AW86224/86225 Haptic Driver Class. More...

#include <HapticDriver_AW86224.hpp>

Inheritance diagram for HapticDriver_AW86224:

Public Types
enum class	PlayMode : uint8_t { STANDBY = 0 , RAM = 1 , RAM_LOOP = 2 , CONT = 3 , RTP = 4 }
	Playback mode enumeration. More...

enum class	SramSize : uint8_t { SRAM_1K = 0 , SRAM_2K = 1 , SRAM_3K = 2 }
	SRAM size selection. More...

enum class	ChipID : uint8_t { AW86223 = 1 , AW86224 = 2 , AW86225 = 3 , AW86214 = 4 }
	Chip ID enumeration. More...

enum class	PwmMode : uint8_t { PWM_48K = 0 , PWM_24K = 1 , PWM_12K = 2 }
	PWM mode selection. More...

Public Member Functions
	HapticDriver_AW86224 ()
	Default constructor.

void	setPins (uint8_t resetPin, uint8_t intPin)
	setPins

void	end () override
	Deinitialize the haptic driver and release resources.

bool	isReady () const override
	Check if the driver is initialized and ready.

const char *	getChipName () const override
	Get the chip name.

bool	run () override
	Start haptic playback.

bool	stop () override
	Stop haptic playback immediately.

bool	isPlaying () const override
	Check if haptic is currently playing.

HapticStatus	getStatus () const override
	Get current playback status.

bool	setGain (uint8_t gain) override
	Set the gain/amplitude (0x00 to 0xFF).

uint8_t	getGain () const override
	Get the current gain value.

bool	playEffect (HapticEffectId effect) override
	Play a haptic effect.

bool	playEffectAsync (HapticEffectId effect) override
	Play a haptic effect (non-blocking).

void	continuousVibration (uint32_t duration_ms, bool blocking=true) override
	Play a continuous vibration for specified duration.

void	vibrationUpdate () override
	Update vibration state (for non-blocking mode).

bool	setSequence (uint8_t slot, HapticEffectId effect) override
	Set a waveform in the sequence.

bool	clearSequence () override
	Clear the waveform sequence.

bool	playSequence () override
	Play the waveform sequence.

uint8_t	getChipID () const override
	Get the chip ID.

HapticCapabilities	getCapabilities () const override
	Get device capabilities.

bool	calibrate () override
	Perform auto-calibration.

bool	needsCalibration () const override
	Check if calibration is needed.

uint32_t	getF0 () const override
	Get the measured resonant frequency (F0).

uint32_t	getVbat () override
	Get the battery voltage.

bool	setMode (HapticMode mode) override
	Set the operating mode.

HapticMode	getMode () const override
	Get the current operating mode.

HapticActuatorType	getActuatorType () const override
	Get the actuator type.

bool	setActuatorType (HapticActuatorType type) override
	Set the actuator type.

bool	setRealtimeValue (uint8_t value) override
	Set RTP (real-time playback) value.

void	softReset ()
	Perform soft reset.

void	shortVibration (uint8_t index, uint8_t gain=0x80, uint8_t loop=1)
	Play a short vibration effect.

void	longVibration (uint8_t index, uint8_t gain=0x80, uint32_t duration_ms=1000, bool blocking=true)
	Play a long continuous vibration effect.

void	stopVibration ()
	Stop any ongoing vibration.

void	setWaveSeq (uint8_t wav, uint8_t seq)
	Update vibration state (for non-blocking mode)

void	setWaveLoop (uint8_t wav, uint8_t loop)
	Set waveform loop count.

void	setPlayMode (PlayMode mode)
	Set playback mode.

void	setTrimLRA (uint8_t val)
	Set LRA frequency trim value.

void	setRtpData (uint8_t *data, uint32_t len)
	Set RTP waveform data.

bool	playRtp (const uint8_t *data, uint32_t len, uint8_t gain=0x80)
	Play RTP (Real-Time Playback) waveform.

bool	loadRamData (const uint8_t *data, uint32_t len)
	Load RAM waveform data.

uint8_t	getRamNum () const
	Get number of loaded waveforms.

bool	isRamInit () const
	Check if RAM is initialized.

uint32_t	getVbatValue () const
	Get current voltage reading.

PlayMode	getPlayMode () const
	Get current play mode.

int8_t	getF0CaliData () const
	Get F0 calibration data.

uint32_t	getLraValue () const
	Get LRA resistance.

void	setF0Pre (uint32_t val)
	Set expected F0 (resonant frequency)

uint32_t	getF0Pre () const

void	setLraVrms (uint32_t val)
	Set LRA rated voltage.

uint32_t	getLraVrms () const

void	setContBrkTime (uint8_t val)
	Set continuous mode break time.

uint8_t	getContBrkTime () const

void	setContBrkGain (uint8_t val)
	Set continuous mode break gain.

uint8_t	getContBrkGain () const

void	setContDrv1Lvl (uint8_t val)
	Set continuous mode drive level 1.

uint8_t	getContDrv1Lvl () const

void	setContDrv1Time (uint8_t val)
	Set continuous mode drive time 1.

uint8_t	getContDrv1Time () const

void	setContDrv2Time (uint8_t val)
	Set continuous mode drive time 2.

uint8_t	getContDrv2Time () const

void	setContTrackMargin (uint8_t val)
	Set continuous mode track margin.

