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haptic: further naming cleanups #21682

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Aug 4, 2023
Merged

haptic: further naming cleanups #21682

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bc3dcd7
haptic: further naming cleanups
fauxpark Aug 3, 2023
58921ad
Fix register typedefs
fauxpark Aug 3, 2023
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26 changes: 13 additions & 13 deletions docs/feature_haptic_feedback.md
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Original file line number Diff line number Diff line change
Expand Up @@ -94,29 +94,29 @@ This driver supports 2 different feedback motors. Set the following in your `con
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.

```c
#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 */
#define DRV2605L_FB_ERM_LRA 0
#define DRV2605L_FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */
#define DRV2605L_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
#define DRV2605L_RATED_VOLTAGE 3
#define DRV2605L_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.

```c
#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 */
#define DRV2605L_FB_ERM_LRA 1
#define DRV2605L_FB_BRAKEFACTOR 3 /* For 1x:0, 2x:1, 3x:2, 4x:3, 6x:4, 8x:5, 16x:6, Disable Braking:7 */
#define DRV2605L_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 */
#define DRV2605L_RATED_VOLTAGE 2
#define DRV2605L_V_PEAK 2.8
#define DRV2605L_V_RMS 2.0
#define DRV2605L_V_PEAK 2.1
#define DRV2605L_F_LRA 205 /* resonance freq */
```

#### DRV2605L waveform library
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94 changes: 47 additions & 47 deletions drivers/haptic/drv2605l.c
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Expand Up @@ -41,58 +41,58 @@ void drv2605l_init(void) {

// drv2605l_write(DRV2605L_REG_FEEDBACK_CTRL,0xB6);

#if FB_ERM_LRA == 0
#if DRV2605L_FB_ERM_LRA == 0
/* ERM settings */
drv2605l_write(DRV2605L_REG_RATED_VOLTAGE, (RATED_VOLTAGE / 21.33) * 1000);
# if ERM_OPEN_LOOP == 0
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (((V_PEAK * (DRIVE_TIME + BLANKING_TIME + IDISS_TIME)) / 0.02133) / (DRIVE_TIME - 0.0003)));
# elif ERM_OPEN_LOOP == 1
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (V_PEAK / 0.02196));
drv2605l_write(DRV2605L_REG_RATED_VOLTAGE, (DRV2605L_RATED_VOLTAGE / 21.33) * 1000);
# if DRV2605L_ERM_OPEN_LOOP == 0
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (((DRV2605L_V_PEAK * (DRV2605L_DRIVE_TIME + DRV2605L_BLANKING_TIME + DRV2605L_IDISS_TIME)) / 0.02133) / (DRV2605L_DRIVE_TIME - 0.0003)));
# elif DRV2605L_ERM_OPEN_LOOP == 1
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (DRV2605L_V_PEAK / 0.02196));
# endif
#elif FB_ERM_LRA == 1
drv2605l_write(DRV2605L_REG_RATED_VOLTAGE, ((V_RMS * sqrt(1 - ((4 * ((150 + (SAMPLE_TIME * 50)) * 0.000001)) + 0.0003) * F_LRA) / 0.02071)));
