haptic4.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/
 
#ifndef HAPTIC4_H
#define HAPTIC4_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_i2c_master.h"
 
#define HAPTIC4_REG_CHIP_REV                    0x00
#define HAPTIC4_REG_IRQ_EVENT1                  0x03
#define HAPTIC4_REG_IRQ_EVENT_WARNING_DIAG      0x04
#define HAPTIC4_REG_IRQ_EVENT_SEQ_DIAG          0x05
#define HAPTIC4_REG_IRQ_STATUS1                 0x06
#define HAPTIC4_REG_IRQ_MASK1                   0x07
#define HAPTIC4_REG_CIF_I2C1                    0x08
#define HAPTIC4_REG_FRQ_LRA_PER_H               0x0A
#define HAPTIC4_REG_FRQ_LRA_PER_L               0x0B
#define HAPTIC4_REG_ACTUATOR1                   0x0C
#define HAPTIC4_REG_ACTUATOR2                   0x0D
#define HAPTIC4_REG_ACTUATOR3                   0x0E
#define HAPTIC4_REG_CALIB_V2I_H                 0x0F
#define HAPTIC4_REG_CALIB_V2I_L                 0x10
#define HAPTIC4_REG_CALIB_IMP_H                 0x11
#define HAPTIC4_REG_CALIB_IMP_L                 0x12
#define HAPTIC4_REG_TOP_CFG1                    0x13
#define HAPTIC4_REG_TOP_CFG2                    0x14
#define HAPTIC4_REG_TOP_CFG3                    0x15
#define HAPTIC4_REG_TOP_CFG4                    0x16
#define HAPTIC4_REG_TOP_INT_CFG1                0x17
#define HAPTIC4_REG_TOP_INT_CFG6_H              0x1C
#define HAPTIC4_REG_TOP_INT_CFG6_L              0x1D
#define HAPTIC4_REG_TOP_INT_CFG7_H              0x1E
#define HAPTIC4_REG_TOP_INT_CFG7_L              0x1F
#define HAPTIC4_REG_TOP_INT_CFG8                0x20
#define HAPTIC4_REG_TOP_CTL1                    0x22
#define HAPTIC4_REG_TOP_CTL2                    0x23
#define HAPTIC4_REG_SEQ_CTL1                    0x24
#define HAPTIC4_REG_SWG_C1                      0x25
#define HAPTIC4_REG_SWG_C2                      0x26
#define HAPTIC4_REG_SWG_C3                      0x27
#define HAPTIC4_REG_SEQ_CTL2                    0x28
#define HAPTIC4_REG_GPI_0_CTL                   0x29
#define HAPTIC4_REG_GPI_1_CTL                   0x2A
#define HAPTIC4_REG_GPI_2_CTL                   0x2B
#define HAPTIC4_REG_MEM_CTL1                    0x2C
#define HAPTIC4_REG_MEM_CTL2                    0x2D
#define HAPTIC4_REG_ADC_DATA_H1                 0x2E
#define HAPTIC4_REG_ADC_DATA_L1                 0x2F
#define HAPTIC4_REG_POLARITY                    0x43
#define HAPTIC4_REG_LRA_AVR_H                   0x44
#define HAPTIC4_REG_LRA_AVR_L                   0x45
#define HAPTIC4_REG_FRQ_LRA_PER_ACT_H           0x46
#define HAPTIC4_REG_FRQ_LRA_PER_ACT_L           0x47
#define HAPTIC4_REG_FRQ_PHASE_H                 0x48
#define HAPTIC4_REG_FRQ_PHASE_L                 0x49
#define HAPTIC4_REG_FRQ_CTL                     0x4C
#define HAPTIC4_REG_TRIM3                       0x5F
#define HAPTIC4_REG_TRIM4                       0x60
#define HAPTIC4_REG_TRIM6                       0x62
#define HAPTIC4_REG_TOP_CFG5                    0x6E
#define HAPTIC4_REG_IRQ_EVENT_ACTUATOR_FAULT    0x81
#define HAPTIC4_REG_IRQ_STATUS2                 0x82
#define HAPTIC4_REG_IRQ_MASK2                   0x83
#define HAPTIC4_REG_SNP_MEM_X                   0x84
 
