kopia lustrzana https://github.com/pimoroni/pimoroni-pico
Added driver for drv2605l
ZodiusInfuser
rodzic
032c17dd00
commit
986fbf79ee
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@ -1,2 +1,3 @@
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add_subdirectory(st7789)
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add_subdirectory(msa301)
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add_subdirectory(msa301)
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add_subdirectory(drv2605l)
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add_library(drv2605l INTERFACE)
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target_sources(drv2605l INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/drv2605l.cpp
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)
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target_include_directories(drv2605l INTERFACE ${CMAKE_CURRENT_LIST_DIR})
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# Pull in pico libraries that we need
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target_link_libraries(drv2605l INTERFACE pico_stdlib hardware_i2c)
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add_library(drv2605l INTERFACE)
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target_sources(drv2605l INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/drv2605l.cpp
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)
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target_include_directories(drv2605l INTERFACE ${CMAKE_CURRENT_LIST_DIR})
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# Pull in pico libraries that we need
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target_link_libraries(drv2605l INTERFACE pico_stdlib hardware_i2c)
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#include <cstdlib>
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#include <math.h>
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#include <map>
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#include <vector>
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#include "drv2605l.hpp"
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namespace pimoroni {
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enum reg {
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STATUS = 0x00,
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MODE = 0x01,
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REALTIME_PLAYBACK = 0x02,
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LIBRARY_SELECTION = 0x03,
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WAVEFORM_SEQUENCER = 0x04,
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GO = 0x0c,
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TIME_OFFSET = 0x0d,
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AUDIO_CONTROL = 0x11,
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AUDIO_INPUT_LEVEL = 0x12,
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AUDIO_OUTPUT_DRIVE = 0x14,
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VOLTAGE = 0x16,
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AUTO_CALIBRATION_RESULT = 0x18,
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FEEDBACK_CONTROL = 0x1a,
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CONTROL1 = 0x1b,
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CONTROL2 = 0x1c,
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CONTROL3 = 0x1d,
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CONTROL4 = 0x1e,
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CONTROL5 = 0x1f,
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LRA_OPEN_LOOP_PERIOD = 0x20,
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VOLTAGE2 = 0x21,
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LRA_RESONANCE = 0x22,
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};
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void DRV2605L::init() {
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i2c_init(i2c, 400000);
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gpio_set_function(sda, GPIO_FUNC_I2C); gpio_pull_up(sda);
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gpio_set_function(scl, GPIO_FUNC_I2C); gpio_pull_up(scl);
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reset();
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}
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void DRV2605L::i2c_reg_write_uint8(uint8_t reg, uint8_t value) {
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uint8_t buffer[2] = {reg, value};
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i2c_write_blocking(i2c, address, buffer, 2, false);
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}
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uint8_t DRV2605L::i2c_reg_read_uint8(uint8_t reg) {
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uint8_t value;
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i2c_write_blocking(i2c, address, ®, 1, true);
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i2c_read_blocking(i2c, address, (uint8_t *)&value, 1, false);
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return value;
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}
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int16_t DRV2605L::i2c_reg_read_int16(uint8_t reg) {
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int16_t value;
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i2c_write_blocking(i2c, address, ®, 1, true);
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i2c_read_blocking(i2c, address, (uint8_t *)&value, 2, false);
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return value;
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}
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void DRV2605L::reset() {
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i2c_reg_write_uint8(reg::MODE, 0x80);
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sleep_ms(0.1);
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while(i2c_reg_read_uint8(reg::MODE) & 0x80) {
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sleep_ms(0.01);
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}
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i2c_reg_write_uint8(reg::MODE, 0x00);//standby=False)
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}
