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/*
* Copyright 2023 jacqueline <me@jacqueline.id.au>, robin <robin@rhoward.id.au>
*
* SPDX-License-Identifier: GPL-3.0-only
*/
#pragma once
#include <cstdint>
#include <initializer_list>
#include <mutex>
#include <optional>
#include <string>
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
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