vibromotor4.h

Go to the documentation of this file.

/****************************************************************************
** 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 VIBROMOTOR4_H
#define VIBROMOTOR4_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_i2c_master.h"
#include "drv_pwm.h"
 
#define VIBROMOTOR4_STATUS                                      0x00
#define VIBROMOTOR4_MODE                                        0x01
#define VIBROMOTOR4_RT_PB_IN                                    0x02
#define VIBROMOTOR4_LIB_SEL                                     0x03
#define VIBROMOTOR4_WV_SEQ_1                                    0x04
#define VIBROMOTOR4_WV_SEQ_2                                    0x05
#define VIBROMOTOR4_WV_SEQ_3                                    0x06
#define VIBROMOTOR4_WV_SEQ_4                                    0x07
#define VIBROMOTOR4_WV_SEQ_5                                    0x08
#define VIBROMOTOR4_WV_SEQ_6                                    0x09
#define VIBROMOTOR4_WV_SEQ_7                                    0x0A
#define VIBROMOTOR4_WV_SEQ_8                                    0x0B
#define VIBROMOTOR4_REG_GO                                      0x0C
#define VIBROMOTOR4_OVERDRIVE_OFFS                              0x0D
#define VIBROMOTOR4_SUSTAIN_P_OFFS                              0x0E
#define VIBROMOTOR4_SUSTAIN_N_OFFS                              0x0F
#define VIBROMOTOR4_BRAKE_OFF                                   0x10
#define VIBROMOTOR4_A_TO_V_CTRL                                 0x11
#define VIBROMOTOR4_A_TO_V_MIN_INPUT                            0x12
#define VIBROMOTOR4_A_TO_V_MAX_INPUT                            0x13
#define VIBROMOTOR4_A_TO_V_MIN_OUT                              0x14
#define VIBROMOTOR4_A_TO_V_MAX_OUT                              0x15
#define VIBROMOTOR4_RATED_VOLT                                  0x16
#define VIBROMOTOR4_OD_CLAMP_VOLT                               0x17
#define VIBROMOTOR4_CAL_COMP                                    0x18
#define VIBROMOTOR4_CAL_BACK_EMF                                0x19
#define VIBROMOTOR4_FEEDBACK_CTRL                               0x1A
#define VIBROMOTOR4_CTRL1                                       0x1B
#define VIBROMOTOR4_CTRL2                                       0x1C
#define VIBROMOTOR4_CTRL3                                       0x1D
#define VIBROMOTOR4_CTRL4                                       0x1E
#define VIBROMOTOR4_CTRL5                                       0x1F
#define VIBROMOTOR4_LRA_LOOP_PERIOD                             0x20
#define VIBROMOTOR4_VBAT_MON                                    0x21
#define VIBROMOTOR4_LRA_RES_PERIOD                              0x22
 
