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refactor(core/embed): prepare haptic driver for low power mode

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[no changelog]
pull/3964/head
cepetr 1 month ago committed by cepetr
parent 3460c4b891
commit bfedb96071
3 changed files with 296 additions and 116 deletions
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78
core/embed/trezorhal/haptic.h
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@ -1,3 +1,21 @@
/*
* 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/>.
*/
#ifndef TREZORHAL_HAPTIC_H
#define TREZORHAL_HAPTIC_H
@ -6,30 +24,64 @@
#include <stdint.h>
typedef enum {
// Effect at the start of a button press
HAPTIC_BUTTON_PRESS = 0,
HAPTIC_ALERT = 1,
HAPTIC_HOLD_TO_CONFIRM = 2,
// Effect at the and of hold-to-confirm action
HAPTIC_HOLD_TO_CONFIRM = 1,
} haptic_effect_t;
// Initialize haptic driver
void haptic_init(void);
// Initializes the haptic driver
//
// The function initializes the GPIO pins and the hardware
// peripherals used by the haptic driver.
//
// Returns `true` if the initialization was successful.
bool haptic_init(void);
// Deinitializes the haptic driver
//
// The function deinitializes the hardware peripherals used by the
// haptic driver so the device can be eventually put into a low-power mode.
void haptic_deinit(void);
// Enables or disables the haptic driver
//
// When the driver is disabled, it does not play any haptic effects
// and potentially can put the controller into a low-power mode.
//
// The driver is enabled by default (after initialization).
void haptic_set_enabled(bool enabled);
// Calibrate haptic driver
void haptic_calibrate(void);
// Returns `true` if haptic driver is enabled
bool haptic_get_enabled(void);
// Test haptic driver, plays a maximum amplitude for the given duration
// Tests the haptic driver, playing at maximum amplitude for the given duration
//
// This function is used during production testing to verify that the haptic
// motor is working correctly.
//
// Returns `true` if the test effect was successfully started.
bool haptic_test(uint16_t duration_ms);
// Play haptic effect
void haptic_play(haptic_effect_t effect);
// Plays one of haptic effects
//
// The function stops playing any currently running effect and
// starts playing the specified effect.
//
// Returns `true` if the effect was successfully started.
bool haptic_play(haptic_effect_t effect);
// Starts the haptic motor with a specified amplitude and period
// Starts the haptic motor with a specified amplitude (in percent) for a
// specified duration (in milliseconds).
//
// The function stops playing any currently running effect and
// starts playing the specified effect.
//
// The function can be invoked repeatedly during the specified duration
// (`duration_ms`) to modify the amplitude dynamically, allowing
// the creation of customized haptic effects.
//
// Returns `true` if the effect was successfully started.
bool haptic_play_custom(int8_t amplitude_pct, uint16_t duration_ms);
void haptic_set_enabled(bool enable);
#endif
#endif // TREZORHAL_HAPTIC_H

270
core/embed/trezorhal/stm32u5/haptic/drv2625/drv2625.c
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@ -1,61 +1,46 @@
#include "drv2625_lib.h"
#include "haptic.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/>.
*/
#include TREZOR_BOARD
#include <stdbool.h>
#include <string.h>
#include "common.h"
#include "drv2625.h"
#include "haptic.h"
#include "i2c.h"
#include STM32_HAL_H
#include "i2c.h"
#include TREZOR_BOARD
#include HAPTIC_ACTUATOR
