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-rw-r--r--src/drivers/haptics.cpp72
-rw-r--r--src/drivers/include/drivers/haptics.hpp16
-rw-r--r--src/drivers/include/drivers/nvs.hpp13
-rw-r--r--src/drivers/nvs.cpp61
-rw-r--r--src/tangara/system_fsm/booting.cpp14
5 files changed, 128 insertions, 48 deletions
diff --git a/src/drivers/haptics.cpp b/src/drivers/haptics.cpp
index b2e38634..8e8e5fed 100644
--- a/src/drivers/haptics.cpp
+++ b/src/drivers/haptics.cpp
@@ -15,6 +15,7 @@
#include "assert.h"
#include "driver/gpio.h"
#include "driver/i2c.h"
+#include "drivers/nvs.hpp"
#include "esp_err.h"
#include "esp_log.h"
#include "freertos/projdefs.h"
@@ -28,11 +29,11 @@ namespace drivers {
static constexpr char kTag[] = "haptics";
static constexpr uint8_t kHapticsAddress = 0x5A;
-Haptics::Haptics(const std::variant<ErmMotor, LraMotor>& motor) {
- // Bring the driver out of standby, and put it into auto-calibration mode.
+Haptics::Haptics(NvsStorage& nvs) {
+ // Bring the driver out of standby, and put it into calibration mode.
WriteRegister(Register::kMode, 0b00000111);
- if (std::holds_alternative<ErmMotor>(motor)) {
+ if (nvs.HapticMotorIsErm()) {
ESP_LOGI(kTag, "Setting up ERM motor...");
// Put into ERM Open Loop:
@@ -54,10 +55,8 @@ Haptics::Haptics(const std::variant<ErmMotor, LraMotor>& motor) {
WriteRegister(Register::kWaveformLibrary,
static_cast<uint8_t>(kDefaultErmLibrary));
- } else if (std::holds_alternative<LraMotor>(motor)) {
+ } else {
ESP_LOGI(kTag, "Setting up LRA motor...");
- // TODO: Save and restore calibration data instead of recalibrating each
- // boot.
// Set rated voltage to 1v8; see equation (5) in Section 8.5.2.1.
WriteRegister(Register::kRatedVoltage, 0x46);
@@ -67,9 +66,6 @@ Haptics::Haptics(const std::variant<ErmMotor, LraMotor>& motor) {
// FIXME: Could this be higher?
WriteRegister(Register::kOverdriveClampVoltage, 0x7B);
- // Enable LRA mode, with default brake factor, loop gain, and back-EMF.
- WriteRegister(Register::kFeedbackControl, 0b10110110);
-
// Set the drive time for our 235Hz motors. This is a period of 4.2ms, so
// a drive time of 2.1ms. See Table 24 in section 8.6.21. Leave the other
// bits in this register with their default values.
@@ -78,17 +74,50 @@ Haptics::Haptics(const std::variant<ErmMotor, LraMotor>& motor) {
// Ensure closed-loop mode is set.
WriteRegister(Register::kControl3, 0b10000000);
- // Use a short auto-calibration time. For our application, a longer time
- // doesn't seem to affect much.
- WriteRegister(Register::kControl4, 0b00000000);
-
- // Start auto-calibration.
- WriteRegister(Register::kGo, 1);
-
- // Wait for calibration to complete.
- do {
- vTaskDelay(1);
- } while ((ReadRegister(Register::kGo) & 1) > 0);
+ auto calibration = nvs.LraCalibration();
+ if (!calibration) {
+ ESP_LOGI(kTag, "calibrating LRA motor");
+ // Enable LRA mode, with default brake factor, loop gain, and back-EMF.
+ WriteRegister(Register::kFeedbackControl, 0b10110110);
+
+ // Start auto-calibration.
+ WriteRegister(Register::kGo, 1);
+ // Wait for calibration to complete.