 // vibromotor4_reg
 
#define VIBROMOTOR4_STARTPPBOOST                                0x80
#define VIBROMOTOR4_BYPASSCOMP                                  0x40
#define VIBROMOTOR4_AC_COUPLE                                   0x20
#define VIBROMOTOR4_DC_COUPLE                                   0x00
#define VIBROMOTOR4_DRV_TIME_0P5M                               0x00
#define VIBROMOTOR4_DRV_TIME_0P6M                               0x01
#define VIBROMOTOR4_DRV_TIME_0P7M                               0x02
#define VIBROMOTOR4_DRV_TIME_0P8M                               0x03
#define VIBROMOTOR4_DRV_TIME_0P9M                               0x04
#define VIBROMOTOR4_DRV_TIME_1P0M                               0x05
#define VIBROMOTOR4_DRV_TIME_1P1M                               0x06
#define VIBROMOTOR4_DRV_TIME_1P2M                               0x07
#define VIBROMOTOR4_DRV_TIME_1P3M                               0x08
#define VIBROMOTOR4_DRV_TIME_1P4M                               0x09
#define VIBROMOTOR4_DRV_TIME_1P5M                               0x0A
#define VIBROMOTOR4_DRV_TIME_1P6M                               0x0B
#define VIBROMOTOR4_DRV_TIME_1P7M                               0x0C
#define VIBROMOTOR4_DRV_TIME_1P8M                               0x0D
#define VIBROMOTOR4_DRV_TIME_1P9M                               0x0E
#define VIBROMOTOR4_DRV_TIME_2P0M                               0x0F
#define VIBROMOTOR4_DRV_TIME_2P1M                               0x10
#define VIBROMOTOR4_DRV_TIME_2P2M                               0x11
#define VIBROMOTOR4_DRV_TIME_2P3M                               0x12
#define VIBROMOTOR4_DRV_TIME_2P4M                               0x13
#define VIBROMOTOR4_DRV_TIME_2P5M                               0x14
#define VIBROMOTOR4_DRV_TIME_2P6M                               0x15
#define VIBROMOTOR4_DRV_TIME_2P7M                               0x16
#define VIBROMOTOR4_DRV_TIME_2P8M                               0x17
#define VIBROMOTOR4_DRV_TIME_2P9M                               0x18
#define VIBROMOTOR4_DRV_TIME_3P0M                               0x19
#define VIBROMOTOR4_DRV_TIME_3P1M                               0x1A
#define VIBROMOTOR4_DRV_TIME_3P2M                               0x1B
#define VIBROMOTOR4_DRV_TIME_3P3M                               0x1C
#define VIBROMOTOR4_DRV_TIME_3P4M                               0x1D
#define VIBROMOTOR4_DRV_TIME_3P5M                               0x1E
#define VIBROMOTOR4_DRV_TIME_3P6M                               0x1F
#define VIBROMOTOR4_BIDIR_IN                                    0x80
#define VIBROMOTOR4_UNIDIR_IN                                   0x00
#define VIBROMOTOR4_BRK_STABIL                                  0x40
#define VIBROMOTOR4_SAMP_TIME_150US                             0x00
#define VIBROMOTOR4_SAMP_TIME_200US                             0x10
#define VIBROMOTOR4_SAMP_TIME_250US                             0x20
#define VIBROMOTOR4_SAMP_TIME_300US                             0x30
#define VIBROMOTOR4_BLANK_TIME_V_SHORT                          0x00
#define VIBROMOTOR4_BLANK_TIME_SHORT                            0x04
#define VIBROMOTOR4_BLANK_TIME_MEDIUM                           0x08
#define VIBROMOTOR4_BLANK_TIME_LONG                             0x0C
#define VIBROMOTOR4_I_DIS_TIME_V_SHORT                          0x00
#define VIBROMOTOR4_I_DIS_TIME_SHORT                            0x01
#define VIBROMOTOR4_I_DIS_TIME_MEDIUM                           0x02
#define VIBROMOTOR4_I_DIS_TIME_LONG                             0x03
#define VIBROMOTOR4_NG_THRESH_OFF                               0x00
#define VIBROMOTOR4_NG_THRESH_2_PERC                            0x40
#define VIBROMOTOR4_NG_THRESH_4_PERC                            0x80
#define VIBROMOTOR4_NG_THRESH_8_PERC                            0xC0
#define VIBROMOTOR4_ERM_CLOSED_LOOP                             0x00
#define VIBROMOTOR4_ERM_OPEN_LOOP                               0x20
#define VIBROMOTOR4_SUP_COMP_DIS                                0x10
#define VIBROMOTOR4_DATA_FORM_RTP_SIG                           0x00
#define VIBROMOTOR4_DATA_FORM_RTP_UNS                           0x08
#define VIBROMOTOR4_LRADRV_MODE                                 0x04
#define VIBROMOTOR4_LRADRV_MODE_ONCE                            0x00
#define VIBROMOTOR4_LRADRV_MODE_TWICE                           0x04
#define VIBROMOTOR4_IN_MODE_PWM                                 0x00
#define VIBROMOTOR4_IN_MODE_ANALOG                              0x02
#define VIBROMOTOR4_LRA_AUTO_RESONA                             0x00
#define VIBROMOTOR4_LRA_OPEN_LOOP                               0x01
#define VIBROMOTOR4_LRA_CLOSED_LOOP                             0x00
 
