wip: explore haptic feedback

firmware/Core/Inc/DRV2605L.h

@@ -0,0 +1,196 @@
+#ifndef _DRV2605_H
+#define _DRV2605_H
+
+#include <stdio.h>
+
+#define DRV2605_ADDR 0x5A ///< Device I2C address
+
+#define DRV2605_REG_STATUS 0x00       ///< Status register
+#define DRV2605_REG_MODE 0x01         ///< Mode register
+#define DRV2605_MODE_INTTRIG 0x00     ///< Internal trigger mode
+#define DRV2605_MODE_EXTTRIGEDGE 0x01 ///< External edge trigger mode
+#define DRV2605_MODE_EXTTRIGLVL 0x02  ///< External level trigger mode
+#define DRV2605_MODE_PWMANALOG 0x03   ///< PWM/Analog input mode
+#define DRV2605_MODE_AUDIOVIBE 0x04   ///< Audio-to-vibe mode
+#define DRV2605_MODE_REALTIME 0x05    ///< Real-time playback (RTP) mode
+#define DRV2605_MODE_DIAGNOS 0x06     ///< Diagnostics mode
+#define DRV2605_MODE_AUTOCAL 0x07     ///< Auto calibration mode
+
+#define DRV2605_REG_RTPIN 0x02    ///< Real-time playback input register
+#define DRV2605_REG_LIBRARY 0x03  ///< Waveform library selection register
+#define DRV2605_REG_WAVESEQ1 0x04 ///< Waveform sequence register 1
+#define DRV2605_REG_WAVESEQ2 0x05 ///< Waveform sequence register 2
+#define DRV2605_REG_WAVESEQ3 0x06 ///< Waveform sequence register 3
+#define DRV2605_REG_WAVESEQ4 0x07 ///< Waveform sequence register 4
+#define DRV2605_REG_WAVESEQ5 0x08 ///< Waveform sequence register 5
+#define DRV2605_REG_WAVESEQ6 0x09 ///< Waveform sequence register 6
+#define DRV2605_REG_WAVESEQ7 0x0A ///< Waveform sequence register 7
+#define DRV2605_REG_WAVESEQ8 0x0B ///< Waveform sequence register 8
+
+#define DRV2605_REG_GO 0x0C          ///< Go register
+#define DRV2605_REG_OVERDRIVE 0x0D   ///< Overdrive time offset register
+#define DRV2605_REG_SUSTAINPOS 0x0E  ///< Sustain time offset, positive register
+#define DRV2605_REG_SUSTAINNEG 0x0F  ///< Sustain time offset, negative register
+#define DRV2605_REG_BREAK 0x10       ///< Brake time offset register
+#define DRV2605_REG_AUDIOCTRL 0x11   ///< Audio-to-vibe control register
+#define DRV2605_REG_AUDIOLVL 0x12    ///< Audio-to-vibe minimum input level register
+#define DRV2605_REG_AUDIOMAX 0x13    ///< Audio-to-vibe maximum input level register
+#define DRV2605_REG_AUDIOOUTMIN 0x14 ///< Audio-to-vibe minimum output drive register
+#define DRV2605_REG_AUDIOOUTMAX 0x15 ///< Audio-to-vibe maximum output drive register
+#define DRV2605_REG_RATEDV 0x16      ///< Rated voltage register
+#define DRV2605_REG_CLAMPV 0x17      ///< Overdrive clamp voltage register
+#define DRV2605_REG_AUTOCALCOMP 0x18 ///< Auto-calibration compensation result register
+#define DRV2605_REG_AUTOCALEMP 0x19  ///< Auto-calibration back-EMF result register
+#define DRV2605_REG_FEEDBACK 0x1A    ///< Feedback control register
+#define DRV2605_REG_CONTROL1 0x1B    ///< Control1 Register
+#define DRV2605_REG_CONTROL2 0x1C    ///< Control2 Register
+#define DRV2605_REG_CONTROL3 0x1D    ///< Control3 Register
+#define DRV2605_REG_CONTROL4 0x1E    ///< Control4 Register
+#define DRV2605_REG_VBAT 0x21        ///< Vbat voltage-monitor register
