129 lines
4.3 KiB
C
129 lines
4.3 KiB
C
/* Copyright 2018 ishtob
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* Driver for DRV2605L written for QMK
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "DRV2605L.h"
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#include "print.h"
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#include <stdlib.h>
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#include <stdio.h>
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#include <math.h>
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uint8_t DRV2605L_transfer_buffer[20];
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uint8_t DRV2605L_tx_register[0];
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uint8_t DRV2605L_read_buffer[0];
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uint8_t DRV2605L_read_register;
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void DRV_write(uint8_t drv_register, uint8_t settings) {
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DRV2605L_transfer_buffer[0] = drv_register;
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DRV2605L_transfer_buffer[1] = settings;
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i2c_transmit(DRV2605L_BASE_ADDRESS << 1, DRV2605L_transfer_buffer, 2, 100);
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}
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uint8_t DRV_read(uint8_t regaddress) {
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DRV2605L_tx_register[0] = regaddress;
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if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1,
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DRV2605L_tx_register, 1,
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DRV2605L_read_buffer, 1
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)){
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printf("err reading reg \n");
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}
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DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
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return DRV2605L_read_register;
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}
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void DRV_init(void)
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{
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i2c_init();
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i2c_start(DRV2605L_BASE_ADDRESS);
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/* 0x07 sets DRV2605 into calibration mode */
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DRV_write(DRV_MODE,0x07);
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// DRV_write(DRV_FEEDBACK_CTRL,0xB6);
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#if FB_ERM_LRA == 0
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/* ERM settings */
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DRV_write(DRV_RATED_VOLT, (RATED_VOLTAGE/21.33)*1000);
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#if ERM_OPEN_LOOP == 0
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DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (((V_PEAK*(DRIVE_TIME+BLANKING_TIME+IDISS_TIME))/0.02133)/(DRIVE_TIME-0.0003)));
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#elif ERM_OPEN_LOOP == 1
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DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196));
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#endif
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#elif FB_ERM_LRA == 1
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DRV_write(DRV_RATED_VOLT, ((V_RMS * sqrt(1 - ((4 * ((150+(SAMPLE_TIME*50))*0.000001)) + 0.0003)* F_LRA)/0.02071)));
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#if LRA_OPEN_LOOP == 0
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DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, ((V_PEAK/sqrt(1-(F_LRA*0.0008))/0.02133)));
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#elif LRA_OPEN_LOOP == 1
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DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196));
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#endif
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#endif
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DRVREG_FBR FB_SET;
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FB_SET.Bits.ERM_LRA = FB_ERM_LRA;
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FB_SET.Bits.BRAKE_FACTOR = FB_BRAKEFACTOR;
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FB_SET.Bits.LOOP_GAIN =FB_LOOPGAIN;
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FB_SET.Bits.BEMF_GAIN = 0; /* auto-calibration populates this field*/
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DRV_write(DRV_FEEDBACK_CTRL, (uint8_t) FB_SET.Byte);
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DRVREG_CTRL1 C1_SET;
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C1_SET.Bits.C1_DRIVE_TIME = DRIVE_TIME;
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C1_SET.Bits.C1_AC_COUPLE = AC_COUPLE;
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C1_SET.Bits.C1_STARTUP_BOOST = STARTUP_BOOST;
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DRV_write(DRV_CTRL_1, (uint8_t) C1_SET.Byte);
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DRVREG_CTRL2 C2_SET;
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C2_SET.Bits.C2_BIDIR_INPUT = BIDIR_INPUT;
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C2_SET.Bits.C2_BRAKE_STAB = BRAKE_STAB;
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C2_SET.Bits.C2_SAMPLE_TIME = SAMPLE_TIME;
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C2_SET.Bits.C2_BLANKING_TIME = BLANKING_TIME;
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C2_SET.Bits.C2_IDISS_TIME = IDISS_TIME;
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DRV_write(DRV_CTRL_2, (uint8_t) C2_SET.Byte);
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DRVREG_CTRL3 C3_SET;
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C3_SET.Bits.C3_LRA_OPEN_LOOP = LRA_OPEN_LOOP;
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C3_SET.Bits.C3_N_PWM_ANALOG = N_PWM_ANALOG;
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C3_SET.Bits.C3_LRA_DRIVE_MODE = LRA_DRIVE_MODE;
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C3_SET.Bits.C3_DATA_FORMAT_RTO = DATA_FORMAT_RTO;
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C3_SET.Bits.C3_SUPPLY_COMP_DIS = SUPPLY_COMP_DIS;
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C3_SET.Bits.C3_ERM_OPEN_LOOP = ERM_OPEN_LOOP;
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C3_SET.Bits.C3_NG_THRESH = NG_THRESH;
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DRV_write(DRV_CTRL_3, (uint8_t) C3_SET.Byte);
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DRVREG_CTRL4 C4_SET;
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C4_SET.Bits.C4_ZC_DET_TIME = ZC_DET_TIME;
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C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME;
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DRV_write(DRV_CTRL_4, (uint8_t) C4_SET.Byte);
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DRV_write(DRV_LIB_SELECTION,LIB_SELECTION);
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//start autocalibration
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DRV_write(DRV_GO, 0x01);
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/* 0x00 sets DRV2605 out of standby and to use internal trigger
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* 0x01 sets DRV2605 out of standby and to use external trigger */
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DRV_write(DRV_MODE,0x00);
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/* 0x06: LRA library */
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DRV_write(DRV_WAVEFORM_SEQ_1, 0x01);
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/* 0xB9: LRA, 4x brake factor, medium gain, 7.5x back EMF
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* 0x39: ERM, 4x brake factor, medium gain, 1.365x back EMF */
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/* TODO: setup auto-calibration as part of initiation */
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}
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void DRV_pulse(uint8_t sequence)
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{
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DRV_write(DRV_GO, 0x00);
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DRV_write(DRV_WAVEFORM_SEQ_1, sequence);
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DRV_write(DRV_GO, 0x01);
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} |