uint8_t	getContTrackMargin () const

void	setD2sGain (uint8_t val)
	Set D2S gain (digital to simulation gain)

uint8_t	getD2sGain () const

void	setPwmcfg4Prtime (uint8_t val)
	Set protection time.

uint8_t	getPwmcfg4Prtime () const

void	setPwmcfg3Prlvl (uint8_t val)
	Set protection level.

uint8_t	getPwmcfg3Prlvl () const

void	setAutoBrkEnabled (bool val)
	Enable/disable auto break.

bool	getAutoBrkEnabled () const

void	setF0CaliPercent (uint8_t val)
	Set F0 calibration tolerance percentage.

uint8_t	getF0CaliPercent () const

bool	isVibrating () const
	Check if vibration is currently active (alias for isPlaying)

Public Member Functions inherited from HapticBase
virtual	~HapticBase ()=default

virtual void	emergencyStop ()
	Emergency stop - stops all vibration immediately.

Public Member Functions inherited from I2CDeviceWithHal
bool	begin (SensorCommCustom::CustomCallback cb, SensorCommCustomHal::CustomHalCallback hal_cb, uint8_t addr)
	Initialize the sensor using custom callback interface.

Public Member Functions inherited from DeviceBeginCommon
virtual	~DeviceBeginCommon ()

uint8_t	getAddress () const

uint8_t	getInterface () const

Public Member Functions inherited from SensorCommWrapper
	SensorCommWrapper ()=default

int	readReg (uint8_t reg) const

int	readRegBuff (uint8_t reg, uint8_t *buf, size_t len) const

int	readBuff (uint8_t *buf, size_t len) const

int	writeReg (uint8_t reg, uint8_t val)

int	writeRegBuff (uint8_t reg, uint8_t *buf, size_t len)

int	writeBuff (uint8_t *buf, size_t len)

int	writeThenRead (const uint8_t write_buffer, size_t write_len, uint8_t read_buffer, size_t read_len)

bool	setRegBit (uint8_t reg, uint8_t bit)

bool	clrRegBit (uint8_t reg, uint8_t bit)

bool	getRegBit (uint8_t reg, uint8_t bit)

int	updateBits (uint8_t reg, uint8_t mask, uint8_t value_shifted)

void	setAddress (uint8_t address)

void	setAck (bool enable)

Public Member Functions inherited from SensorCommInterface
virtual	~SensorCommInterface ()=default

Additional Inherited Members
Protected Member Functions inherited from HapticBase
	HapticBase (const char *name)
	Constructor for derived classes.

void	setReady (bool ready)
	Set ready state.

Protected Member Functions inherited from I2CDeviceWithHal
bool	ensureValid () const override
	Ensure the communication interface is valid.

Protected Member Functions inherited from DeviceBeginCommon
	DeviceBeginCommon ()=default

virtual SensorCommBase *	getComm () const override

virtual void	beforeBegin ()

virtual void	afterCommReady ()

virtual void	onBeginFail ()

bool	fail ()

void	clearCommState ()

template<typename CreateComm >
bool	beginLifecycle (uint8_t addr, uint8_t iface, uint8_t initParam, CreateComm createComm)

Protected Attributes inherited from HapticBase
const char *	_chipName

bool	_isReady

Protected Attributes inherited from DeviceBeginCommon
std::unique_ptr< SensorCommBase >	comm

std::unique_ptr< SensorHal >	hal

std::unique_ptr< SensorCommStatic >	staticComm

uint8_t	_addr = 0

uint8_t	_iface = COMM_CUSTOM

Detailed Description

AW86224/86225 Haptic Driver Class.

This class provides a complete interface for controlling the AW86224/86225 haptic motor driver. It inherits from HapticBase and I2CDeviceWithHal to provide standardized haptic control and I2C communication.

Vibration Modes:

STANDBY: Low power standby mode, no vibration
RAM: Single play of RAM waveform
RAM_LOOP: Continuous loop playback of RAM waveform
CONT: Continuous mode using F0 tracking
RTP: Real-time playback mode for custom waveforms

Calibration:: The driver performs F0 (resonant frequency) calibration automatically during initialization. This ensures optimal vibration performance across different motor characteristics.

Thread Safety:: When using non-blocking vibration modes, ensure vibrationUpdate() is called regularly in your main loop to maintain proper timing.

Definition at line 69 of file HapticDriver_AW86224.hpp.

Member Enumeration Documentation

◆ ChipID

enum class HapticDriver_AW86224::ChipID : uint8_t

strong

Chip ID enumeration.

Identifies the connected AWinic haptic chip model.

Enumerator
AW86223	AW86223 chip.
AW86224	AW86224 chip.
AW86225	AW86225 chip.
AW86214	AW86214 chip.

Definition at line 102 of file HapticDriver_AW86224.hpp.

◆ PlayMode

enum class HapticDriver_AW86224::PlayMode : uint8_t

strong

Playback mode enumeration.

Defines the operating mode of the haptic driver.

Enumerator
STANDBY	Standby mode, minimal power consumption.
RAM	RAM playback mode, single play.
RAM_LOOP	RAM loop mode, continuous playback.
CONT	Continuous mode with F0 tracking.
RTP	Real-time playback mode.

Definition at line 78 of file HapticDriver_AW86224.hpp.

