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Diffstat (limited to 'src/drivers/include')
| -rw-r--r-- | src/drivers/include/haptics.hpp | 316 |
1 files changed, 316 insertions, 0 deletions
diff --git a/src/drivers/include/haptics.hpp b/src/drivers/include/haptics.hpp new file mode 100644 index 00000000..dfafa2eb --- /dev/null +++ b/src/drivers/include/haptics.hpp @@ -0,0 +1,316 @@ +/* + * Copyright 2023 jacqueline <me@jacqueline.id.au>, robin <robin@rhoward.id.au> + * + * SPDX-License-Identifier: GPL-3.0-only + */ + +#pragma once + +#include <stdint.h> +#include <initializer_list> +#include <mutex> +#include <optional> + +namespace drivers { + +class Haptics { + public: + static auto Create() -> Haptics* { return new Haptics(); } + Haptics(); + ~Haptics(); + + // Not copyable or movable. + Haptics(const Haptics&) = delete; + Haptics& operator=(const Haptics&) = delete; + + // See the datasheet for section references in the below comments: + // https://www.ti.com/lit/ds/symlink/drv2605l.pdf + + // §12.1.2 Waveform Library Effects List + enum class Effect { + kStop = 0, // Sentinel/terminator Effect for the Waveform Sequence Slots + kStrongClick_100Pct = 1, + kStrongClick_60Pct = 2, + kStrongClick_30Pct = 3, + kSharpClick_100Pct = 4, + kSharpClick_60Pct = 5, + kSharpClick_30Pct = 6, + kSoftBump_100Pct = 7, + kSoftBump_60Pct = 8, + kSoftBump_30Pct = 9, + kDoubleClick_100Pct = 10, + kDoubleClick_60Pct = 11, + kTripleClick_100Pct = 12, + kSoftFuzz_60Pct = 13, + kStrongBuzz_100Pct = 14, + k750msAlert_100Pct = 15, + k1000msAlert_100Pct = 16, + kStrongClick1_100Pct = 17, + kStrongClick2_80Pct = 18, + kStrongClick3_60Pct = 19, + kStrongClick4_30Pct = 20, + kMediumClick1_100Pct = 21, + kMediumClick2_80Pct = 22, + kMediumClick3_60Pct = 23, + kSharpTick1_100Pct = 24, + kSharpTick2_80Pct = 25, + kSharpTick3_60Pct = 26, + kShortDoubleClickStrong1_100Pct = 27, + kShortDoubleClickStrong2_80Pct = 28, + kShortDoubleClickStrong3_60Pct = 29, + kShortDoubleClickStrong4_30Pct = 30, + kShortDoubleClickMedium1_100Pct = 31, + kShortDoubleClickMedium2_80Pct = 32, + kShortDoubleClickMedium3_60Pct = 33, + kShortDoubleSharpTick1_100Pct = 34, + kShortDoubleSharpTick2_80Pct = 35, + kShortDoubleSharpTick3_60Pct = 36, + kLongDoubleSharpClickStrong1_100Pct = 37, + kLongDoubleSharpClickStrong2_80Pct = 38, + kLongDoubleSharpClickStrong3_60Pct = 39, + kLongDoubleSharpClickStrong4_30Pct = 40, + kLongDoubleSharpClickMedium1_100Pct = 41, + kLongDoubleSharpClickMedium2_80Pct = 42, + kLongDoubleSharpClickMedium3_60Pct = 43, + kLongDoubleSharpTick1_100Pct = 44, + kLongDoubleSharpTick2_80Pct = 45, + kLongDoubleSharpTick3_60Pct = 46, + kBuzz1_100Pct = 47, + kBuzz2_80Pct = 48, + kBuzz3_60Pct = 49, + kBuzz4_40Pct = 50, + kBuzz5_20Pct = 51, + kPulsingStrong1_100Pct = 52, + kPulsingStrong2_60Pct = 53, + kPulsingMedium1_100Pct = 54, + kPulsingMedium2_60Pct = 55, + kPulsingSharp1_100Pct = 56, + kPulsingSharp2_60Pct = 57, + kTransitionClick1_100Pct = 58, + kTransitionClick2_80Pct = 59, + kTransitionClick3_60Pct = 60, + kTransitionClick4_40Pct = 61, + kTransitionClick5_20Pct = 62, + kTransitionClick6_10Pct = 63, + kTransitionHum1_100Pct = 64, + kTransitionHum2_80Pct = 65, + kTransitionHum3_60Pct = 66, + kTransitionHum4_40Pct = 67, + kTransitionHum5_20Pct = 68, + kTransitionHum6_10Pct = 69, + kTransitionRampDownLongSmooth1_100to0Pct = 70, + kTransitionRampDownLongSmooth2_100to0Pct = 71, + kTransitionRampDownMediumSmooth1_100to0Pct = 72, + kTransitionRampDownMediumSmooth2_100to0Pct = 73, + kTransitionRampDownShortSmooth1_100to0Pct = 74, + kTransitionRampDownShortSmooth2_100to0Pct = 75, + kTransitionRampDownLongSharp1_100to0Pct = 76, + kTransitionRampDownLongSharp2_100to0Pct = 77, + kTransitionRampDownMediumSharp1_100to0Pct = 78, + kTransitionRampDownMediumSharp2_100to0Pct = 79, + kTransitionRampDownShortSharp1_100to0Pct = 80, + kTransitionRampDownShortSharp2_100to0Pct = 81, + kTransitionRampUpLongSmooth1_0to100Pct = 82, + kTransitionRampUpLongSmooth2_0to100Pct = 83, + kTransitionRampUpMediumSmooth1_0to100Pct = 84, + kTransitionRampUpMediumSmooth2_0to100Pct = 85, + kTransitionRampUpShortSmooth1_0to100Pct = 86, + kTransitionRampUpShortSmooth2_0to100Pct = 87, + kTransitionRampUpLongSharp1_0to100Pct = 88, + kTransitionRampUpLongSharp2_0to100Pct = 89, + kTransitionRampUpMediumSharp1_0to100Pct = 90, + kTransitionRampUpMediumSharp2_0to100Pct = 91, + kTransitionRampUpShortSharp1_0to100Pct = 92, + kTransitionRampUpShortSharp2_0to100Pct = 93, + kTransitionRampDownLongSmooth1_50to0Pct = 94, + kTransitionRampDownLongSmooth2_50to0Pct = 95, + kTransitionRampDownMediumSmooth1_50to0Pct = 96, + kTransitionRampDownMediumSmooth2_50to0Pct = 97, + kTransitionRampDownShortSmooth1_50to0Pct = 98, + kTransitionRampDownShortSmooth2_50to0Pct = 99, + kTransitionRampDownLongSharp1_50to0Pct = 100, + kTransitionRampDownLongSharp2_50to0Pct = 101, + kTransitionRampDownMediumSharp1_50to0Pct = 102, + kTransitionRampDownMediumSharp2_50to0Pct = 103, + kTransitionRampDownShortSharp1_50to0Pct = 104, + kTransitionRampDownShortSharp2_50to0Pct = 105, + kTransitionRampUpLongSmooth_10to50Pct = 106, + kTransitionRampUpLongSmooth_20to50Pct = 107, + kTransitionRampUpMediumSmooth_10to50Pct = 108, + kTransitionRampUpMediumSmooth_20to50Pct = 109, + kTransitionRampUpShortSmooth_10to50Pct = 110, + kTransitionRampUpShortSmooth_20to50Pct = 111, + kTransitionRampUpLongSharp_10to50Pct = 112, + kTransitionRampUpLongSharp_20to50Pct = 113, + kTransitionRampUpMediumSharp_10to50Pct = 114, + kTransitionRampUpMediumSharp_20to50Pct = 115, + kTransitionRampUpShortSharp_10to50Pct = 116, + kTransitionRampUpShortSharp_20to50Pct = 117, + kSmoothHum1NoKickOrBrakePulse_50Pct = 119, + kSmoothHum2NoKickOrBrakePulse_40Pct = 120, + kSmoothHum3NoKickOrBrakePulse_30Pct = 121, + kSmoothHum4NoKickOrBrakePulse_20Pct = 122, + kSmoothHum5NoKickOrBrakePulse_10Pct = 123, + + // We can't use this one; need to have the EN pin hooked up. + kDontUseThis_Longbuzzforprogrammaticstopping_100Pct = 118, + + kFirst = kStrongClick_100Pct, + kLast = kSmoothHum5NoKickOrBrakePulse_10Pct, + }; + + static constexpr Effect kStartupEffect = Effect::kLongDoubleSharpTick1_100Pct; + + // §8.3.5.2 Internal Memory Interface + // Pick the ERM Library matching the motor. + enum class Library : uint8_t { + A = 1, // 1.3V-3V, Rise: 40-60ms, Brake: 20-40ms + 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+ + }; + + static constexpr Library kDefaultLibrary = Library::C; + + auto PowerDown() -> void; + auto Reset() -> void; + + auto PlayWaveformEffect(Effect effect) -> void; + + // Play a range of Effects + auto TourEffects() -> void; + auto TourEffects(Effect from, Effect to) -> void; + auto TourEffects(Library lib) -> void; + auto TourEffects(Effect from, Effect to, Library lib) -> void; + + // Play