haptic4  2.1.0.0
haptic4.h
Go to the documentation of this file.
1 /****************************************************************************
2 ** Copyright (C) 2020 MikroElektronika d.o.o.
3 ** Contact: https://www.mikroe.com/contact
4 **
5 ** Permission is hereby granted, free of charge, to any person obtaining a copy
6 ** of this software and associated documentation files (the "Software"), to deal
7 ** in the Software without restriction, including without limitation the rights
8 ** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 ** copies of the Software, and to permit persons to whom the Software is
10 ** furnished to do so, subject to the following conditions:
11 ** The above copyright notice and this permission notice shall be
12 ** included in all copies or substantial portions of the Software.
13 **
14 ** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
15 ** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
16 ** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
17 ** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
18 ** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
19 ** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
20 ** USE OR OTHER DEALINGS IN THE SOFTWARE.
21 ****************************************************************************/
22 
28 #ifndef HAPTIC4_H
29 #define HAPTIC4_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "mikrosdk_version.h"
36 
37 #ifdef __GNUC__
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
40 #else
41 #include "delays.h"
42 #endif
43 #endif
44 
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_i2c_master.h"
48 
69 #define HAPTIC4_REG_CHIP_REV 0x00
70 #define HAPTIC4_REG_IRQ_EVENT1 0x03
71 #define HAPTIC4_REG_IRQ_EVENT_WARNING_DIAG 0x04
72 #define HAPTIC4_REG_IRQ_EVENT_SEQ_DIAG 0x05
73 #define HAPTIC4_REG_IRQ_STATUS1 0x06
74 #define HAPTIC4_REG_IRQ_MASK1 0x07
75 #define HAPTIC4_REG_CIF_I2C1 0x08
76 #define HAPTIC4_REG_FRQ_LRA_PER_H 0x0A
77 #define HAPTIC4_REG_FRQ_LRA_PER_L 0x0B
78 #define HAPTIC4_REG_ACTUATOR1 0x0C
79 #define HAPTIC4_REG_ACTUATOR2 0x0D
80 #define HAPTIC4_REG_ACTUATOR3 0x0E
81 #define HAPTIC4_REG_CALIB_V2I_H 0x0F
82 #define HAPTIC4_REG_CALIB_V2I_L 0x10
83 #define HAPTIC4_REG_CALIB_IMP_H 0x11
84 #define HAPTIC4_REG_CALIB_IMP_L 0x12
85 #define HAPTIC4_REG_TOP_CFG1 0x13
86 #define HAPTIC4_REG_TOP_CFG2 0x14
87 #define HAPTIC4_REG_TOP_CFG3 0x15
88 #define HAPTIC4_REG_TOP_CFG4 0x16
89 #define HAPTIC4_REG_TOP_INT_CFG1 0x17
90 #define HAPTIC4_REG_TOP_INT_CFG6_H 0x1C
91 #define HAPTIC4_REG_TOP_INT_CFG6_L 0x1D
92 #define HAPTIC4_REG_TOP_INT_CFG7_H 0x1E
93 #define HAPTIC4_REG_TOP_INT_CFG7_L 0x1F
94 #define HAPTIC4_REG_TOP_INT_CFG8 0x20
95 #define HAPTIC4_REG_TOP_CTL1 0x22
