haptic3  2.0.0.0
haptic3.h
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22 
28 #ifndef HAPTIC3_H
29 #define HAPTIC3_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
39 #ifdef PREINIT_SUPPORTED
40 #include "preinit.h"
41 #endif
42 
43 #ifdef MikroCCoreVersion
44  #if MikroCCoreVersion >= 1
45  #include "delays.h"
46  #endif
47 #endif
48 
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_i2c_master.h"
52 
73 #define HAPTIC3_REG_CHIP_REV 0x00
74 #define HAPTIC3_REG_IRQ_EVENT1 0x03
75 #define HAPTIC3_REG_IRQ_EVENT_WARNING_DIAG 0x04
76 #define HAPTIC3_REG_IRQ_EVENT_SEQ_DIAG 0x05
77 #define HAPTIC3_REG_IRQ_STATUS1 0x06
78 #define HAPTIC3_REG_IRQ_MASK1 0x07
79 #define HAPTIC3_REG_CIF_I2C1 0x08
80 #define HAPTIC3_REG_FRQ_LRA_PER_H 0x0A
81 #define HAPTIC3_REG_FRQ_LRA_PER_L 0x0B
82 #define HAPTIC3_REG_ACTUATOR1 0x0C
83 #define HAPTIC3_REG_ACTUATOR2 0x0D
84 #define HAPTIC3_REG_ACTUATOR3 0x0E
85 #define HAPTIC3_REG_CALIB_V2I_H 0x0F
86 #define HAPTIC3_REG_CALIB_V2I_L 0x10
87 #define HAPTIC3_REG_CALIB_IMP_H 0x11
88 #define HAPTIC3_REG_CALIB_IMP_L 0x12
89 #define HAPTIC3_REG_TOP_CFG1 0x13
90 #define HAPTIC3_REG_TOP_CFG2 0x14
91 #define HAPTIC3_REG_TOP_CFG3 0x15
92 #define HAPTIC3_REG_TOP_CFG4 0x16
93 #define HAPTIC3_REG_TOP_INT_CFG1 0x17
94 #define HAPTIC3_REG_TOP_INT_CFG6_H 0x1C
95 #define HAPTIC3_REG_TOP_INT_CFG6_L 0x1D
96 #define HAPTIC3_REG_TOP_INT_CFG7_H 0x1E
97 #define HAPTIC3_REG_TOP_INT_CFG7_L 0x1F
98 #define HAPTIC3_REG_TOP_INT_CFG8 0x20
99 #define HAPTIC3_REG_TOP_CTL1 0x22
100 #define HAPTIC3_REG_TOP_CTL2 0x23
101 #define HAPTIC3_REG_SEQ_CTL1 0x24
102 #define HAPTIC3_REG_SWG_C1 0x25
103 #define HAPTIC3_REG_SWG_C2 0x26
104 #define HAPTIC3_REG_SWG_C3 0x27
105 #define HAPTIC3_REG_SEQ_CTL2 0x28
106 #define HAPTIC3_REG_GPI_0_CTL 0x29
107 #define HAPTIC3_REG_GPI_1_CTL 0x2A
108 #define HAPTIC3_REG_GPI_2_CTL 0x2B
109 #define HAPTIC3_REG_MEM_CTL1 0x2C
110 #define HAPTIC3_REG_MEM_CTL2 0x2D
111 #define HAPTIC3_REG_ADC_DATA_H1 0x2E
112 #define HAPTIC3_REG_ADC_DATA_L1 0x2F
113 #define HAPTIC3_REG_POLARITY 0x43
114 #define HAPTIC3_REG_LRA_AVR_H 0x44
115 #define HAPTIC3_REG_LRA_AVR_L 0x45
116 #define HAPTIC3_REG_FRQ_LRA_PER_ACT_H 0x46
117 #define HAPTIC3_REG_FRQ_LRA_PER_ACT_L 0x47
118 #define HAPTIC3_REG_FRQ_PHASE_H 0x48
119 #define HAPTIC3_REG_FRQ_PHASE_L 0x49
120 #define HAPTIC3_REG_FRQ_CTL 0x4C
121 #define HAPTIC3_REG_TRIM3 0x5F
122 #define HAPTIC3_REG_TRIM4 0x60
123 #define HAPTIC3_REG_TRIM6 0x62
124 #define HAPTIC3_REG_TOP_CFG5 0x6E
125 #define HAPTIC3_REG_IRQ_EVENT_ACTUATOR_FAULT 0x81
126 #define HAPTIC3_REG_IRQ_STATUS2 0x82
127 #define HAPTIC3_REG_IRQ_MASK2 0x83
128 #define HAPTIC3_REG_SNP_MEM_X 0x84
129  // haptic3_reg
131 
146 #define HAPTIC3_CHIP_REV 0xDA
