
HPT_FBK Toggle feedback to occur on keypress, release or both
HPT_BUZ Toggle solenoid buzz on/off
HPT_MODI Go to next DRV2605L waveform
HPT_MODD Go to previous DRV2605L waveform
HPT_CONT Toggle continuous haptic mode on/off
HPT_CONI Increase DRV2605L continous haptic strength
HPT_COND Decrease DRV2605L continous haptic strength
HPT_DWLI Increase Solenoid dwell time
HPT_DWLD Decrease Solenoid dwell time

Solenoids

First you will need a build a circuit to drive the solenoid through a mosfet as most MCU will not be able to provide the current needed to drive the coil in the solenoid.

Wiring diagram provided by Adafruit

Settings Default Description
SOLENOID_PIN Not defined Configures the pin that the Solenoid is connected to.
SOLENOID_DEFAULT_DWELL 12 ms Configures the default dwell time for the solenoid.
SOLENOID_MIN_DWELL 4 ms Sets the lower limit for the dwell.
SOLENOID_MAX_DWELL 100 ms Sets the upper limit for the dwell.
SOLENOID_DWELL_STEP_SIZE 1 ms The step size to use when HPT_DWL* keycodes are sent
SOLENOID_DEFAULT_BUZZ 0 (disabled) On HPT_RST buzz is set "on" if this is "1"
SOLENOID_BUZZ_ACTUATED SOLENOID_MIN_DWELL Actuated-time when the solenoid is in buzz mode
SOLENOID_BUZZ_NONACTUATED SOLENOID_MIN_DWELL Non-Actuated-time when the solenoid is in buzz mode
  • If solenoid buzz is off, then dwell time is how long the "plunger" stays activated. The dwell time changes how the solenoid sounds.
  • If solenoid buzz is on, then dwell time sets the length of the buzz, while SOLENOID_BUZZ_ACTUATED and SOLENOID_BUZZ_NONACTUATED set the (non-)actuation times withing the buzz period.
  • With the current implementation, for any of the above time settings, the precision of these settings may be affected by how fast the keyboard is able to scan the matrix. Therefore, if the keyboards scanning routine is slow, it may be preferable to set SOLENOID_DWELL_STEP_SIZE to a value slightly smaller than the time it takes to scan the keyboard.

Beware that some pins may be powered during bootloader (ie. A13 on the STM32F303 chip) and will result in the solenoid kept in the on state through the whole flashing process. This may overheat and damage the solenoid. If you find that the pin the solenoid is connected to is triggering the solenoid during bootloader/DFU, select another pin.

DRV2605L

DRV2605L is controlled over i2c protocol, and has to be connected to the SDA and SCL pins, these varies depending on the MCU in use.

Feedback motor setup

This driver supports 2 different feedback motors. Set the following in your config.h based on which motor you have selected.

ERM

Eccentric Rotating Mass vibration motors (ERM) is motor with a off-set weight attached so when drive signal is attached, the off-set weight spins and causes a sinusoidal wave that translate into vibrations.

#define FB_ERM_LRA 0
#define FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */
#define FB_LOOPGAIN 1 /* For  Low:0, Medium:1, High:2, Very High:3 */

/* Please refer to your datasheet for the optimal setting for your specific motor. */
#define RATED_VOLTAGE 3
#define V_PEAK 5
LRA

Linear resonant actuators (LRA, also know as a linear vibrator) works different from a ERM. A LRA has a weight and magnet suspended by springs and a voice coil. When the drive signal is applied, the weight would be vibrate on a single axis (side to side or up and down). Since the weight is attached to a spring, there is a resonance effect at a specific frequency. This frequency is where the LRA will operate the most efficiently. Refer to the motor's datasheet for the recommanded range for this frequency.

