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Posted to commits@mynewt.apache.org by GitBox <gi...@apache.org> on 2018/05/15 05:57:10 UTC
[GitHub] mkiiskila closed pull request #1072: drv2605 erm support
mkiiskila closed pull request #1072: drv2605 erm support
URL: https://github.com/apache/mynewt-core/pull/1072
This is a PR merged from a forked repository.
As GitHub hides the original diff on merge, it is displayed below for
the sake of provenance:
As this is a foreign pull request (from a fork), the diff is supplied
below (as it won't show otherwise due to GitHub magic):
diff --git a/hw/drivers/drv2605/include/drv2605/drv2605.h b/hw/drivers/drv2605/include/drv2605/drv2605.h
index a0485d6064..7a815c1c9c 100644
--- a/hw/drivers/drv2605/include/drv2605/drv2605.h
+++ b/hw/drivers/drv2605/include/drv2605/drv2605.h
@@ -54,8 +54,14 @@ enum drv2605_op_mode {
DRV2605_OP_RESET
};
+enum drv2605_motor_type {
+ DRV2605_MOTOR_LRA = 0x00,
+ DRV2605_MOTOR_ERM = 0x01
+};
+
struct drv2605_cfg {
enum drv2605_op_mode op_mode;
+ enum drv2605_motor_type motor_type;
struct drv2605_cal cal;
};
@@ -67,13 +73,25 @@ struct drv2605 {
/**
- * Initialize the drv2605. This function is normally called by sysinit.
+ * Initialize the drv2605. This is normally used as an os_dev_create initialization function
*
* @param dev Pointer to the drv2605_dev device descriptor
+ * @param arg Pointer to the sensor interface
+ *
+ * @return 0 on success, non-zero on failure
*/
int
drv2605_init(struct os_dev *dev, void *arg);
+
+/**
+ * Set up the drv2605 with the configuration parameters given
+ *
+ * @param dev Pointer to the drv2605_dev device descriptor
+ * @param cfg Pointer to the drv2605_cfg settings for mode, type, calibration
+ *
+ * @return 0 on success, non-zero on failure
+ */
int
drv2605_config(struct drv2605 *drv2605, struct drv2605_cfg *cfg);
@@ -87,7 +105,6 @@ drv2605_shell_init(void);
/**
* Get a best effort defaults for the drv2605_cal
*
- * @param The sensor interface
* @param Pointer to the drv2605_cal struct
* @return 0 on success, non-zero on failure
*/
diff --git a/hw/drivers/drv2605/src/drv2605.c b/hw/drivers/drv2605/src/drv2605.c
index 4e874b5233..f36c2b82ce 100644
--- a/hw/drivers/drv2605/src/drv2605.c
+++ b/hw/drivers/drv2605/src/drv2605.c
@@ -64,7 +64,7 @@ static struct log _log;
/**
* Writes a single byte to the specified register
*
- * @param The Sesnsor interface
+ * @param The Sensor interface
* @param The register address to write to
* @param The value to write
*
@@ -95,9 +95,9 @@ drv2605_write8(struct sensor_itf *itf, uint8_t reg, uint8_t value)
}
/**
- * Writes a multiple bytes to the specified register (MAX: 8 bytes)
+ * Writes multiple bytes starting at the specified register (MAX: 8 bytes)
*
- * @param The Sesnsor interface
+ * @param The Sensor interface
* @param The register address to write to
* @param The data buffer to write from
*
@@ -191,7 +191,7 @@ drv2605_read8(struct sensor_itf *itf, uint8_t reg, uint8_t *value)
*
* @param The Sensor interface
* @param Register to read from