+ do {
+ vTaskDelay(1);
+ } while ((ReadRegister(Register::kGo) & 1) > 0);
+
+ uint8_t status = ReadRegister(Register::kStatus);
+ if ((status & 0b11111) == 0) {
+ calibration = NvsStorage::LraData{
+ .compensation =
+ ReadRegister(Register::kAutoCalibrationCompensationResult),
+ .back_emf = ReadRegister(Register::kAutoCalibrationBackEmfResult),
+ .gain = static_cast<uint8_t>(
+ ReadRegister(Register::kFeedbackControl) & 0b11),
+ };
+
+ ESP_LOGI(kTag, "lra calibration succeeded: %x%x%x",
+ calibration->compensation, calibration->back_emf,
+ calibration->gain);
+
+ nvs.LraCalibration(*calibration);
+ } else {
+ // Not much we can do here! The motor might still buzz okay, so it's
+ // not a fatal issue at least.
+ ESP_LOGE(kTag, "lra calibration failed :(");
+ }
+ } else {
+ ESP_LOGI(kTag, "using stored lra calibration: %x%x%x",
+ calibration->compensation, calibration->back_emf,
+ calibration->gain);
+
+ WriteRegister(Register::kAutoCalibrationCompensationResult,
+ calibration->compensation);
+ WriteRegister(Register::kAutoCalibrationBackEmfResult,
+ calibration->back_emf);
+ WriteRegister(Register::kFeedbackControl, 0b10110100 | calibration->gain);
+ }
// Set library; only option is the LRA one for, well, LRA motors.
WriteRegister(Register::kWaveformLibrary,
@@ -97,6 +126,9 @@ Haptics::Haptics(const std::variant<ErmMotor, LraMotor>& motor) {
// 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() {}
diff --git a/src/drivers/include/drivers/haptics.hpp b/src/drivers/include/drivers/haptics.hpp
index a9384fa4..e4666fad 100644
--- a/src/drivers/include/drivers/haptics.hpp
+++ b/src/drivers/include/drivers/haptics.hpp
@@ -14,23 +14,15 @@
#include <string>
#include <variant>
-namespace drivers {
+#include "drivers/nvs.hpp"
-typedef std::monostate ErmMotor;
-struct LraMotor {
- // TODO: fill out with calibration data from
- // https://www.ti.com/lit/ds/symlink/drv2605l.pdf
- bool hi;
-};
+namespace drivers {
class Haptics {
public:
- static auto Create(const std::variant<ErmMotor, LraMotor>& motor)
- -> Haptics* {
- return new Haptics(motor);
- }
+ static auto Create(NvsStorage& nvs) -> Haptics* { return new Haptics(nvs); }
- Haptics(const std::variant<ErmMotor, LraMotor>& motor);
+ Haptics(NvsStorage& nvs);
~Haptics();
// Not copyable or movable.
diff --git a/src/drivers/include/drivers/nvs.hpp b/src/drivers/include/drivers/nvs.hpp
index 83bb8097..88dd5ae0 100644
--- a/src/drivers/include/drivers/nvs.hpp
+++ b/src/drivers/include/drivers/nvs.hpp
@@ -78,7 +78,17 @@ class NvsStorage {
auto HapticMotorIsErm() -> bool;
auto HapticMotorIsErm(bool) -> void;
- // /Hardware Compatibility
+
+ struct LraData {
+ uint8_t compensation;
+ uint8_t back_emf;
+ uint8_t gain;
+
+ bool operator==(const LraData&) const = default;
+ };
+
+ auto LraCalibration() -> std::optional<LraData>;
+ auto LraCalibration(const LraData&) -> void;
auto PreferredBluetoothDevice() -> std::optional<bluetooth::MacAndName>;
auto PreferredBluetoothDevice(std::optional<bluetooth::MacAndName>) -> void;
