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Haptic feedback generalized - DRV2605 and solenoids (#4939)

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* initial work to add eeprom to haptic feedback and decouple the feedback process from keyboards

* Haptic feedback enhancements: on/off toggle working, feedback order working
todo:
-work on modes switching
-get modes switching to save to eeprom

* haptic enhancement - eeprom and modes added

* Added set and get functions for haptic feedback

* initial implementation of solenoids under haptic feedback

* changed eeprom to 32 bits to reserve blocks for future features

* start documentation of haptic feedback

* change keycode per comment from reviewers

* typo fixes

* added eeprom for solenoid configs

* added solenoid and docs

* Add/fix default parameters configs, improve docs

* more doc cleanup

* add in solenoid buzz toggle, clean up doc

* some fixes for error in compiling solenoid

* fix a chibios specific i2c read function and added one for AVR controllers in DRV2605L.c

* fixes for avr side issues

* update keymap

* fix keymap compile error

* fix bugs found during solenoid testing

* set pin that is not powered during bootloader

* added warning about certain pins on the MCU may trip solenoid during DFU/bootloader
This commit is contained in:
ishtob 2019-02-16 21:39:30 -05:00 • committed by MechMerlin
parent a7a647b7f6
commit 2cee371bf1
18 changed files with 750 additions and 48 deletions
Download patch file Download diff file Expand all files Collapse all files

24
drivers/haptic/DRV2605L.c
View file

@ -21,7 +21,7 @@
#include <math.h>
uint8_t DRV2605L_transfer_buffer[20];
uint8_t DRV2605L_transfer_buffer[2];
uint8_t DRV2605L_tx_register[0];
uint8_t DRV2605L_read_buffer[0];
uint8_t DRV2605L_read_register;
@ -34,6 +34,11 @@ void DRV_write(uint8_t drv_register, uint8_t settings) {
}
uint8_t DRV_read(uint8_t regaddress) {
#ifdef __AVR__
i2c_readReg(DRV2605L_BASE_ADDRESS << 1,
regaddress, DRV2605L_read_buffer, 1, 100);
DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
#else
DRV2605L_tx_register[0] = regaddress;
if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1,
DRV2605L_tx_register, 1,
@ -42,14 +47,13 @@ uint8_t DRV_read(uint8_t regaddress) {
printf("err reading reg \n");
}
DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
#endif
return DRV2605L_read_register;
}
void DRV_init(void)
{
i2c_init();
i2c_start(DRV2605L_BASE_ADDRESS);
/* 0x07 sets DRV2605 into calibration mode */
DRV_write(DRV_MODE,0x07);
@ -104,21 +108,17 @@ void DRV_init(void)
C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME;
DRV_write(DRV_CTRL_4, (uint8_t) C4_SET.Byte);
DRV_write(DRV_LIB_SELECTION,LIB_SELECTION);
//start autocalibration
DRV_write(DRV_GO, 0x01);
/* 0x00 sets DRV2605 out of standby and to use internal trigger
* 0x01 sets DRV2605 out of standby and to use external trigger */
DRV_write(DRV_MODE,0x00);
/* 0x06: LRA library */
DRV_write(DRV_WAVEFORM_SEQ_1, 0x01);
/* 0xB9: LRA, 4x brake factor, medium gain, 7.5x back EMF
* 0x39: ERM, 4x brake factor, medium gain, 1.365x back EMF */
/* TODO: setup auto-calibration as part of initiation */
//Play greeting sequence
DRV_write(DRV_GO, 0x00);
DRV_write(DRV_WAVEFORM_SEQ_1, DRV_GREETING);
DRV_write(DRV_GO, 0x01);
}
void DRV_pulse(uint8_t sequence)

26
drivers/haptic/DRV2605L.h
View file

@ -31,13 +31,6 @@
#define FB_LOOPGAIN 1 /* For Low:0, Medium:1, High:2, Very High:3 */
#endif
#ifndef RATED_VOLTAGE
#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
#ifndef V_PEAK
#define V_PEAK 2.8
#endif
#endif
/* LRA specific settings */
#if FB_ERM_LRA == 1
#ifndef V_RMS
@ -49,6 +42,16 @@
#ifndef F_LRA
#define F_LRA 205
#endif
#ifndef RATED_VOLTAGE
#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
#endif
#endif
#ifndef RATED_VOLTAGE
#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
#endif
#ifndef V_PEAK
#define V_PEAK 2.8
#endif
/* Library Selection */
@ -60,6 +63,13 @@
#endif
#endif
#ifndef DRV_GREETING
#define DRV_GREETING alert_750ms
#endif
#ifndef DRV_MODE_DEFAULT
#define DRV_MODE_DEFAULT strong_click1
#endif
/* Control 1 register settings */
#ifndef DRIVE_TIME
#define DRIVE_TIME 25
@ -162,7 +172,6 @@ void DRV_write(const uint8_t drv_register, const uint8_t settings);
uint8_t DRV_read(const uint8_t regaddress);
void DRV_pulse(const uint8_t sequence);
typedef enum DRV_EFFECT{
clear_sequence = 0,
strong_click = 1,
@ -288,6 +297,7 @@ typedef enum DRV_EFFECT{
smooth_hum3_30 = 121,
smooth_hum4_20 = 122,
smooth_hum5_10 = 123,
drv_effect_max = 124,
} DRV_EFFECT;
/* Register bit array unions */