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void DRV2605L::set_feedback_mode(uint8_t mode) {
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switch(mode) {
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case FB_MODE_LRA:
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i2c_reg_write_uint8(reg::FEEDBACK_CONTROL, i2c_reg_read_uint8(reg::FEEDBACK_CONTROL) | 0x80);
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break;
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case FB_MODE_ERM:
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default:
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i2c_reg_write_uint8(reg::FEEDBACK_CONTROL, i2c_reg_read_uint8(reg::FEEDBACK_CONTROL) & 0x7f);
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break;
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}
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}
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void DRV2605L::set_library(uint8_t library) {
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i2c_reg_write_uint8(reg::LIBRARY_SELECTION, library);
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}
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void DRV2605L::set_mode(uint8_t mode) {
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i2c_reg_write_uint8(reg::MODE, 0x00); //mode=mode)
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}
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void DRV2605L::auto_calibrate(uint8_t loop_gain, uint8_t feedback_brake_factor, uint8_t auto_calibration_time,
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uint8_t zero_crossing_detection_time, uint8_t idiss_time) {
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uint8_t mode = i2c_reg_read_uint8(reg::MODE);
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i2c_reg_write_uint8(reg::MODE, MODE_AUTO_CALIBTRATION);
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i2c_reg_write_uint8(reg::FEEDBACK_CONTROL, loop_gain | feedback_brake_factor);
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i2c_reg_write_uint8(reg::CONTROL4, auto_calibration_time | zero_crossing_detection_time);
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i2c_reg_write_uint8(reg::CONTROL2, idiss_time);
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i2c_reg_write_uint8(reg::GO, 0x01);
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while(i2c_reg_read_uint8(reg::GO)) {
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sleep_ms(0.01);
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}
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i2c_reg_write_uint8(reg::MODE, mode);
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}
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void DRV2605L::set_realtime_input(uint8_t value) {
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i2c_reg_write_uint8(reg::REALTIME_PLAYBACK, value);
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}
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void DRV2605L::set_realtime_data_format(uint8_t value) {
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switch(value) {
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case RT_UNSIGNED:
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i2c_reg_write_uint8(reg::CONTROL3, i2c_reg_read_uint8(reg::CONTROL3) | 0x08);
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break;
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case RT_SIGNED:
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default:
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i2c_reg_write_uint8(reg::CONTROL3, i2c_reg_read_uint8(reg::CONTROL3) & 0xf7);
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break;
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}
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}
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void DRV2605L::set_waveform(uint8_t slot, uint8_t w) {
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if(slot < 8)
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i2c_reg_write_uint8(reg::WAVEFORM_SEQUENCER + slot, w);
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}
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void DRV2605L::go() {
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i2c_reg_write_uint8(reg::GO, 0x01);
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}
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void DRV2605L::stop() {
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i2c_reg_write_uint8(reg::GO, 0x00);
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}
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bool DRV2605L::busy() {
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return i2c_reg_read_uint8(reg::GO) != 0;
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}
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}
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#pragma once
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#include "hardware/i2c.h"
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#include "hardware/gpio.h"
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namespace pimoroni {
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class DRV2605L {
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public:
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static const uint8_t FB_MODE_ERM = 0x00;
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static const uint8_t FB_MODE_LRA = 0x80;
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static const uint8_t LIB_EMPTY = 0;
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static const uint8_t LIB_TS2200_A = 1;
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static const uint8_t LIB_TS2200_B = 2;
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static const uint8_t LIB_TS2200_C = 3;
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static const uint8_t LIB_TS2200_D = 4;
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static const uint8_t LIB_TS2200_E = 5;
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static const uint8_t LIB_LRA = 6;
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static const uint8_t LIB_TS2200_F = 7;
