Driver for the TI DRV2605/DRV2604 haptic motor controller. More...

#include <HapticDriver_DRV2605.hpp>

Inheritance diagram for HapticDriver_DRV2605:

Public Member Functions
	HapticDriver_DRV2605 ()
	Construct an uninitialized driver instance.

	~HapticDriver_DRV2605 () override
	Destructor.

void	end () override
	Deinitialize the 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.

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

bool	setGain (uint8_t gain) override
	Set the gain/amplitude.

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.

HapticCapabilities	getCapabilities () const override
	Get device capabilities.

uint8_t	getChipID () const override
	Get the chip ID.

HapticActuatorType	getActuatorType () const override
	Get the actuator type.

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

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

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

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

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.

void	setWaveform (uint8_t slot, uint8_t w)
	Set a waveform entry in the playback sequence table.

void	selectLibrary (uint8_t lib)
	Select the ROM waveform library.

bool	isDone () const
	Check if playback is done.

void	trigger ()
	Trigger a single playback cycle.

uint8_t	getRealtimeValue () const
	Get the current RTP value.

void	setRatedVoltage (uint8_t value)
	Set the rated voltage for auto-calibration.

void	setOverdriveClamp (uint8_t value)
	Set the overdrive clamp voltage for auto-calibration.

int	autoCal ()
	Perform auto-calibration and return compensation result.

void	setAutoBrake (bool enable)
	Enable/disable automatic braking.

void	setOverdriveTime (uint8_t cycles)
	Set the number of overdrive cycles.

void	setBrakeTime (uint8_t time)
	Set the brake time offset.

void	setRtpOverdrive (bool enable)
	Enable/disable RTP overdrive.

void	setERMLRA (bool erm)
	Enable/disable ERM/LRA mode.

void	setCtrl4 (uint8_t value)
	Set the control4 register value.

uint8_t	getLRAFrequency () const
	Read the LRA resonance period (for LRA calibration).

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

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

Driver for the TI DRV2605/DRV2604 haptic motor controller.

This driver provides a complete interface for controlling the DRV2605/DRV2604 haptic motor driver IC via I2C. It inherits from HapticBase to provide a unified interface across different haptic drivers.

Supported Features:

ROM waveform library playback (117 built-in effects)
Waveform sequencing (8 slots)
Real-Time Playback (RTP) mode for direct amplitude control
Auto-calibration for ERM and LRA actuators
Multiple operating modes (internal trigger, external trigger, audio-to-vibe, etc.)
ERM and LRA actuator support

Unsupported Features:

Runtime gain adjustment (ROM effect intensity is pre-defined)
Continuous vibration mode (use RTP mode instead)
F0 calibration (use autoCal() instead)
VBAT compensation

ROM Library Reference:

Library 1: Strong Click (default)
Library 2: Sharp Click
Library 3: Soft Click
Library 4: Medium Click
Library 5: Soft Bump
Library 6: Double Click
Library 7: Triple Click
Library 8: Soft Fuzz
Library 9: Buzz
Library 10: Butterly
Library 11: Crash
Library 12: Tick
Library 13: Pop
Library 14: Generic Click
Library 15: Generic Snap
Library 16: Generic Roll
Library 17: Generic Pitch

Note: LRA Library (Library 6) is specifically designed for Linear Resonant Actuators. ERM libraries (1-5) are for Eccentric Rotating Mass motors.

Usage Example:: #include <Wire.h>

#include "HapticDriver_DRV2605.hpp"

HapticDriver_DRV2605 haptic;

void setup() {

Serial.begin(115200);

Wire.begin();

if (!haptic.begin(Wire, DRV2605_SLAVE_ADDRESS)) {

Serial.println("Init failed!");

while (1);

}

// Select LRA library for linear resonant actuator

haptic.selectLibrary(6);

// Play a built-in effect

haptic.playEffect(1); // Strong click

// Or use RTP for direct control

haptic.setMode(HapticMode::REAL_TIME_PLAYBACK);

haptic.setRealtimeValue(0x80);

}

HapticMode::REAL_TIME_PLAYBACK
@ REAL_TIME_PLAYBACK
RTP mode (direct drive value)

HapticDriver_DRV2605.hpp
@license MIT License

setup
void setup()
Definition aw86224_full.ino:381

haptic
HapticDriver_AW86224 haptic
Definition aw86224_full.ino:41

HapticDriver_AW86224::setMode
bool setMode(HapticMode mode) override
Set the operating mode.
Definition HapticDriver_AW86224.cpp:865

HapticDriver_AW86224::setRealtimeValue
bool setRealtimeValue(uint8_t value) override
Set RTP (real-time playback) value.
Definition HapticDriver_AW86224.cpp:898

