feat(core): set haptic actuator for T3W1

[no changelog]

core/embed/io/haptic/drv2625/actuators/ld0625bc.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of the Trezor project, https://trezor.io/
+ *
+ * Copyright (c) SatoshiLabs
+ *
+ * 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 3 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
+
+#define ACTUATOR_LRA
+#define ACTUATOR_CLOSED_LOOP
+
+#define ACTUATOR_FREQUENCY (260)
+#define ACTUATOR_VOLTAGE (0.7)
+
+#define ACTUATOR_LRA_PERIOD ((int)((1000000 / ACTUATOR_FREQUENCY) / 24.615))
+
+// open-loop mode
+// V = 21.32 * 10^(-3) * OD_CLAMP * sqrt(1 - fLRA * 800 * 10^(-6))
+#define ACTUATOR_OD_CLAMP (37)
+
+// closed-loop mode
+// V = (20.58 * 10^(-3) * RATED_VOLTAGE) / sqrt (1 - (4 * tSAMPLE_TIME + 300 *
+// 10^(-6)) * fLRA) where tSAMPLE_TIME = 300us, by default
+#define ACTUATOR_RATED_VOLTAGE (27)

core/embed/io/haptic/drv2625/actuators/vg1040003d.h

@@ -1,3 +1,23 @@
+/*
+ * This file is part of the Trezor project, https://trezor.io/
+ *
+ * Copyright (c) SatoshiLabs
+ *
+ * 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 3 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
 
 #define ACTUATOR_LRA
 #define ACTUATOR_OPEN_LOOP

core/embed/io/haptic/drv2625/drv2625.c

@@ -150,10 +150,17 @@ bool haptic_init(void) {
     goto cleanup;
   }
 
+#ifdef ACTUATOR_OPEN_LOOP
   if (!drv2625_set_reg(driver->i2c_bus, DRV2625_REG_OD_CLAMP,
                        ACTUATOR_OD_CLAMP)) {
     goto cleanup;
   }
+#elif defined ACTUATOR_CLOSED_LOOP
+  if (!drv2625_set_reg(driver->i2c_bus, DRV2625_REG_RATED_VOLTAGE,
+                       ACTUATOR_RATED_VOLTAGE)) {
+    goto cleanup;
+  }
+#endif
 
   if (!drv2625_set_reg(driver->i2c_bus, DRV2625_REG_LRA_WAVE_SHAPE,
                        DRV2625_REG_LRA_WAVE_SHAPE_SINE)) {

core/embed/io/haptic/drv2625/drv2625.h

@@ -1,5 +1,23 @@
-#ifndef TREZOR_HAL_DRV_2625_H
+/*
-#define TREZOR_HAL_DRV_2625_H
+ * This file is part of the Trezor project, https://trezor.io/
+ *
+ * Copyright (c) SatoshiLabs
+ *
+ * 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 3 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
 
 // I2C address of the DRV2625 on the I2C bus.
 #define DRV2625_I2C_ADDRESS 0x5A
@@ -47,6 +65,7 @@
 #define DRV2625_REG_GO_GO 0x01
 
 #define DRV2625_REG_OD_CLAMP 0x20
+#define DRV2625_REG_RATED_VOLTAGE 0x20
 
 #define DRV2625_REG_LRA_WAVE_SHAPE 0x2C
 #define DRV2625_REG_LRA_WAVE_SHAPE_SINE 0x01
@@ -183,5 +202,3 @@ typedef enum {
   SMOOTH_HUM_4_40 = 122,
   SMOOTH_HUM_5_20 = 123,
 } drv2625_lib_effect_t;
-
-#endif  // TREZOR_HAL_DRV_2625_H

core/embed/io/haptic/inc/io/haptic.h

@@ -17,15 +17,14 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#ifndef TREZORHAL_HAPTIC_H
+#pragma once
-#define TREZORHAL_HAPTIC_H
 
 #include <trezor_types.h>
 
 typedef enum {
   // Effect at the start of a button press
   HAPTIC_BUTTON_PRESS = 0,
-  // Effect at the and of hold-to-confirm action
+  // Effect at the end of hold-to-confirm action
   HAPTIC_HOLD_TO_CONFIRM = 1,
 } haptic_effect_t;
 
@@ -86,5 +85,3 @@ bool haptic_play(haptic_effect_t effect);
 //
 // Returns `true` if the effect was successfully started.
 bool haptic_play_custom(int8_t amplitude_pct, uint16_t duration_ms);
-
-#endif  // TREZORHAL_HAPTIC_H

core/embed/models/T3W1/boards/trezor_t3w1_revA.h

@@ -121,7 +121,7 @@
 #define TOUCH_INT_PIN GPIO_PIN_3
 
 #define DRV2625_I2C_INSTANCE 2
-#define HAPTIC_ACTUATOR "actuators/vg1040003d.h"
+#define HAPTIC_ACTUATOR "actuators/ld0625bc.h"
 #define DRV2625_TRIG_PIN GPIO_PIN_2
 #define DRV2625_TRIG_PORT GPIOA
 #define DRV2625_TRIG_CLK_ENA __HAL_RCC_GPIOA_CLK_ENABLE

core/embed/models/T3W1/boards/trezor_t3w1_revA0.h

@@ -120,7 +120,7 @@
 #define TOUCH_INT_PIN GPIO_PIN_3
 
 #define DRV2625_I2C_INSTANCE 2
-#define HAPTIC_ACTUATOR "actuators/vg1040003d.h"
+#define HAPTIC_ACTUATOR "actuators/ld0625bc.h"
 #define DRV2625_TRIG_PIN GPIO_PIN_2
 #define DRV2625_TRIG_PORT GPIOA
 #define DRV2625_TRIG_CLK_ENA __HAL_RCC_GPIOA_CLK_ENABLE

core/embed/models/T3W1/boards/trezor_t3w1_revB.h

@@ -121,7 +121,7 @@
 #define TOUCH_INT_PIN GPIO_PIN_3
 
 #define DRV2625_I2C_INSTANCE 2
-#define HAPTIC_ACTUATOR "actuators/vg1040003d.h"
+#define HAPTIC_ACTUATOR "actuators/ld0625bc.h"
 #define DRV2625_TRIG_PIN GPIO_PIN_2
 #define DRV2625_TRIG_PORT GPIOA
 #define DRV2625_TRIG_CLK_ENA __HAL_RCC_GPIOA_CLK_ENABLE