 // haptic4_reg
 
#define HAPTIC4_CHIP_REV                        0xBA
 
#define HAPTIC4_PIN_STATE_LOW                   0x00
#define HAPTIC4_PIN_STATE_HIGH                  0x01
 
#define HAPTIC4_TOP_CFG1_EMB_MODE_MANUAL        0x00
#define HAPTIC4_TOP_CFG1_EMB_MODE_AUTO          0x80
#define HAPTIC4_TOP_CFG1_EMB_MODE_MASK          0x80
#define HAPTIC4_TOP_CFG1_ACT_TYPE_LRA           0x00
#define HAPTIC4_TOP_CFG1_ACT_TYPE_ERM           0x20
#define HAPTIC4_TOP_CFG1_ACT_TYPE_MASK          0x20
#define HAPTIC4_TOP_CFG1_BEMF_SENSE_CUSTOM_WF   0x00
#define HAPTIC4_TOP_CFG1_BEMF_SENSE_STANDARD    0x10
#define HAPTIC4_TOP_CFG1_BEMF_SENSE_MASK        0x10
#define HAPTIC4_TOP_CFG1_FREQ_TRACK_DISABLE     0x00
#define HAPTIC4_TOP_CFG1_FREQ_TRACK_ENABLE      0x08
#define HAPTIC4_TOP_CFG1_FREQ_TRACK_MASK        0x08
#define HAPTIC4_TOP_CFG1_ACCEL_DISABLE          0x00
#define HAPTIC4_TOP_CFG1_ACCEL_ENABLE           0x04
#define HAPTIC4_TOP_CFG1_ACCEL_MASK             0x04
#define HAPTIC4_TOP_CFG1_RAPID_STOP_DISABLE     0x00
#define HAPTIC4_TOP_CFG1_RAPID_STOP_ENABLE      0x02
#define HAPTIC4_TOP_CFG1_RAPID_STOP_MASK        0x02
#define HAPTIC4_TOP_CFG1_AMPLITUDE_PID_DISABLE  0x00
#define HAPTIC4_TOP_CFG1_AMPLITUDE_PID_ENABLE   0x01
#define HAPTIC4_TOP_CFG1_AMPLITUDE_PID_MASK     0x01
 
#define HAPTIC4_TOP_CTL1_SEQ_STOP               0x00
#define HAPTIC4_TOP_CTL1_SEQ_START              0x10
#define HAPTIC4_TOP_CTL1_SEQ_MASK               0x10
#define HAPTIC4_TOP_CTL1_STANDBY_DISABLE        0x00
#define HAPTIC4_TOP_CTL1_STANDBY_ENABLE         0x08
#define HAPTIC4_TOP_CTL1_STANDBY_MASK           0x08
#define HAPTIC4_TOP_CTL1_OP_MODE_INACTIVE       0x00
#define HAPTIC4_TOP_CTL1_OP_MODE_DRO            0x01
#define HAPTIC4_TOP_CTL1_OP_MODE_PWM            0x02
#define HAPTIC4_TOP_CTL1_OP_MODE_RTWM           0x03
#define HAPTIC4_TOP_CTL1_OP_MODE_ETWM           0x04
#define HAPTIC4_TOP_CTL1_OP_MODE_MASK           0x07
 
#define HAPTIC4_ACTUATOR_VOLTAGE_MIN            0.0f
#define HAPTIC4_ACTUATOR_VOLTAGE_MAX            6.0f
#define HAPTIC4_ACTUATOR_VOLTAGE_RESOLUTION     0.0234f
#define HAPTIC4_ACTUATOR_IMAX_MIN               28.6f
#define HAPTIC4_ACTUATOR_IMAX_MAX               251.8f
#define HAPTIC4_ACTUATOR_IMAX_DIVIDER           7.2f
#define HAPTIC4_ACTUATOR_IMAX_RESOLUTION        0x1F
#define HAPTIC4_ACTUATOR_IMPEDANCE_MIN          4.0f
#define HAPTIC4_ACTUATOR_IMPEDANCE_MAX          50.0f
#define HAPTIC4_ACTUATOR_V2I_FACTOR_DIVIDER     1.6104f
#define HAPTIC4_ACTUATOR_LRA_FREQ_MIN           0.0f
#define HAPTIC4_ACTUATOR_LRA_FREQ_MAX           300.0f
#define HAPTIC4_ACTUATOR_LRA_FREQ_RESOLUTION    0.00000133332f
#define HAPTIC4_VIBRATION_LEVEL_MIN             -1.0f
#define HAPTIC4_VIBRATION_LEVEL_MAX             1.0f
#define HAPTIC4_VIBRATION_LEVEL_MIN_ACC_EN      0.0f
#define HAPTIC4_VIBRATION_LEVEL_RESOLUTION      0.008f
#define HAPTIC4_ROUND_TO_NEAREST_INT            0.5f
 