- * @param Bufer to read into
+ * @param Buffer to read into
* @param Length of the buffer
*
* @return 0 on success and non-zero on failure
@@ -314,6 +314,7 @@ drv2605_init(struct os_dev *dev, void *arg)
/* Check if we can read the chip address */
rc = drv2605_get_chip_id(arg, &id);
if (rc) {
+ DRV2605_ERR("unable to get chip id [1]: %d\n", rc);
goto err;
}
@@ -322,17 +323,21 @@ drv2605_init(struct os_dev *dev, void *arg)
rc = drv2605_get_chip_id(arg, &id);
if (rc) {
+ DRV2605_ERR("unable to get chip id [2]: %d\n", rc);
goto err;
}
if (id != DRV2605_STATUS_DEVICE_ID_2605 && id != DRV2605_STATUS_DEVICE_ID_2605L) {
rc = SYS_EINVAL;
+ DRV2605_ERR("id not as expected: got: %d, expected %d or %d\n", id,
+ DRV2605_STATUS_DEVICE_ID_2605, DRV2605_STATUS_DEVICE_ID_2605L);
goto err;
}
}
return (0);
err:
+ DRV2605_ERR("Error initializing DRV2605: %d\n", rc);
return (rc);
}
@@ -363,8 +368,9 @@ drv2605_get_chip_id(struct sensor_itf *itf, uint8_t *id)
}
-// NOTE diagnistics (and frankly all operation) will in all likelyhood fail if your motor is not SECURED to a mass
-// it cant be floating on your desk even for prototyping
+// NOTE diagnostics (and frankly all operation) will in all likelihood fail
+// if your motor is not SECURED to a mass. It can't be floating on your desk
+// even for prototyping
int
drv2605_mode_diagnostic(struct sensor_itf *itf)
{
@@ -421,7 +427,7 @@ drv2605_mode_diagnostic(struct sensor_itf *itf)
int
-drv2605_send_defaults(struct sensor_itf *itf)
+drv2605_send_defaults(struct sensor_itf *itf, struct drv2605_cfg *cfg)
{
int rc;
@@ -435,8 +441,14 @@ drv2605_send_defaults(struct sensor_itf *itf)
goto err;
}
- // TODO: Support ERM?
- rc = drv2605_write8(itf, DRV2605_FEEDBACK_CONTROL_ADDR, ((MYNEWT_VAL(DRV2605_CALIBRATED_BEMF_GAIN) & DRV2605_FEEDBACK_CONTROL_BEMF_GAIN_MAX) << DRV2605_FEEDBACK_CONTROL_BEMF_GAIN_POS) | DRV2605_FEEDBACK_CONTROL_N_LRA );
+ uint8_t motor_mask = 0;
+ if (cfg->motor_type == DRV2605_MOTOR_LRA) {
+ motor_mask = DRV2605_FEEDBACK_CONTROL_N_LRA;
+ }
+ else {
+ motor_mask = DRV2605_FEEDBACK_CONTROL_N_ERM;
+ }
+ rc = drv2605_write8(itf, DRV2605_FEEDBACK_CONTROL_ADDR, ((MYNEWT_VAL(DRV2605_CALIBRATED_BEMF_GAIN) & DRV2605_FEEDBACK_CONTROL_BEMF_GAIN_MAX) << DRV2605_FEEDBACK_CONTROL_BEMF_GAIN_POS) | motor_mask );
if (rc) {
goto err;
}
@@ -447,8 +459,14 @@ drv2605_send_defaults(struct sensor_itf *itf)
goto err;
}
- // TODO: Support ERM?
- rc = drv2605_write8(itf, DRV2605_CONTROL3_ADDR, DRV2605_CONTROL3_LRA_DRIVE_MODE_ONCE | DRV2605_CONTROL3_LRA_OPEN_LOOP_CLOSED);
+ // TODO: the selection of LRA vs ERM could also include open vs. closed loop, allowing the
+ // full matrix of possibilities
+ if (cfg->motor_type == DRV2605_MOTOR_LRA) {
+ rc = drv2605_write8(itf, DRV2605_CONTROL3_ADDR, DRV2605_CONTROL3_LRA_DRIVE_MODE_ONCE | DRV2605_CONTROL3_LRA_OPEN_LOOP_CLOSED);
+ }
+ else {
+ rc = drv2605_write8(itf, DRV2605_CONTROL3_ADDR, DRV2605_CONTROL3_ERM_OPEN_LOOP_ENABLED);
+ }
if (rc) {
goto err;
}
@@ -463,9 +481,18 @@ drv2605_send_defaults(struct sensor_itf *itf)
goto err;
}
- // TODO: Support ERM?