HapticDriver_AW86224::playEffect
bool playEffect(HapticEffectId effect) override
Play a haptic effect.
Definition HapticDriver_AW86224.cpp:136

HapticDriver_DRV2605
Driver for the TI DRV2605/DRV2604 haptic motor controller.
Definition HapticDriver_DRV2605.hpp:116

I2CDeviceWithHal::begin
bool begin(SensorCommCustom::CustomCallback cb, SensorCommCustomHal::CustomHalCallback hal_cb, uint8_t addr)
Initialize the sensor using custom callback interface.
Definition I2CDeviceWithHal.hpp:93

Warning: You must call begin() successfully before using any other API.

Definition at line 115 of file HapticDriver_DRV2605.hpp.

Constructor & Destructor Documentation

◆ HapticDriver_DRV2605()

HapticDriver_DRV2605::HapticDriver_DRV2605 ( )

Construct an uninitialized driver instance.

Definition at line 37 of file HapticDriver_DRV2605.cpp.

References i.

◆ ~HapticDriver_DRV2605()

HapticDriver_DRV2605::~HapticDriver_DRV2605 ( )

override

Destructor.

Deinitializes communication backend if created.

Definition at line 49 of file HapticDriver_DRV2605.cpp.

References end().

Member Function Documentation

◆ autoCal()

int HapticDriver_DRV2605::autoCal ( )

Perform auto-calibration and return compensation result.

Runs the full auto-calibration sequence and returns the compensation value stored in the AUTOCALCOMP register.

Returns: Auto-calibration compensation value (0-255), or -1 on failure.

Definition at line 338 of file HapticDriver_DRV2605.cpp.

References AUTO_CALIBRATE, DeviceBeginCommon::hal, INTERNAL_TRIGGER, isDone(), SensorCommWrapper::readReg(), run(), and setMode().

Referenced by calibrate().

◆ calibrate()

bool HapticDriver_DRV2605::calibrate ( )

overridevirtual

Perform auto-calibration.

Runs the built-in auto-calibration sequence.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 274 of file HapticDriver_DRV2605.cpp.

References autoCal().

Referenced by loop(), testAutoDemo(), and testCalibration().

◆ clearSequence()

bool HapticDriver_DRV2605::clearSequence ( )

overridevirtual

Clear the waveform sequence.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 153 of file HapticDriver_DRV2605.cpp.

References i, and setWaveform().

Referenced by testSetSequence().

◆ continuousVibration()

void HapticDriver_DRV2605::continuousVibration	(	uint32_t	duration_ms,
		bool	blocking = `true`
	)

overridevirtual

Play a continuous vibration for specified duration.

Note: NOT SUPPORTED by DRV2605. This chip plays pre-defined ROM effects and cannot produce true continuous vibration. For amplitude control, use RTP mode instead.

Parameters

duration_ms	Ignored.
blocking	Ignored.

Reimplemented from HapticBase.

Definition at line 135 of file HapticDriver_DRV2605.cpp.

◆ emergencyStop()

void HapticDriver_DRV2605::emergencyStop ( )

overridevirtual

Emergency stop - stops all vibration immediately.

Note: Calls stop() internally.

Reimplemented from HapticBase.

Definition at line 98 of file HapticDriver_DRV2605.cpp.

References stop().

◆ end()

void HapticDriver_DRV2605::end ( )

overridevirtual

Deinitialize the driver and release resources.

Reimplemented from HapticBase.

Definition at line 54 of file HapticDriver_DRV2605.cpp.

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

Referenced by ~HapticDriver_DRV2605().

◆ getActuatorType()

HapticActuatorType HapticDriver_DRV2605::getActuatorType ( ) const

overridevirtual

Get the actuator type.

Returns: HapticActuatorType::ERM or HapticActuatorType::LRA.

Implements HapticBase.

Definition at line 191 of file HapticDriver_DRV2605.cpp.

References ERM, and LRA.

Referenced by loop(), setup(), testActuatorType(), and testInit().

◆ getCapabilities()

HapticCapabilities HapticDriver_DRV2605::getCapabilities ( ) const

overridevirtual

Get device capabilities.

Returns: HapticCapabilities struct describing supported features.

Supported: RTP, Sequence, AutoCalibration, BreakEffect, Overdrive Unsupported: F0Calibration, VbatCompensation, ContinuousMode

Implements HapticBase.

Definition at line 167 of file HapticDriver_DRV2605.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_DRV2605::getChipID ( ) const

overridevirtual

Get the chip ID.

Returns: Chip identifier value (shifted from STATUS register).