96 #define HAPTIC4_REG_TOP_CTL2 0x23
97 #define HAPTIC4_REG_SEQ_CTL1 0x24
98 #define HAPTIC4_REG_SWG_C1 0x25
99 #define HAPTIC4_REG_SWG_C2 0x26
100 #define HAPTIC4_REG_SWG_C3 0x27
101 #define HAPTIC4_REG_SEQ_CTL2 0x28
102 #define HAPTIC4_REG_GPI_0_CTL 0x29
103 #define HAPTIC4_REG_GPI_1_CTL 0x2A
104 #define HAPTIC4_REG_GPI_2_CTL 0x2B
105 #define HAPTIC4_REG_MEM_CTL1 0x2C
106 #define HAPTIC4_REG_MEM_CTL2 0x2D
107 #define HAPTIC4_REG_ADC_DATA_H1 0x2E
108 #define HAPTIC4_REG_ADC_DATA_L1 0x2F
109 #define HAPTIC4_REG_POLARITY 0x43
110 #define HAPTIC4_REG_LRA_AVR_H 0x44
111 #define HAPTIC4_REG_LRA_AVR_L 0x45
112 #define HAPTIC4_REG_FRQ_LRA_PER_ACT_H 0x46
113 #define HAPTIC4_REG_FRQ_LRA_PER_ACT_L 0x47
114 #define HAPTIC4_REG_FRQ_PHASE_H 0x48
115 #define HAPTIC4_REG_FRQ_PHASE_L 0x49
116 #define HAPTIC4_REG_FRQ_CTL 0x4C
117 #define HAPTIC4_REG_TRIM3 0x5F
118 #define HAPTIC4_REG_TRIM4 0x60
119 #define HAPTIC4_REG_TRIM6 0x62
120 #define HAPTIC4_REG_TOP_CFG5 0x6E
121 #define HAPTIC4_REG_IRQ_EVENT_ACTUATOR_FAULT 0x81
122 #define HAPTIC4_REG_IRQ_STATUS2 0x82
123 #define HAPTIC4_REG_IRQ_MASK2 0x83
124 #define HAPTIC4_REG_SNP_MEM_X 0x84
125  // haptic4_reg
127 
142 #define HAPTIC4_CHIP_REV 0xBA
143 
148 #define HAPTIC4_PIN_STATE_LOW 0x00
149 #define HAPTIC4_PIN_STATE_HIGH 0x01
150 
155 #define HAPTIC4_TOP_CFG1_EMB_MODE_MANUAL 0x00
156 #define HAPTIC4_TOP_CFG1_EMB_MODE_AUTO 0x80
157 #define HAPTIC4_TOP_CFG1_EMB_MODE_MASK 0x80
158 #define HAPTIC4_TOP_CFG1_ACT_TYPE_LRA 0x00
159 #define HAPTIC4_TOP_CFG1_ACT_TYPE_ERM 0x20
160 #define HAPTIC4_TOP_CFG1_ACT_TYPE_MASK 0x20
161 #define HAPTIC4_TOP_CFG1_BEMF_SENSE_CUSTOM_WF 0x00
162 #define HAPTIC4_TOP_CFG1_BEMF_SENSE_STANDARD 0x10
163 #define HAPTIC4_TOP_CFG1_BEMF_SENSE_MASK 0x10
164 #define HAPTIC4_TOP_CFG1_FREQ_TRACK_DISABLE 0x00
165 #define HAPTIC4_TOP_CFG1_FREQ_TRACK_ENABLE 0x08
166 #define HAPTIC4_TOP_CFG1_FREQ_TRACK_MASK 0x08
167 #define HAPTIC4_TOP_CFG1_ACCEL_DISABLE 0x00
168 #define HAPTIC4_TOP_CFG1_ACCEL_ENABLE 0x04
169 #define HAPTIC4_TOP_CFG1_ACCEL_MASK 0x04
170 #define HAPTIC4_TOP_CFG1_RAPID_STOP_DISABLE 0x00
171 #define HAPTIC4_TOP_CFG1_RAPID_STOP_ENABLE 0x02
172 #define HAPTIC4_TOP_CFG1_RAPID_STOP_MASK 0x02
173 #define HAPTIC4_TOP_CFG1_AMPLITUDE_PID_DISABLE 0x00
174 #define HAPTIC4_TOP_CFG1_AMPLITUDE_PID_ENABLE 0x01
175 #define HAPTIC4_TOP_CFG1_AMPLITUDE_PID_MASK 0x01
176 
181 #define HAPTIC4_TOP_CTL1_SEQ_STOP 0x00
182 #define HAPTIC4_TOP_CTL1_SEQ_START 0x10
183 #define HAPTIC4_TOP_CTL1_SEQ_MASK 0x10
184 #define HAPTIC4_TOP_CTL1_STANDBY_DISABLE 0x00
185 #define HAPTIC4_TOP_CTL1_STANDBY_ENABLE 0x08
186 #define HAPTIC4_TOP_CTL1_STANDBY_MASK 0x08
187 #define HAPTIC4_TOP_CTL1_OP_MODE_INACTIVE 0x00
188 #define HAPTIC4_TOP_CTL1_OP_MODE_DRO 0x01