// Maximum amplitude of the vibration effect
// (DRV2625 supports 7-bit amplitude)
#define MAX_AMPLITUDE 127
// Amplitude of the vibration effect used for production test
#define PRODTEST_EFFECT_AMPLITUDE 127
// Amplitude of the button press effect
#define PRESS_EFFECT_AMPLITUDE 25
// Duration of the button press effect
#define PRESS_EFFECT_DURATION 10
#define DRV2625_I2C_ADDRESS (0x5A << 1)
#define DRV2625_REG_CHIPID 0x00
#define DRV2625_REG_STATUS 0x01
#define DRV2625_REG_MODE 0x07
#define DRV2625_REG_MODE_RTP 0
#define DRV2625_REG_MODE_WAVEFORM 0x01
#define DRV2625_REG_MODE_DIAG 0x02
#define DRV2625_REG_MODE_AUTOCAL 0x03
#define DRV2625_REG_MODE_TRGFUNC_PULSE 0x00
#define DRV2625_REG_MODE_TRGFUNC_ENABLE 0x04
#define DRV2625_REG_MODE_TRGFUNC_INTERRUPT 0x08
#define DRV2625_REG_LRAERM 0x08
#define DRV2625_REG_LRAERM_LRA 0x80
#define DRV2625_REG_LRAERM_OPENLOOP 0x40
#define DRV2625_REG_LRAERM_AUTO_BRK_OL 0x10
#define DRV2625_REG_LRAERM_AUTO_BRK_STBY 0x08
#define DRV2625_REG_LIBRARY 0x0D ///< Waveform library selection register
#define DRV2625_REG_LIBRARY_OPENLOOP 0x40
#define DRV2625_REG_LIBRARY_GAIN_100 0x00
#define DRV2625_REG_LIBRARY_GAIN_75 0x01
#define DRV2625_REG_LIBRARY_GAIN_50 0x02
#define DRV2625_REG_LIBRARY_GAIN_25 0x03
#define DRV2625_REG_RTP 0x0E ///< RTP input register
#define DRV2625_REG_WAVESEQ1 0x0F ///< Waveform sequence register 1
#define DRV2625_REG_WAVESEQ2 0x10 ///< Waveform sequence register 2
#define DRV2625_REG_WAVESEQ3 0x11 ///< Waveform sequence register 3
#define DRV2625_REG_WAVESEQ4 0x12 ///< Waveform sequence register 4
#define DRV2625_REG_WAVESEQ5 0x13 ///< Waveform sequence register 5
#define DRV2625_REG_WAVESEQ6 0x14 ///< Waveform sequence register 6
#define DRV2625_REG_WAVESEQ7 0x15 ///< Waveform sequence register 7
#define DRV2625_REG_WAVESEQ8 0x16 ///< Waveform sequence register 8
#define DRV2625_REG_GO 0x0C ///< Go register
#define DRV2625_REG_GO_GO 0x01
#define DRV2625_REG_OD_CLAMP 0x20
#define DRV2625_REG_LRA_WAVE_SHAPE 0x2C
#define DRV2625_REG_LRA_WAVE_SHAPE_SINE 0x01
#define DRV2625_REG_OL_LRA_PERIOD_LO 0x2F
#define DRV2625_REG_OL_LRA_PERIOD_HI 0x2E
// Actuator configuration
#include HAPTIC_ACTUATOR
#if defined ACTUATOR_CLOSED_LOOP
#define LIB_SEL 0x00
@ -75,45 +60,68 @@
#error "Must define either LRA or ERM"
#endif
#define PRESS_EFFECT_AMPLITUDE 25
#define PRESS_EFFECT_DURATION 10
#define MAX_AMPLITUDE 127
#define PRODTEST_EFFECT_AMPLITUDE 127
bool haptic_enabled = true;
static bool set_reg(uint8_t addr, uint8_t value) {
// Driver state
typedef struct {
// Set if driver is initialized
bool initialized;
// Set if driver is enabled
bool enabled;
// Set to if real-time playing is activated.
// This prevents the repeated set of `DRV2625_REG_MODE` register
// which would otherwise stop all playback.
bool playing_rtp;
} haptic_driver_t;
// Haptic driver instance
static haptic_driver_t g_haptic_driver = {
.initialized = false,
};
static bool drv2625_set_reg(uint8_t addr, uint8_t value) {
uint8_t data[] = {addr, value};
return i2c_transmit(DRV2625_I2C_INSTANCE, DRV2625_I2C_ADDRESS, data,
sizeof(data), 1) == HAL_OK;
}
void haptic_calibrate(void) {
set_reg(DRV2625_REG_MODE, DRV2625_REG_MODE_AUTOCAL);
HAL_Delay(1);
set_reg(DRV2625_REG_GO, DRV2625_REG_GO_GO);
bool haptic_init(void) {
haptic_driver_t *driver = &g_haptic_driver;
HAL_Delay(3000);
}
if (driver->initialized) {
return false;
}
// Set to `true` if real-time playing is activated. to
// This prevents the repeated set of `DRV2625_REG_MODE` register
// which would otherwise stop all playback.
