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@ -1,61 +1,46 @@
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#include "drv2625_lib.h"
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/*
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#include "haptic.h"
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* This file is part of the Trezor project, https://trezor.io/
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*
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* Copyright (c) SatoshiLabs
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include TREZOR_BOARD
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#include <stdbool.h>
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#include <stdbool.h>
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#include <string.h>
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#include "common.h"
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#include "drv2625.h"
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#include "haptic.h"
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#include "i2c.h"
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#include STM32_HAL_H
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#include STM32_HAL_H
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#include "i2c.h"
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// Maximum amplitude of the vibration effect
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#include TREZOR_BOARD
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// (DRV2625 supports 7-bit amplitude)
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#include HAPTIC_ACTUATOR
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#define MAX_AMPLITUDE 127
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// Amplitude of the vibration effect used for production test
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#define PRODTEST_EFFECT_AMPLITUDE 127
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// Amplitude of the button press effect
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#define PRESS_EFFECT_AMPLITUDE 25
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// Duration of the button press effect
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#define PRESS_EFFECT_DURATION 10
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#define DRV2625_I2C_ADDRESS (0x5A << 1)
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// Actuator configuration
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#include HAPTIC_ACTUATOR
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#define DRV2625_REG_CHIPID 0x00
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#define DRV2625_REG_STATUS 0x01
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#define DRV2625_REG_MODE 0x07
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#define DRV2625_REG_MODE_RTP 0
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#define DRV2625_REG_MODE_WAVEFORM 0x01
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#define DRV2625_REG_MODE_DIAG 0x02
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#define DRV2625_REG_MODE_AUTOCAL 0x03
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#define DRV2625_REG_MODE_TRGFUNC_PULSE 0x00
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#define DRV2625_REG_MODE_TRGFUNC_ENABLE 0x04
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#define DRV2625_REG_MODE_TRGFUNC_INTERRUPT 0x08
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#define DRV2625_REG_LRAERM 0x08
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#define DRV2625_REG_LRAERM_LRA 0x80
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#define DRV2625_REG_LRAERM_OPENLOOP 0x40
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#define DRV2625_REG_LRAERM_AUTO_BRK_OL 0x10
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#define DRV2625_REG_LRAERM_AUTO_BRK_STBY 0x08
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#define DRV2625_REG_LIBRARY 0x0D ///< Waveform library selection register
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#define DRV2625_REG_LIBRARY_OPENLOOP 0x40
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#define DRV2625_REG_LIBRARY_GAIN_100 0x00
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#define DRV2625_REG_LIBRARY_GAIN_75 0x01
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#define DRV2625_REG_LIBRARY_GAIN_50 0x02
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#define DRV2625_REG_LIBRARY_GAIN_25 0x03
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#define DRV2625_REG_RTP 0x0E ///< RTP input register
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#define DRV2625_REG_WAVESEQ1 0x0F ///< Waveform sequence register 1
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#define DRV2625_REG_WAVESEQ2 0x10 ///< Waveform sequence register 2
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#define DRV2625_REG_WAVESEQ3 0x11 ///< Waveform sequence register 3
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#define DRV2625_REG_WAVESEQ4 0x12 ///< Waveform sequence register 4
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#define DRV2625_REG_WAVESEQ5 0x13 ///< Waveform sequence register 5
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#define DRV2625_REG_WAVESEQ6 0x14 ///< Waveform sequence register 6
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#define DRV2625_REG_WAVESEQ7 0x15 ///< Waveform sequence register 7
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#define DRV2625_REG_WAVESEQ8 0x16 ///< Waveform sequence register 8
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#define DRV2625_REG_GO 0x0C ///< Go register
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#define DRV2625_REG_GO_GO 0x01
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#define DRV2625_REG_OD_CLAMP 0x20
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#define DRV2625_REG_LRA_WAVE_SHAPE 0x2C
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#define DRV2625_REG_LRA_WAVE_SHAPE_SINE 0x01
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#define DRV2625_REG_OL_LRA_PERIOD_LO 0x2F
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#define DRV2625_REG_OL_LRA_PERIOD_HI 0x2E
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#if defined ACTUATOR_CLOSED_LOOP
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#if defined ACTUATOR_CLOSED_LOOP
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#define LIB_SEL 0x00
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#define LIB_SEL 0x00
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@ -75,45 +60,68 @@
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#error "Must define either LRA or ERM"
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#error "Must define either LRA or ERM"
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#endif
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#endif
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#define PRESS_EFFECT_AMPLITUDE 25
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// Driver state
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#define PRESS_EFFECT_DURATION 10
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typedef struct {
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// Set if driver is initialized
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#define MAX_AMPLITUDE 127
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bool initialized;
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#define PRODTEST_EFFECT_AMPLITUDE 127
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// Set if driver is enabled
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bool enabled;
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bool haptic_enabled = true;
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// Set to if real-time playing is activated.