189 #define HAPTIC4_TOP_CTL1_OP_MODE_PWM 0x02
190 #define HAPTIC4_TOP_CTL1_OP_MODE_RTWM 0x03
191 #define HAPTIC4_TOP_CTL1_OP_MODE_ETWM 0x04
192 #define HAPTIC4_TOP_CTL1_OP_MODE_MASK 0x07
193 
198 #define HAPTIC4_ACTUATOR_VOLTAGE_MIN 0.0f
199 #define HAPTIC4_ACTUATOR_VOLTAGE_MAX 6.0f
200 #define HAPTIC4_ACTUATOR_VOLTAGE_RESOLUTION 0.0234f
201 #define HAPTIC4_ACTUATOR_IMAX_MIN 28.6f
202 #define HAPTIC4_ACTUATOR_IMAX_MAX 251.8f
203 #define HAPTIC4_ACTUATOR_IMAX_DIVIDER 7.2f
204 #define HAPTIC4_ACTUATOR_IMAX_RESOLUTION 0x1F
205 #define HAPTIC4_ACTUATOR_IMPEDANCE_MIN 4.0f
206 #define HAPTIC4_ACTUATOR_IMPEDANCE_MAX 50.0f
207 #define HAPTIC4_ACTUATOR_V2I_FACTOR_DIVIDER 1.6104f
208 #define HAPTIC4_ACTUATOR_LRA_FREQ_MIN 0.0f
209 #define HAPTIC4_ACTUATOR_LRA_FREQ_MAX 300.0f
210 #define HAPTIC4_ACTUATOR_LRA_FREQ_RESOLUTION 0.00000133332f
211 #define HAPTIC4_VIBRATION_LEVEL_MIN -1.0f
212 #define HAPTIC4_VIBRATION_LEVEL_MAX 1.0f
213 #define HAPTIC4_VIBRATION_LEVEL_MIN_ACC_EN 0.0f
214 #define HAPTIC4_VIBRATION_LEVEL_RESOLUTION 0.008f
215 #define HAPTIC4_ROUND_TO_NEAREST_INT 0.5f
216 
221 #define HAPTIC4_DEFAULT_ACTUATOR_TYPE HAPTIC4_TOP_CFG1_ACT_TYPE_LRA
222 #define HAPTIC4_DEFAULT_ACTUATOR_ABS_VOLT 2.808f
223 #define HAPTIC4_DEFAULT_ACTUATOR_NOM_VOLT 2.106f
224 #define HAPTIC4_DEFAULT_ACTUATOR_IMAX 194.0f
225 #define HAPTIC4_DEFAULT_ACTUATOR_IMPEDANCE 16.0f
226 #define HAPTIC4_DEFAULT_ACTUATOR_LRA_FREQ 174.0f
227 
233 #define HAPTIC4_DEVICE_ADDRESS 0x4A
234  // haptic4_set
236 
251 #define HAPTIC4_MAP_MIKROBUS( cfg, mikrobus ) \
252  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
253  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
254  cfg.gp1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
255  cfg.gp2 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
256  cfg.gp0 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
257  cfg.irq = MIKROBUS( mikrobus, MIKROBUS_INT )
258  // haptic4_map // haptic4
261 
266 typedef struct
267 {
268  // Output pins
269  digital_out_t gp1;
270  digital_out_t gp2;
271  digital_out_t gp0;
273  // Input pins
274  digital_in_t irq;
276  // Modules
277  i2c_master_t i2c;
279  // I2C slave address
280  uint8_t slave_address;
282 } haptic4_t;
283 
288 typedef struct
289 {
290  pin_name_t scl;
291  pin_name_t sda;
293  pin_name_t gp1;
294  pin_name_t gp2;
295  pin_name_t gp0;
296  pin_name_t irq;
298  uint32_t i2c_speed;
299  uint8_t i2c_address;
301 } haptic4_cfg_t;
302 
307 typedef enum
308 {
310  HAPTIC4_ERROR = -1
311 
313 
330 
344 err_t haptic4_init ( haptic4_t *ctx, haptic4_cfg_t *cfg );
345 
359 
374 err_t haptic4_generic_write ( haptic4_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
375 