248
drivers/haptic/haptic.c Normal file
View file

@ -0,0 +1,248 @@
/* Copyright 2019 ishtob
* Driver for haptic feedback written for QMK
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "haptic.h"
#include "eeconfig.h"
#include "progmem.h"
#include "debug.h"
#ifdef DRV2605L
#include "DRV2605L.h"
#endif
#ifdef SOLENOID_ENABLE
#include "solenoid.h"
#endif
haptic_config_t haptic_config;
void haptic_init(void) {
debug_enable = 1; //Debug is ON!
if (!eeconfig_is_enabled()) {
eeconfig_init();
}
haptic_config.raw = eeconfig_read_haptic();
if (haptic_config.mode < 1){
haptic_config.mode = 1;
}
if (!haptic_config.mode){
dprintf("No haptic config found in eeprom, setting default configs\n");
haptic_reset();
}
#ifdef SOLENOID_ENABLE
solenoid_setup();
dprintf("Solenoid driver initialized\n");
#endif
#ifdef DRV2605L
DRV_init();
dprintf("DRV2605 driver initialized\n");
#endif
eeconfig_debug_haptic();
}
void haptic_task(void) {
#ifdef SOLENOID_ENABLE
solenoid_check();
#endif
}
void eeconfig_debug_haptic(void) {
dprintf("haptic_config eprom\n");
dprintf("haptic_config.enable = %d\n", haptic_config.enable);
dprintf("haptic_config.mode = %d\n", haptic_config.mode);
}
void haptic_enable(void) {
haptic_config.enable = 1;
xprintf("haptic_config.enable = %u\n", haptic_config.enable);
eeconfig_update_haptic(haptic_config.raw);
}
void haptic_disable(void) {
haptic_config.enable = 0;
xprintf("haptic_config.enable = %u\n", haptic_config.enable);
eeconfig_update_haptic(haptic_config.raw);
}
void haptic_toggle(void) {
if (haptic_config.enable) {
haptic_disable();
} else {
haptic_enable();
}
eeconfig_update_haptic(haptic_config.raw);
}
void haptic_feedback_toggle(void){
haptic_config.feedback++;
if (haptic_config.feedback >= HAPTIC_FEEDBACK_MAX)
haptic_config.feedback = KEY_PRESS;
xprintf("haptic_config.feedback = %u\n", !haptic_config.feedback);
eeconfig_update_haptic(haptic_config.raw);
}
void haptic_buzz_toggle(void) {
bool buzz_stat = !haptic_config.buzz;
haptic_config.buzz = buzz_stat;
haptic_set_buzz(buzz_stat);
}
void haptic_mode_increase(void) {
uint8_t mode = haptic_config.mode + 1;
#ifdef DRV2605L
if (haptic_config.mode >= drv_effect_max) {
mode = 1;
}
#endif
haptic_set_mode(mode);
}
void haptic_mode_decrease(void) {
uint8_t mode = haptic_config.mode -1;
#ifdef DRV2605L
if (haptic_config.mode < 1) {
mode = (drv_effect_max - 1);
}
#endif
haptic_set_mode(mode);
}
void haptic_dwell_increase(void) {
uint8_t dwell = haptic_config.dwell + 1;
#ifdef SOLENOID_ENABLE
if (haptic_config.dwell >= SOLENOID_MAX_DWELL) {
dwell = 1;
}
solenoid_set_dwell(dwell);
#endif
haptic_set_dwell(dwell);
}
void haptic_dwell_decrease(void) {
uint8_t dwell = haptic_config.dwell -1;
#ifdef SOLENOID_ENABLE
if (haptic_config.dwell < SOLENOID_MIN_DWELL) {
dwell = SOLENOID_MAX_DWELL;
}
solenoid_set_dwell(dwell);
#endif
haptic_set_dwell(dwell);
}
void haptic_reset(void){
haptic_config.enable = true;
uint8_t feedback = HAPTIC_FEEDBACK_DEFAULT;
haptic_config.feedback = feedback;
#ifdef DRV2605L
uint8_t mode = HAPTIC_MODE_DEFAULT;
haptic_config.mode = mode;
#endif
#ifdef SOLENOID_ENABLE
uint8_t dwell = SOLENOID_DEFAULT_DWELL;
haptic_config.dwell = dwell;
#endif
eeconfig_update_haptic(haptic_config.raw);
xprintf("haptic_config.feedback = %u\n", haptic_config.feedback);
xprintf("haptic_config.mode = %u\n", haptic_config.mode);
}
void haptic_set_feedback(uint8_t feedback) {
haptic_config.feedback = feedback;
eeconfig_update_haptic(haptic_config.raw);
xprintf("haptic_config.feedback = %u\n", haptic_config.feedback);
}
void haptic_set_mode(uint8_t mode) {
haptic_config.mode = mode;
eeconfig_update_haptic(haptic_config.raw);
xprintf("haptic_config.mode = %u\n", haptic_config.mode);
}
void haptic_set_buzz(uint8_t buzz) {
haptic_config.buzz = buzz;
eeconfig_update_haptic(haptic_config.raw);
xprintf("haptic_config.buzz = %u\n", haptic_config.buzz);
}
void haptic_set_dwell(uint8_t dwell) {
haptic_config.dwell = dwell;
eeconfig_update_haptic(haptic_config.raw);
xprintf("haptic_config.dwell = %u\n", haptic_config.dwell);
}
uint8_t haptic_get_mode(void) {
if (!haptic_config.enable){
return false;
}
return haptic_config.mode;
}
uint8_t haptic_get_feedback(void) {
if (!haptic_config.enable){
return false;
}
return haptic_config.feedback;
}
uint8_t haptic_get_dwell(void) {
if (!haptic_config.enable){
return false;
}
return haptic_config.dwell;
}
void haptic_play(void) {
#ifdef DRV2605L
uint8_t play_eff = 0;
play_eff = haptic_config.mode;
DRV_pulse(play_eff);
#endif
#ifdef SOLENOID_ENABLE
solenoid_fire();
#endif
}
bool process_haptic(uint16_t keycode, keyrecord_t *record) {
if (keycode == HPT_ON && record->event.pressed) { haptic_enable(); }
if (keycode == HPT_OFF && record->event.pressed) { haptic_disable(); }
if (keycode == HPT_TOG && record->event.pressed) { haptic_toggle(); }
if (keycode == HPT_RST && record->event.pressed) { haptic_reset(); }
if (keycode == HPT_FBK && record->event.pressed) { haptic_feedback_toggle(); }
if (keycode == HPT_BUZ && record->event.pressed) { haptic_buzz_toggle(); }
if (keycode == HPT_MODI && record->event.pressed) { haptic_mode_increase(); }
if (keycode == HPT_MODD && record->event.pressed) { haptic_mode_decrease(); }
if (keycode == HPT_DWLI && record->event.pressed) { haptic_dwell_increase(); }
if (keycode == HPT_DWLD && record->event.pressed) { haptic_dwell_decrease(); }
if (haptic_config.enable) {
if ( record->event.pressed ) {
// keypress
if (haptic_config.feedback < 2) {
haptic_play();
}
} else {
//keyrelease
if (haptic_config.feedback > 0) {
haptic_play();
}
}
}
return true;
}
void haptic_shutdown(void) {
#ifdef SOLENOID_ENABLE
solenoid_shutdown();
#endif
}