#define VIBROMOTOR4_DEV_RESRT                                   0x80
#define VIBROMOTOR4_STANDBY                                     0x40
#define VIBROMOTOR4_ACTIVE                                      0x00
#define VIBROMOTOR4_INT_TRIG                                    0x00
#define VIBROMOTOR4_EXT_TRIG_EDGE                               0x01
#define VIBROMOTOR4_EXT_TRIG_LEVEL                              0x02
#define VIBROMOTOR4_PWM_ANALOG                                  0x03
#define VIBROMOTOR4_AUDIO2HAPTIC                                0x04
#define VIBROMOTOR4_RTP                                         0x05
#define VIBROMOTOR4_DIAGNOSTICS                                 0x06
#define VIBROMOTOR4_AUTO_CALIBRATION                            0x07
 
#define VIBROMOTOR4_HIZ                                         0x10
#define VIBROMOTOR4_RAM                                         0x00
#define VIBROMOTOR4_ROM_A                                       0x01
#define VIBROMOTOR4_ROM_B                                       0x02
#define VIBROMOTOR4_ROM_C                                       0x03
#define VIBROMOTOR4_ROM_D                                       0x04
#define VIBROMOTOR4_ROM_E                                       0x05
#define VIBROMOTOR4_ROM_LRA                                     0x06
 
#define VIBROMOTOR4_STOP                                        0x00
#define VIBROMOTOR4_GO                                          0x01
 
#define VIBROMOTOR4_ERM_MODE                                    0x00
#define VIBROMOTOR4_LRA_MODE                                    0x80
#define VIBROMOTOR4_FB_BRAKE_FAC_1X                             0x00
#define VIBROMOTOR4_FB_BRAKE_FAC_2X                             0x10
#define VIBROMOTOR4_FB_BRAKE_FAC_3X                             0x20
#define VIBROMOTOR4_FB_BRAKE_FAC_4X                             0x30
#define VIBROMOTOR4_FB_BRAKE_FAC_6X                             0x40
#define VIBROMOTOR4_FB_BRAKE_FAC_8X                             0x50
#define VIBROMOTOR4_FB_BRAKE_FAC_16X                            0x60
#define VIBROMOTOR4_FB_BRAKE_FAC_DIS                            0x70
#define VIBROMOTOR4_LOOP_RESP_SLOW                              0x00
#define VIBROMOTOR4_LOOP_RESP_MEDIUM                            0x04
#define VIBROMOTOR4_LOOP_RESP_FAST                              0x08
#define VIBROMOTOR4_LOOP_RESP_V_FAST                            0x0C
#define VIBROMOTOR4_BEMF_GAIN_ERM_0P3X                          0x00
#define VIBROMOTOR4_BEMF_GAIN_ERM_1X                            0x01
#define VIBROMOTOR4_BEMF_GAIN_ERM_1P8X                          0x02
#define VIBROMOTOR4_BEMF_GAIN_ERM_4X                            0x03
#define VIBROMOTOR4_BEMF_GAIN_LRA_5X                            0x00
#define VIBROMOTOR4_BEMF_GAIN_LRA_10X                           0x01
#define VIBROMOTOR4_BEMF_GAIN_LRA_20X                           0x02
#define VIBROMOTOR4_BEMF_GAIN_LRA_30X                           0x03
 
#define VIBROMOTOR4_AUTO_CAL_TIME_150ms                         0x00
#define VIBROMOTOR4_AUTO_CAL_TIME_250ms                         0x10
#define VIBROMOTOR4_AUTO_CAL_TIME_500ms                         0x20
#define VIBROMOTOR4_AUTO_CAL_TIME_1000ms                        0x30
#define VIBROMOTOR4_OTP_PROG                                    0x01
 
#define VIBROMOTOR4_SET_DEV_ADDR  0x5A
 
#define VIBROMOTOR4_DEFAULT_FREQUENCY                           175
 
 // vibromotor4_set
 
#define VIBROMOTOR4_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS );   \
    cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM )
 