Implements HapticBase.

Definition at line 184 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg().

Referenced by setup(), and testInit().

◆ getChipName()

const char * HapticDriver_DRV2605::getChipName ( ) const

overridevirtual

Get the chip name.

Returns: Always returns "DRV2605".

Implements HapticBase.

Definition at line 65 of file HapticDriver_DRV2605.cpp.

Referenced by setup(), and testInit().

◆ getF0()

uint32_t HapticDriver_DRV2605::getF0 ( ) const

overridevirtual

Get the measured resonant frequency (F0).

Note: For LRA mode, reads the resonance period and calculates F0. For ERM mode, this returns 0.

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

Reimplemented from HapticBase.

Definition at line 285 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg().

Referenced by testF0().

◆ getGain()

uint8_t HapticDriver_DRV2605::getGain ( ) const

overridevirtual

Get the current gain value.

Note: NOT SUPPORTED by DRV2605. ROM effect intensities are pre-defined.

Returns: Always returns 0.

Implements HapticBase.

Definition at line 114 of file HapticDriver_DRV2605.cpp.

◆ getLRAFrequency()

uint8_t HapticDriver_DRV2605::getLRAFrequency ( ) const

Read the LRA resonance period (for LRA calibration).

Returns: LRA resonance period value (bits 6:0), or 0 if unavailable.

Definition at line 409 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg().

◆ getMode()

HapticMode HapticDriver_DRV2605::getMode ( ) const

overridevirtual

Get the current operating mode.

Returns: Current HapticMode.

Reimplemented from HapticBase.

Definition at line 251 of file HapticDriver_DRV2605.cpp.

References INTERNAL_TRIGGER, SensorCommWrapper::readReg(), and STANDBY.

Referenced by setup(), testInit(), and testModes().

◆ getRealtimeValue()

uint8_t HapticDriver_DRV2605::getRealtimeValue ( ) const

Get the current RTP value.

Returns: Current RTP register value (0x00 to 0xFF).

Definition at line 268 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg().

◆ getStatus()

HapticStatus HapticDriver_DRV2605::getStatus ( ) const

overridevirtual

Get current playback status.

Returns: HapticStatus::PLAYING if playing, HapticStatus::IDLE otherwise.

Implements HapticBase.

Definition at line 90 of file HapticDriver_DRV2605.cpp.

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

Referenced by testStatus().

◆ getVbat()

uint32_t HapticDriver_DRV2605::getVbat ( )

overridevirtual

Get the battery voltage.

Returns: Voltage in mV, or 0 if unsupported.

Reimplemented from HapticBase.

Definition at line 296 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg().

Referenced by loop(), setup(), and testInit().

◆ isDone()

bool HapticDriver_DRV2605::isDone ( ) const

Check if playback is done.

Returns: true if GO bit is clear (playback stopped).

Definition at line 317 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg().

Referenced by autoCal().

◆ isPlaying()

bool HapticDriver_DRV2605::isPlaying ( ) const

overridevirtual

Check if haptic is currently playing.

Returns: true if playing, false otherwise.

Implements HapticBase.

Definition at line 84 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg().

Referenced by getStatus(), and testStop().

◆ isReady()

bool HapticDriver_DRV2605::isReady ( ) const

overridevirtual

Check if the driver is initialized and ready.

Returns: true if ready, false otherwise.

Implements HapticBase.

Definition at line 60 of file HapticDriver_DRV2605.cpp.

References HapticBase::_isReady.

◆ needsCalibration()

bool HapticDriver_DRV2605::needsCalibration ( ) const

overridevirtual

Check if calibration is needed.

Returns: Always returns true for DRV2605.

Reimplemented from HapticBase.

Definition at line 280 of file HapticDriver_DRV2605.cpp.

◆ playEffect()

bool HapticDriver_DRV2605::playEffect ( HapticEffectId effect )

overridevirtual

Play a haptic effect.

Plays a ROM waveform effect with blocking (waits for completion).

Parameters

effect Effect ID (1-117 based on selected library).

Returns: true if started successfully, false otherwise.

Implements HapticBase.

Definition at line 121 of file HapticDriver_DRV2605.cpp.

References HapticBase::_isReady, run(), and setWaveform().

Referenced by loop(), playEffectAsync(), testAutoDemo(), testLibrarySelection(), testPlayEffect(), testPlayEffectRange(), and testStop().

◆ playEffectAsync()

bool HapticDriver_DRV2605::playEffectAsync ( HapticEffectId effect )

overridevirtual

Play a haptic effect (non-blocking).

Note: For DRV2605, this behaves the same as playEffect() since the chip handles playback internally.