82
drivers/haptic/haptic.h Normal file
View file

@ -0,0 +1,82 @@
/* Copyright 2019 ishtob
* Driver for haptic feedback written for QMK
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include "quantum.h"
#ifdef DRV2605L
#include "DRV2605L.h"
#endif
#ifndef HAPTIC_FEEDBACK_DEFAULT
#define HAPTIC_FEEDBACK_DEFAULT 0
#endif
#ifndef HAPTIC_MODE_DEFAULT
#define HAPTIC_MODE_DEFAULT DRV_MODE_DEFAULT
#endif
/* EEPROM config settings */
typedef union {
uint32_t raw;
struct {
bool enable :1;
uint8_t feedback :2;
uint8_t mode :7;
bool buzz :1;
uint8_t dwell :7;
uint16_t reserved :16;
};
} haptic_config_t;
typedef enum HAPTIC_FEEDBACK{
KEY_PRESS,
KEY_PRESS_RELEASE,
KEY_RELEASE,
HAPTIC_FEEDBACK_MAX,
} HAPTIC_FEEDBACK;
bool process_haptic(uint16_t keycode, keyrecord_t *record);
void haptic_init(void);
void haptic_task(void);
void eeconfig_debug_haptic(void);
void haptic_enable(void);
void haptic_disable(void);
void haptic_toggle(void);
void haptic_feedback_toggle(void);
void haptic_mode_increase(void);
void haptic_mode_decrease(void);
void haptic_mode(uint8_t mode);
void haptic_reset(void);
void haptic_set_feedback(uint8_t feedback);
void haptic_set_mode(uint8_t mode);
void haptic_set_dwell(uint8_t dwell);
void haptic_set_buzz(uint8_t buzz);
void haptic_buzz_toggle(void);
uint8_t haptic_get_mode(void);
uint8_t haptic_get_feedback(void);
void haptic_dwell_increase(void);
void haptic_dwell_decrease(void);
void haptic_play(void);
void haptic_shutdown(void);