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// This prevents the repeated set of `DRV2625_REG_MODE` register
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static bool set_reg(uint8_t addr, uint8_t value) {
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// which would otherwise stop all playback.
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bool playing_rtp;
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} haptic_driver_t;
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// Haptic driver instance
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static haptic_driver_t g_haptic_driver = {
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.initialized = false,
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};
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static bool drv2625_set_reg(uint8_t addr, uint8_t value) {
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uint8_t data[] = {addr, value};
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uint8_t data[] = {addr, value};
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return i2c_transmit(DRV2625_I2C_INSTANCE, DRV2625_I2C_ADDRESS, data,
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return i2c_transmit(DRV2625_I2C_INSTANCE, DRV2625_I2C_ADDRESS, data,
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sizeof(data), 1) == HAL_OK;
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sizeof(data), 1) == HAL_OK;
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}
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}
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void haptic_calibrate(void) {
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bool haptic_init(void) {
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set_reg(DRV2625_REG_MODE, DRV2625_REG_MODE_AUTOCAL);
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haptic_driver_t *driver = &g_haptic_driver;
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HAL_Delay(1);
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set_reg(DRV2625_REG_GO, DRV2625_REG_GO_GO);
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HAL_Delay(3000);
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if (driver->initialized) {
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}
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return false;
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}
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// Set to `true` if real-time playing is activated. to
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memset(driver, 0, sizeof(haptic_driver_t));
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// This prevents the repeated set of `DRV2625_REG_MODE` register
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// which would otherwise stop all playback.
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static bool playing_rtp = false;
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void haptic_init(void) {
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// select library
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// select library
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set_reg(DRV2625_REG_LIBRARY, LIB_SEL | DRV2625_REG_LIBRARY_GAIN_25);
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if (!drv2625_set_reg(DRV2625_REG_LIBRARY,
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set_reg(DRV2625_REG_LRAERM,
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LIB_SEL | DRV2625_REG_LIBRARY_GAIN_25)) {
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LRA_ERM_SEL | LOOP_SEL | DRV2625_REG_LRAERM_AUTO_BRK_OL);
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return false;
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}
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set_reg(DRV2625_REG_OD_CLAMP, ACTUATOR_OD_CLAMP);
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if (!drv2625_set_reg(
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DRV2625_REG_LRAERM,
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LRA_ERM_SEL | LOOP_SEL | DRV2625_REG_LRAERM_AUTO_BRK_OL)) {
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}
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set_reg(DRV2625_REG_LRA_WAVE_SHAPE, DRV2625_REG_LRA_WAVE_SHAPE_SINE);
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if (!drv2625_set_reg(DRV2625_REG_OD_CLAMP, ACTUATOR_OD_CLAMP)) {
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return false;
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}
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set_reg(DRV2625_REG_OL_LRA_PERIOD_LO, ACTUATOR_LRA_PERIOD & 0xFF);
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if (!drv2625_set_reg(DRV2625_REG_LRA_WAVE_SHAPE,
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set_reg(DRV2625_REG_OL_LRA_PERIOD_HI, ACTUATOR_LRA_PERIOD >> 8);
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DRV2625_REG_LRA_WAVE_SHAPE_SINE)) {
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return false;
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}
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if (!drv2625_set_reg(DRV2625_REG_OL_LRA_PERIOD_LO,
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ACTUATOR_LRA_PERIOD & 0xFF)) {
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return false;
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}
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if (!drv2625_set_reg(DRV2625_REG_OL_LRA_PERIOD_HI,
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ACTUATOR_LRA_PERIOD >> 8)) {
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return false;
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}
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GPIO_InitTypeDef GPIO_InitStructure = {0};
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GPIO_InitTypeDef GPIO_InitStructure = {0};
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GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
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@ -145,19 +153,59 @@ void haptic_init(void) {
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HAL_TIM_OC_Start(&TIM_Handle, TIM_CHANNEL_1);
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HAL_TIM_OC_Start(&TIM_Handle, TIM_CHANNEL_1);
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TIM16->BDTR |= TIM_BDTR_MOE;
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TIM16->BDTR |= TIM_BDTR_MOE;
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driver->initialized = true;
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driver->enabled = true;
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return true;
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}
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void haptic_deinit(void) {
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haptic_driver_t *driver = &g_haptic_driver;
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if (!driver->initialized) {
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return;
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}
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// TODO: deinitialize GPIOs and the TIMER
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memset(driver, 0, sizeof(haptic_driver_t));
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}
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void haptic_set_enabled(bool enabled) {
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haptic_driver_t *driver = &g_haptic_driver;
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driver->enabled = enabled;