#define FB_ERM_LRA 1
#define FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */
#define FB_LOOPGAIN 1 /* For  Low:0, Medium:1, High:2, Very High:3 */

/* Please refer to your datasheet for the optimal setting for your specific motor. */
#define RATED_VOLTAGE 2
#define V_PEAK 2.8
#define V_RMS 2.0 
#define V_PEAK 2.1
#define F_LRA 205 /* resonance freq */

DRV2605L waveform library

DRV2605L comes with preloaded library of various waveform sequences that can be called and played. If writing a macro, these waveforms can be played using DRV_pulse(*sequence name or number*)

List of waveform sequences from the datasheet:

seq# Sequence name seq# Sequence name seq# Sequence name
1 strong_click 43 lg_dblclick_med_60 85 transition_rampup_med_smooth2
2 strong_click_60 44 lg_dblsharp_tick 86 transition_rampup_short_smooth1
3 strong_click_30 45 lg_dblsharp_tick_80 87 transition_rampup_short_smooth2
4 sharp_click 46 lg_dblsharp_tick_60 88 transition_rampup_long_sharp1
5 sharp_click_60 47 buzz 89 transition_rampup_long_sharp2
6 sharp_click_30 48 buzz_80 90 transition_rampup_med_sharp1
7 soft_bump 49 buzz_60 91 transition_rampup_med_sharp2
8 soft_bump_60 50 buzz_40 92 transition_rampup_short_sharp1
9 soft_bump_30 51 buzz_20 93 transition_rampup_short_sharp2
10 dbl_click 52 pulsing_strong 94 transition_rampdown_long_smooth1_50
11 dbl_click_60 53 pulsing_strong_80 95 transition_rampdown_long_smooth2_50
12 trp_click 54 pulsing_medium 96 transition_rampdown_med_smooth1_50
13 soft_fuzz 55 pulsing_medium_80 97 transition_rampdown_med_smooth2_50
14 strong_buzz 56 pulsing_sharp 98 transition_rampdown_short_smooth1_50
15 alert_750ms 57 pulsing_sharp_80 99 transition_rampdown_short_smooth2_50
16 alert_1000ms 58 transition_click 100 transition_rampdown_long_sharp1_50
17 strong_click1 59 transition_click_80 101 transition_rampdown_long_sharp2_50
18 strong_click2_80 60 transition_click_60 102 transition_rampdown_med_sharp1_50
19 strong_click3_60 61 transition_click_40 103 transition_rampdown_med_sharp2_50
20 strong_click4_30 62 transition_click_20 104 transition_rampdown_short_sharp1_50
21 medium_click1 63 transition_click_10 105 transition_rampdown_short_sharp2_50
22 medium_click2_80 64 transition_hum 106 transition_rampup_long_smooth1_50
23 medium_click3_60 65 transition_hum_80 107 transition_rampup_long_smooth2_50
24 sharp_tick1 66 transition_hum_60 108 transition_rampup_med_smooth1_50
25 sharp_tick2_80 67 transition_hum_40 109 transition_rampup_med_smooth2_50
26 sharp_tick3_60 68 transition_hum_20 110 transition_rampup_short_smooth1_50
27 sh_dblclick_str 69 transition_hum_10 111 transition_rampup_short_smooth2_50
28 sh_dblclick_str_80 70 transition_rampdown_long_smooth1 112 transition_rampup_long_sharp1_50
29 sh_dblclick_str_60 71 transition_rampdown_long_smooth2 113 transition_rampup_long_sharp2_50
30 sh_dblclick_str_30 72 transition_rampdown_med_smooth1 114 transition_rampup_med_sharp1_50
31 sh_dblclick_med 73 transition_rampdown_med_smooth2 115 transition_rampup_med_sharp2_50
32 sh_dblclick_med_80 74 transition_rampdown_short_smooth1 116 transition_rampup_short_sharp1_50
33 sh_dblclick_med_60 75 transition_rampdown_short_smooth2 117 transition_rampup_short_sharp2_50
34 sh_dblsharp_tick 76 transition_rampdown_long_sharp1 118 long_buzz_for_programmatic_stopping
35 sh_dblsharp_tick_80 77 transition_rampdown_long_sharp2 119 smooth_hum1_50
36 sh_dblsharp_tick_60 78 transition_rampdown_med_sharp1 120 smooth_hum2_40
37 lg_dblclick_str 79 transition_rampdown_med_sharp2 121 smooth_hum3_30
38 lg_dblclick_str_80 80 transition_rampdown_short_sharp1 122 smooth_hum4_20
39 lg_dblclick_str_60 81 transition_rampdown_short_sharp2 123 smooth_hum5_10
40 lg_dblclick_str_30 82 transition_rampup_long_smooth1
41 lg_dblclick_med 83 transition_rampup_long_smooth2
42 lg_dblclick_med_80 84 transition_rampup_med_smooth1