◆ PwmMode

enum class HapticDriver_AW86224::PwmMode : uint8_t

strong

PWM mode selection.

Defines the PWM sampling rate for waveform playback.

Enumerator
PWM_48K	48kHz PWM rate
PWM_24K	24kHz PWM rate
PWM_12K	12kHz PWM rate (default)

Definition at line 114 of file HapticDriver_AW86224.hpp.

◆ SramSize

enum class HapticDriver_AW86224::SramSize : uint8_t

strong

SRAM size selection.

Configures the internal SRAM size for waveform storage.

Enumerator
SRAM_1K	1KB SRAM
SRAM_2K	2KB SRAM
SRAM_3K	3KB SRAM

Definition at line 91 of file HapticDriver_AW86224.hpp.

Constructor & Destructor Documentation

◆ HapticDriver_AW86224()

HapticDriver_AW86224::HapticDriver_AW86224 ( )

Default constructor.

Initializes the driver with default parameters. Call begin() before use.

Definition at line 40 of file HapticDriver_AW86224.cpp.

Member Function Documentation

◆ calibrate()

bool HapticDriver_AW86224::calibrate ( )

overridevirtual

Perform auto-calibration.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 204 of file HapticDriver_AW86224.cpp.

References HapticBase::_isReady.

◆ clearSequence()

bool HapticDriver_AW86224::clearSequence ( )

overridevirtual

Clear the waveform sequence.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 189 of file HapticDriver_AW86224.cpp.

References i, and setWaveSeq().

Referenced by testSetSequence().

◆ continuousVibration()

void HapticDriver_AW86224::continuousVibration	(	uint32_t	duration_ms,
		bool	blocking = `true`
	)

overridevirtual

Play a continuous vibration for specified duration.

Default implementation uses playEffect() in a loop. Subclasses should override for optimized continuous mode.

Parameters

duration_ms	Duration in milliseconds.
blocking	If true, blocks until vibration completes.

Reimplemented from HapticBase.

Definition at line 164 of file HapticDriver_AW86224.cpp.

References longVibration().

Referenced by testAutoDemo(), testContinuousVibration(), and testStop().

◆ end()

void HapticDriver_AW86224::end ( )

overridevirtual

Deinitialize the haptic driver and release resources.

Reimplemented from HapticBase.

Definition at line 71 of file HapticDriver_AW86224.cpp.

References HapticBase::setReady(), and stop().

◆ getActuatorType()

HapticActuatorType HapticDriver_AW86224::getActuatorType ( ) const

overridevirtual

Get the actuator type.

Returns: Current actuator type (ERM or LRA).

Implements HapticBase.

Definition at line 860 of file HapticDriver_AW86224.cpp.

References LRA.

Referenced by testInit().

◆ getAutoBrkEnabled()

bool HapticDriver_AW86224::getAutoBrkEnabled ( ) const

inline

Definition at line 644 of file HapticDriver_AW86224.hpp.

◆ getCapabilities()

HapticCapabilities HapticDriver_AW86224::getCapabilities ( ) const

overridevirtual

Get device capabilities.

Returns: HapticCapabilities struct describing supported features.

Implements HapticBase.

Definition at line 99 of file HapticDriver_AW86224.cpp.

References HapticCapabilities::hasAutoCalibration, HapticCapabilities::hasBreakEffect, HapticCapabilities::hasContinuousMode, HapticCapabilities::hasF0Calibration, HapticCapabilities::hasOverdrive, HapticCapabilities::hasRTP, HapticCapabilities::hasSequence, HapticCapabilities::hasVbatCompensation, HapticCapabilities::maxDurationMs, HapticCapabilities::maxEffectCount, and HapticCapabilities::maxSequenceLength.

Referenced by testCapabilities().

◆ getChipID()

uint8_t HapticDriver_AW86224::getChipID ( ) const

overridevirtual

Get the chip ID.

Returns: Chip identifier value.

Implements HapticBase.

Definition at line 924 of file HapticDriver_AW86224.cpp.

Referenced by testInit().

◆ getChipName()

const char * HapticDriver_AW86224::getChipName ( ) const

overridevirtual

Get the chip name.

Returns: Null-terminated string with chip name.

Implements HapticBase.

Definition at line 82 of file HapticDriver_AW86224.cpp.

References AW86214, AW86223, and AW86224.

Referenced by testInit().

◆ getContBrkGain()

uint8_t HapticDriver_AW86224::getContBrkGain ( ) const

inline

Definition at line 540 of file HapticDriver_AW86224.hpp.

◆ getContBrkTime()

uint8_t HapticDriver_AW86224::getContBrkTime ( ) const

inline

Definition at line 527 of file HapticDriver_AW86224.hpp.

◆ getContDrv1Lvl()

uint8_t HapticDriver_AW86224::getContDrv1Lvl ( ) const

inline

Definition at line 553 of file HapticDriver_AW86224.hpp.

◆ getContDrv1Time()

uint8_t HapticDriver_AW86224::getContDrv1Time ( ) const

inline

Definition at line 566 of file HapticDriver_AW86224.hpp.

◆ getContDrv2Time()

uint8_t HapticDriver_AW86224::getContDrv2Time ( ) const

inline

Definition at line 579 of file HapticDriver_AW86224.hpp.

