HapticDriver_DRV2605.hpp

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#pragma once
 
#include "../SensorBuildOpt.h"
#if !SENSORLIB_EXCLUDE_HAPTIC_DRV2605
 
#include "platform/comm/I2CDeviceWithHal.hpp"
#include "HapticBase.hpp"
 
static constexpr uint8_t DRV2605_SLAVE_ADDRESS = 0x5A;
 
class HapticDriver_DRV2605 : public HapticBase, public I2CDeviceWithHal
{
public:
    HapticDriver_DRV2605();
 
    ~HapticDriver_DRV2605() override;
 
    // ==================== HapticBase Interface - Lifecycle ====================
 
    void end() override;
 
    bool isReady() const override;
 
    const char *getChipName() const override;
 
    // ==================== HapticBase Interface - Playback Control ====================
 
    bool run() override;
 
    bool stop() override;
 
    bool isPlaying() const override;
 
    HapticStatus getStatus() const override;
 
    void emergencyStop() override;
 
    // ==================== HapticBase Interface - Gain Control ====================
 
    bool setGain(uint8_t gain) override;
 
    uint8_t getGain() const override;
 
    // ==================== HapticBase Interface - Effect Playback ====================
 
    bool playEffect(HapticEffectId effect) override;
 
    bool playEffectAsync(HapticEffectId effect) override;
 
    void continuousVibration(uint32_t duration_ms, bool blocking = true) override;
 
    void vibrationUpdate() override;
 
    // ==================== HapticBase Interface - Waveform Sequence ====================
 
    bool setSequence(uint8_t slot, HapticEffectId effect) override;
 
    bool clearSequence() override;
 
    bool playSequence() override;
 
    // ==================== HapticBase Interface - Device Information ====================
 
    HapticCapabilities getCapabilities() const override;
 
    uint8_t getChipID() const override;
 
    HapticActuatorType getActuatorType() const override;
 
    bool setActuatorType(HapticActuatorType type) override;
 
    // ==================== HapticBase Interface - Mode Control ====================
 
    bool setMode(HapticMode mode) override;
 
    HapticMode getMode() const override;
 
    // ==================== HapticBase Interface - RTP ====================
 
    bool setRealtimeValue(uint8_t value) override;
 
    // ==================== HapticBase Interface - Calibration ====================
 
    bool calibrate() override;
 
    bool needsCalibration() const override;
 
    uint32_t getF0() const override;
 
    uint32_t getVbat() override;
 
    // ==================== Extended API ====================
 
    void setWaveform(uint8_t slot, uint8_t w);
 
    void selectLibrary(uint8_t lib);
 
    bool isDone() const;
 
    void trigger();
 
    uint8_t getRealtimeValue() const;
 
    void setRatedVoltage(uint8_t value);
 
    void setOverdriveClamp(uint8_t value);
 
    int autoCal();
 
    void setAutoBrake(bool enable);
 
    void setOverdriveTime(uint8_t cycles);
 
    void setBrakeTime(uint8_t time);
 
    void setRtpOverdrive(bool enable);
 
    void setERMLRA(bool erm);
 
    void setCtrl4(uint8_t value);
 
    uint8_t getLRAFrequency() const;
 
private:
    bool initImpl(uint8_t param) override;
 
    void afterInitSuccess(uint8_t param) override
    {
        setReady(true);
    }
    uint8_t _currentLibrary;
    uint8_t _waveformSeq[8];
    uint8_t _waveformCount;
    uint8_t _gain;
    bool _isERM;
    bool _isStandby;
};
 
#endif