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Diffstat (limited to 'src/drivers/haptics.cpp')
| -rw-r--r-- | src/drivers/haptics.cpp | 422 |
1 files changed, 422 insertions, 0 deletions
diff --git a/src/drivers/haptics.cpp b/src/drivers/haptics.cpp new file mode 100644 index 00000000..542c85bc --- /dev/null +++ b/src/drivers/haptics.cpp @@ -0,0 +1,422 @@ +/* + * Copyright 2023 jacqueline <me@jacqueline.id.au>, robin <robin@rhoward.id.au> + * + * SPDX-License-Identifier: GPL-3.0-only + */ + +#include "haptics.hpp" +#include <stdint.h> + +#include <cstdint> +#include <initializer_list> +#include <mutex> + +#include "assert.h" +#include "driver/gpio.h" +#include "driver/i2c.h" +#include "esp_err.h" +#include "esp_log.h" +#include "freertos/projdefs.h" +#include "hal/gpio_types.h" +#include "hal/i2c_types.h" + +#include "i2c.hpp" + +namespace drivers { + +static constexpr char kTag[] = "haptics"; +static constexpr uint8_t kHapticsAddress = 0x5A; + +Haptics::Haptics() { + // TODO(robin): is this needed? + vTaskDelay(pdMS_TO_TICKS(300)); + + PowerUp(); + + // Put into ERM Open Loop: + // (§8.5.4.1 Programming for ERM Open-Loop Operation) + // - Turn off N_ERM_LRA first + WriteRegister(Register::kControl1, + static_cast<uint8_t>(RegisterDefaults::kControl1) & + (~ControlMask::kNErmLra)); + // - Turn on ERM_OPEN_LOOP + WriteRegister(Register::kControl3, + static_cast<uint8_t>(RegisterDefaults::kControl3) | + ControlMask::kErmOpenLoop); + + // Set library + // TODO(robin): try the other libraries and test response. C is marginal, D + // too much? + WriteRegister(Register::kWaveformLibrary, static_cast<uint8_t>(kDefaultLibrary)); + + // Set mode (internal trigger, on writing 1 to Go register) + WriteRegister(Register::kMode, static_cast<uint8_t>(Mode::kInternalTrigger)); + + // Set up a default effect (sequence of one effect) + SetWaveformEffect(kStartupEffect); +} + +Haptics::~Haptics() {} + +void Haptics::WriteRegister(Register reg, uint8_t val) { + uint8_t regRaw = static_cast<uint8_t>(reg); + I2CTransaction transaction; + transaction.start() + .write_addr(kHapticsAddress, I2C_MASTER_WRITE) + .write_ack(regRaw, val) + .stop(); + esp_err_t res = transaction.Execute(1); + if (res != ESP_OK) { + ESP_LOGW(kTag, "write failed: %s", esp_err_to_name(res)); + } +} + +auto Haptics::PlayWaveformEffect(Effect effect) -> void { + const std::lock_guard<std::mutex> lock{playing_effect_}; // locks until freed + + SetWaveformEffect(effect); + Go(); +} + +// Starts the pre-programmed sequence +auto Haptics::Go() -> void { + WriteRegister(Register::kGo, + static_cast<uint8_t>(RegisterDefaults::kGo) | 0b00000001); +} + +auto Haptics::SetWaveformEffect(Effect effect) -> void { + if (!current_effect_ || current_effect_.value() != effect) { + WriteRegister(Register::kWaveformSequenceSlot1, + static_cast<uint8_t>(effect)); + WriteRegister(Register::kWaveformSequenceSlot2, + static_cast<uint8_t>(Effect::kStop)); + } + current_effect_ = effect; +} + + +auto Haptics::TourEffects() -> void { + TourEffects(Effect::kFirst, Effect::kLast, kDefaultLibrary); +} +auto Haptics::TourEffects(Library lib) -> void { + TourEffects(Effect::kFirst, Effect::kLast, lib); +} +auto Haptics::TourEffects(Effect from, Effect to) -> void { + TourEffects(from, to, kDefaultLibrary); +} +auto