+#define DRV2605_REG_LRARESON 0x22    ///< LRA resonance-period register
+
+// Effects:
+// 1 − Strong Click - 100%
+// 2 − Strong Click - 60%
+// 3 − Strong Click - 30%
+// 4 − Sharp Click - 100%
+// 5 − Sharp Click - 60%
+// 6 − Sharp Click - 30%
+// 7 − Soft Bump - 100%
+// 8 − Soft Bump - 60%
+// 9 − Soft Bump - 30%
+// 10 − Double Click - 100%
+// 11 − Double Click - 60%
+// 12 − Triple Click - 100%
+// 13 − Soft Fuzz - 60%
+// 14 − Strong Buzz - 100%
+// 15 − 750 ms Alert 100%
+// 16 − 1000 ms Alert 100%
+// 17 − Strong Click 1 - 100%
+// 18 − Strong Click 2 - 80%
+// 19 − Strong Click 3 - 60%
+// 20 − Strong Click 4 - 30%
+// 21 − Medium Click 1 - 100%
+// 22 − Medium Click 2 - 80%
+// 23 − Medium Click 3 - 60%
+// 24 − Sharp Tick 1 - 100%
+// 25 − Sharp Tick 2 - 80%
+// 26 − Sharp Tick 3 – 60%
+// 27 − Short Double Click Strong 1 – 100%
+// 28 − Short Double Click Strong 2 – 80%
+// 29 − Short Double Click Strong 3 – 60%
+// 30 − Short Double Click Strong 4 – 30%
+// 31 − Short Double Click Medium 1 – 100%
+// 32 − Short Double Click Medium 2 – 80%
+// 33 − Short Double Click Medium 3 – 60%
+// 34 − Short Double Sharp Tick 1 – 100%
+// 35 − Short Double Sharp Tick 2 – 80%
+// 36 − Short Double Sharp Tick 3 – 60%
+// 37 − Long Double Sharp Click Strong 1 – 100%
+// 38 − Long Double Sharp Click Strong 2 – 80%
+// 39 − Long Double Sharp Click Strong 3 – 60%
+// 40 − Long Double Sharp Click Strong 4 – 30%
+// 41 − Long Double Sharp Click Medium 1 – 100%
+// 42 − Long Double Sharp Click Medium 2 – 80%
+// 43 − Long Double Sharp Click Medium 3 – 60%
+// 44 − Long Double Sharp Tick 1 – 100%
+// 45 − Long Double Sharp Tick 2 – 80%
+// 46 − Long Double Sharp Tick 3 – 60%
+// 47 − Buzz 1 – 100%
+// 48 − Buzz 2 – 80%
+// 49 − Buzz 3 – 60%
+// 50 − Buzz 4 – 40%
+// 51 − Buzz 5 – 20%
+// 52 − Pulsing Strong 1 – 100%
+// 53 − Pulsing Strong 2 – 60%
+// 54 − Pulsing Medium 1 – 100%
+// 55 − Pulsing Medium 2 – 60%
+// 56 − Pulsing Sharp 1 – 100%
+// 57 − Pulsing Sharp 2 – 60%
+// 58 − Transition Click 1 – 100%
+// 59 − Transition Click 2 – 80%
+// 60 − Transition Click 3 – 60%
+// 61 − Transition Click 4 – 40%
+// 62 − Transition Click 5 – 20%
+// 63 − Transition Click 6 – 10%
+// 64 − Transition Hum 1 – 100%
+// 65 − Transition Hum 2 – 80%
+// 66 − Transition Hum 3 – 60%
+// 67 − Transition Hum 4 – 40%
+// 68 − Transition Hum 5 – 20%
+// 69 − Transition Hum 6 – 10%
+// 70 − Transition Ramp Down Long Smooth 1 – 100 to 0%
+// 71 − Transition Ramp Down Long Smooth 2 – 100 to 0%
+// 72 − Transition Ramp Down Medium Smooth 1 – 100 to 0%
+// 73 − Transition Ramp Down Medium Smooth 2 – 100 to 0%
+// 74 − Transition Ramp Down Short Smooth 1 – 100 to 0%
+// 75 − Transition Ramp Down Short Smooth 2 – 100 to 0%
+// 76 − Transition Ramp Down Long Sharp 1 – 100 to 0%
+// 77 − Transition Ramp Down Long Sharp 2 – 100 to 0%
+// 78 − Transition Ramp Down Medium Sharp 1 – 100 to 0%
+// 79 − Transition Ramp Down Medium Sharp 2 – 100 to 0%
+// 80 − Transition Ramp Down Short Sharp 1 – 100 to 0%
+// 81 − Transition Ramp Down Short Sharp 2 – 100 to 0%