Optional DRV2605L defines

#define DRV_GREETING *sequence name or number*

If haptic feedback is enabled, the keyboard will vibrate to a specific sqeuence during startup. That can be selected using the following define:

#define DRV_MODE_DEFAULT *sequence name or number*

This will set what sequence HPT_RST will set as the active mode. If not defined, mode will be set to 1 when HPT_RST is pressed.

DRV2605L Continuous Haptic Mode

This mode sets continuous haptic feedback with the option to increase or decrease strength.

Haptic Key Exclusion

The Haptic Exclusion is implemented as __attribute__((weak)) bool get_haptic_enabled_key(uint16_t keycode, keyrecord_t *record) in haptic.c. This allows a re-definition at the required level with the specific requirement / exclusion.

NO_HAPTIC_MOD

With the entry of #define NO_HAPTIC_MOD in config.h, the following keys will not trigger feedback:

  • Usual modifier keys such as Control/Shift/Alt/Gui (For example KC_LCTRL)
  • MO() momentary keys. See also Layers.
  • LM() momentary keys with mod active.
  • LT() layer tap keys, when held to activate a layer. However when tapped, and the key is quickly released, and sends a keycode, haptic feedback is still triggered.
  • TT() layer tap toggle keys, when held to activate a layer. However when tapped TAPPING_TOGGLE times to permanently toggle the layer, on the last tap haptic feedback is still triggered.
  • MT() mod tap keys, when held to keep a usual modifier key pressed. However when tapped, and the key is quickly released, and sends a keycode, haptic feedback is still triggered. See also Mod-Tap.

NO_HAPTIC_FN

With the entry of #define NO_HAPTIC_FN in config.h, deprecated fn_actions type function keys will not trigger a feedback.

NO_HAPTIC_ALPHA

With the entry of #define NO_HAPTIC_ALPHA in config.h, none of the alpha keys (A ... Z) will trigger a feedback.

NO_HAPTIC_PUNCTUATION

With the entry of #define NO_HAPTIC_PUNCTUATION in config.h, none of the following keys will trigger a feedback: Enter, ESC, Backspace, Space, Minus, Equal, Left Bracket, Right Bracket, Backslash, Non-US Hash, Semicolon, Quote, Grave, Comma, Slash, Dot, Non-US Backslash.

NO_HAPTIC_LOCKKEYS

With the entry of #define NO_HAPTIC_LOCKKEYS in config.h, none of the following keys will trigger a feedback: Caps Lock, Scroll Lock, Num Lock.

NO_HAPTIC_NAV

With the entry of #define NO_HAPTIC_NAV in config.h, none of the following keys will trigger a feedback: Print Screen, Pause, Insert, Delete, Page Down, Page Up, Left Arrow, Up Arrow, Right Arrow, Down Arrow, End, Home.

NO_HAPTIC_NUMERIC

With the entry of #define NO_HAPTIC_NUMERIC in config.h, none of the following keys between 0 and 9 (KC_1 ... KC_0) will trigger a feedback.