static bool playing_rtp = false;
memset(driver, 0, sizeof(haptic_driver_t));
void haptic_init(void) {
// select library
set_reg(DRV2625_REG_LIBRARY, LIB_SEL | DRV2625_REG_LIBRARY_GAIN_25);
set_reg(DRV2625_REG_LRAERM,
LRA_ERM_SEL | LOOP_SEL | DRV2625_REG_LRAERM_AUTO_BRK_OL);
if (!drv2625_set_reg(DRV2625_REG_LIBRARY,
LIB_SEL | DRV2625_REG_LIBRARY_GAIN_25)) {
return false;
}
set_reg(DRV2625_REG_OD_CLAMP, ACTUATOR_OD_CLAMP);
if (!drv2625_set_reg(
DRV2625_REG_LRAERM,
LRA_ERM_SEL | LOOP_SEL | DRV2625_REG_LRAERM_AUTO_BRK_OL)) {
}
set_reg(DRV2625_REG_LRA_WAVE_SHAPE, DRV2625_REG_LRA_WAVE_SHAPE_SINE);
if (!drv2625_set_reg(DRV2625_REG_OD_CLAMP, ACTUATOR_OD_CLAMP)) {
return false;
}
set_reg(DRV2625_REG_OL_LRA_PERIOD_LO, ACTUATOR_LRA_PERIOD & 0xFF);
set_reg(DRV2625_REG_OL_LRA_PERIOD_HI, ACTUATOR_LRA_PERIOD >> 8);
if (!drv2625_set_reg(DRV2625_REG_LRA_WAVE_SHAPE,
DRV2625_REG_LRA_WAVE_SHAPE_SINE)) {
return false;
}
if (!drv2625_set_reg(DRV2625_REG_OL_LRA_PERIOD_LO,
ACTUATOR_LRA_PERIOD & 0xFF)) {
return false;
}
if (!drv2625_set_reg(DRV2625_REG_OL_LRA_PERIOD_HI,
ACTUATOR_LRA_PERIOD >> 8)) {
return false;
}
GPIO_InitTypeDef GPIO_InitStructure = {0};
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
@ -145,19 +153,59 @@ void haptic_init(void) {
HAL_TIM_OC_Start(&TIM_Handle, TIM_CHANNEL_1);
TIM16->BDTR |= TIM_BDTR_MOE;
driver->initialized = true;
driver->enabled = true;
return true;
}
void haptic_deinit(void) {
haptic_driver_t *driver = &g_haptic_driver;
if (!driver->initialized) {
return;
}
// TODO: deinitialize GPIOs and the TIMER
memset(driver, 0, sizeof(haptic_driver_t));
}
void haptic_set_enabled(bool enabled) {
haptic_driver_t *driver = &g_haptic_driver;
driver->enabled = enabled;
}
bool haptic_get_enabled(void) {
haptic_driver_t *driver = &g_haptic_driver;
if (!driver->initialized) {
return false;
}
return driver->enabled;
}
static bool haptic_play_rtp(int8_t amplitude, uint16_t duration_ms) {
if (!playing_rtp) {
if (!set_reg(DRV2625_REG_MODE,
DRV2625_REG_MODE_RTP | DRV2625_REG_MODE_TRGFUNC_ENABLE)) {
haptic_driver_t *driver = &g_haptic_driver;
if (!driver->initialized) {
return false;
}
if (!driver->playing_rtp) {
if (!drv2625_set_reg(
DRV2625_REG_MODE,
DRV2625_REG_MODE_RTP | DRV2625_REG_MODE_TRGFUNC_ENABLE)) {
return false;
}
playing_rtp = true;
driver->playing_rtp = true;
}
if (!set_reg(DRV2625_REG_RTP, (uint8_t)amplitude)) {
if (!drv2625_set_reg(DRV2625_REG_RTP, (uint8_t)amplitude)) {
return false;
}
@ -176,33 +224,57 @@ static bool haptic_play_rtp(int8_t amplitude, uint16_t duration_ms) {
return true;
}
static void haptic_play_lib(drv2625_lib_effect_t effect) {
playing_rtp = false;
static bool haptic_play_lib(drv2625_lib_effect_t effect) {
haptic_driver_t *driver = &g_haptic_driver;
set_reg(DRV2625_REG_MODE, DRV2625_REG_MODE_WAVEFORM);
set_reg(DRV2625_REG_WAVESEQ1, effect);
set_reg(DRV2625_REG_WAVESEQ2, 0);
set_reg(DRV2625_REG_GO, DRV2625_REG_GO_GO);
if (!driver->initialized) {
return false;
}
driver->playing_rtp = false;
if (!drv2625_set_reg(DRV2625_REG_MODE, DRV2625_REG_MODE_WAVEFORM)) {
return false;
}
if (!drv2625_set_reg(DRV2625_REG_WAVESEQ1, effect)) {
return false;
}
if (!drv2625_set_reg(DRV2625_REG_WAVESEQ2, 0)) {
return false;
}
if (!drv2625_set_reg(DRV2625_REG_GO, DRV2625_REG_GO_GO)) {
return false;
}
return true;
}
void haptic_play(haptic_effect_t effect) {
if (!haptic_enabled) {
return;
bool haptic_play(haptic_effect_t effect) {
haptic_driver_t *driver = &g_haptic_driver;
if (!driver->initialized) {
return false;
}
if (!driver->enabled) {
return true;
}
switch (effect) {
case HAPTIC_BUTTON_PRESS:
haptic_play_rtp(PRESS_EFFECT_AMPLITUDE, PRESS_EFFECT_DURATION);
break;
case HAPTIC_ALERT:
haptic_play_lib(ALERT_750MS_100);
return haptic_play_rtp(PRESS_EFFECT_AMPLITUDE, PRESS_EFFECT_DURATION);
break;
case HAPTIC_HOLD_TO_CONFIRM:
haptic_play_lib(DOUBLE_CLICK_60);
return haptic_play_lib(DOUBLE_CLICK_60);
break;
default:
break;
}
return false;
}
bool haptic_play_custom(int8_t amplitude_pct, uint16_t duration_ms) {
@ -219,5 +291,3 @@ bool haptic_play_custom(int8_t amplitude_pct, uint16_t duration_ms) {
bool haptic_test(uint16_t duration_ms) {
return haptic_play_rtp(PRODTEST_EFFECT_AMPLITUDE, duration_ms);
}
void haptic_set_enabled(bool enable) { haptic_enabled = enable; }

64
core/embed/trezorhal/stm32u5/haptic/drv2625/drv2625_lib.h → core/embed/trezorhal/stm32u5/haptic/drv2625/drv2625.h
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@ -1,5 +1,63 @@
#ifndef __DRV_2625_LIB_H__
#define __DRV_2625_LIB_H__
#ifndef TREZOR_HAL_DRV_2625_H
#define TREZOR_HAL_DRV_2625_H
// I2C address of the DRV2625 on the I2C bus.