◆ getContTrackMargin()

uint8_t HapticDriver_AW86224::getContTrackMargin ( ) const

inline

Definition at line 592 of file HapticDriver_AW86224.hpp.

◆ getD2sGain()

uint8_t HapticDriver_AW86224::getD2sGain ( ) const

inline

Definition at line 605 of file HapticDriver_AW86224.hpp.

◆ getF0()

uint32_t HapticDriver_AW86224::getF0 ( ) const

overridevirtual

Get the measured resonant frequency (F0).

Returns: F0 in Hz, or 0 if not available.

Reimplemented from HapticBase.

Definition at line 913 of file HapticDriver_AW86224.cpp.

Referenced by loop(), and testInit().

◆ getF0CaliData()

int8_t HapticDriver_AW86224::getF0CaliData ( ) const

inline

Get F0 calibration data.

Returns: Calibration value

Definition at line 475 of file HapticDriver_AW86224.hpp.

Referenced by testInit().

◆ getF0CaliPercent()

uint8_t HapticDriver_AW86224::getF0CaliPercent ( ) const

inline

Definition at line 657 of file HapticDriver_AW86224.hpp.

◆ getF0Pre()

uint32_t HapticDriver_AW86224::getF0Pre ( ) const

inline

Definition at line 501 of file HapticDriver_AW86224.hpp.

◆ getGain()

uint8_t HapticDriver_AW86224::getGain ( ) const

overridevirtual

Get the current gain value.

Returns: Current gain (0x00 to 0xFF), or 0 if unsupported.

Implements HapticBase.

Definition at line 131 of file HapticDriver_AW86224.cpp.

◆ getLraValue()

uint32_t HapticDriver_AW86224::getLraValue ( ) const

inline

Get LRA resistance.

Returns: LRA value

Definition at line 484 of file HapticDriver_AW86224.hpp.

◆ getLraVrms()

uint32_t HapticDriver_AW86224::getLraVrms ( ) const

inline

Definition at line 514 of file HapticDriver_AW86224.hpp.

◆ getMode()

HapticMode HapticDriver_AW86224::getMode ( ) const

overridevirtual

Get the current operating mode.

Returns: Current HapticMode.

Reimplemented from HapticBase.

Definition at line 883 of file HapticDriver_AW86224.cpp.

References AUTO_CALIBRATE, CONT, INTERNAL_TRIGGER, REAL_TIME_PLAYBACK, RTP, STANDBY, and STANDBY.

◆ getPlayMode()

PlayMode HapticDriver_AW86224::getPlayMode ( ) const

inline

Get current play mode.

Returns: PlayMode enum value

Definition at line 466 of file HapticDriver_AW86224.hpp.

◆ getPwmcfg3Prlvl()

uint8_t HapticDriver_AW86224::getPwmcfg3Prlvl ( ) const

inline

Definition at line 631 of file HapticDriver_AW86224.hpp.

◆ getPwmcfg4Prtime()

uint8_t HapticDriver_AW86224::getPwmcfg4Prtime ( ) const

inline

Definition at line 618 of file HapticDriver_AW86224.hpp.

◆ getRamNum()

uint8_t HapticDriver_AW86224::getRamNum ( ) const

inline

Get number of loaded waveforms.

Returns: Waveform count

Definition at line 439 of file HapticDriver_AW86224.hpp.

Referenced by loop(), testAutoDemo(), testInit(), testPlayEffectAll(), and testWaveformSwitching().

◆ getStatus()

HapticStatus HapticDriver_AW86224::getStatus ( ) const

overridevirtual

Get current playback status.

Returns: Current HapticStatus.

Implements HapticBase.

Definition at line 116 of file HapticDriver_AW86224.cpp.

References HapticBase::_isReady, ERROR, IDLE, isPlaying(), PLAYING, STANDBY, and STANDBY.

Referenced by testStatus().

◆ getVbat()

uint32_t HapticDriver_AW86224::getVbat ( )

overridevirtual

Get the battery voltage.

Returns: Voltage in mV, or 0 if unsupported.

Reimplemented from HapticBase.

Definition at line 907 of file HapticDriver_AW86224.cpp.

Referenced by loop(), and testInit().

◆ getVbatValue()

uint32_t HapticDriver_AW86224::getVbatValue ( ) const

inline

Get current voltage reading.

Returns: Voltage in millivolts

Definition at line 457 of file HapticDriver_AW86224.hpp.

◆ isPlaying()

bool HapticDriver_AW86224::isPlaying ( ) const

overridevirtual

Check if haptic is currently playing.

Returns: true if playing, false otherwise.

Implements HapticBase.

Definition at line 124 of file HapticDriver_AW86224.cpp.

References STANDBY.

Referenced by getStatus(), isVibrating(), longVibration(), loop(), playEffectAsync(), shortVibration(), testAutoDemo(), testStop(), testWaveformSwitching(), and vibrationUpdate().

◆ isRamInit()

bool HapticDriver_AW86224::isRamInit ( ) const

inline

Check if RAM is initialized.

Returns: true if RAM data is loaded

Definition at line 448 of file HapticDriver_AW86224.hpp.

◆ isReady()

bool HapticDriver_AW86224::isReady ( ) const

overridevirtual

Check if the driver is initialized and ready.

Returns: true if ready, false otherwise.

Implements HapticBase.

Definition at line 77 of file HapticDriver_AW86224.cpp.

References HapticBase::_isReady.

