Source code for adafruit_drv2605

# The MIT License (MIT)
#
# Copyright (c) 2017 Tony DiCola for Adafruit Industries
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
"""
`adafruit_drv2605`
====================================================

CircuitPython module for the DRV2605 haptic feedback motor driver.  See
examples/simpletest.py for a demo of the usage.

* Author(s): Tony DiCola
"""
from micropython import const

from adafruit_bus_device.i2c_device import I2CDevice

__version__ = "0.0.0-auto.0"
__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_DRV2605.git"


# pylint: disable=bad-whitespace
# Internal constants:
_DRV2605_ADDR = const(0x5A)
_DRV2605_REG_STATUS = const(0x00)
_DRV2605_REG_MODE = const(0x01)
_DRV2605_REG_RTPIN = const(0x02)
_DRV2605_REG_LIBRARY = const(0x03)
_DRV2605_REG_WAVESEQ1 = const(0x04)
_DRV2605_REG_WAVESEQ2 = const(0x05)
_DRV2605_REG_WAVESEQ3 = const(0x06)
_DRV2605_REG_WAVESEQ4 = const(0x07)
_DRV2605_REG_WAVESEQ5 = const(0x08)
_DRV2605_REG_WAVESEQ6 = const(0x09)
_DRV2605_REG_WAVESEQ7 = const(0x0A)
_DRV2605_REG_WAVESEQ8 = const(0x0B)
_DRV2605_REG_GO = const(0x0C)
_DRV2605_REG_OVERDRIVE = const(0x0D)
_DRV2605_REG_SUSTAINPOS = const(0x0E)
_DRV2605_REG_SUSTAINNEG = const(0x0F)
_DRV2605_REG_BREAK = const(0x10)
_DRV2605_REG_AUDIOCTRL = const(0x11)
_DRV2605_REG_AUDIOLVL = const(0x12)
_DRV2605_REG_AUDIOMAX = const(0x13)
_DRV2605_REG_RATEDV = const(0x16)
_DRV2605_REG_CLAMPV = const(0x17)
_DRV2605_REG_AUTOCALCOMP = const(0x18)
_DRV2605_REG_AUTOCALEMP = const(0x19)
_DRV2605_REG_FEEDBACK = const(0x1A)
_DRV2605_REG_CONTROL1 = const(0x1B)
_DRV2605_REG_CONTROL2 = const(0x1C)
_DRV2605_REG_CONTROL3 = const(0x1D)
_DRV2605_REG_CONTROL4 = const(0x1E)
_DRV2605_REG_VBAT = const(0x21)
_DRV2605_REG_LRARESON = const(0x22)

# User-facing mode value constants:
MODE_INTTRIG = 0x00
MODE_EXTTRIGEDGE = 0x01
MODE_EXTTRIGLVL = 0x02
MODE_PWMANALOG = 0x03
MODE_AUDIOVIBE = 0x04
MODE_REALTIME = 0x05
MODE_DIAGNOS = 0x06
MODE_AUTOCAL = 0x07
LIBRARY_EMPTY = 0x00
LIBRARY_TS2200A = 0x01
LIBRARY_TS2200B = 0x02
LIBRARY_TS2200C = 0x03
LIBRARY_TS2200D = 0x04
LIBRARY_TS2200E = 0x05
LIBRARY_LRA = 0x06
# pylint: enable=bad-whitespace