- // Library 6 is a closed-loop library tuned for LRAs. The library selection occurs through register 0x03 (see the (Address: 0x03) section).
- rc = drv2605_write8(itf, DRV2605_WAVEFORM_CONTROL_ADDR, DRV2605_WAVEFORM_CONTROL_LIBRARY_SEL_LRA);
+ // Library selection occurs through register 0x03 (see the (Address: 0x03) section).
+ uint8_t library_selection;
+ if (cfg->motor_type == DRV2605_MOTOR_LRA) {
+ // Library 6 is a closed-loop library tuned for LRAs.
+ library_selection = DRV2605_WAVEFORM_CONTROL_LIBRARY_SEL_LRA;
+ }
+ else {
+ // TODO: there could be a setter function for the ERM library choices
+ // Library B is an open-loop ERM set for 3V
+ library_selection = DRV2605_WAVEFORM_CONTROL_LIBRARY_SEL_B;
+ }
+ rc = drv2605_write8(itf, DRV2605_WAVEFORM_CONTROL_ADDR, library_selection);
if (rc) {
goto err;
}
@@ -773,9 +800,10 @@ drv2605_mode_reset(struct sensor_itf *itf)
return rc;
}
-// note device MSUT be reconfigured for an operational state after a an error or after succsessful diag and calibration and reset
-// upon success the device is always left in DRV2605_POWER_STANDBY state
-// no device state is guaranteed for error returns
+// note device MUST be reconfigured for an operational state after a an
+// error or after succsessful diag and calibration and reset upon success
+// the device is always left in DRV2605_POWER_STANDBY state no device state
+// is guaranteed for error returns
int
drv2605_config(struct drv2605 *drv2605, struct drv2605_cfg *cfg)
{
@@ -789,7 +817,7 @@ drv2605_config(struct drv2605 *drv2605, struct drv2605_cfg *cfg)
return rc;
}
- rc = drv2605_send_defaults(itf);
+ rc = drv2605_send_defaults(itf, cfg);
if (rc) {
return rc;
}
diff --git a/hw/drivers/drv2605/src/drv2605_priv.h b/hw/drivers/drv2605/src/drv2605_priv.h
index 9acc295d46..932611eca3 100644
--- a/hw/drivers/drv2605/src/drv2605_priv.h
+++ b/hw/drivers/drv2605/src/drv2605_priv.h
@@ -286,7 +286,7 @@ drv2605_read8(struct sensor_itf *itf, uint8_t reg, uint8_t *value);
*
* @param The Sensor interface
* @param Register to read from
- * @param Bufer to read into
+ * @param Buffer to read into
* @param Length of the buffer
*
* @return 0 on success and non-zero on failure
diff --git a/hw/drivers/drv2605/src/drv2605_shell.c b/hw/drivers/drv2605/src/drv2605_shell.c
index 5b4b7c37c8..cd8f45019d 100644
--- a/hw/drivers/drv2605/src/drv2605_shell.c
+++ b/hw/drivers/drv2605/src/drv2605_shell.c
@@ -76,7 +76,6 @@ drv2605_shell_help(void)
console_printf("\tchip_id\n");
console_printf("\tload_cal [brake_factor loop_gain lra_sample_time lra_blanking_time lra_idiss_time auto_cal_time lra_zc_det_time]\n");
console_printf("\tload_rom [up to 8 uint8_t]\n");
- console_printf("\tload_rtp [uint8_t]\n");
console_printf("\top_mode [reset | rom | pwm | analog | rtp | diag | cal]\n");
console_printf("\tpower_mode [deep | standby | active]\n");
console_printf("\ttrigger\n");
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