◆ isVibrating()

bool HapticDriver_AW86224::isVibrating ( ) const

inline

Check if vibration is currently active (alias for isPlaying)

Returns: true if vibration is running, false otherwise

Definition at line 666 of file HapticDriver_AW86224.hpp.

References isPlaying().

◆ loadRamData()

bool HapticDriver_AW86224::loadRamData	(	const uint8_t *	data,
		uint32_t	len
	)

Load RAM waveform data.

Loads pre-compiled waveform data into the haptic chip's RAM.

Parameters

[in]	data	Pointer to RAM data array
[in]	len	Length of RAM data

Returns: true if successful

Definition at line 767 of file HapticDriver_AW86224.cpp.

References DeviceBeginCommon::hal, i, and SensorCommWrapper::writeRegBuff().

◆ longVibration()

void HapticDriver_AW86224::longVibration	(	uint8_t	index,
		uint8_t	gain = `0x80`,
		uint32_t	duration_ms = `1000`,
		bool	blocking = `true`
	)

Play a long continuous vibration effect.

Plays a continuous vibration effect for the specified duration. Supports both blocking and non-blocking modes.

Parameters

[in]	index	Waveform index (1-4)
[in]	gain	Vibration intensity (0x00-0xFF)
[in]	duration_ms	Duration in milliseconds
[in]	blocking	true = wait for completion (blocking), false = return immediately (non-blocking)

Blocking Mode Example:: // Wait 2 seconds for vibration to complete

haptic.longVibration(2, 0x80, 2000, true);

// Vibration finished, continue with other code

haptic
HapticDriver_AW86224 haptic
Definition aw86224_full.ino:41

HapticDriver_AW86224::longVibration
void longVibration(uint8_t index, uint8_t gain=0x80, uint32_t duration_ms=1000, bool blocking=true)
Play a long continuous vibration effect.
Definition HapticDriver_AW86224.cpp:570

Non-Blocking Mode Example:: // Start vibration, return immediately

haptic.longVibration(2, 0x80, 5000, false);

// Do other work while vibrating

while (haptic.isPlaying()) {

haptic.vibrationUpdate();

// Your code here

}

HapticDriver_AW86224::isPlaying
bool isPlaying() const override
Check if haptic is currently playing.
Definition HapticDriver_AW86224.cpp:124

HapticDriver_AW86224::vibrationUpdate
void vibrationUpdate() override
Update vibration state (for non-blocking mode).
Definition HapticDriver_AW86224.cpp:170

Note: In non-blocking mode, call vibrationUpdate() regularly in your loop. If a new vibration is started while one is running, the previous vibration will be stopped automatically.

Definition at line 570 of file HapticDriver_AW86224.cpp.

References DeviceBeginCommon::hal, isPlaying(), RAM_LOOP, run(), setGain(), setTrimLRA(), softReset(), and stop().

Referenced by continuousVibration(), loop(), testAutoDemo(), testLongVibrationBlocking(), testLongVibrationNonBlocking(), and testWaveformSwitching().

◆ needsCalibration()

bool HapticDriver_AW86224::needsCalibration ( ) const

overridevirtual

Check if calibration is needed.

Returns: true if calibration is required, false otherwise.

Reimplemented from HapticBase.

Definition at line 212 of file HapticDriver_AW86224.cpp.

◆ playEffect()

bool HapticDriver_AW86224::playEffect ( HapticEffectId effect )

overridevirtual

Play a haptic effect.

This is a blocking call - it returns only after the effect completes. For chips that don't support blocking, use playEffectAsync() instead.

Parameters

effect Effect ID to play (chip-specific mapping).

Returns: true if successful, false otherwise.

Implements HapticBase.

Definition at line 136 of file HapticDriver_AW86224.cpp.

References shortVibration().

Referenced by testAutoDemo(), testPlayEffect(), and testPlayEffectAll().

◆ playEffectAsync()

bool HapticDriver_AW86224::playEffectAsync ( HapticEffectId effect )

overridevirtual

Play a haptic effect (non-blocking).

Returns immediately; use isPlaying() or vibrationUpdate() to check status.

Parameters

effect Effect ID to play.

Returns: true if started successfully, false otherwise.

Reimplemented from HapticBase.

Definition at line 143 of file HapticDriver_AW86224.cpp.

References DeviceBeginCommon::hal, isPlaying(), RAM, run(), setGain(), setTrimLRA(), setWaveLoop(), setWaveSeq(), softReset(), and stop().

◆ playRtp()

bool HapticDriver_AW86224::playRtp	(	const uint8_t *	data,
		uint32_t	len,
		uint8_t	gain = `0x80`
	)

Play RTP (Real-Time Playback) waveform.

Plays a custom waveform in RTP mode.

Parameters

[in]	data	Waveform data buffer
[in]	len	Data length in bytes
[in]	gain	Playback gain (0x00-0xFF)

Returns: true if successful

Example:: uint8_t sineWave[] = {0x00, 0x40, 0x80, 0xC0, 0xFF, ...};

haptic.playRtp(sineWave, sizeof(sineWave), 0x80);

delay(1000);

haptic.stopVibration();

HapticDriver_AW86224::stopVibration
void stopVibration()
Stop any ongoing vibration.
Definition HapticDriver_AW86224.cpp:604

HapticDriver_AW86224::playRtp
bool playRtp(const uint8_t *data, uint32_t len, uint8_t gain=0x80)
Play RTP (Real-Time Playback) waveform.
Definition HapticDriver_AW86224.cpp:653

Definition at line 653 of file HapticDriver_AW86224.cpp.