@@ -135,6 +145,7 @@ class NvsStorage {
Setting<uint16_t> display_cols_;
Setting<uint16_t> display_rows_;
Setting<uint8_t> haptic_motor_type_;
+ Setting<LraData> lra_calibration_;
Setting<uint8_t> brightness_;
Setting<uint8_t> sensitivity_;
diff --git a/src/drivers/nvs.cpp b/src/drivers/nvs.cpp
index 1389fd0d..5c7d2218 100644
--- a/src/drivers/nvs.cpp
+++ b/src/drivers/nvs.cpp
@@ -37,10 +37,11 @@ static constexpr char kKeyLockPolarity[] = "lockpol";
static constexpr char kKeyDisplayCols[] = "dispcols";
static constexpr char kKeyDisplayRows[] = "disprows";
static constexpr char kKeyHapticMotorType[] = "hapticmtype";
+static constexpr char kKeyLraCalibration[] = "lra_cali";
static constexpr char kKeyDbAutoIndex[] = "dbautoindex";
-static auto nvs_get_string(nvs_handle_t nvs,
- const char* key) -> std::optional<std::string> {
+static auto nvs_get_string(nvs_handle_t nvs, const char* key)
+ -> std::optional<std::string> {
size_t len = 0;
if (nvs_get_blob(nvs, key, NULL, &len) != ESP_OK) {
return {};
@@ -128,6 +129,39 @@ auto Setting<bluetooth::MacAndName>::store(nvs_handle_t nvs,
nvs_set_blob(nvs, name_, encoded.data(), encoded.size());
}
+template <>
+auto Setting<NvsStorage::LraData>::load(nvs_handle_t nvs)
+ -> std::optional<NvsStorage::LraData> {
+ auto raw = nvs_get_string(nvs, name_);
+ if (!raw) {
+ return {};
+ }
+ auto [parsed, unused, err] = cppbor::parseWithViews(
+ reinterpret_cast<const uint8_t*>(raw->data()), raw->size());
+ if (parsed->type() != cppbor::ARRAY) {
+ return {};
+ }
+ auto arr = parsed->asArray();
+ NvsStorage::LraData data{
+ .compensation = static_cast<uint8_t>(arr->get(0)->asUint()->value()),
+ .back_emf = static_cast<uint8_t>(arr->get(1)->asUint()->value()),
+ .gain = static_cast<uint8_t>(arr->get(2)->asUint()->value()),
+ };
+ return data;
+}
+
+template <>
+auto Setting<NvsStorage::LraData>::store(nvs_handle_t nvs,
+ NvsStorage::LraData v) -> void {
+ cppbor::Array cbor{
+ cppbor::Uint{v.compensation},
+ cppbor::Uint{v.back_emf},
+ cppbor::Uint{v.gain},
+ };
+ auto encoded = cbor.encode();
+ nvs_set_blob(nvs, name_, encoded.data(), encoded.size());
+}
+
auto NvsStorage::OpenSync() -> NvsStorage* {
esp_err_t err = nvs_flash_init();
if (err == ESP_ERR_NVS_NO_FREE_PAGES) {
@@ -165,6 +199,7 @@ NvsStorage::NvsStorage(nvs_handle_t handle)
display_cols_(kKeyDisplayCols),
display_rows_(kKeyDisplayRows),
haptic_motor_type_(kKeyHapticMotorType),
+ lra_calibration_(kKeyLraCalibration),
brightness_(kKeyBrightness),
sensitivity_(kKeyScrollSensitivity),
amp_max_vol_(kKeyAmpMaxVolume),
@@ -187,7 +222,9 @@ auto NvsStorage::Read() -> void {
lock_polarity_.read(handle_);
display_cols_.read(handle_);
display_rows_.read(handle_);
- haptic_motor_type_.read(handle_), brightness_.read(handle_);
+ haptic_motor_type_.read(handle_);
+ lra_calibration_.read(handle_);
+ brightness_.read(handle_);
sensitivity_.read(handle_);
amp_max_vol_.read(handle_);
amp_cur_vol_.read(handle_);
@@ -204,7 +241,9 @@ auto NvsStorage::Write() -> bool {
lock_polarity_.write(handle_);