109
drivers/haptic/solenoid.c Normal file
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@ -0,0 +1,109 @@
/* Copyright 2018 mtdjr - modified by ishtob
* Driver for solenoid written for QMK
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <timer.h>
#include "solenoid.h"
#include "haptic.h"
bool solenoid_on = false;
bool solenoid_buzzing = false;
uint16_t solenoid_start = 0;
uint8_t solenoid_dwell = SOLENOID_DEFAULT_DWELL;
extern haptic_config_t haptic_config;
void solenoid_buzz_on(void) {
haptic_set_buzz(1);
}
void solenoid_buzz_off(void) {
haptic_set_buzz(0);
}
void solenoid_set_buzz(int buzz) {
haptic_set_buzz(buzz);
}
void solenoid_dwell_minus(uint8_t solenoid_dwell) {
if (solenoid_dwell > 0) solenoid_dwell--;
}
void solenoid_dwell_plus(uint8_t solenoid_dwell) {
if (solenoid_dwell < SOLENOID_MAX_DWELL) solenoid_dwell++;
}
void solenoid_set_dwell(uint8_t dwell) {
solenoid_dwell = dwell;
}
void solenoid_stop(void) {
writePinLow(SOLENOID_PIN);
solenoid_on = false;
solenoid_buzzing = false;
}
void solenoid_fire(void) {
if (!haptic_config.buzz && solenoid_on) return;
if (haptic_config.buzz && solenoid_buzzing) return;
solenoid_on = true;
solenoid_buzzing = true;
solenoid_start = timer_read();
writePinHigh(SOLENOID_PIN);
}
void solenoid_check(void) {
uint16_t elapsed = 0;
if (!solenoid_on) return;
elapsed = timer_elapsed(solenoid_start);
//Check if it's time to finish this solenoid click cycle
if (elapsed > solenoid_dwell) {
solenoid_stop();
return;
}
//Check whether to buzz the solenoid on and off
if (haptic_config.buzz) {
if (elapsed / SOLENOID_MIN_DWELL % 2 == 0){
if (!solenoid_buzzing) {
solenoid_buzzing = true;
writePinHigh(SOLENOID_PIN);
}
}
else {
if (solenoid_buzzing) {
solenoid_buzzing = false;
writePinLow(SOLENOID_PIN);
}
}
}
}
void solenoid_setup(void) {
setPinOutput(SOLENOID_PIN);
solenoid_fire();
}
void solenoid_shutdown(void) {
writePinLow(SOLENOID_PIN);
}

54
drivers/haptic/solenoid.h Normal file
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@ -0,0 +1,54 @@
/* Copyright 2018 mtdjr - modified by ishtob
* Driver for solenoid written for QMK
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#ifndef SOLENOID_DEFAULT_DWELL
#define SOLENOID_DEFAULT_DWELL 12
#endif
#ifndef SOLENOID_MAX_DWELL
#define SOLENOID_MAX_DWELL 100
#endif
#ifndef SOLENOID_MIN_DWELL
#define SOLENOID_MIN_DWELL 4
#endif
#ifndef SOLENOID_ACTIVE
#define SOLENOID_ACTIVE false
#endif
#ifndef SOLENOID_PIN
#define SOLENOID_PIN F6
#endif
void solenoid_buzz_on(void);
void solenoid_buzz_off(void);
void solenoid_set_buzz(int buzz);
void solenoid_dwell_minus(uint8_t solenoid_dwell);
void solenoid_dwell_plus(uint8_t solenoid_dwell);
void solenoid_set_dwell(uint8_t dwell);
void solenoid_stop(void);
void solenoid_fire(void);
void solenoid_check(void);
void solenoid_setup(void);
void solenoid_shutdown(void);