References DeviceBeginCommon::hal, PWM_24K, RTP, run(), setGain(), setTrimLRA(), SensorCommWrapper::updateBits(), SensorCommWrapper::writeReg(), and SensorCommWrapper::writeRegBuff().

◆ playSequence()

bool HapticDriver_AW86224::playSequence ( )

overridevirtual

Play the waveform sequence.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 197 of file HapticDriver_AW86224.cpp.

References RAM, and run().

Referenced by testSetSequence().

◆ run()

bool HapticDriver_AW86224::run ( )

overridevirtual

Start haptic playback.

Returns: true if successful, false otherwise.

Implements HapticBase.

Definition at line 527 of file HapticDriver_AW86224.cpp.

References DeviceBeginCommon::hal, and SensorCommWrapper::writeReg().

Referenced by longVibration(), playEffectAsync(), playRtp(), playSequence(), shortVibration(), and vibrationUpdate().

◆ setActuatorType()

bool HapticDriver_AW86224::setActuatorType ( HapticActuatorType type )

overridevirtual

Set the actuator type.

Parameters

type	Actuator type to set (ERM or LRA).

Returns: true if successful, false otherwise.

Implements HapticBase.

Definition at line 854 of file HapticDriver_AW86224.cpp.

◆ setAutoBrkEnabled()

void HapticDriver_AW86224::setAutoBrkEnabled ( bool val )

inline

Enable/disable auto break.

Parameters

[in] val true = enabled, false = disabled

Definition at line 640 of file HapticDriver_AW86224.hpp.

◆ setContBrkGain()

void HapticDriver_AW86224::setContBrkGain ( uint8_t val )

inline

Set continuous mode break gain.

Parameters

[in] val Break gain value (0x00-0xFF)

Definition at line 536 of file HapticDriver_AW86224.hpp.

◆ setContBrkTime()

void HapticDriver_AW86224::setContBrkTime ( uint8_t val )

inline

Set continuous mode break time.

Parameters

[in] val Break time value (0x00-0xFF)

Definition at line 523 of file HapticDriver_AW86224.hpp.

◆ setContDrv1Lvl()

void HapticDriver_AW86224::setContDrv1Lvl ( uint8_t val )

inline

Set continuous mode drive level 1.

Parameters

[in] val Drive level (0x00-0x7F)

Definition at line 549 of file HapticDriver_AW86224.hpp.

◆ setContDrv1Time()

void HapticDriver_AW86224::setContDrv1Time ( uint8_t val )

inline

Set continuous mode drive time 1.

Parameters

[in] val Drive time value (0x00-0xFF)

Definition at line 562 of file HapticDriver_AW86224.hpp.

◆ setContDrv2Time()

void HapticDriver_AW86224::setContDrv2Time ( uint8_t val )

inline

Set continuous mode drive time 2.

Parameters

[in] val Drive time value (0x00-0xFF)

Definition at line 575 of file HapticDriver_AW86224.hpp.

◆ setContTrackMargin()

void HapticDriver_AW86224::setContTrackMargin ( uint8_t val )

inline

Set continuous mode track margin.

Parameters

[in] val Margin value (0x00-0xFF)

Definition at line 588 of file HapticDriver_AW86224.hpp.

◆ setD2sGain()

void HapticDriver_AW86224::setD2sGain ( uint8_t val )

inline

Set D2S gain (digital to simulation gain)

Parameters

[in] val Gain value (0x00-0x07)

Definition at line 601 of file HapticDriver_AW86224.hpp.

◆ setF0CaliPercent()

void HapticDriver_AW86224::setF0CaliPercent ( uint8_t val )

inline

Set F0 calibration tolerance percentage.

Parameters

[in] val Percentage (default: 7)

Definition at line 653 of file HapticDriver_AW86224.hpp.

◆ setF0Pre()

void HapticDriver_AW86224::setF0Pre ( uint32_t val )

inline

Set expected F0 (resonant frequency)

Parameters

[in] val F0 in Hz (default: 1700)

Definition at line 497 of file HapticDriver_AW86224.hpp.

◆ setGain()

bool HapticDriver_AW86224::setGain ( uint8_t gain )

overridevirtual

Set the gain/amplitude (0x00 to 0xFF).

Parameters

gain	Gain value.

Returns: true if successful, false otherwise.

Implements HapticBase.

Definition at line 520 of file HapticDriver_AW86224.cpp.

References SensorCommWrapper::writeReg().

Referenced by longVibration(), playEffectAsync(), playRtp(), setRealtimeValue(), shortVibration(), and testContinuousVibration().

◆ setLraVrms()

void HapticDriver_AW86224::setLraVrms ( uint32_t val )

inline

Set LRA rated voltage.

Parameters

[in] val Voltage in mV (default: 1000)

Definition at line 510 of file HapticDriver_AW86224.hpp.

◆ setMode()

bool HapticDriver_AW86224::setMode ( HapticMode mode )

overridevirtual

Set the operating mode.

Parameters

mode	Mode to set.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 865 of file HapticDriver_AW86224.cpp.

