/* 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/>. */ #include "DRV2605L.h" #include "print.h" #include <stdlib.h> #include <stdio.h> #include <math.h> uint8_t DRV2605L_transfer_buffer[20]; uint8_t DRV2605L_tx_register[0]; uint8_t DRV2605L_read_buffer[0]; uint8_t DRV2605L_read_register; void DRV_write(uint8_t drv_register, uint8_t settings) { DRV2605L_transfer_buffer[0] = drv_register; DRV2605L_transfer_buffer[1] = settings; i2c_transmit(DRV2605L_BASE_ADDRESS << 1, DRV2605L_transfer_buffer, 2, 100); } uint8_t DRV_read(uint8_t regaddress) { DRV2605L_tx_register[0] = regaddress; if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1, DRV2605L_tx_register, 1, DRV2605L_read_buffer, 1 )){ printf("err reading reg \n"); } DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0]; return DRV2605L_read_register; } void DRV_init(void) { i2c_init(); i2c_start(DRV2605L_BASE_ADDRESS); /* 0x07 sets DRV2605 into calibration mode */ DRV_write(DRV_MODE,0x07); // DRV_write(DRV_FEEDBACK_CTRL,0xB6); #if FB_ERM_LRA == 0 /* ERM settings */ DRV_write(DRV_RATED_VOLT, (RATED_VOLTAGE/21.33)*1000); #if ERM_OPEN_LOOP == 0 DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (((V_PEAK*(DRIVE_TIME+BLANKING_TIME+IDISS_TIME))/0.02133)/(DRIVE_TIME-0.0003))); #elif ERM_OPEN_LOOP == 1 DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196)); #endif #elif FB_ERM_LRA == 1 DRV_write(DRV_RATED_VOLT, ((V_RMS * sqrt(1 - ((4 * ((150+(SAMPLE_TIME*50))*0.000001)) + 0.0003)* F_LRA)/0.02071))); #if LRA_OPEN_LOOP == 0 DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, ((V_PEAK/sqrt(1-(F_LRA*0.0008))/0.02133))); #elif LRA_OPEN_LOOP == 1 DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196)); #endif #endif DRVREG_FBR FB_SET; FB_SET.Bits.ERM_LRA = FB_ERM_LRA; FB_SET.Bits.BRAKE_FACTOR = FB_BRAKEFACTOR; FB_SET.Bits.LOOP_GAIN =FB_LOOPGAIN; FB_SET.Bits.BEMF_GAIN = 0; /* auto-calibration populates this field*/ DRV_write(DRV_FEEDBACK_CTRL, (uint8_t) FB_SET.Byte); DRVREG_CTRL1 C1_SET; C1_SET.Bits.C1_DRIVE_TIME = DRIVE_TIME; C1_SET.Bits.C1_AC_COUPLE = AC_COUPLE; C1_SET.Bits.C1_STARTUP_BOOST = STARTUP_BOOST; DRV_write(DRV_CTRL_1, (uint8_t) C1_SET.Byte); DRVREG_CTRL2 C2_SET; C2_SET.Bits.C2_BIDIR_INPUT = BIDIR_INPUT; C2_SET.Bits.C2_BRAKE_STAB = BRAKE_STAB; C2_SET.Bits.C2_SAMPLE_TIME = SAMPLE_TIME; C2_SET.Bits.C2_BLANKING_TIME = BLANKING_TIME; C2_SET.Bits.C2_IDISS_TIME = IDISS_TIME; DRV_write(DRV_CTRL_2, (uint8_t) C2_SET.Byte); DRVREG_CTRL3 C3_SET; C3_SET.Bits.C3_LRA_OPEN_LOOP = LRA_OPEN_LOOP; C3_SET.Bits.C3_N_PWM_ANALOG = N_PWM_ANALOG; C3_SET.Bits.C3_LRA_DRIVE_MODE = LRA_DRIVE_MODE; C3_SET.Bits.C3_DATA_FORMAT_RTO = DATA_FORMAT_RTO; C3_SET.Bits.C3_SUPPLY_COMP_DIS = SUPPLY_COMP_DIS; C3_SET.Bits.C3_ERM_OPEN_LOOP = ERM_OPEN_LOOP; C3_SET.Bits.C3_NG_THRESH = NG_THRESH; DRV_write(DRV_CTRL_3, (uint8_t) C3_SET.Byte); DRVREG_CTRL4 C4_SET; C4_SET.Bits.C4_ZC_DET_TIME = ZC_DET_TIME; C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME; DRV_write(DRV_CTRL_4, (uint8_t) C4_SET.Byte); DRV_write(DRV_LIB_SELECTION,LIB_SELECTION); //start autocalibration DRV_write(DRV_GO, 0x01); /* 0x00 sets DRV2605 out of standby and to use internal trigger * 0x01 sets DRV2605 out of standby and to use external trigger */ DRV_write(DRV_MODE,0x00); /* 0x06: LRA library */ DRV_write(DRV_WAVEFORM_SEQ_1, 0x01); /* 0xB9: LRA, 4x brake factor, medium gain, 7.5x back EMF * 0x39: ERM, 4x brake factor, medium gain, 1.365x back EMF */ /* TODO: setup auto-calibration as part of initiation */ } void DRV_pulse(uint8_t sequence) { DRV_write(DRV_GO, 0x00); DRV_write(DRV_WAVEFORM_SEQ_1, sequence); DRV_write(DRV_GO, 0x01); }