display_cols_.write(handle_);
display_rows_.write(handle_);
- haptic_motor_type_.write(handle_), brightness_.write(handle_);
+ haptic_motor_type_.write(handle_);
+ lra_calibration_.write(handle_);
+ brightness_.write(handle_);
sensitivity_.write(handle_);
amp_max_vol_.write(handle_);
amp_cur_vol_.write(handle_);
@@ -252,6 +291,16 @@ auto NvsStorage::HapticMotorIsErm(bool p) -> void {
haptic_motor_type_.set(p);
}
+auto NvsStorage::LraCalibration() -> std::optional<LraData> {
+ std::lock_guard<std::mutex> lock{mutex_};
+ return lra_calibration_.get();
+}
+
+auto NvsStorage::LraCalibration(const LraData& d) -> void {
+ std::lock_guard<std::mutex> lock{mutex_};
+ lra_calibration_.set(d);
+}
+
auto NvsStorage::DisplaySize()
-> std::pair<std::optional<uint16_t>, std::optional<uint16_t>> {
std::lock_guard<std::mutex> lock{mutex_};
@@ -285,8 +334,8 @@ auto NvsStorage::BluetoothVolume(const bluetooth::mac_addr_t& mac) -> uint8_t {
return bt_volumes_.Get(mac).value_or(50);
}
-auto NvsStorage::BluetoothVolume(const bluetooth::mac_addr_t& mac,
- uint8_t vol) -> void {
+auto NvsStorage::BluetoothVolume(const bluetooth::mac_addr_t& mac, uint8_t vol)
+ -> void {
std::lock_guard<std::mutex> lock{mutex_};
bt_volumes_dirty_ = true;
bt_volumes_.Put(mac, vol);
diff --git a/src/tangara/system_fsm/booting.cpp b/src/tangara/system_fsm/booting.cpp
index 09d9de80..22a0fcac 100644
--- a/src/tangara/system_fsm/booting.cpp
+++ b/src/tangara/system_fsm/booting.cpp
@@ -4,12 +4,9 @@
* SPDX-License-Identifier: GPL-3.0-only
*/
-#include "collation.hpp"
-#include "drivers/haptics.hpp"
-#include "drivers/spiffs.hpp"
#include "system_fsm/system_fsm.hpp"
-#include <stdint.h>
+#include <cstdint>
#include <memory>
#include "assert.h"
@@ -23,16 +20,19 @@
#include "audio/audio_fsm.hpp"
#include "audio/track_queue.hpp"
#include "battery/battery.hpp"
+#include "collation.hpp"
#include "database/tag_parser.hpp"
#include "drivers/adc.hpp"
#include "drivers/bluetooth.hpp"
#include "drivers/bluetooth_types.hpp"
#include "drivers/display_init.hpp"
#include "drivers/gpios.hpp"
+#include "drivers/haptics.hpp"
#include "drivers/i2c.hpp"
#include "drivers/nvs.hpp"
#include "drivers/samd.hpp"
#include "drivers/spi.hpp"
+#include "drivers/spiffs.hpp"
#include "drivers/touchwheel.hpp"
#include "events/event_queue.hpp"
#include "system_fsm/service_locator.hpp"
@@ -89,11 +89,7 @@ auto Booting::entry() -> void {
sServices->samd(std::unique_ptr<drivers::Samd>(drivers::Samd::Create()));
sServices->touchwheel(
std::unique_ptr<drivers::TouchWheel>{drivers::TouchWheel::Create()});
- sServices->haptics(std::make_unique<drivers::Haptics>(
- sServices->nvs().HapticMotorIsErm()
- ? std::variant<drivers::ErmMotor, drivers::LraMotor>(
- drivers::ErmMotor())
- : drivers::LraMotor()));
+ sServices->haptics(std::make_unique<drivers::Haptics>(sServices->nvs()));
auto adc = drivers::AdcBattery::Create();
sServices->battery(std::make_unique<battery::Battery>(
generated by cgit v1.2.3 (git 2.25.1) at 2026-04-29 20:59:02 +0000