References INTERNAL_TRIGGER, RAM, REAL_TIME_PLAYBACK, RTP, and STANDBY.

◆ setPins()

void HapticDriver_AW86224::setPins	(	uint8_t	resetPin,
		uint8_t	intPin
	)

setPins

Note: Sets the reset and interrupt pins for the haptic driver. No support for interrupt pins has been added; they are currently reserved for use as a general interface.

Parameters

[in]	resetPin	The GPIO pin number for the reset pin.
[in]	intPin	The GPIO pin number for the interrupt pin.

Return values

None

Definition at line 65 of file HapticDriver_AW86224.cpp.

◆ setPlayMode()

void HapticDriver_AW86224::setPlayMode ( PlayMode mode )

Set playback mode.

Parameters

[in] mode Playback mode (see PlayMode enum)

Definition at line 515 of file HapticDriver_AW86224.cpp.

◆ setPwmcfg3Prlvl()

void HapticDriver_AW86224::setPwmcfg3Prlvl ( uint8_t val )

inline

Set protection level.

Parameters

[in] val Level value

Definition at line 627 of file HapticDriver_AW86224.hpp.

◆ setPwmcfg4Prtime()

void HapticDriver_AW86224::setPwmcfg4Prtime ( uint8_t val )

inline

Set protection time.

Parameters

[in] val Time value

Definition at line 614 of file HapticDriver_AW86224.hpp.

◆ setRealtimeValue()

bool HapticDriver_AW86224::setRealtimeValue ( uint8_t value )

overridevirtual

Set RTP (real-time playback) value.

Only meaningful when in REAL_TIME_PLAYBACK mode.

Parameters

value RTP drive value (0x00 to 0xFF).

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 898 of file HapticDriver_AW86224.cpp.

References RTP, and setGain().

◆ setRtpData()

void HapticDriver_AW86224::setRtpData	(	uint8_t *	data,
		uint32_t	len
	)

Set RTP waveform data.

Loads waveform data for RTP mode playback.

Parameters

[in]	data	Pointer to waveform data buffer
[in]	len	Length of data in bytes

Definition at line 648 of file HapticDriver_AW86224.cpp.

References SensorCommWrapper::writeRegBuff().

◆ setSequence()

bool HapticDriver_AW86224::setSequence	(	uint8_t	slot,
		HapticEffectId	effect
	)

overridevirtual

Set a waveform in the sequence.

Parameters

slot	Sequence slot index (0 to maxSequenceLength-1).
effect	Effect ID to play at this slot.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 182 of file HapticDriver_AW86224.cpp.

References setWaveSeq().

Referenced by testSetSequence().

◆ setTrimLRA()

void HapticDriver_AW86224::setTrimLRA ( uint8_t val )

Set LRA frequency trim value.

Used after F0 calibration to optimize vibration.

Parameters

[in] val Trim value from calibration (typically 0x00-0x3F)

Definition at line 417 of file HapticDriver_AW86224.cpp.

References SensorCommWrapper::updateBits().

Referenced by longVibration(), playEffectAsync(), playRtp(), and shortVibration().

◆ setWaveLoop()

void HapticDriver_AW86224::setWaveLoop	(	uint8_t	wav,
		uint8_t	loop
	)

Set waveform loop count.

Configures how many times a waveform repeats before advancing.

Parameters

[in]	wav	Wave slot (0-7)
[in]	loop	Loop count (0-15, where 15 = infinite)

Example:: haptic.setWaveLoop(0, 15); // Infinite loop for slot 0

haptic.setWaveLoop(1, 0); // No loop for slot 1

HapticDriver_AW86224::setWaveLoop
void setWaveLoop(uint8_t wav, uint8_t loop)
Set waveform loop count.
Definition HapticDriver_AW86224.cpp:614

Definition at line 614 of file HapticDriver_AW86224.cpp.

References loop(), and SensorCommWrapper::updateBits().

Referenced by playEffectAsync(), and shortVibration().

◆ setWaveSeq()

void HapticDriver_AW86224::setWaveSeq	(	uint8_t	wav,
		uint8_t	seq
	)

Update vibration state (for non-blocking mode)

Must be called regularly when using non-blocking vibration modes. This function:

Checks if the vibration duration has elapsed
Auto-restarts playback if it stops prematurely
Stops the vibration when duration is complete

Usage:: void loop() {

if (haptic.isPlaying()) {

haptic.vibrationUpdate();

}

// Other loop code...

}

loop
void loop()
Definition aw86224_full.ino:398

Note: Call this at least every 10-50ms for smooth vibration.

Set waveform sequence

Configures which waveform is played for each sequencer slot.

Parameters

[in]	wav	Wave slot (0-7)
[in]	seq	Waveform index to play (0-15)

Example:: haptic.setWaveSeq(0, 2); // Slot 0 plays waveform 2

haptic.setWaveSeq(1, 0); // Slot 1 plays waveform 0 (wait)

HapticDriver_AW86224::setWaveSeq
void setWaveSeq(uint8_t wav, uint8_t seq)
Update vibration state (for non-blocking mode)
Definition HapticDriver_AW86224.cpp:609

Definition at line 609 of file HapticDriver_AW86224.cpp.

References SensorCommWrapper::writeReg().

Referenced by clearSequence(), playEffectAsync(), setSequence(), and shortVibration().

