adding Hadron v3 keyboard, QWIIC devices support, haptic feedback sup…

…port (qmk#4462) * add initial support for hadron ver3 * add initial support for hadron ver3 * pull qwiic support for micro_led to be modified for use in hadron's 64x24 ssd1306 oled display * initial work on OLED using qwiic driver * early work to get 128x32 oled working by redefining qwiic micro oled parameters. Currently working, but would affect qwiic's micro oled functionality * moved oled defines to config.h and added ifndef to micro_oled driver * WORKING :D - note, still work in progress to get the start location correct on the 128x32 display. * added equation to automatically calculate display offset based on screen width * adding time-out timer to oled display * changed read lock staus via read_led_state * lock indications fixes * Added scroll lock indication to oled * add support for DRV2605 haptic driver * Improve readabiity of DRV2605 driver. -added typedef for waveform library -added unions for registers * Update keyboards/hadron/ver2/keymaps/default/config.h Co-Authored-By: ishtob <[email protected]> * Update keyboards/hadron/ver2/keymaps/default/config.h Co-Authored-By: ishtob <[email protected]> * Update keyboards/hadron/ver2/keymaps/default/config.h Co-Authored-By: ishtob <[email protected]> * Update keyboards/hadron/ver2/keymaps/default/config.h Co-Authored-By: ishtob <[email protected]> * Fixes for PR * PR fixes * fix old persistent layer function to use new set_single_persistent_default_layer * fix issues with changing makefile defines that broken per-key haptic pulse * Comment fixes * Add definable parameter and auto-calibration based on motor choice
rseymour · Mar 13, 2019 · 27c466a · 27c466a
1 parent 2e4865b
commit 27c466a
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Showing 51 changed files with 5,532 additions and 296 deletions.
diff --git a/common_features.mk b/common_features.mk
@@ -225,6 +225,13 @@ ifeq ($(strip $(ENCODER_ENABLE)), yes)
     OPT_DEFS += -DENCODER_ENABLE
 endif
 
+ifeq ($(strip $(HAPTIC_ENABLE)), DRV2605L)
+    COMMON_VPATH += $(DRIVER_PATH)/haptic
+    SRC += DRV2605L.c
+    SRC += i2c_master.c
+    OPT_DEFS += -DDRV2605L
+endif
+
 ifeq ($(strip $(HD44780_ENABLE)), yes)
     SRC += drivers/avr/hd44780.c
     OPT_DEFS += -DHD44780_ENABLE
@@ -240,6 +247,8 @@ ifeq ($(strip $(LEADER_ENABLE)), yes)
   OPT_DEFS += -DLEADER_ENABLE
 endif
 
+include $(DRIVER_PATH)/qwiic/qwiic.mk
+
 QUANTUM_SRC:= \
     $(QUANTUM_DIR)/quantum.c \
     $(QUANTUM_DIR)/keymap_common.c \

diff --git a/drivers/arm/i2c_master.c b/drivers/arm/i2c_master.c
@@ -32,7 +32,7 @@
 
 static uint8_t i2c_address;
 
-// This configures the I2C clock to 400Mhz assuming a 72Mhz clock
+// This configures the I2C clock to 400khz assuming a 72Mhz clock
 // For more info : https://www.st.com/en/embedded-software/stsw-stm32126.html
 static const I2CConfig i2cconfig = {
   STM32_TIMINGR_PRESC(15U) |
@@ -45,10 +45,14 @@ static const I2CConfig i2cconfig = {
 __attribute__ ((weak))
 void i2c_init(void)
 {
-  setPinInput(B6); // Try releasing special pins for a short time
-  setPinInput(B7);
-  chThdSleepMilliseconds(10);
+  //palSetGroupMode(GPIOB, GPIOB_PIN6 | GPIOB_PIN7, 0, PAL_MODE_INPUT);
+
+  // Try releasing special pins for a short time
+  palSetPadMode(GPIOB, 6, PAL_MODE_INPUT);
+  palSetPadMode(GPIOB, 7, PAL_MODE_INPUT);
 