147 
152 #define HAPTIC3_TOP_CFG1_EMB_MODE_MANUAL 0x00
153 #define HAPTIC3_TOP_CFG1_EMB_MODE_AUTO 0x80
154 #define HAPTIC3_TOP_CFG1_EMB_MODE_MASK 0x80
155 #define HAPTIC3_TOP_CFG1_ACT_TYPE_LRA 0x00
156 #define HAPTIC3_TOP_CFG1_ACT_TYPE_ERM 0x20
157 #define HAPTIC3_TOP_CFG1_ACT_TYPE_MASK 0x20
158 #define HAPTIC3_TOP_CFG1_BEMF_SENSE_CUSTOM_WF 0x00
159 #define HAPTIC3_TOP_CFG1_BEMF_SENSE_STANDARD 0x10
160 #define HAPTIC3_TOP_CFG1_BEMF_SENSE_MASK 0x10
161 #define HAPTIC3_TOP_CFG1_FREQ_TRACK_DISABLE 0x00
162 #define HAPTIC3_TOP_CFG1_FREQ_TRACK_ENABLE 0x08
163 #define HAPTIC3_TOP_CFG1_FREQ_TRACK_MASK 0x08
164 #define HAPTIC3_TOP_CFG1_ACCEL_DISABLE 0x00
165 #define HAPTIC3_TOP_CFG1_ACCEL_ENABLE 0x04
166 #define HAPTIC3_TOP_CFG1_ACCEL_MASK 0x04
167 #define HAPTIC3_TOP_CFG1_RAPID_STOP_DISABLE 0x00
168 #define HAPTIC3_TOP_CFG1_RAPID_STOP_ENABLE 0x02
169 #define HAPTIC3_TOP_CFG1_RAPID_STOP_MASK 0x02
170 #define HAPTIC3_TOP_CFG1_AMPLITUDE_PID_DISABLE 0x00
171 #define HAPTIC3_TOP_CFG1_AMPLITUDE_PID_ENABLE 0x01
172 #define HAPTIC3_TOP_CFG1_AMPLITUDE_PID_MASK 0x01
173 
178 #define HAPTIC3_TOP_CTL1_SEQ_STOP 0x00
179 #define HAPTIC3_TOP_CTL1_SEQ_START 0x10
180 #define HAPTIC3_TOP_CTL1_SEQ_MASK 0x10
181 #define HAPTIC3_TOP_CTL1_STANDBY_DISABLE 0x00
182 #define HAPTIC3_TOP_CTL1_STANDBY_ENABLE 0x08
183 #define HAPTIC3_TOP_CTL1_STANDBY_MASK 0x08
184 #define HAPTIC3_TOP_CTL1_OP_MODE_INACTIVE 0x00
185 #define HAPTIC3_TOP_CTL1_OP_MODE_DRO 0x01
186 #define HAPTIC3_TOP_CTL1_OP_MODE_PWM 0x02
187 #define HAPTIC3_TOP_CTL1_OP_MODE_RTWM 0x03
188 #define HAPTIC3_TOP_CTL1_OP_MODE_ETWM 0x04
189 #define HAPTIC3_TOP_CTL1_OP_MODE_MASK 0x07
190 
195 #define HAPTIC3_ACTUATOR_VOLTAGE_MIN 0.0
196 #define HAPTIC3_ACTUATOR_VOLTAGE_MAX 6.0
197 #define HAPTIC3_ACTUATOR_VOLTAGE_RESOLUTION 0.0234
198 #define HAPTIC3_ACTUATOR_IMAX_MIN 28.6
199 #define HAPTIC3_ACTUATOR_IMAX_MAX 251.8
200 #define HAPTIC3_ACTUATOR_IMAX_DIVIDER 7.2
201 #define HAPTIC3_ACTUATOR_IMAX_RESOLUTION 0x1F
202 #define HAPTIC3_ACTUATOR_IMPEDANCE_MIN 4.0
203 #define HAPTIC3_ACTUATOR_IMPEDANCE_MAX 50.0
204 #define HAPTIC3_ACTUATOR_V2I_FACTOR_DIVIDER 1.6104
205 #define HAPTIC3_ACTUATOR_LRA_FREQ_MIN 0.0
206 #define HAPTIC3_ACTUATOR_LRA_FREQ_MAX 300.0
207 #define HAPTIC3_ACTUATOR_LRA_FREQ_RESOLUTION 0.00000133332
208 #define HAPTIC3_VIBRATION_LEVEL_MIN -1.0
209 #define HAPTIC3_VIBRATION_LEVEL_MAX 1.0
210 #define HAPTIC3_VIBRATION_LEVEL_MIN_ACC_EN 0.0
211 #define HAPTIC3_VIBRATION_LEVEL_RESOLUTION 0.008
212 #define HAPTIC3_ROUND_TO_NEAREST_INT 0.5
213 
218 #define HAPTIC3_DEFAULT_ACTUATOR_TYPE HAPTIC3_TOP_CFG1_ACT_TYPE_LRA
219 #define HAPTIC3_DEFAULT_ACTUATOR_ABS_VOLT 2.808
220 #define HAPTIC3_DEFAULT_ACTUATOR_NOM_VOLT 2.106