◆ shortVibration()

void HapticDriver_AW86224::shortVibration	(	uint8_t	index,
		uint8_t	gain = `0x80`,
		uint8_t	loop = `1`
	)

Play a short vibration effect.

Plays a short haptic effect using a RAM waveform with specified loop count. This is a blocking call that waits for the effect to complete.

Parameters

[in]	index	Waveform index (1-4, based on loaded RAM data)
[in]	gain	Vibration intensity (0x00-0xFF, default 0x80)
[in]	loop	Number of repetitions (1-16, default 1)

Example:: // Short click

haptic.shortVibration(1, 0x80, 1);

// Double buzz

haptic.shortVibration(2, 0xA0, 2);

// Maximum intensity click

haptic.shortVibration(1, 0xFF, 1);

HapticDriver_AW86224::shortVibration
void shortVibration(uint8_t index, uint8_t gain=0x80, uint8_t loop=1)
Play a short vibration effect.
Definition HapticDriver_AW86224.cpp:544

Definition at line 544 of file HapticDriver_AW86224.cpp.

References DeviceBeginCommon::hal, isPlaying(), loop(), RAM, run(), setGain(), setTrimLRA(), setWaveLoop(), setWaveSeq(), softReset(), and stop().

Referenced by playEffect(), testAutoDemo(), testIntensitySweep(), testShortVibration(), testShortVibrationGain(), and testShortVibrationLoop().

◆ softReset()

void HapticDriver_AW86224::softReset ( )

Perform soft reset.

Resets the chip to default state via software command. This clears any residual configuration from previous operations.

Definition at line 918 of file HapticDriver_AW86224.cpp.

References DeviceBeginCommon::hal, and SensorCommWrapper::writeReg().

Referenced by longVibration(), playEffectAsync(), and shortVibration().

◆ stop()

bool HapticDriver_AW86224::stop ( )

overridevirtual

Stop haptic playback immediately.

Returns: true if successful, false otherwise.

Implements HapticBase.

Definition at line 537 of file HapticDriver_AW86224.cpp.

Referenced by end(), longVibration(), playEffectAsync(), shortVibration(), stopVibration(), testAutoDemo(), testStop(), testWaveformSwitching(), and vibrationUpdate().

◆ stopVibration()

void HapticDriver_AW86224::stopVibration ( )

Stop any ongoing vibration.

Immediately stops vibration and enters standby mode. Works for both blocking and non-blocking modes.

Example:: haptic.longVibration(2, 0x80, 10000, false); // Start long vibration

// ...

if (emergencyStop) {

haptic.stopVibration(); // Immediate stop

}

HapticBase::emergencyStop
virtual void emergencyStop()
Emergency stop - stops all vibration immediately.
Definition HapticBase.hpp:108

Definition at line 604 of file HapticDriver_AW86224.cpp.

References stop().

◆ vibrationUpdate()

void HapticDriver_AW86224::vibrationUpdate ( )

overridevirtual

Update vibration state (for non-blocking mode).

Call this periodically in your main loop when using non-blocking vibration functions. Default implementation does nothing.

Reimplemented from HapticBase.

Definition at line 170 of file HapticDriver_AW86224.cpp.

References DeviceBeginCommon::hal, isPlaying(), run(), and stop().

Referenced by loop().

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ChipID

◆ PlayMode

◆ PwmMode

◆ SramSize

Constructor & Destructor Documentation

◆ HapticDriver_AW86224()

Member Function Documentation

◆ calibrate()

◆ clearSequence()

◆ continuousVibration()

◆ end()

◆ getActuatorType()

◆ getAutoBrkEnabled()

◆ getCapabilities()

◆ getChipID()

◆ getChipName()

◆ getContBrkGain()

◆ getContBrkTime()

◆ getContDrv1Lvl()

◆ getContDrv1Time()

◆ getContDrv2Time()

◆ getContTrackMargin()

◆ getD2sGain()

◆ getF0()

◆ getF0CaliData()

◆ getF0CaliPercent()

◆ getF0Pre()

◆ getGain()

◆ getLraValue()

◆ getLraVrms()

◆ getMode()

◆ getPlayMode()

◆ getPwmcfg3Prlvl()

◆ getPwmcfg4Prtime()

◆ getRamNum()

◆ getStatus()

◆ getVbat()

◆ getVbatValue()

◆ isPlaying()

◆ isRamInit()

◆ isReady()

◆ isVibrating()

◆ loadRamData()

◆ longVibration()

◆ needsCalibration()

◆ playEffect()

◆ playEffectAsync()

◆ playRtp()

◆ playSequence()

◆ run()

◆ setActuatorType()

◆ setAutoBrkEnabled()

◆ setContBrkGain()

◆ setContBrkTime()

◆ setContDrv1Lvl()

◆ setContDrv1Time()

◆ setContDrv2Time()

◆ setContTrackMargin()

◆ setD2sGain()

◆ setF0CaliPercent()

◆ setF0Pre()

◆ setGain()

◆ setLraVrms()

◆ setMode()

◆ setPins()

◆ setPlayMode()

◆ setPwmcfg3Prlvl()

◆ setPwmcfg4Prtime()

◆ setRealtimeValue()

◆ setRtpData()

◆ setSequence()

◆ setTrimLRA()

◆ setWaveLoop()

◆ setWaveSeq()

◆ shortVibration()