+  chThdSleepMilliseconds(10);
+
   palSetPadMode(GPIOB, 6, PAL_MODE_ALTERNATE(4) | PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_PUPDR_PULLUP);
   palSetPadMode(GPIOB, 7, PAL_MODE_ALTERNATE(4) | PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_PUPDR_PULLUP);
 

diff --git a/drivers/arm/i2c_master.h b/drivers/arm/i2c_master.h
@@ -34,6 +34,7 @@ void i2c_init(void);
 uint8_t i2c_start(uint8_t address);
 uint8_t i2c_transmit(uint8_t address, uint8_t* data, uint16_t length, uint16_t timeout);
 uint8_t i2c_receive(uint8_t address, uint8_t* data, uint16_t length, uint16_t timeout);
+uint8_t i2c_transmit_receive(uint8_t address, uint8_t * tx_body, uint16_t tx_length, uint8_t * rx_body, uint16_t rx_length);
 uint8_t i2c_writeReg(uint8_t devaddr, uint8_t regaddr, uint8_t* data, uint16_t length, uint16_t timeout);
 uint8_t i2c_readReg(uint8_t devaddr, uint8_t* regaddr, uint8_t* data, uint16_t length, uint16_t timeout);
 uint8_t i2c_stop(uint16_t timeout);
diff --git a/drivers/haptic/DRV2605L.c b/drivers/haptic/DRV2605L.c
@@ -0,0 +1,129 @@
+/* Copyright 2018 ishtob
+ * Driver for DRV2605L written for QMK
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "DRV2605L.h"
+#include "print.h"
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+
+
+uint8_t DRV2605L_transfer_buffer[20];
+uint8_t DRV2605L_tx_register[0];
+uint8_t DRV2605L_read_buffer[0];
+uint8_t DRV2605L_read_register;
+
+
+void DRV_write(uint8_t drv_register, uint8_t settings) {
+  DRV2605L_transfer_buffer[0] = drv_register;
+  DRV2605L_transfer_buffer[1] = settings;
+  i2c_transmit(DRV2605L_BASE_ADDRESS << 1, DRV2605L_transfer_buffer, 2, 100);
+}
+
+uint8_t DRV_read(uint8_t regaddress) {
+  DRV2605L_tx_register[0] = regaddress;
+  if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1,
+    DRV2605L_tx_register, 1,
+    DRV2605L_read_buffer, 1
+)){
+    printf("err reading reg \n");
+  }
+  DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
+return DRV2605L_read_register;
+}
+
+void DRV_init(void)
+{
+  i2c_init();
+  i2c_start(DRV2605L_BASE_ADDRESS);
+
+  /* 0x07 sets DRV2605 into calibration mode */
+  DRV_write(DRV_MODE,0x07); 
+
+//  DRV_write(DRV_FEEDBACK_CTRL,0xB6);
+
+  #if FB_ERM_LRA == 0
+    /* ERM settings */
+  DRV_write(DRV_RATED_VOLT, (RATED_VOLTAGE/21.33)*1000);
+  #if ERM_OPEN_LOOP == 0
+  DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (((V_PEAK*(DRIVE_TIME+BLANKING_TIME+IDISS_TIME))/0.02133)/(DRIVE_TIME-0.0003))); 
+  #elif ERM_OPEN_LOOP == 1
+  DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196));