+// 82 − Transition Ramp Up Long Smooth 1 – 0 to 100%
+// 83 − Transition Ramp Up Long Smooth 2 – 0 to 100%
+// 84 − Transition Ramp Up Medium Smooth 1 – 0 to 100%
+// 85 − Transition Ramp Up Medium Smooth 2 – 0 to 100%
+// 86 − Transition Ramp Up Short Smooth 1 – 0 to 100%
+// 87 − Transition Ramp Up Short Smooth 2 – 0 to 100%
+// 88 − Transition Ramp Up Long Sharp 1 – 0 to 100%
+// 89 − Transition Ramp Up Long Sharp 2 – 0 to 100%
+// 90 − Transition Ramp Up Medium Sharp 1 – 0 to 100%
+// 91 − Transition Ramp Up Medium Sharp 2 – 0 to 100%
+// 92 − Transition Ramp Up Short Sharp 1 – 0 to 100%
+// 93 − Transition Ramp Up Short Sharp 2 – 0 to 100%
+// 94 − Transition Ramp Down Long Smooth 1 – 50 to 0%
+// 95 − Transition Ramp Down Long Smooth 2 – 50 to 0%
+// 96 − Transition Ramp Down Medium Smooth 1 – 50 to 0%
+// 97 − Transition Ramp Down Medium Smooth 2 – 50 to 0%
+// 98 − Transition Ramp Down Short Smooth 1 – 50 to 0%
+// 99 − Transition Ramp Down Short Smooth 2 – 50 to 0%
+// 100 − Transition Ramp Down Long Sharp 1 – 50 to 0%
+// 101 − Transition Ramp Down Long Sharp 2 – 50 to 0%
+// 102 − Transition Ramp Down Medium Sharp 1 – 50 to 0%
+// 103 − Transition Ramp Down Medium Sharp 2 – 50 to 0%
+// 104 − Transition Ramp Down Short Sharp 1 – 50 to 0%
+// 105 − Transition Ramp Down Short Sharp 2 – 50 to 0%
+// 106 − Transition Ramp Up Long Smooth 1 – 0 to 50%
+// 107 − Transition Ramp Up Long Smooth 2 – 0 to 50%
+// 108 − Transition Ramp Up Medium Smooth 1 – 0 to 50%
+// 109 − Transition Ramp Up Medium Smooth 2 – 0 to 50%
+// 110 − Transition Ramp Up Short Smooth 1 – 0 to 50%
+// 111 − Transition Ramp Up Short Smooth 2 – 0 to 50%
+// 112 − Transition Ramp Up Long Sharp 1 – 0 to 50%
+// 113 − Transition Ramp Up Long Sharp 2 – 0 to 50%
+// 114 − Transition Ramp Up Medium Sharp 1 – 0 to 50%
+// 115 − Transition Ramp Up Medium Sharp 2 – 0 to 50%
+// 116 − Transition Ramp Up Short Sharp 1 – 0 to 50%
+// 117 − Transition Ramp Up Short Sharp 2 – 0 to 50%
+// 118 − Long buzz for programmatic stopping – 100%
+// 119 − Smooth Hum 1 (No kick or brake pulse) – 50%
+// 120 − Smooth Hum 2 (No kick or brake pulse) – 40%
+// 121 − Smooth Hum 3 (No kick or brake pulse) – 30%
+// 122 − Smooth Hum 4 (No kick or brake pulse) – 20%
+// 123 − Smooth Hum 5 (No kick or brake pulse) – 10%
+
+/**************************************************************************/
+/*!
+  @brief The DRV2605 driver class.
+*/
+/**************************************************************************/
+void drv2605l_init();
+void writeRegister8(uint8_t reg, uint8_t val);
+uint8_t readRegister8(uint8_t reg);
+void drv2605l_setWaveform(uint8_t slot, uint8_t w);
+void drv2605l_selectLibrary(uint8_t lib);
+void drv2605l_go(void);
+void drv2605l_stop(void);
+void drv2605l_setMode(uint8_t mode);
+void drv2605l_setRealtimeValue(uint8_t rtp);
+// Select ERM (Eccentric Rotating Mass) or LRA (Linear Resonant Actuator)
+// vibration motor The default is ERM, which is more common
+void drv2605l_useERM();
+void drv2605l_useLRA();
+
+#endif