Parameters

effect Effect ID to play.

Returns: true if started successfully, false otherwise.

Reimplemented from HapticBase.

Definition at line 130 of file HapticDriver_DRV2605.cpp.

References playEffect().

◆ playSequence()

bool HapticDriver_DRV2605::playSequence ( )

overridevirtual

Play the waveform sequence.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 162 of file HapticDriver_DRV2605.cpp.

References run().

Referenced by testSetSequence().

◆ run()

bool HapticDriver_DRV2605::run ( )

overridevirtual

Start haptic playback.

Returns: true if successful, false otherwise.

Implements HapticBase.

Definition at line 70 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

Referenced by autoCal(), playEffect(), playSequence(), and trigger().

◆ selectLibrary()

void HapticDriver_DRV2605::selectLibrary ( uint8_t lib )

Select the ROM waveform library.

Different libraries contain different sets of built-in effects.

Parameters

lib	Library selection: 0: Empty 1..5: ERM libraries (1=Strong Click, 2=Sharp Click, etc.) 6: LRA library (for Linear Resonant Actuators)

Definition at line 311 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

Referenced by loop(), and testLibrarySelection().

◆ setActuatorType()

bool HapticDriver_DRV2605::setActuatorType ( HapticActuatorType type )

overridevirtual

Set the actuator type.

Automatically selects the appropriate ROM library:

ERM: Library 1
LRA: Library 6

Parameters

type	Actuator type to set (ERM or LRA).

Returns: true if successful, false otherwise.

Implements HapticBase.

Definition at line 196 of file HapticDriver_DRV2605.cpp.

References ERM, SensorCommWrapper::updateBits(), and SensorCommWrapper::writeReg().

Referenced by loop(), setERMLRA(), and testActuatorType().

◆ setAutoBrake()

void HapticDriver_DRV2605::setAutoBrake ( bool enable )

Enable/disable automatic braking.

When enabled, the chip automatically applies braking after each waveform effect.

Parameters

enable true to enable, false to disable.

Definition at line 362 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg(), and SensorCommWrapper::writeReg().

◆ setBrakeTime()

void HapticDriver_DRV2605::setBrakeTime ( uint8_t time )

Set the brake time offset.

Controls the braking period after each waveform.

Parameters

time	Brake time offset value (0-255).

Definition at line 380 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

◆ setCtrl4()

void HapticDriver_DRV2605::setCtrl4 ( uint8_t value )

Set the control4 register value.

Warning: Advanced use only. Incorrect values may cause unpredictable behavior.

Parameters

value Control4 register value.

Definition at line 404 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

◆ setERMLRA()

void HapticDriver_DRV2605::setERMLRA ( bool erm )

Enable/disable ERM/LRA mode.

Deprecated:: Use setActuatorType() instead.

Parameters

erm	true for ERM, false for LRA.

Definition at line 398 of file HapticDriver_DRV2605.cpp.

References ERM, LRA, and setActuatorType().

◆ setGain()

bool HapticDriver_DRV2605::setGain ( uint8_t gain )

overridevirtual

Set the gain/amplitude.

Note: NOT SUPPORTED by DRV2605. This chip uses ROM waveforms with pre-defined intensities. For amplitude control, use RTP mode (setRealtimeValue) instead.

Parameters

gain Ignored.

Returns: Always returns false.

Implements HapticBase.

Definition at line 103 of file HapticDriver_DRV2605.cpp.

◆ setMode()

bool HapticDriver_DRV2605::setMode ( HapticMode mode )

overridevirtual

Set the operating mode.

Parameters

mode

Mode to set:

INTERNAL_TRIGGER: Waveform playback triggered by GO bit
EXT_TRIGGER_EDGE: External trigger on edge
EXT_TRIGGER_LEVEL: External trigger on level
PWM_ANALOG: PWM or analog input drive
AUDIO_TO_VIBE: Audio input to vibration
REAL_TIME_PLAYBACK: Direct RTP amplitude control
DIAGNOSTICS: Diagnostics mode
AUTO_CALIBRATE: Auto-calibration mode

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 210 of file HapticDriver_DRV2605.cpp.

References AUDIO_TO_VIBE, AUTO_CALIBRATE, DIAGNOSTICS, EXT_TRIGGER_EDGE, EXT_TRIGGER_LEVEL, INTERNAL_TRIGGER, PWM_ANALOG, REAL_TIME_PLAYBACK, STANDBY, and SensorCommWrapper::writeReg().

Referenced by autoCal(), loop(), testModes(), testNormalMode(), testRTP(), and testStandby().