+  #endif
+  #elif FB_ERM_LRA == 1
+  DRV_write(DRV_RATED_VOLT, ((V_RMS * sqrt(1 - ((4 * ((150+(SAMPLE_TIME*50))*0.000001)) + 0.0003)* F_LRA)/0.02071)));
+  #if LRA_OPEN_LOOP == 0
+    DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, ((V_PEAK/sqrt(1-(F_LRA*0.0008))/0.02133)));
+  #elif LRA_OPEN_LOOP == 1
+    DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196));
+  #endif
+  #endif
+
+  DRVREG_FBR FB_SET;
+    FB_SET.Bits.ERM_LRA = FB_ERM_LRA;
+    FB_SET.Bits.BRAKE_FACTOR = FB_BRAKEFACTOR;
+    FB_SET.Bits.LOOP_GAIN =FB_LOOPGAIN;
+    FB_SET.Bits.BEMF_GAIN = 0; /* auto-calibration populates this field*/
+    DRV_write(DRV_FEEDBACK_CTRL, (uint8_t) FB_SET.Byte);
+  DRVREG_CTRL1 C1_SET;
+    C1_SET.Bits.C1_DRIVE_TIME = DRIVE_TIME;
+    C1_SET.Bits.C1_AC_COUPLE = AC_COUPLE;
+    C1_SET.Bits.C1_STARTUP_BOOST = STARTUP_BOOST;
+    DRV_write(DRV_CTRL_1, (uint8_t) C1_SET.Byte);
+  DRVREG_CTRL2 C2_SET;
+    C2_SET.Bits.C2_BIDIR_INPUT = BIDIR_INPUT;
+    C2_SET.Bits.C2_BRAKE_STAB = BRAKE_STAB;
+    C2_SET.Bits.C2_SAMPLE_TIME = SAMPLE_TIME;
+    C2_SET.Bits.C2_BLANKING_TIME = BLANKING_TIME;
+    C2_SET.Bits.C2_IDISS_TIME = IDISS_TIME;
+    DRV_write(DRV_CTRL_2, (uint8_t) C2_SET.Byte);
+  DRVREG_CTRL3 C3_SET;
+    C3_SET.Bits.C3_LRA_OPEN_LOOP = LRA_OPEN_LOOP;
+    C3_SET.Bits.C3_N_PWM_ANALOG = N_PWM_ANALOG;
+    C3_SET.Bits.C3_LRA_DRIVE_MODE = LRA_DRIVE_MODE;
+    C3_SET.Bits.C3_DATA_FORMAT_RTO = DATA_FORMAT_RTO;
+    C3_SET.Bits.C3_SUPPLY_COMP_DIS = SUPPLY_COMP_DIS;
+    C3_SET.Bits.C3_ERM_OPEN_LOOP = ERM_OPEN_LOOP;
+    C3_SET.Bits.C3_NG_THRESH = NG_THRESH;
+    DRV_write(DRV_CTRL_3, (uint8_t) C3_SET.Byte);
+  DRVREG_CTRL4 C4_SET;
+    C4_SET.Bits.C4_ZC_DET_TIME = ZC_DET_TIME;
+    C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME;
+    DRV_write(DRV_CTRL_4, (uint8_t) C4_SET.Byte);
+  DRV_write(DRV_LIB_SELECTION,LIB_SELECTION);
+  //start autocalibration
+  DRV_write(DRV_GO, 0x01);
+
+  /* 0x00 sets DRV2605 out of standby and to use internal trigger
+   * 0x01 sets DRV2605 out of standby and to use external trigger */
+  DRV_write(DRV_MODE,0x00); 
+
+  /* 0x06: LRA library */
+  DRV_write(DRV_WAVEFORM_SEQ_1, 0x01);
+
+  /* 0xB9: LRA, 4x brake factor, medium gain, 7.5x back EMF
+   * 0x39: ERM, 4x brake factor, medium gain, 1.365x back EMF */
+
+  /* TODO: setup auto-calibration as part of initiation */
+
+}
+
+void DRV_pulse(uint8_t sequence)
+{
+  DRV_write(DRV_GO, 0x00);
+  DRV_write(DRV_WAVEFORM_SEQ_1, sequence);
+  DRV_write(DRV_GO, 0x01);
+}