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| author | Robin Howard <robin@rhoward.id.au> | 2024-04-19 16:03:35 +1000 |
|---|---|---|
| committer | Robin Howard <robin@rhoward.id.au> | 2024-04-19 16:03:53 +1000 |
| commit | 7c075cf5b776feaed2065f936dff0c176635b89d (patch) | |
| tree | d89dae49799dc684a9870361117789085b132854 /src/drivers/include/haptics.hpp | |
| parent | e39754ba105213c133407e2dacb5fd31f3873e4c (diff) | |
| download | tangara-fw-7c075cf5b776feaed2065f936dff0c176635b89d.tar.gz | |
Adds LRA haptic support (open-loop only for now).
Diffstat (limited to 'src/drivers/include/haptics.hpp')
| -rw-r--r-- | src/drivers/include/haptics.hpp | 24 |
1 files changed, 19 insertions, 5 deletions
diff --git a/src/drivers/include/haptics.hpp b/src/drivers/include/haptics.hpp index cf970977..940c3c6d 100644 --- a/src/drivers/include/haptics.hpp +++ b/src/drivers/include/haptics.hpp @@ -11,13 +11,24 @@ #include <mutex> #include <optional> #include <string> +#include <variant> namespace drivers { +typedef std::monostate ErmMotor; +struct LraMotor { + // TODO: fill out with calibration data from https://www.ti.com/lit/ds/symlink/drv2605l.pdf + bool hi; +}; + class Haptics { public: - static auto Create() -> Haptics* { return new Haptics(); } - Haptics(); + static auto Create(const std::variant<ErmMotor, LraMotor>& motor) + -> Haptics* { + return new Haptics(motor); + } + + Haptics(const std::variant<ErmMotor, LraMotor>& motor); ~Haptics(); // Not copyable or movable. @@ -169,11 +180,12 @@ class Haptics { B = 2, // 3V, Rise: 40-60ms, Brake: 5-15ms C = 3, // 3V, Rise: 60-80ms, Brake: 10-20ms D = 4, // 3V, Rise: 100-140ms, Brake: 15-25ms - E = 5 // 3V, Rise: >140ms, Brake: >30ms - // 6 is LRA-only, 7 is 4.5V+ + E = 5, // 3V, Rise: >140ms, Brake: >30ms + LRA = 6 + // 7 is 4.5V+ }; - static constexpr Library kDefaultLibrary = Library::C; + static constexpr Library kDefaultErmLibrary = Library::C; auto PowerDown() -> void; auto Reset() -> void; @@ -216,8 +228,10 @@ class Haptics { struct ControlMask { // FeedbackControl static constexpr uint8_t kNErmLra = 0b10000000; + // Control3 static constexpr uint8_t kErmOpenLoop = 0b00100000; + static constexpr uint8_t kLraOpenLoop = 0b00000001; }; // ยง8.6 Register Map |