# if LRA_OPEN_LOOP == 0
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, ((V_PEAK / sqrt(1 - (F_LRA * 0.0008)) / 0.02133)));
# elif LRA_OPEN_LOOP == 1
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (V_PEAK / 0.02196));
#elif DRV2605L_FB_ERM_LRA == 1
drv2605l_write(DRV2605L_REG_RATED_VOLTAGE, ((DRV2605L_V_RMS * sqrt(1 - ((4 * ((150 + (DRV2605L_SAMPLE_TIME * 50)) * 0.000001)) + 0.0003) * DRV2605L_F_LRA) / 0.02071)));
# if DRV2605L_LRA_OPEN_LOOP == 0
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, ((DRV2605L_V_PEAK / sqrt(1 - (DRV2605L_F_LRA * 0.0008)) / 0.02133)));
# elif DRV2605L_LRA_OPEN_LOOP == 1
drv2605l_write(DRV2605L_REG_OVERDRIVE_CLAMP_VOLTAGE, (DRV2605L_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*/
drv2605l_write(DRV2605L_REG_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;
drv2605l_write(DRV2605L_REG_CTRL1, (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;
drv2605l_write(DRV2605L_REG_CTRL2, (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;
drv2605l_write(DRV2605L_REG_CTRL3, (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;
drv2605l_write(DRV2605L_REG_CTRL4, (uint8_t)C4_SET.Byte);
drv2605l_reg_feedback_ctrl_t reg_feedback_ctrl;
reg_feedback_ctrl.bits.ERM_LRA = DRV2605L_FB_ERM_LRA;
reg_feedback_ctrl.bits.BRAKE_FACTOR = DRV2605L_FB_BRAKEFACTOR;
reg_feedback_ctrl.bits.LOOP_GAIN = DRV2605L_FB_LOOPGAIN;
reg_feedback_ctrl.bits.BEMF_GAIN = 0; /* auto-calibration populates this field*/
drv2605l_write(DRV2605L_REG_FEEDBACK_CTRL, (uint8_t)reg_feedback_ctrl.raw);

drv2605l_reg_ctrl1_t reg_ctrl1;
reg_ctrl1.bits.C1_DRIVE_TIME = DRV2605L_DRIVE_TIME;
reg_ctrl1.bits.C1_AC_COUPLE = DRV2605L_AC_COUPLE;
reg_ctrl1.bits.C1_STARTUP_BOOST = DRV2605L_STARTUP_BOOST;
drv2605l_write(DRV2605L_REG_CTRL1, (uint8_t)reg_ctrl1.raw);

drv2605l_reg_ctrl2_t reg_ctrl2;
reg_ctrl2.bits.C2_BIDIR_INPUT = DRV2605L_BIDIR_INPUT;
reg_ctrl2.bits.C2_BRAKE_STAB = DRV2605L_BRAKE_STAB;
reg_ctrl2.bits.C2_SAMPLE_TIME = DRV2605L_SAMPLE_TIME;
reg_ctrl2.bits.C2_BLANKING_TIME = DRV2605L_BLANKING_TIME;
reg_ctrl2.bits.C2_IDISS_TIME = DRV2605L_IDISS_TIME;
drv2605l_write(DRV2605L_REG_CTRL2, (uint8_t)reg_ctrl2.raw);

drv2605l_reg_ctrl3_t reg_ctrl3;
reg_ctrl3.bits.C3_LRA_OPEN_LOOP = DRV2605L_LRA_OPEN_LOOP;
reg_ctrl3.bits.C3_N_PWM_ANALOG = DRV2605L_N_PWM_ANALOG;
reg_ctrl3.bits.C3_LRA_DRIVE_MODE = DRV2605L_LRA_DRIVE_MODE;
reg_ctrl3.bits.C3_DATA_FORMAT_RTO = DRV2605L_DATA_FORMAT_RTO;
reg_ctrl3.bits.C3_SUPPLY_COMP_DIS = DRV2605L_SUPPLY_COMP_DIS;
reg_ctrl3.bits.C3_ERM_OPEN_LOOP = DRV2605L_ERM_OPEN_LOOP;
reg_ctrl3.bits.C3_NG_THRESH = DRV2605L_NG_THRESH;
drv2605l_write(DRV2605L_REG_CTRL3, (uint8_t)reg_ctrl3.raw);

drv2605l_reg_ctrl4_t reg_ctrl4;
reg_ctrl4.bits.C4_ZC_DET_TIME = DRV2605L_ZC_DET_TIME;
reg_ctrl4.bits.C4_AUTO_CAL_TIME = DRV2605L_AUTO_CAL_TIME;
drv2605l_write(DRV2605L_REG_CTRL4, (uint8_t)reg_ctrl4.raw);

drv2605l_write(DRV2605L_REG_LIBRARY_SELECTION, DRV2605L_LIBRARY);

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