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Mikkeli Matlock
2026-02-15 02:48:59 +09:00
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components/ExternLib/SensorLib/src/SensorDRV2605.hpp Normal file
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/**
*
* @license MIT License
*
* Copyright (c) 2022 lewis he
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* @file SensorDRV2605.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2023-04-03
* @note Source code from https://github.com/adafruit/Adafruit_DRV2605_Library
*/
#pragma once
#include "REG/DRV2605Constants.h"
#include "SensorPlatform.hpp"
class SensorDRV2605 : public DRV2605Constants
{
public:
static constexpr uint8_t MODE_INTTRIG = 0x00; //* Internal trigger mode
static constexpr uint8_t MODE_EXTTRIGEDGE = 0x01; //* External edge trigger mode
static constexpr uint8_t MODE_EXTTRIGLVL = 0x02; //* External level trigger mode
static constexpr uint8_t MODE_PWMANALOG = 0x03; //* PWM/Analog input mode
static constexpr uint8_t MODE_AUDIOVIBE = 0x04; //* Audio-to-vibe mode
static constexpr uint8_t MODE_REALTIME = 0x05; //* Real-time playback (RTP) mode
static constexpr uint8_t MODE_DIAGNOS = 0x06; //* Diagnostics mode
static constexpr uint8_t MODE_AUTOCAL = 0x07; //* Auto calibration mode
SensorDRV2605() : comm(nullptr) {}
~SensorDRV2605()
{
if (comm) {
comm->deinit();
}
}
#if defined(ARDUINO)
bool begin(TwoWire &wire, int sda = -1, int scl = -1)
{
comm = std::make_unique<SensorCommI2C>(wire, DRV2605_SLAVE_ADDRESS, sda, scl);
if (!comm) {
return false;
}
comm->init();
return initImpl();
}
#elif defined(ESP_PLATFORM)
#if defined(USEING_I2C_LEGACY)
bool begin(i2c_port_t port_num, int sda = -1, int scl = -1)
{
comm = std::make_unique<SensorCommI2C>(port_num, DRV2605_SLAVE_ADDRESS, sda, scl);
if (!comm) {
return false;
}
comm->init();
return initImpl();
}
#else
bool begin(i2c_master_bus_handle_t handle)
{
comm = std::make_unique<SensorCommI2C>(handle, DRV2605_SLAVE_ADDRESS);
if (!comm) {
return false;
}
comm->init();
return initImpl();
}
#endif //ESP_PLATFORM
#endif //ARDUINO
bool begin(SensorCommCustom::CustomCallback callback)
{
comm = std::make_unique<SensorCommCustom>(callback, DRV2605_SLAVE_ADDRESS);
if (!comm) {
return false;
}
comm->init();
return initImpl();
}
/**************************************************************************/
/*!
@brief Select the haptic waveform to use.
@param slot The waveform slot to set, from 0 to 7
@param w The waveform sequence value, refers to an index in the ROM library.
Playback starts at slot 0 and continues through to slot 7, stopping if it
encounters a value of 0. A list of available waveforms can be found in
section 11.2 of the datasheet: http://www.adafruit.com/datasheets/DRV2605.pdf
*/
/**************************************************************************/
void setWaveform(uint8_t slot, uint8_t w)
{
comm->writeRegister(DRV2605_REG_WAVESEQ1 + slot, w);
}
/**************************************************************************/
/*!
@brief Select the waveform library to use.
@param lib Library to use, 0 = Empty, 1-5 are ERM, 6 is LRA.
See section 7.6.4 in the datasheet for more details:
http://www.adafruit.com/datasheets/DRV2605.pdf
*/
/**************************************************************************/
void selectLibrary(uint8_t lib)
{
comm->writeRegister(DRV2605_REG_LIBRARY, lib);
}
/**************************************************************************/
/*!
@brief Start playback of the waveforms (start moving!).
*/
/**************************************************************************/
void run()
{
comm->writeRegister(DRV2605_REG_GO, 1);
}
/**************************************************************************/
/*!
@brief Stop playback.
*/
/**************************************************************************/
void stop()
{
comm->writeRegister(DRV2605_REG_GO, (uint8_t)0);
}
/**************************************************************************/
/*!
@brief Set the device mode.
@param mode Mode value, see datasheet section 7.6.2:
http://www.adafruit.com/datasheets/DRV2605.pdf
0: Internal trigger, call run() to start playback\n
1: External trigger, rising edge on IN pin starts playback\n
2: External trigger, playback follows the state of IN pin\n
3: PWM/analog input\n
4: Audio\n
5: Real-time playback\n
6: Diagnostics\n
7: Auto calibration
*/
/**************************************************************************/
void setMode(uint8_t mode)
{
comm->writeRegister(DRV2605_REG_MODE, mode);
}
/**************************************************************************/
/*!
@brief Set the realtime value when in RTP mode, used to directly drive the
haptic motor.
@param rtp 8-bit drive value.
*/
/**************************************************************************/
void setRealtimeValue(uint8_t rtp)
{
comm->writeRegister(DRV2605_REG_RTPIN, rtp);
}
/**************************************************************************/
/*!
@brief Use ERM (Eccentric Rotating Mass) mode.
*/
/**************************************************************************/
void useERM()
{
comm->writeRegister(DRV2605_REG_FEEDBACK, comm->readRegister(DRV2605_REG_FEEDBACK) & 0x7F);
}
/**************************************************************************/
/*!
@brief Use LRA (Linear Resonance Actuator) mode.
*/
/**************************************************************************/
void useLRA()
{
comm->writeRegister(DRV2605_REG_FEEDBACK, comm->readRegister(DRV2605_REG_FEEDBACK) | 0x80);
}
private:
bool initImpl()
{
int chipID = comm->readRegister(DRV2605_REG_STATUS);
if (chipID < 0) {
return false;
}
chipID >>= 5;
if (chipID != DRV2604_CHIP_ID &&
chipID != DRV2605_CHIP_ID &&
chipID != DRV2604L_CHIP_ID &&
chipID != DRV2605L_CHIP_ID ) {
log_e("ChipID:0x%x should be 0x03 or 0x04 or 0x06 or 0x07\n", chipID);
return false;
}
comm->writeRegister(DRV2605_REG_MODE, (uint8_t)0x00); // out of standby
comm->writeRegister(DRV2605_REG_RTPIN, (uint8_t)0x00); // no real-time-playback
comm->writeRegister(DRV2605_REG_WAVESEQ1, (uint8_t)1); // strong click
comm->writeRegister(DRV2605_REG_WAVESEQ2, (uint8_t)0); // end sequence
comm->writeRegister(DRV2605_REG_OVERDRIVE, (uint8_t)0); // no overdrive
comm->writeRegister(DRV2605_REG_SUSTAINPOS, (uint8_t)0);
comm->writeRegister(DRV2605_REG_SUSTAINNEG, (uint8_t)0);
comm->writeRegister(DRV2605_REG_BREAK, (uint8_t)0);
comm->writeRegister(DRV2605_REG_AUDIOMAX, (uint8_t)0x64);
// ERM open loop
// turn off N_ERM_LRA
comm->writeRegister(DRV2605_REG_FEEDBACK,
comm->readRegister(DRV2605_REG_FEEDBACK) & 0x7F);
// turn on ERM_OPEN_LOOP
comm->writeRegister(DRV2605_REG_CONTROL3,
comm->readRegister(DRV2605_REG_CONTROL3) | 0x20);
return true;
}
protected:
std::unique_ptr<SensorCommBase> comm;
};