390 err_t haptic4_generic_read ( haptic4_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
391 
392 
405 err_t haptic4_write_register ( haptic4_t *ctx, uint8_t reg, uint8_t data_in );
406 
419 err_t haptic4_read_register ( haptic4_t *ctx, uint8_t reg, uint8_t *data_out );
420 
435 err_t haptic4_write_register_bits ( haptic4_t *ctx, uint8_t reg, uint8_t mask, uint8_t data_in );
436 
448 
458 void haptic4_set_gp0 ( haptic4_t *ctx, uint8_t pin_state );
459 
469 void haptic4_set_gp1 ( haptic4_t *ctx, uint8_t pin_state );
470 
480 void haptic4_set_gp2 ( haptic4_t *ctx, uint8_t pin_state );
481 
491 
503 err_t haptic4_set_actuator_type ( haptic4_t *ctx, uint8_t type );
504 
516 err_t haptic4_set_actuator_abs_volt ( haptic4_t *ctx, float abs_volt );
517 
529 err_t haptic4_set_actuator_nom_volt ( haptic4_t *ctx, float nom_volt );
530 
542 err_t haptic4_set_actuator_imax ( haptic4_t *ctx, float max_curr );
543 
556 err_t haptic4_set_actuator_impedance ( haptic4_t *ctx, float impedance );
557 
569 err_t haptic4_set_actuator_lra_freq ( haptic4_t *ctx, float frequency );
570 
582 err_t haptic4_set_operation_mode ( haptic4_t *ctx, uint8_t op_mode );
583 
595 err_t haptic4_set_freq_track ( haptic4_t *ctx, uint8_t freq_track_en );
596 
608 err_t haptic4_set_acceleration_mode ( haptic4_t *ctx, uint8_t accel_en );
609 
622 err_t haptic4_set_vibration_level ( haptic4_t *ctx, float level );
623 
636 err_t haptic4_get_vibration_level ( haptic4_t *ctx, float *level );
637 
638 #ifdef __cplusplus
639 }
640 #endif
641 #endif // HAPTIC4_H
642  // haptic4
644 
645 // ------------------------------------------------------------------------ END
haptic4_cfg_t::gp0
pin_name_t gp0
Definition: haptic4.h:295
haptic4_set_acceleration_mode
err_t haptic4_set_acceleration_mode(haptic4_t *ctx, uint8_t accel_en)
Haptic 4 set accel mode function.
haptic4_get_int_pin
uint8_t haptic4_get_int_pin(haptic4_t *ctx)
Haptic 4 get INT pin function.
haptic4_t::gp1
digital_out_t gp1
Definition: haptic4.h:269
haptic4_check_communication
err_t haptic4_check_communication(haptic4_t *ctx)
Haptic 4 check communication function.
haptic4_t::i2c
i2c_master_t i2c
Definition: haptic4.h:277
haptic4_return_value_t
haptic4_return_value_t
Haptic 4 Click return value data.
Definition: haptic4.h:308
haptic4_cfg_t::sda
pin_name_t sda
Definition: haptic4.h:291
haptic4_write_register_bits
err_t haptic4_write_register_bits(haptic4_t *ctx, uint8_t reg, uint8_t mask, uint8_t data_in)
Haptic 4 write register bits function.
haptic4_set_operation_mode
err_t haptic4_set_operation_mode(haptic4_t *ctx, uint8_t op_mode)
Haptic 4 set operation mode function.
haptic4_write_register
err_t haptic4_write_register(haptic4_t *ctx, uint8_t reg, uint8_t data_in)
Haptic 4 write register function.