#define HAPTIC4_DEFAULT_ACTUATOR_TYPE           HAPTIC4_TOP_CFG1_ACT_TYPE_LRA
#define HAPTIC4_DEFAULT_ACTUATOR_ABS_VOLT       2.808f
#define HAPTIC4_DEFAULT_ACTUATOR_NOM_VOLT       2.106f
#define HAPTIC4_DEFAULT_ACTUATOR_IMAX           194.0f
#define HAPTIC4_DEFAULT_ACTUATOR_IMPEDANCE      16.0f
#define HAPTIC4_DEFAULT_ACTUATOR_LRA_FREQ       174.0f
 
#define HAPTIC4_DEVICE_ADDRESS                  0x4A
 
 // haptic4_set
 
#define HAPTIC4_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.gp1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.gp2 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.gp0 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.irq = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // haptic4_map
 // haptic4
 
typedef struct
{
    // Output pins
    digital_out_t gp1;          
    digital_out_t gp2;          
    digital_out_t gp0;          
    // Input pins
    digital_in_t irq;           
    // Modules
    i2c_master_t i2c;           
    // I2C slave address
    uint8_t slave_address;      
} haptic4_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t gp1;             
    pin_name_t gp2;             
    pin_name_t gp0;             
    pin_name_t irq;             
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} haptic4_cfg_t;
 
typedef enum
{
    HAPTIC4_OK = 0,
    HAPTIC4_ERROR = -1
 
} haptic4_return_value_t;
 
void haptic4_cfg_setup ( haptic4_cfg_t *cfg );
 
err_t haptic4_init ( haptic4_t *ctx, haptic4_cfg_t *cfg );
 
err_t haptic4_default_cfg ( haptic4_t *ctx );
 
err_t haptic4_generic_write ( haptic4_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t haptic4_generic_read ( haptic4_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
 
err_t haptic4_write_register ( haptic4_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t haptic4_read_register ( haptic4_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t haptic4_write_register_bits ( haptic4_t *ctx, uint8_t reg, uint8_t mask, uint8_t data_in );
 
err_t haptic4_check_communication ( haptic4_t *ctx );
 
void haptic4_set_gp0 ( haptic4_t *ctx, uint8_t pin_state );
 
void haptic4_set_gp1 ( haptic4_t *ctx, uint8_t pin_state );
 
void haptic4_set_gp2 ( haptic4_t *ctx, uint8_t pin_state );
 
uint8_t haptic4_get_int_pin ( haptic4_t *ctx );
 
err_t haptic4_set_actuator_type ( haptic4_t *ctx, uint8_t type );
 
err_t haptic4_set_actuator_abs_volt ( haptic4_t *ctx, float abs_volt );
 
err_t haptic4_set_actuator_nom_volt ( haptic4_t *ctx, float nom_volt );
 
err_t haptic4_set_actuator_imax ( haptic4_t *ctx, float max_curr );
 
err_t haptic4_set_actuator_impedance ( haptic4_t *ctx, float impedance );
 
err_t haptic4_set_actuator_lra_freq ( haptic4_t *ctx, float frequency );
 
err_t haptic4_set_operation_mode ( haptic4_t *ctx, uint8_t op_mode );
 
err_t haptic4_set_freq_track ( haptic4_t *ctx, uint8_t freq_track_en );
 
err_t haptic4_set_acceleration_mode ( haptic4_t *ctx, uint8_t accel_en );
 
err_t haptic4_set_vibration_level ( haptic4_t *ctx, float level );
 
err_t haptic4_get_vibration_level ( haptic4_t *ctx, float *level );
 
#ifdef __cplusplus
}
#endif
#endif // HAPTIC4_H
 
 // haptic4
 
// ------------------------------------------------------------------------ END