// `<< 1` is required because the HAL expects the address to be shifted by 1.
#define DRV2625_I2C_ADDRESS (0x5A << 1)
// ------------------------------------------------------------
// DRV2625 registers
// ------------------------------------------------------------
#define DRV2625_REG_CHIPID 0x00
#define DRV2625_REG_STATUS 0x01
#define DRV2625_REG_MODE 0x07
#define DRV2625_REG_MODE_RTP 0
#define DRV2625_REG_MODE_WAVEFORM 0x01
#define DRV2625_REG_MODE_DIAG 0x02
#define DRV2625_REG_MODE_AUTOCAL 0x03
#define DRV2625_REG_MODE_TRGFUNC_PULSE 0x00
#define DRV2625_REG_MODE_TRGFUNC_ENABLE 0x04
#define DRV2625_REG_MODE_TRGFUNC_INTERRUPT 0x08
#define DRV2625_REG_LRAERM 0x08
#define DRV2625_REG_LRAERM_LRA 0x80
#define DRV2625_REG_LRAERM_OPENLOOP 0x40
#define DRV2625_REG_LRAERM_AUTO_BRK_OL 0x10
#define DRV2625_REG_LRAERM_AUTO_BRK_STBY 0x08
#define DRV2625_REG_LIBRARY 0x0D ///< Waveform library selection register
#define DRV2625_REG_LIBRARY_OPENLOOP 0x40
#define DRV2625_REG_LIBRARY_GAIN_100 0x00
#define DRV2625_REG_LIBRARY_GAIN_75 0x01
#define DRV2625_REG_LIBRARY_GAIN_50 0x02
#define DRV2625_REG_LIBRARY_GAIN_25 0x03
#define DRV2625_REG_RTP 0x0E ///< RTP input register
#define DRV2625_REG_WAVESEQ1 0x0F ///< Waveform sequence register 1
#define DRV2625_REG_WAVESEQ2 0x10 ///< Waveform sequence register 2
#define DRV2625_REG_WAVESEQ3 0x11 ///< Waveform sequence register 3
#define DRV2625_REG_WAVESEQ4 0x12 ///< Waveform sequence register 4
#define DRV2625_REG_WAVESEQ5 0x13 ///< Waveform sequence register 5
#define DRV2625_REG_WAVESEQ6 0x14 ///< Waveform sequence register 6
#define DRV2625_REG_WAVESEQ7 0x15 ///< Waveform sequence register 7
#define DRV2625_REG_WAVESEQ8 0x16 ///< Waveform sequence register 8
#define DRV2625_REG_GO 0x0C ///< Go register
#define DRV2625_REG_GO_GO 0x01
#define DRV2625_REG_OD_CLAMP 0x20
#define DRV2625_REG_LRA_WAVE_SHAPE 0x2C
#define DRV2625_REG_LRA_WAVE_SHAPE_SINE 0x01
#define DRV2625_REG_OL_LRA_PERIOD_LO 0x2F
#define DRV2625_REG_OL_LRA_PERIOD_HI 0x2E
// ------------------------------------------------------------
// DRV2625 effect types
// ------------------------------------------------------------
typedef enum {
STRONG_CLICK_100 = 1,
@ -127,4 +185,4 @@ typedef enum {
SMOOTH_HUM_5_20 = 123,
} drv2625_lib_effect_t;
#endif
#endif // TREZOR_HAL_DRV_2625_H
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