firmware/Core/Inc/stm32f4xx_hal_conf.h

@@ -53,7 +53,7 @@
 /* #define HAL_SRAM_MODULE_ENABLED */
 /* #define HAL_SDRAM_MODULE_ENABLED */
 /* #define HAL_HASH_MODULE_ENABLED */
-/* #define HAL_I2C_MODULE_ENABLED */
+#define HAL_I2C_MODULE_ENABLED
 /* #define HAL_I2S_MODULE_ENABLED */
 /* #define HAL_IWDG_MODULE_ENABLED */
 /* #define HAL_LTDC_MODULE_ENABLED */

firmware/Core/Src/main.c

@@ -21,6 +21,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "DRV2605L.h"
 #include "tusb.h"
 #include "usb_descriptors.h"
 #include <stdlib.h>
@@ -35,6 +36,8 @@
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
 
+#define IS_DRV2605_ENABLED false
+
 #define VENDOR_REQUEST_KEYS 0xfe
 #define VENDOR_REQUEST_CONFIG 0xff
 #define VENDOR_REQUEST_RESET_CONFIG 0xfd
@@ -53,6 +56,8 @@
 /* Private variables ---------------------------------------------------------*/
 ADC_HandleTypeDef hadc1;
 
+I2C_HandleTypeDef hi2c1;
+
 PCD_HandleTypeDef hpcd_USB_OTG_FS;
 
 /* USER CODE BEGIN PV */
@@ -109,13 +114,6 @@ static uint8_t keycodes[6] = {0};
 static uint8_t consumer_report = 0;
 
 extern uint8_t const desc_ms_os_20[];
-// #define URL "heiso.github.io/macrolev/configurator"
-// const tusb_desc_webusb_url_t desc_url =
-//     {
-//         .bLength = 3 + sizeof(URL) - 1,
-//         .bDescriptorType = 3, // WEBUSB URL type
-//         .bScheme = 1,         // 0: http, 1: https
-//         .url = URL};
 