[docs]class DRV2605: """TI DRV2605 haptic feedback motor driver module.""" # Class-level buffer for reading and writing data with the sensor. # This reduces memory allocations but means the code is not re-entrant or # thread safe! _BUFFER = bytearray(2) def __init__(self, i2c, address=_DRV2605_ADDR): self._device = I2CDevice(i2c, address) # Check chip ID is 3 or 7 (DRV2605 or DRV2605L). status = self._read_u8(_DRV2605_REG_STATUS) device_id = (status >> 5) & 0x07 if device_id not in (3, 7): raise RuntimeError("Failed to find DRV2605, check wiring!") # Configure registers to initialize chip. self._write_u8(_DRV2605_REG_MODE, 0x00) # out of standby self._write_u8(_DRV2605_REG_RTPIN, 0x00) # no real-time-playback self._write_u8(_DRV2605_REG_WAVESEQ1, 1) # strong click self._write_u8(_DRV2605_REG_WAVESEQ2, 0) self._write_u8(_DRV2605_REG_OVERDRIVE, 0) # no overdrive self._write_u8(_DRV2605_REG_SUSTAINPOS, 0) self._write_u8(_DRV2605_REG_SUSTAINNEG, 0) self._write_u8(_DRV2605_REG_BREAK, 0) self._write_u8(_DRV2605_REG_AUDIOMAX, 0x64) # Set ERM open-loop mode. self.use_ERM() # turn on ERM_OPEN_LOOP control3 = self._read_u8(_DRV2605_REG_CONTROL3) self._write_u8(_DRV2605_REG_CONTROL3, control3 | 0x20) # Default to internal trigger mode and TS2200 A library. self.mode = MODE_INTTRIG self.library = LIBRARY_TS2200A self._sequence = _DRV2605_Sequence(self) def _read_u8(self, address): # Read an 8-bit unsigned value from the specified 8-bit address. with self._device as i2c: self._BUFFER[0] = address & 0xFF i2c.write_then_readinto(self._BUFFER, self._BUFFER, out_end=1, in_end=1) return self._BUFFER[0] def _write_u8(self, address, val): # Write an 8-bit unsigned value to the specified 8-bit address. with self._device as i2c: self._BUFFER[0] = address & 0xFF self._BUFFER[1] = val & 0xFF i2c.write(self._BUFFER, end=2)
[docs] def play(self): """Play back the select effect(s) on the motor.""" self._write_u8(_DRV2605_REG_GO, 1)
[docs] def stop(self): """Stop vibrating the motor.""" self._write_u8(_DRV2605_REG_GO, 0)
@property def mode(self): """ The mode of the chip. Should be a value of: - MODE_INTTRIG: Internal triggering, vibrates as soon as you call play(). Default mode. - MODE_EXTTRIGEDGE: External triggering, edge mode. - MODE_EXTTRIGLVL: External triggering, level mode. - MODE_PWMANALOG: PWM/analog input mode. - MODE_AUDIOVIBE: Audio-to-vibration mode. - MODE_REALTIME: Real-time playback mode. - MODE_DIAGNOS: Diagnostics mode. - MODE_AUTOCAL: Auto-calibration mode. See the datasheet for the meaning of modes beyond MODE_INTTRIG. """ return self._read_u8(_DRV2605_REG_MODE) @mode.setter def mode(self, val): if not 0 <= val <= 7: raise ValueError("Mode must be a value within 0-7!") self._write_u8(_DRV2605_REG_MODE, val) @property def library(self): """ The library selected for waveform playback. Should be a value of: - LIBRARY_EMPTY: Empty - LIBRARY_TS2200A: TS2200 library A (the default) - LIBRARY_TS2200B: TS2200 library B - LIBRARY_TS2200C: TS2200 library C - LIBRARY_TS2200D: TS2200 library D - LIBRARY_TS2200E: TS2200 library E - LIBRARY_LRA: LRA library See the datasheet for the meaning and description of effects in each library. """ return self._read_u8(_DRV2605_REG_LIBRARY) & 0x07 @library.setter def library(self, val): if not 0 <= val <= 6: raise ValueError("Library must be a value within 0-6!") self._write_u8(_DRV2605_REG_LIBRARY, val) @property def sequence(self): """List-like sequence of waveform effects. Get or set an effect waveform for slot 0-6 by indexing the sequence property with the slot number. A slot must be set to either an Effect() or Pause() class. See the datasheet for a complete table of effect ID values and the associated waveform / effect. E.g. 'slot_0_effect = drv.sequence[0]', 'drv.sequence[0] = Effect(88)' """ return self._sequence