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static const uint8_t MODE_INTERNAL_TRIGGER = 0; //Waveforms are fired by setting the GO bit in register 0x0C
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static const uint8_t MODE_EDGE_TRIGGER = 1; //A rising edge on INT/TRIG sets the GO bit, a second rising edge cancels the waveform
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static const uint8_t MODE_LEVEL_TRIGGER = 2; //A rising edge on INT/TRIG sets the GO bit, a falling edge cancels the waveform
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static const uint8_t MODE_PWM_ANALOG_IN = 3; //A PWM or Analog signal is accepted on INT/TRIG and used as a direct driving source
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static const uint8_t MODE_AUDIO_IN = 4; //An AC-coupled audio signal is accepted on INT/TRIG and turned into meaningful vibration
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//(AC_COUPLE and N_PWM_ANALOG should also be set)
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static const uint8_t MODE_REALTIME_PLAYBACK = 5; //The contents of the REALTIME_PLAYBACK register are used as a waveform
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static const uint8_t MODE_DIAGNOSTICS = 6; //Perform a diagnostic test on the actuator- triggered by setting the GO bit
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static const uint8_t MODE_AUTO_CALIBTRATION = 7; //Perform an auto-calibration- triggered by setting the GO bit
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static const uint8_t RT_SIGNED = 0;
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static const uint8_t RT_UNSIGNED = 1;
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static const uint8_t LOOP_GAIN_LOW = 0 << 2;
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static const uint8_t LOOP_GAIN_MED = 1 << 2;
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static const uint8_t LOOP_GAIN_HIGH = 2 << 2;
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static const uint8_t LOOP_GAIN_VHIGH = 3 << 2;
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static const uint8_t FBF_1 = 0 << 4;
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static const uint8_t FBF_2 = 1 << 4;
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static const uint8_t FBF_3 = 2 << 4;
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static const uint8_t FBF_4 = 3 << 4;
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static const uint8_t FBF_6 = 4 << 4;
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static const uint8_t FBF_8 = 5 << 4;
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static const uint8_t FBF_16 = 6 << 4;
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static const uint8_t FBF_0 = 7 << 4;
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static const uint8_t AUTO_CALIB_TIME_150 = 0 << 4;
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static const uint8_t AUTO_CALIB_TIME_250 = 1 << 4;
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static const uint8_t AUTO_CALIB_TIME_500 = 2 << 4;
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static const uint8_t AUTO_CALIB_TIME_1000 = 3 << 4;
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static const uint8_t ZERO_CROSS_TIME_100 = 0 << 6;
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static const uint8_t ZERO_CROSS_TIME_200 = 1 << 6;
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static const uint8_t ZERO_CROSS_TIME_300 = 2 << 6;
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static const uint8_t ZERO_CROSS_TIME_390 = 3 << 6;
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private:
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i2c_inst_t *i2c = i2c0;
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// interface pins with our standard defaults where appropriate
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int8_t address = 0x5a;
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int8_t sda = 20;
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int8_t scl = 21;
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int8_t interrupt = 22;
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public:
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DRV2605L() {}
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DRV2605L(i2c_inst_t *i2c, uint8_t sda, uint8_t scl, uint8_t interrupt) :
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i2c(i2c), sda(sda), scl(scl), interrupt(interrupt) {}
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void init();
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void reset();
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void set_feedback_mode(uint8_t mode = FB_MODE_LRA);
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void set_library(uint8_t library = LIB_LRA);
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void set_mode(uint8_t mode);
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void auto_calibrate(uint8_t loop_gain = LOOP_GAIN_HIGH,
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uint8_t feedback_brake_factor = FBF_2,
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uint8_t auto_calibration_time = AUTO_CALIB_TIME_1000,
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uint8_t zero_crossing_detection_time = ZERO_CROSS_TIME_100,
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uint8_t idiss_time = 1);
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void set_realtime_input(uint8_t value);
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void set_realtime_data_format(uint8_t value);
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void set_waveform(uint8_t slot, uint8_t w);
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void go();
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void stop();
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bool busy();
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void i2c_reg_write_uint8(uint8_t reg, uint8_t value);
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uint8_t i2c_reg_read_uint8(uint8_t reg);
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int16_t i2c_reg_read_int16(uint8_t reg);
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};
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}
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