Haptics::TourEffects(Effect from, Effect to, Library lib) -> void { + ESP_LOGI(kTag, "With library #%u...", static_cast<uint8_t>(lib)); + + for (uint8_t e = static_cast<uint8_t>(from); + e <= static_cast<uint8_t>(to) && + e <= static_cast<uint8_t>(Effect::kLast); + e++) { + auto effect = static_cast<Effect>(e); + auto label = EffectToLabel(effect); + + if (effect == Effect::kDontUseThis_Longbuzzforprogrammaticstopping_100Pct) { + ESP_LOGI(kTag, "Ignoring effect '%s'...", label.c_str()); + continue; + } + + ESP_LOGI(kTag, "Playing effect #%u: %s", e, label.c_str()); + PlayWaveformEffect(effect); + Go(); + + vTaskDelay(pdMS_TO_TICKS(800 /*ms*/)); + } +} + +auto Haptics::TourLibraries(Effect from, Effect to) -> void { + for (uint8_t lib = 1; lib <= 5; lib++) { + WriteRegister(Register::kWaveformLibrary, lib); + + for (auto e = static_cast<uint8_t>(Effect::kFirst); + e <= static_cast<uint8_t>(Effect::kLast); e++) { + auto effect = static_cast<Effect>(e); + ESP_LOGI(kTag, "Library %u, Effect: %s", lib, + EffectToLabel(effect).c_str()); + + PlayWaveformEffect(effect); + Go(); + + vTaskDelay(pdMS_TO_TICKS(800 /*ms*/)); + } + } +} + + +auto Haptics::PowerDown() -> void { + WriteRegister(Register::kMode, static_cast<uint8_t>(Mode::kInternalTrigger) | + ModeMask::kStandby); +} + +auto Haptics::Reset() -> void { + WriteRegister(Register::kMode, static_cast<uint8_t>(Mode::kInternalTrigger) | + ModeMask::kDevReset); +} + +auto Haptics::PowerUp() -> void { + // FIXME: technically overwriting the RESERVED bits of Mode, but eh + uint8_t newMask = static_cast<uint8_t>(Mode::kInternalTrigger) & + (~ModeMask::kStandby) & (~ModeMask::kDevReset); + WriteRegister(Register::kMode, + static_cast<uint8_t>(RegisterDefaults::kMode) | newMask); +} + +auto Haptics::EffectToLabel(Effect effect) -> std::string { + switch (static_cast<Effect>(effect)) { + case Effect::kStrongClick_100Pct: + return "Strong Click - 100%"; + case Effect::kStrongClick_60Pct: + return "Strong Click (60%)"; + case Effect::kStrongClick_30Pct: + return "Strong Click (30%)"; + case Effect::kSharpClick_100Pct: + return "Sharp Click (100%)"; + case Effect::kSharpClick_60Pct: + return "Sharp Click (60%)"; + case Effect::kSharpClick_30Pct: + return "Sharp Click (30%)"; + case Effect::kSoftBump_100Pct: + return "Soft Bump (100%)"; + case Effect::kSoftBump_60Pct: + return "Soft Bump (60%)"; + case Effect::kSoftBump_30Pct: + return "Soft Bump (30%)"; + case Effect::kDoubleClick_100Pct: + return "Double Click (100%)"; + case Effect::kDoubleClick_60Pct: + return "Double Click (60%)"; + case Effect::kTripleClick_100Pct: + return "Triple Click (100%)"; + case Effect::kSoftFuzz_60Pct: + return "Soft Fuzz (60%)"; + case Effect::kStrongBuzz_100Pct: + return "Strong Buzz (100%)"; + case Effect::k750msAlert_100Pct: + return "750ms Alert (100%)"; + case Effect::k1000msAlert_100Pct: + return "1000ms Alert (100%)"; + case Effect::kStrongClick1_100Pct: + return "Strong Click1 (100%)"; + case Effect::kStrongClick2_80Pct: + return "Strong Click2 (80%)"; + case Effect::kStrongClick3_60Pct: + return "Strong Click3 (60%)"; + case Effect::kStrongClick4_30Pct: + return "Strong Click4 (30%)"; + case Effect::kMediumClick1_100Pct: + return "Medium Click1 (100%)"; + case Effect::kMediumClick2_80Pct: + return "Medium Click2 (80%)"; + case Effect::kMediumClick3_60Pct: + return "Medium Click3 (60%)"; + case Effect::kSharpTick1_100Pct: + return "Sharp Tick1 (100%)"; + case Effect::kSharpTick2_80Pct: + return "Sharp Tick2 (80%)"; + case Effect::kSharpTick3_60Pct: + return "Sharp Tick3 (60%)"; + case Effect::kShortDoubleClickStrong1_100Pct: + return "Short Double Click Strong1 (100%)"; + case Effect::kShortDoubleClickStrong2_80Pct: + return "Short Double Click Strong2 (80%)"; + case Effect::kShortDoubleClickStrong3_60Pct: + return "Short Double Click Strong3 (60%)"; + case Effect::kShortDoubleClickStrong4_30Pct: + return "Short Double Click Strong4 (30%)"; + case Effect::kShortDoubleClickMedium1_100Pct: + return "Short Double Click Medium1 (100%)"; + case Effect::kShortDoubleClickMedium2_80Pct: + return "Short Double Click Medium2 (80%)"; + case Effect::kShortDoubleClickMedium3_60Pct: + return "Short Double Click Medium3 (60%)"; + case Effect::kShortDoubleSharpTick1_100Pct: + return "Short Double Sharp Tick1 (100%)"; + case Effect::kShortDoubleSharpTick2_80Pct: + return "Short Double Sharp Tick2 (80%)"; + case Effect::kShortDoubleSharpTick3_60Pct: + return "Short Double Sharp Tick3 (60%)"; + case Effect::kLongDoubleSharpClickStrong1_100Pct: + return "Long Double Sharp Click Strong1 (100%)"; + case Effect::kLongDoubleSharpClickStrong2_80Pct: + return "Long Double Sharp Click Strong2 (80%)"; + case Effect::kLongDoubleSharpClickStrong3_60Pct: + return "Long Double Sharp Click Strong3 (60%)"; + case Effect::kLongDoubleSharpClickStrong4_30Pct: + return "Long Double Sharp Click Strong4 (30%)"; + case Effect::kLongDoubleSharpClickMedium1_100Pct: + return "Long Double Sharp Click Medium1 (100%)"; + case Effect::kLongDoubleSharpClickMedium2_80Pct: + return "Long Double Sharp Click Medium2 (80%)"; + case Effect::kLongDoubleSharpClickMedium3_60Pct: + return "Long Double Sharp Click Medium3 (60%)"; + case Effect::kLongDoubleSharpTick1_100Pct: + return "Long Double Sharp Tick1 (100%)"; + case Effect::kLongDoubleSharpTick2_80Pct: + return "Long Double Sharp Tick2 (80%)"; + case Effect::kLongDoubleSharpTick3_60Pct: + return "Long Double Sharp Tick3 (60%)"; + case Effect::kBuzz1_100Pct: + return "Buzz1 (100%)"; + case Effect::kBuzz2_80Pct: + return "Buzz2 (80%)"; + case Effect::kBuzz3_60Pct: + return "Buzz3 (60%)"; + case Effect::kBuzz4_40Pct: + return "Buzz4 (40%)"; + case Effect::kBuzz5_20Pct: + return "Buzz5 (20%)"; + case Effect::kPulsingStrong1_100Pct: + return "Pulsing Strong1 (100%)"; + case Effect::kPulsingStrong2_60Pct: + return "Pulsing Strong2 (60%)"; + case Effect::kPulsingMedium1_100Pct: + return "Pulsing Medium1 (100%)"; + case Effect::kPulsingMedium2_60Pct: + return "Pulsing Medium2 (60%)"; + case Effect::kPulsingSharp1_100Pct: + return "Pulsing Sharp1 (100%)"; + case Effect::kPulsingSharp2_60Pct: + return "Pulsing Sharp2 (60%)"; + case Effect::kTransitionClick1_100Pct: + return "Transition Click1 (100%)"; + case Effect::kTransitionClick2_80Pct: + return "Transition Click2 (80%)"; + case Effect::kTransitionClick3_60Pct: + return "Transition Click3 (60%)"; + case Effect::kTransitionClick4_40Pct: + return "Transition Click4 (40%)"; + case Effect::kTransitionClick5_20Pct: + return "Transition Click5 (20%)"; + case