a range of Effects to all the Libraries we support. + // TODO(robin): remove; I'm leaving this around for temporary testing + auto TourLibraries(Effect from, Effect to) -> void; + + private: + std::optional<Effect> current_effect_; + std::mutex playing_effect_; + + // §8.4.2 Changing Modes of Operation + enum class Mode : uint8_t { + kInternalTrigger = 0, + kExternalTriggerEdge = 1, + kExternalTriggerLevel = 2, + kPwmAnalog = 3, + kAudioToVibe = 4, + kRealtimePlayback = 5, + kDiagnostics = 6, + kAutoCalibrate = 7, + }; + + struct ModeMask { + // §8.4.1.4 Operation With STANDBY Control + static constexpr uint8_t kStandby = 0b01000000; + // §8.4.1.5 Operation With DEV_RESET Control + static constexpr uint8_t kDevReset = 0b10000000; + }; + + struct ControlMask { + // Control1 + static constexpr uint8_t kNErmLra = 0b10000000; + // Control3 + static constexpr uint8_t kErmOpenLoop = 0b00100000; + }; + + // §8.6 Register Map + enum class Register { + kStatus = 0x00, + kMode = 0x01, + + kRealtimePlaybackInput = 0x02, + kWaveformLibrary = 0x03, // see Library enum + + kWaveformSequenceSlot1 = 0x04, + kWaveformSequenceSlot2 = 0x05, + kWaveformSequenceSlot3 = 0x06, + kWaveformSequenceSlot4 = 0x07, + kWaveformSequenceSlot5 = 0x08, + kWaveformSequenceSlot6 = 0x09, + kWaveformSequenceSlot7 = 0x0a, + kWaveformSequenceSlot8 = 0x0b, + + kGo = 0x0C, + + // §8.3.5.2.2 Library Parameterization + kOverdriveTimeOffset = 0x0D, + kSustainTimeOffsetPositive = 0x0E, + kSustainTimeOffsetNegative = 0x0F, + kBrakeTimeOffset = 0x10, + kAudioToVibeControl = 0x11, + + kAudioToVibeInputLevelMin = 0x12, + kAudioToVibeInputLevelMax = 0x13, + kAudioToVibeOutputLevelMin = 0x14, + kAudioToVibeOutputLevelMax = 0x15, + kRatedVoltage = 0x16, + kOverdriveClampVoltage = 0x17, + kAutoCalibrationCompensationResult = 0x18, + kAutoCalibrationBackEmfResult = 0x19, + + // A bunch of different options, not grouped + // in any particular sensible way + kControl1 = 0x1A, + kControl2 = 0x1B, + kControl3 = 0x1C, + kControl4 = 0x1D, + kControl5 = 0x1E, + kControl6 = 0x1F, + + kSupplyVoltageMonitor = 0x21, // "VBAT" + kLraResonancePeriod = 0x22, + }; + + enum class RegisterDefaults : uint8_t { + kStatus = 0xE0, + kMode = 0x40, + kRealtimePlaybackInput = 0, + kWaveformLibrary = 0x01, + kWaveformSequenceSlot1 = 0x01, + kWaveformSequenceSlot2 = 0, + kWaveformSequenceSlot3 = 0, + kWaveformSequenceSlot4 = 0, + kWaveformSequenceSlot5 = 0, + kWaveformSequenceSlot6 = 0, + kWaveformSequenceSlot7 = 0, + kWaveformSequenceSlot8 = 0, + kGo = 0, + kOverdriveTimeOffset = 0, + kSustainTimeOffsetPositive = 0, + kSustainTimeOffsetNegative = 0, + kBrakeTimeOffset = 0, + kAudioToVibeControl = 0x05, + kAudioToVibeInputLevelMin = 0x19, + kAudioToVibeInputLevelMax = 0xFF, + kAudioToVibeOutputLevelMin = 0x19, + kAudioToVibeOutputLevelMax = 0xFF, + kRatedVoltage = 0x3E, + kOverdriveClampVoltage = 0x8C, + kAutoCalibrationCompensationResult = 0x0C, + kAutoCalibrationBackEmfResult = 0x6C, + kControl1 = 0x36, + kControl2 = 0x93, + kControl3 = 0xF5, + kControl4 = 0xA0, + kControl5 = 0x20, + kControl6 = 0x80, + kSupplyVoltageMonitor = 0, + kLraResonancePeriod = 0, + }; + + auto PowerUp() -> void; + auto WriteRegister(Register reg, uint8_t val) -> void; + + auto SetWaveformEffect(Effect effect) -> void; + auto Go() -> void; + + auto EffectToLabel(Effect effect) -> std::string; +}; + +} // namespace drivers |