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}
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bool haptic_get_enabled(void) {
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haptic_driver_t *driver = &g_haptic_driver;
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if (!driver->initialized) {
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return false;
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}
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return driver->enabled;
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}
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}
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static bool haptic_play_rtp(int8_t amplitude, uint16_t duration_ms) {
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static bool haptic_play_rtp(int8_t amplitude, uint16_t duration_ms) {
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if (!playing_rtp) {
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haptic_driver_t *driver = &g_haptic_driver;
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if (!set_reg(DRV2625_REG_MODE,
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DRV2625_REG_MODE_RTP | DRV2625_REG_MODE_TRGFUNC_ENABLE)) {
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if (!driver->initialized) {
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return false;
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}
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if (!driver->playing_rtp) {
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if (!drv2625_set_reg(
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DRV2625_REG_MODE,
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DRV2625_REG_MODE_RTP | DRV2625_REG_MODE_TRGFUNC_ENABLE)) {
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return false;
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return false;
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}
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}
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playing_rtp = true;
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driver->playing_rtp = true;
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}
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}
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if (!set_reg(DRV2625_REG_RTP, (uint8_t)amplitude)) {
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if (!drv2625_set_reg(DRV2625_REG_RTP, (uint8_t)amplitude)) {
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return false;
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return false;
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}
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}
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@ -176,33 +224,57 @@ static bool haptic_play_rtp(int8_t amplitude, uint16_t duration_ms) {
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return true;
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return true;
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}
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}
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static void haptic_play_lib(drv2625_lib_effect_t effect) {
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static bool haptic_play_lib(drv2625_lib_effect_t effect) {
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playing_rtp = false;
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haptic_driver_t *driver = &g_haptic_driver;
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set_reg(DRV2625_REG_MODE, DRV2625_REG_MODE_WAVEFORM);
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if (!driver->initialized) {
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set_reg(DRV2625_REG_WAVESEQ1, effect);
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return false;
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set_reg(DRV2625_REG_WAVESEQ2, 0);
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}
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set_reg(DRV2625_REG_GO, DRV2625_REG_GO_GO);
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driver->playing_rtp = false;
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if (!drv2625_set_reg(DRV2625_REG_MODE, DRV2625_REG_MODE_WAVEFORM)) {
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return false;
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}
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if (!drv2625_set_reg(DRV2625_REG_WAVESEQ1, effect)) {
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return false;
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}
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if (!drv2625_set_reg(DRV2625_REG_WAVESEQ2, 0)) {
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return false;
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}
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if (!drv2625_set_reg(DRV2625_REG_GO, DRV2625_REG_GO_GO)) {
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return false;
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}
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return true;
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|
}
|
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|
}
|
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|
|
void haptic_play(haptic_effect_t effect) {
|
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|
|
bool haptic_play(haptic_effect_t effect) {
|
|
|
|
if (!haptic_enabled) {
|
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|
|
haptic_driver_t *driver = &g_haptic_driver;
|
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|
|
return;
|
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|
|
if (!driver->initialized) {
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|
|
return false;
|
|
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|
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|
|
}
|
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|
|
if (!driver->enabled) {
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|
|
return true;
|
|
|
|
}
|
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|
|
}
|
|
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|
|
switch (effect) {
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|
|
switch (effect) {
|
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|
|
case HAPTIC_BUTTON_PRESS:
|
|
|
|
case HAPTIC_BUTTON_PRESS:
|
|
|
|
haptic_play_rtp(PRESS_EFFECT_AMPLITUDE, PRESS_EFFECT_DURATION);
|
|
|
|
return haptic_play_rtp(PRESS_EFFECT_AMPLITUDE, PRESS_EFFECT_DURATION);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case HAPTIC_ALERT:
|
|
|
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|
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|
|
haptic_play_lib(ALERT_750MS_100);
|
|
|
|
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|
|
break;
|
|
|
|
break;
|
|
|
|
case HAPTIC_HOLD_TO_CONFIRM:
|
|
|
|
case HAPTIC_HOLD_TO_CONFIRM:
|
|
|
|
haptic_play_lib(DOUBLE_CLICK_60);
|
|
|
|
return haptic_play_lib(DOUBLE_CLICK_60);
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
bool haptic_play_custom(int8_t amplitude_pct, uint16_t duration_ms) {
|
|
|
|
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) {
|
|
|
|
bool haptic_test(uint16_t duration_ms) {
|
|
|
|
return haptic_play_rtp(PRODTEST_EFFECT_AMPLITUDE, duration_ms);
|
|
|
|
return haptic_play_rtp(PRODTEST_EFFECT_AMPLITUDE, duration_ms);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void haptic_set_enabled(bool enable) { haptic_enabled = enable; }
|
|
|
|
|
|
|
|