 // vibromotor4_map
 // vibromotor4
 
typedef struct
{
    // Output pins
    digital_out_t  en;       
    // Modules
    i2c_master_t i2c;        
    // I2C slave address
    uint8_t slave_address;   
    pwm_t  pwm;              
    uint32_t pwm_freq;       
} vibromotor4_t;
 
typedef struct
{
    pin_name_t  scl;       
    pin_name_t  sda;       
    pin_name_t  en;        
    uint32_t  i2c_speed;   
    uint8_t   i2c_address; 
    pin_name_t  pwm;       
    uint32_t dev_pwm_freq; 
} vibromotor4_cfg_t;
 
typedef enum
{
   VIBROMOTOR4_OK = 0,
   VIBROMOTOR4_ERROR = -1
 
} vibromotor4_return_value_t;
 
typedef enum
{
   VIBROMOTOR4_PROPERTY_DISABLE = 0,
   VIBROMOTOR4_PROPERTY_ENABLE
 
} vibromotor4_property_mode_t;
 
void vibromotor4_cfg_setup ( vibromotor4_cfg_t *cfg );
 
err_t vibromotor4_init ( vibromotor4_t *ctx, vibromotor4_cfg_t *cfg );
 
err_t vibromotor4_default_cfg ( vibromotor4_t *ctx );
 
err_t vibromotor4_generic_write ( vibromotor4_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len );
 
err_t vibromotor4_generic_read ( vibromotor4_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len );
 
err_t vibromotor4_enable ( vibromotor4_t *ctx, vibromotor4_property_mode_t pr_mode );
 
err_t vibromotor4_write_byte ( vibromotor4_t *ctx, uint8_t reg, uint8_t tx_buf );
 
err_t vibromotor4_read_byte ( vibromotor4_t *ctx, uint8_t reg, uint8_t *rx_buf );
 
err_t vibromotor4_set_mode ( vibromotor4_t *ctx, uint8_t mode_sel );
 
err_t vibromotor4_soft_rst ( vibromotor4_t *ctx );
 
err_t vibromotor4_stb_mode ( vibromotor4_t *ctx, uint8_t state );
 
err_t vibromotor4_get_stat ( vibromotor4_t *ctx, uint8_t *status );
 
err_t vibromotor4_set_rtp_input ( vibromotor4_t *ctx, uint8_t rtp_input );
 
err_t vibromotor4_set_state_hi_z ( vibromotor4_t *ctx, uint8_t state );
 
err_t vibromotor4_set_library ( vibromotor4_t *ctx, uint8_t lib_sel );
 
err_t vibromotor4_start_motor ( vibromotor4_t *ctx, uint8_t state );
 
err_t vibromotor4_set_ovdr_offset ( vibromotor4_t *ctx, uint8_t ovdr_offset );
 
err_t vibromotor4_set_sustain_offset_pos ( vibromotor4_t *ctx, uint8_t sustain_offset_pos );
 
err_t vibromotor4_set_sustain_offset_neg ( vibromotor4_t *ctx, uint8_t sustain_offset_neg );
 
err_t vibromotor4_set_brake_time_offset ( vibromotor4_t *ctx, uint8_t brake_time_offset );
 
err_t vibromotor4_set_rated_volt ( vibromotor4_t *ctx, uint8_t rated_volt );
 
err_t vibromotor4_set_ovdrv_clamp_volt ( vibromotor4_t *ctx, uint8_t ovdrv_clamp_volt );
 
err_t vibromotor4_get_calib_res_comp ( vibromotor4_t *ctx, uint8_t *calib_res_comp );
 
err_t vibromotor4_get_supply_volt_val ( vibromotor4_t *ctx, float *supply_volt );
 
err_t vibromotor4_get_lra_resonance_period ( vibromotor4_t *ctx, float *lra_res );
 
err_t vibromotor4_set_lra_mode ( vibromotor4_t *ctx, uint8_t lra_mode );
 
err_t vibromotor4_set_brake_factor ( vibromotor4_t *ctx, uint8_t brk_fac );
 
err_t vibromotor4_set_loop_gain ( vibromotor4_t *ctx, uint8_t gain );
 
err_t vibromotor4_set_input ( vibromotor4_t *ctx, uint8_t state );
 
err_t vibromotor4_enable_ac_coulping ( vibromotor4_t *ctx );
 
err_t vibromotor4_set_duty_cycle ( vibromotor4_t *ctx, float duty_cycle );
 
err_t vibromotor4_pwm_stop ( vibromotor4_t *ctx );
 
err_t vibromotor4_pwm_start ( vibromotor4_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // VIBROMOTOR4_H
 
 // vibromotor4
 
// ------------------------------------------------------------------------ END