Effect::kTransitionClick6_10Pct: + return "Transition Click6 (10%)"; + case Effect::kTransitionHum1_100Pct: + return "Transition Hum1 (100%)"; + case Effect::kTransitionHum2_80Pct: + return "Transition Hum2 (80%)"; + case Effect::kTransitionHum3_60Pct: + return "Transition Hum3 (60%)"; + case Effect::kTransitionHum4_40Pct: + return "Transition Hum4 (40%)"; + case Effect::kTransitionHum5_20Pct: + return "Transition Hum5 (20%)"; + case Effect::kTransitionHum6_10Pct: + return "Transition Hum6 (10%)"; + + // TODO: fix labels for XtoY-style + case Effect::kTransitionRampDownLongSmooth1_100to0Pct: + return "Transition Ramp Down Long Smooth1 (100→0%)"; + case Effect::kTransitionRampDownLongSmooth2_100to0Pct: + return "Transition Ramp Down Long Smooth2 (100→0%)"; + case Effect::kTransitionRampDownMediumSmooth1_100to0Pct: + return "Transition Ramp Down Medium Smooth1 (100→0%)"; + case Effect::kTransitionRampDownMediumSmooth2_100to0Pct: + return "Transition Ramp Down Medium Smooth2 (100→0%)"; + case Effect::kTransitionRampDownShortSmooth1_100to0Pct: + return "Transition Ramp Down Short Smooth1 (100→0%)"; + case Effect::kTransitionRampDownShortSmooth2_100to0Pct: + return "Transition Ramp Down Short Smooth2 (100→0%)"; + case Effect::kTransitionRampDownLongSharp1_100to0Pct: + return "Transition Ramp Down Long Sharp1 (100→0%)"; + case Effect::kTransitionRampDownLongSharp2_100to0Pct: + return "Transition Ramp Down Long Sharp2 (100→0%)"; + case Effect::kTransitionRampDownMediumSharp1_100to0Pct: + return "Transition Ramp Down Medium Sharp1 (100→0%)"; + case Effect::kTransitionRampDownMediumSharp2_100to0Pct: + return "Transition Ramp Down Medium Sharp2 (100→0%)"; + case Effect::kTransitionRampDownShortSharp1_100to0Pct: + return "Transition Ramp Down Short Sharp1 (100→0%)"; + case Effect::kTransitionRampDownShortSharp2_100to0Pct: + return "Transition Ramp Down Short Sharp2 (100→0%)"; + case Effect::kTransitionRampUpLongSmooth1_0to100Pct: + return "Transition Ramp Up Long Smooth1 (0→100%)"; + case Effect::kTransitionRampUpLongSmooth2_0to100Pct: + return "Transition Ramp Up Long Smooth2 (0→100%)"; + case Effect::kTransitionRampUpMediumSmooth1_0to100Pct: + return "Transition Ramp Up Medium Smooth1 (0→100%)"; + case Effect::kTransitionRampUpMediumSmooth2_0to100Pct: + return "Transition Ramp Up Medium Smooth2 (0→100%)"; + case Effect::kTransitionRampUpShortSmooth1_0to100Pct: + return "Transition Ramp Up Short Smooth1 (0→100%)"; + case Effect::kTransitionRampUpShortSmooth2_0to100Pct: + return "Transition Ramp Up Short Smooth2 (0→100%)"; + case Effect::kTransitionRampUpLongSharp1_0to100Pct: + return "Transition Ramp Up Long Sharp1 (0→100%)"; + case Effect::kTransitionRampUpLongSharp2_0to100Pct: + return "Transition Ramp Up Long Sharp2 (0→100%)"; + case Effect::kTransitionRampUpMediumSharp1_0to100Pct: + return "Transition Ramp Up Medium Sharp1 (0→100%)"; + case Effect::kTransitionRampUpMediumSharp2_0to100Pct: + return "Transition Ramp Up Medium Sharp2 (0→100%)"; + case Effect::kTransitionRampUpShortSharp1_0to100Pct: + return "Transition Ramp Up Short Sharp1 (0→100%)"; + case Effect::kTransitionRampUpShortSharp2_0to100Pct: + return "Transition Ramp Up Short Sharp2 (0→100%)"; + case Effect::kTransitionRampDownLongSmooth1_50to0Pct: + return "Transition