[docs] def set_waveform(self, effect_id, slot=0): """Select an effect waveform for the specified slot (default is slot 0, but up to 7 effects can be combined with slot values 0 to 6). See the datasheet for a complete table of effect ID values and the associated waveform / effect. """ if not 0 <= effect_id <= 123: raise ValueError("Effect ID must be a value within 0-123!") if not 0 <= slot <= 6: raise ValueError("Slot must be a value within 0-6!") self._write_u8(_DRV2605_REG_WAVESEQ1 + slot, effect_id)
# pylint: disable=invalid-name
[docs] def use_ERM(self): """Use an eccentric rotating mass motor (the default).""" feedback = self._read_u8(_DRV2605_REG_FEEDBACK) self._write_u8(_DRV2605_REG_FEEDBACK, feedback & 0x7F)
# pylint: disable=invalid-name
[docs] def use_LRM(self): """Use a linear resonance actuator motor.""" feedback = self._read_u8(_DRV2605_REG_FEEDBACK) self._write_u8(_DRV2605_REG_FEEDBACK, feedback | 0x80)
[docs]class Effect: """DRV2605 waveform sequence effect.""" def __init__(self, effect_id): self._effect_id = 0 # pylint: disable=invalid-name self.id = effect_id @property def raw_value(self): """Raw effect ID.""" return self._effect_id @property # pylint: disable=invalid-name def id(self): """Effect ID.""" return self._effect_id @id.setter # pylint: disable=invalid-name def id(self, effect_id): """Set the effect ID.""" if not 0 <= effect_id <= 123: raise ValueError("Effect ID must be a value within 0-123!") self._effect_id = effect_id def __repr__(self): return "{}({})".format(type(self).__qualname__, self.id)
[docs]class Pause: """DRV2605 waveform sequence timed delay.""" def __init__(self, duration): # Bit 7 must be set for a slot to be interpreted as a delay self._duration = 0x80 self.duration = duration @property def raw_value(self): """Raw pause duration.""" return self._duration @property def duration(self): """Pause duration in seconds.""" # Remove wait time flag bit and convert duration to seconds return (self._duration & 0x7F) / 100.0 @duration.setter def duration(self, duration): """Sets the pause duration in seconds.""" if not 0.0 <= duration <= 1.27: raise ValueError("Pause duration must be a value within 0.0-1.27!") # Add wait time flag bit and convert duration to centiseconds self._duration = 0x80 | round(duration * 100.0) def __repr__(self): return "{}({})".format(type(self).__qualname__, self.duration)
class _DRV2605_Sequence: """Class to enable List-like indexing of the waveform sequence slots.""" def __init__(self, DRV2605_instance): self._drv2605 = DRV2605_instance def __setitem__(self, slot, effect): """Write an Effect or Pause to a slot.""" if not 0 <= slot <= 6: raise IndexError("Slot must be a value within 0-6!") if not isinstance(effect, (Effect, Pause)): raise TypeError("Effect must be either an Effect() or Pause()!") # pylint: disable=protected-access self._drv2605._write_u8(_DRV2605_REG_WAVESEQ1 + slot, effect.raw_value) def __getitem__(self, slot): """Read an effect ID from a slot. Returns either a Pause or Effect class.""" if not 0 <= slot <= 6: raise IndexError("Slot must be a value within 0-6!") # pylint: disable=protected-access slot_contents = self._drv2605._read_u8(_DRV2605_REG_WAVESEQ1 + slot) if slot_contents & 0x80: return Pause((slot_contents & 0x7F) / 100.0) return Effect(slot_contents) def __iter__(self): """Returns an iterator over the waveform sequence slots.""" for slot in range(0, 7): yield self[slot] def __repr__(self): """Return a string representation of all slot's effects.""" return repr(list(self))