221 #define HAPTIC3_DEFAULT_ACTUATOR_IMAX 194.0
222 #define HAPTIC3_DEFAULT_ACTUATOR_IMPEDANCE 16.0
223 #define HAPTIC3_DEFAULT_ACTUATOR_LRA_FREQ 174.0
224 
230 #define HAPTIC3_DEVICE_ADDRESS 0x4A
231  // haptic3_set
233 
248 #define HAPTIC3_MAP_MIKROBUS( cfg, mikrobus ) \
249  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
250  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
251  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
252  cfg.irq = MIKROBUS( mikrobus, MIKROBUS_INT )
253  // haptic3_map // haptic3
256 
261 typedef struct
262 {
263  // Output pins
264  digital_out_t en;
266  // Input pins
267  digital_in_t irq;
269  // Modules
270  i2c_master_t i2c;
272  // I2C slave address
273  uint8_t slave_address;
275 } haptic3_t;
276 
281 typedef struct
282 {
283  pin_name_t scl;
284  pin_name_t sda;
286  pin_name_t en;
287  pin_name_t irq;
289  uint32_t i2c_speed;
290  uint8_t i2c_address;
292 } haptic3_cfg_t;
293 
298 typedef enum
299 {
301  HAPTIC3_ERROR = -1
302 
304 
321 
336 err_t haptic3_init ( haptic3_t *ctx, haptic3_cfg_t *cfg );
337 
352 
368 err_t haptic3_generic_write ( haptic3_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len );
369 
385 err_t haptic3_generic_read ( haptic3_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len );
386 
399 err_t haptic3_write_register ( haptic3_t *ctx, uint8_t reg, uint8_t data_in );
400 
413 err_t haptic3_read_register ( haptic3_t *ctx, uint8_t reg, uint8_t *data_out );
414 
429 err_t haptic3_write_register_bits ( haptic3_t *ctx, uint8_t reg, uint8_t mask, uint8_t data_in );
430 
442 
452 
462 
472 
485 err_t haptic3_set_actuator_type ( haptic3_t *ctx, uint8_t type );
486 
498 err_t haptic3_set_actuator_abs_volt ( haptic3_t *ctx, float abs_volt );
499 
511 err_t haptic3_set_actuator_nom_volt ( haptic3_t *ctx, float nom_volt );
512 
524 err_t haptic3_set_actuator_imax ( haptic3_t *ctx, float max_curr );
525 
538 err_t haptic3_set_actuator_impedance ( haptic3_t *ctx, float impedance );
539 
551 err_t haptic3_set_actuator_lra_freq ( haptic3_t *ctx, float frequency );
552 
568 err_t haptic3_set_operation_mode ( haptic3_t *ctx, uint8_t op_mode );
569 
582 err_t haptic3_set_freq_track ( haptic3_t *ctx, uint8_t freq_track_en );
583 
596 err_t haptic3_set_acceleration_mode ( haptic3_t *ctx, uint8_t accel_en );
597 
610 err_t haptic3_set_vibration_level ( haptic3_t *ctx, float level );
611 
624 err_t haptic3_get_vibration_level ( haptic3_t *ctx, float *level );
625 
626 #ifdef __cplusplus
627 }
628 #endif
629 #endif // HAPTIC3_H
630  // haptic3
632 
633 // ------------------------------------------------------------------------ END
haptic3_return_value_t
haptic3_return_value_t
HAPTIC 3 Click return value data.