Ramp Down Long Smooth1 (50→0%)"; + case Effect::kTransitionRampDownLongSmooth2_50to0Pct: + return "Transition Ramp Down Long Smooth2 (50→0%)"; + case Effect::kTransitionRampDownMediumSmooth1_50to0Pct: + return "Transition Ramp Down Medium Smooth1 (50→0%)"; + case Effect::kTransitionRampDownMediumSmooth2_50to0Pct: + return "Transition Ramp Down Medium Smooth2 (50→0%)"; + case Effect::kTransitionRampDownShortSmooth1_50to0Pct: + return "Transition Ramp Down Short Smooth1 (50→0%)"; + case Effect::kTransitionRampDownShortSmooth2_50to0Pct: + return "Transition Ramp Down Short Smooth2 (50→0%)"; + case Effect::kTransitionRampDownLongSharp1_50to0Pct: + return "Transition Ramp Down Long Sharp1 (50→0%)"; + case Effect::kTransitionRampDownLongSharp2_50to0Pct: + return "Transition Ramp Down Long Sharp2 (50→0%)"; + case Effect::kTransitionRampDownMediumSharp1_50to0Pct: + return "Transition Ramp Down Medium Sharp1 (50→0%)"; + case Effect::kTransitionRampDownMediumSharp2_50to0Pct: + return "Transition Ramp Down Medium Sharp2 (50→0%)"; + case Effect::kTransitionRampDownShortSharp1_50to0Pct: + return "Transition Ramp Down Short Sharp1 (50→0%)"; + case Effect::kTransitionRampDownShortSharp2_50to0Pct: + return "Transition Ramp Down Short Sharp2 (50→0%)"; + case Effect::kTransitionRampUpLongSmooth_10to50Pct: + return "Transition Ramp Up Long Smooth10to (10→50%)"; + case Effect::kTransitionRampUpLongSmooth_20to50Pct: + return "Transition Ramp Up Long Smooth20to (10→50%)"; + case Effect::kTransitionRampUpMediumSmooth_10to50Pct: + return "Transition Ramp Up Medium Smooth (10→50%)"; + case Effect::kTransitionRampUpMediumSmooth_20to50Pct: + return "Transition Ramp Up Medium Smooth (20→50%)"; + case Effect::kTransitionRampUpShortSmooth_10to50Pct: + return "Transition Ramp Up Short Smooth (10→50%)"; + case Effect::kTransitionRampUpShortSmooth_20to50Pct: + return "Transition Ramp Up Short Smooth (20→50%)"; + case Effect::kTransitionRampUpLongSharp_10to50Pct: + return "Transition Ramp Up Long Sharp (10→50%)"; + case Effect::kTransitionRampUpLongSharp_20to50Pct: + return "Transition Ramp Up Long Sharp (20→50%)"; + case Effect::kTransitionRampUpMediumSharp_10to50Pct: + return "Transition Ramp Up Medium Sharp (10→50%)"; + case Effect::kTransitionRampUpMediumSharp_20to50Pct: + return "Transition Ramp Up Medium Sharp (20→50%)"; + case Effect::kTransitionRampUpShortSharp_10to50Pct: + return "Transition Ramp Up Short Sharp (10→50%)"; + case Effect::kTransitionRampUpShortSharp_20to50Pct: + return "Transition Ramp Up Short Sharp (20→50%)"; + case Effect::kDontUseThis_Longbuzzforprogrammaticstopping_100Pct: + return "DON'T USE: Long Buzz for Programmatic Stopping (100%)"; + case Effect::kSmoothHum1NoKickOrBrakePulse_50Pct: + return "Smooth Hum1 No Kick Or Brake Pulse (50%)"; + case Effect::kSmoothHum2NoKickOrBrakePulse_40Pct: + return "Smooth Hum2 No Kick Or Brake Pulse (40%)"; + case Effect::kSmoothHum3NoKickOrBrakePulse_30Pct: + return "Smooth Hum3 No Kick Or Brake Pulse (30%)"; + case Effect::kSmoothHum4NoKickOrBrakePulse_20Pct: + return "Smooth Hum4 No Kick Or Brake Pulse (20%)"; + case Effect::kSmoothHum5NoKickOrBrakePulse_10Pct: + return "Smooth Hum5 No Kick Or Brake Pulse (10%)"; + default: + return "UNKNOWN EFFECT"; + } +} + +} // namespace drivers |