 /* USER CODE END PV */
 
@@ -124,6 +122,9 @@ void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_ADC1_Init(void);
 static void MX_USB_OTG_FS_PCD_Init(void);
+#if IS_DRV2605_ENABLED
+static void MX_I2C1_Init(void);
+#endif
 /* USER CODE BEGIN PFP */
 static void update_key(struct key *key);
 static void init_keys();
@@ -154,6 +155,50 @@ bool writeConfig(uint8_t *buffer, uint16_t offset, uint16_t size) {
   HAL_FLASH_Lock();
   return true;
 }
+
+uint8_t readRegister8(uint8_t reg) {
+  uint8_t buffer[1] = {reg};
+  HAL_I2C_Master_Transmit(&hi2c1, DRV2605_ADDR << 1, buffer, 1, 1000);
+  HAL_I2C_Master_Receive(&hi2c1, DRV2605_ADDR << 1, buffer, 1, 1000);
+  return buffer[0];
+}
+
+void writeRegister8(uint8_t reg, uint8_t val) {
+  uint8_t buffer[2] = {reg, val};
+  HAL_I2C_Master_Transmit(&hi2c1, DRV2605_ADDR << 1, buffer, sizeof(buffer), 1);
+}
+
+void DRV2605_init() {
+  writeRegister8(DRV2605_REG_MODE, 0x00); // out of standby
+
+  writeRegister8(DRV2605_REG_RTPIN, 0x00); // no real-time-playback
+
+  writeRegister8(DRV2605_REG_WAVESEQ1, 1); // strong click
+  writeRegister8(DRV2605_REG_WAVESEQ2, 0); // end sequence
+
+  writeRegister8(DRV2605_REG_OVERDRIVE, 1); // no overdrive
+
+  writeRegister8(DRV2605_REG_SUSTAINPOS, 0);
+  writeRegister8(DRV2605_REG_SUSTAINNEG, 0);
+  writeRegister8(DRV2605_REG_BREAK, 0);
+  writeRegister8(DRV2605_REG_AUDIOMAX, 0x64);
+
+  // ERM open loop
+
+  // turn on N_ERM_LRA
+  writeRegister8(DRV2605_REG_FEEDBACK,
+                 readRegister8(DRV2605_REG_FEEDBACK) | 0x80);
+
+  // // turn off N_ERM_LRA
+  // writeRegister8(DRV2605_REG_FEEDBACK,
+  //                readRegister8(DRV2605_REG_FEEDBACK) & 0x7F);
+  // // turn on ERM_OPEN_LOOP
+  // writeRegister8(DRV2605_REG_CONTROL3,
+  //                readRegister8(DRV2605_REG_CONTROL3) | 0x20);
+
+  writeRegister8(DRV2605_REG_LIBRARY, 1);
+  writeRegister8(DRV2605_REG_MODE, DRV2605_MODE_INTTRIG);
+}
 /* USER CODE END 0 */
 
 /**
@@ -186,11 +231,17 @@ int main(void) {
   MX_GPIO_Init();
   MX_ADC1_Init();
   MX_USB_OTG_FS_PCD_Init();
+#if IS_DRV2605_ENABLED
+  MX_I2C1_Init();
+#endif
   /* USER CODE BEGIN 2 */
 
   init_keys();
 
   tud_init(BOARD_TUD_RHPORT);
+#if IS_DRV2605_ENABLED
+  drv2605l_init();
+#endif
 
   /* USER CODE END 2 */
 
@@ -259,6 +310,14 @@ int main(void) {
         }
       }
     }
+
+#if IS_DRV2605_ENABLED
+    if (key_triggered) {
+      writeRegister8(DRV2605_REG_WAVESEQ1 + 0, 1);
+      writeRegister8(DRV2605_REG_WAVESEQ1 + 1, 0);
+      writeRegister8(DRV2605_REG_GO, 1);
+    }
+#endif
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
@@ -357,6 +416,37 @@ static void MX_ADC1_Init(void) {
   /* USER CODE END ADC1_Init 2 */
 }
 
+/**
+ * @brief I2C1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_I2C1_Init(void) {
+
+  /* USER CODE BEGIN I2C1_Init 0 */
+
+  /* USER CODE END I2C1_Init 0 */
+
+  /* USER CODE BEGIN I2C1_Init 1 */
+
+  /* USER CODE END I2C1_Init 1 */
+  hi2c1.Instance = I2C1;
+  hi2c1.Init.ClockSpeed = 100000;
+  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
+  hi2c1.Init.OwnAddress1 = 0;
+  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
+  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
+  hi2c1.Init.OwnAddress2 = 0;
+  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
+  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
+  if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN I2C1_Init 2 */
+
+  /* USER CODE END I2C1_Init 2 */
+}
+
 /**
  * @brief USB_OTG_FS Initialization Function
  * @param None