◆ setOverdriveClamp()

void HapticDriver_DRV2605::setOverdriveClamp ( uint8_t value )

Set the overdrive clamp voltage for auto-calibration.

This value controls the maximum voltage during auto-calibration.

Parameters

value Overdrive clamp voltage value.

Definition at line 333 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

◆ setOverdriveTime()

void HapticDriver_DRV2605::setOverdriveTime ( uint8_t cycles )

Set the number of overdrive cycles.

Controls how long the overdrive period lasts at the beginning of each waveform.

Parameters

cycles Number of overdrive cycles (0-255).

Definition at line 375 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

◆ setRatedVoltage()

void HapticDriver_DRV2605::setRatedVoltage ( uint8_t value )

Set the rated voltage for auto-calibration.

This value should match the rated voltage of your actuator.

Parameters

value Rated voltage value (register value).

Definition at line 328 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

◆ setRealtimeValue()

bool HapticDriver_DRV2605::setRealtimeValue ( uint8_t value )

overridevirtual

Set RTP (real-time playback) value.

Provides direct amplitude control in RTP mode.

Parameters

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

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 263 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

Referenced by loop(), and testRTP().

◆ setRtpOverdrive()

void HapticDriver_DRV2605::setRtpOverdrive ( bool enable )

Enable/disable RTP overdrive.

When enabled, RTP mode uses overdrive to reach the target amplitude faster.

Parameters

enable true to enable, false to disable.

Definition at line 385 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::readReg(), and SensorCommWrapper::writeReg().

◆ setSequence()

bool HapticDriver_DRV2605::setSequence	(	uint8_t	slot,
		HapticEffectId	effect
	)

overridevirtual

Set a waveform in the sequence.

Parameters

slot	Sequence slot index (0 to 7).
effect	Effect ID to play at this slot.

Returns: true if successful, false otherwise.

Reimplemented from HapticBase.

Definition at line 145 of file HapticDriver_DRV2605.cpp.

References setWaveform().

Referenced by testSetSequence().

◆ setWaveform()

void HapticDriver_DRV2605::setWaveform	(	uint8_t	slot,
		uint8_t	w
	)

Set a waveform entry in the playback sequence table.

Playback starts at slot 0 and continues sequentially until a value of 0 is encountered, or slot 7 is reached.

Parameters

slot	Sequence slot index (0..7).
w	Waveform index in the device ROM library (0 = end).

Definition at line 306 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

Referenced by clearSequence(), playEffect(), and setSequence().

◆ stop()

bool HapticDriver_DRV2605::stop ( )

overridevirtual

Stop haptic playback immediately.

Returns: true if successful, false otherwise.

Implements HapticBase.

Definition at line 79 of file HapticDriver_DRV2605.cpp.

References SensorCommWrapper::writeReg().

Referenced by emergencyStop(), end(), loop(), testAutoDemo(), testRTP(), and testStop().

◆ trigger()

void HapticDriver_DRV2605::trigger ( )

Trigger a single playback cycle.

Sets the GO bit to start playback of the waveform sequence. Equivalent to run().

Definition at line 323 of file HapticDriver_DRV2605.cpp.

References run().

◆ vibrationUpdate()

void HapticDriver_DRV2605::vibrationUpdate ( )

overridevirtual

Update vibration state (for non-blocking mode).

Note: NOT SUPPORTED. DRV2605 handles playback internally. This function does nothing.

Reimplemented from HapticBase.

Definition at line 141 of file HapticDriver_DRV2605.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HapticDriver_DRV2605()

◆ ~HapticDriver_DRV2605()

Member Function Documentation

◆ autoCal()

◆ calibrate()

◆ clearSequence()

◆ continuousVibration()

◆ emergencyStop()

◆ end()

◆ getActuatorType()

◆ getCapabilities()

◆ getChipID()

◆ getChipName()

◆ getF0()

◆ getGain()

◆ getLRAFrequency()

◆ getMode()

◆ getRealtimeValue()

◆ getStatus()

◆ getVbat()

◆ isDone()

◆ isPlaying()

◆ isReady()

◆ needsCalibration()

◆ playEffect()

◆ playEffectAsync()

◆ playSequence()

◆ run()

◆ selectLibrary()

◆ setActuatorType()

◆ setAutoBrake()

◆ setBrakeTime()

◆ setCtrl4()

◆ setERMLRA()

◆ setGain()

◆ setMode()

◆ setOverdriveClamp()

◆ setOverdriveTime()

◆ setRatedVoltage()

◆ setRealtimeValue()

◆ setRtpOverdrive()

◆ setSequence()

◆ setWaveform()

◆ stop()

◆ trigger()

◆ vibrationUpdate()