Definition: haptic3.h:299
haptic3_set_actuator_lra_freq
err_t haptic3_set_actuator_lra_freq(haptic3_t *ctx, float frequency)
HAPTIC 3 set actuator lra freq function.
haptic3_set_operation_mode
err_t haptic3_set_operation_mode(haptic3_t *ctx, uint8_t op_mode)
HAPTIC 3 set operation mode function.
haptic3_t::irq
digital_in_t irq
Definition: haptic3.h:267
haptic3_write_register
err_t haptic3_write_register(haptic3_t *ctx, uint8_t reg, uint8_t data_in)
HAPTIC 3 write register function.
haptic3_get_vibration_level
err_t haptic3_get_vibration_level(haptic3_t *ctx, float *level)
HAPTIC 3 get vibration level function.
haptic3_cfg_t
HAPTIC 3 Click configuration object.
Definition: haptic3.h:282
haptic3_set_actuator_impedance
err_t haptic3_set_actuator_impedance(haptic3_t *ctx, float impedance)
HAPTIC 3 set actuator impedance function.
haptic3_init
err_t haptic3_init(haptic3_t *ctx, haptic3_cfg_t *cfg)
HAPTIC 3 initialization function.
haptic3_set_actuator_abs_volt
err_t haptic3_set_actuator_abs_volt(haptic3_t *ctx, float abs_volt)
HAPTIC 3 set actuator abs volt function.
haptic3_check_communication
err_t haptic3_check_communication(haptic3_t *ctx)
HAPTIC 3 check communication function.
haptic3_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: haptic3.h:289
haptic3_default_cfg
err_t haptic3_default_cfg(haptic3_t *ctx)
HAPTIC 3 default configuration function.
haptic3_t
HAPTIC 3 Click context object.
Definition: haptic3.h:262
haptic3_disable_device
void haptic3_disable_device(haptic3_t *ctx)
HAPTIC 3 disable device function.
haptic3_set_actuator_imax
err_t haptic3_set_actuator_imax(haptic3_t *ctx, float max_curr)
HAPTIC 3 set actuator imax function.
haptic3_t::en
digital_out_t en
Definition: haptic3.h:264
HAPTIC3_OK
@ HAPTIC3_OK
Definition: haptic3.h:300
haptic3_set_freq_track
err_t haptic3_set_freq_track(haptic3_t *ctx, uint8_t freq_track_en)
HAPTIC 3 set freq track function.
haptic3_enable_device
void haptic3_enable_device(haptic3_t *ctx)
HAPTIC 3 enable device function.
haptic3_cfg_t::irq
pin_name_t irq
Definition: haptic3.h:287
HAPTIC3_ERROR
@ HAPTIC3_ERROR
Definition: haptic3.h:301
haptic3_t::slave_address
uint8_t slave_address
Definition: haptic3.h:273
haptic3_set_vibration_level
err_t haptic3_set_vibration_level(haptic3_t *ctx, float level)
HAPTIC 3 set vibration level function.
haptic3_write_register_bits
err_t haptic3_write_register_bits(haptic3_t *ctx, uint8_t reg, uint8_t mask, uint8_t data_in)
HAPTIC 3 write register bits function.
haptic3_get_int_pin
uint8_t haptic3_get_int_pin(haptic3_t *ctx)
HAPTIC 3 get INT pin function.
haptic3_cfg_t::i2c_address
uint8_t i2c_address
Definition: haptic3.h:290
haptic3_cfg_t::scl
pin_name_t scl
Definition: haptic3.h:283
haptic3_generic_read
err_t haptic3_generic_read(haptic3_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len)
HAPTIC 3 I2C reading function.
haptic3_cfg_t::en
pin_name_t en
Definition: haptic3.h:286
haptic3_t::i2c
i2c_master_t i2c
Definition: haptic3.h:270
haptic3_set_actuator_type
err_t haptic3_set_actuator_type(haptic3_t *ctx, uint8_t type)
HAPTIC 3 set actuator type function.
haptic3_generic_write
err_t haptic3_generic_write(haptic3_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len)
HAPTIC 3 I2C writing function.
haptic3_set_actuator_nom_volt
err_t haptic3_set_actuator_nom_volt(haptic3_t *ctx, float nom_volt)
HAPTIC 3 set actuator nom volt function.
haptic3_set_acceleration_mode
err_t haptic3_set_acceleration_mode(haptic3_t *ctx, uint8_t accel_en)
HAPTIC 3 set acceleration mode function.
haptic3_cfg_setup
void haptic3_cfg_setup(haptic3_cfg_t *cfg)
HAPTIC 3 configuration object setup function.
haptic3_cfg_t::sda
pin_name_t sda
Definition: haptic3.h:284
haptic3_read_register
err_t haptic3_read_register(haptic3_t *ctx, uint8_t reg, uint8_t *data_out)
HAPTIC 3 read register function.