haptic4_set_freq_track
err_t haptic4_set_freq_track(haptic4_t *ctx, uint8_t freq_track_en)
Haptic 4 set freq track function.
haptic4_t::irq
digital_in_t irq
Definition: haptic4.h:274
haptic4_set_actuator_type
err_t haptic4_set_actuator_type(haptic4_t *ctx, uint8_t type)
Haptic 4 set actuator type function.
haptic4_set_gp1
void haptic4_set_gp1(haptic4_t *ctx, uint8_t pin_state)
Haptic 4 set GP1 pin state function.
haptic4_cfg_t
Haptic 4 Click configuration object.
Definition: haptic4.h:289
haptic4_t::gp0
digital_out_t gp0
Definition: haptic4.h:271
haptic4_t::slave_address
uint8_t slave_address
Definition: haptic4.h:280
haptic4_set_vibration_level
err_t haptic4_set_vibration_level(haptic4_t *ctx, float level)
Haptic 4 set vibration level function.
haptic4_t
Haptic 4 Click context object.
Definition: haptic4.h:267
haptic4_default_cfg
err_t haptic4_default_cfg(haptic4_t *ctx)
Haptic 4 default configuration function.
haptic4_set_gp0
void haptic4_set_gp0(haptic4_t *ctx, uint8_t pin_state)
Haptic 4 set GP0 pin state function.
haptic4_get_vibration_level
err_t haptic4_get_vibration_level(haptic4_t *ctx, float *level)
Haptic 4 get vibration level function.
haptic4_set_actuator_nom_volt
err_t haptic4_set_actuator_nom_volt(haptic4_t *ctx, float nom_volt)
Haptic 4 set actuator nom volt function.
HAPTIC4_ERROR
@ HAPTIC4_ERROR
Definition: haptic4.h:310
haptic4_set_actuator_imax
err_t haptic4_set_actuator_imax(haptic4_t *ctx, float max_curr)
Haptic 4 set actuator imax function.
haptic4_cfg_t::gp1
pin_name_t gp1
Definition: haptic4.h:293
haptic4_cfg_t::i2c_address
uint8_t i2c_address
Definition: haptic4.h:299
haptic4_cfg_t::scl
pin_name_t scl
Definition: haptic4.h:290
haptic4_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: haptic4.h:298
haptic4_t::gp2
digital_out_t gp2
Definition: haptic4.h:270
haptic4_cfg_setup
void haptic4_cfg_setup(haptic4_cfg_t *cfg)
Haptic 4 configuration object setup function.
haptic4_set_actuator_impedance
err_t haptic4_set_actuator_impedance(haptic4_t *ctx, float impedance)
Haptic 4 set actuator impedance function.
haptic4_set_actuator_abs_volt
err_t haptic4_set_actuator_abs_volt(haptic4_t *ctx, float abs_volt)
Haptic 4 set actuator abs volt function.
haptic4_generic_read
err_t haptic4_generic_read(haptic4_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
Haptic 4 I2C reading function.
haptic4_init
err_t haptic4_init(haptic4_t *ctx, haptic4_cfg_t *cfg)
Haptic 4 initialization function.
HAPTIC4_OK
@ HAPTIC4_OK
Definition: haptic4.h:309
haptic4_read_register
err_t haptic4_read_register(haptic4_t *ctx, uint8_t reg, uint8_t *data_out)
Haptic 4 read register function.
haptic4_set_actuator_lra_freq
err_t haptic4_set_actuator_lra_freq(haptic4_t *ctx, float frequency)
Haptic 4 set actuator lra freq function.
haptic4_cfg_t::irq
pin_name_t irq
Definition: haptic4.h:296
haptic4_set_gp2
void haptic4_set_gp2(haptic4_t *ctx, uint8_t pin_state)
Haptic 4 set GP2 pin state function.
haptic4_generic_write
err_t haptic4_generic_write(haptic4_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
Haptic 4 I2C writing function.
haptic4_cfg_t::gp2
pin_name_t gp2
Definition: haptic4.h:294