BRIX5

/***************************************************

  This is a library for the Adafruit DRV2605L Haptic Driver

  ----> http://www.adafruit.com/products/2306

  Check out the links above for our tutorials and wiring diagrams

  This motor/haptic driver uses I2C to communicate

  Adafruit invests time and resources providing this open source code,

  please support Adafruit and open-source hardware by purchasing

  products from Adafruit!

  Written by Limor Fried/Ladyada for Adafruit Industries.

  MIT license, all text above must be included in any redistribution

 ****************************************************/

#if ARDUINO >= 100

#include "Arduino.h"

#else

#include "WProgram.h"

#endif

#include "Adafruit_DRV2605.h"

/**************************************************************************/

/*!

    @brief  Instantiates a new DRV2605 class

*/

/**************************************************************************/

// I2C, no address adjustments or pins

Adafruit_DRV2605::Adafruit_DRV2605(uint8_t channel) {

  _channel = channel;

}

/**************************************************************************/

/*!

    @brief  Setups the HW

*/

/**************************************************************************/

boolean Adafruit_DRV2605::begin() {

  uint8_t id = readRegister8(DRV2605_REG_STATUS);

  //Serial.print("Status 0x"); Serial.println(id, HEX);

  writeRegister8(DRV2605_REG_MODE, 0x00); // out of standby

  writeRegister8(DRV2605_REG_RTPIN, 0x00); // no real-time-playback

  writeRegister8(DRV2605_REG_WAVESEQ1, 1); // strong click

  writeRegister8(DRV2605_REG_WAVESEQ2, 0);

  writeRegister8(DRV2605_REG_OVERDRIVE, 0); // no overdrive

  writeRegister8(DRV2605_REG_SUSTAINPOS, 0);

  writeRegister8(DRV2605_REG_SUSTAINNEG, 0);

  writeRegister8(DRV2605_REG_BREAK, 0);

  writeRegister8(DRV2605_REG_AUDIOMAX, 0x64);

  // ERM open loop

  // turn off N_ERM_LRA

  writeRegister8(DRV2605_REG_FEEDBACK, readRegister8(DRV2605_REG_FEEDBACK) & 0x7F);

  // turn on ERM_OPEN_LOOP

  writeRegister8(DRV2605_REG_CONTROL3, readRegister8(DRV2605_REG_CONTROL3) | 0x20);

  return true;

}

void Adafruit_DRV2605::setWaveform(uint8_t slot, uint8_t w) {

  writeRegister8(DRV2605_REG_WAVESEQ1 + slot, w);

}

void Adafruit_DRV2605::selectLibrary(uint8_t lib) {

  writeRegister8(DRV2605_REG_LIBRARY, lib);

}

void Adafruit_DRV2605::go() {

  writeRegister8(DRV2605_REG_GO, 1);

}

void Adafruit_DRV2605::setMode(uint8_t mode) {

  writeRegister8(DRV2605_REG_MODE, mode);

}

void Adafruit_DRV2605::setRealtimeValue(uint8_t rtp) {

  writeRegister8(DRV2605_REG_RTPIN, rtp);

}

/********************************************************************/

uint8_t Adafruit_DRV2605::readRegister8(uint8_t reg) {

  selectChannel(_channel);

  uint8_t x ;

  // use i2c

  Wire.beginTransmission(DRV2605_ADDR);

  Wire.write((byte)reg);

  Wire.endTransmission();

  Wire.requestFrom((byte)DRV2605_ADDR, (byte)1);

  x = Wire.read();

  //  Serial.print("$"); Serial.print(reg, HEX);

  //  Serial.print(": 0x"); Serial.println(x, HEX);

  return x;

}

void Adafruit_DRV2605::writeRegister8(uint8_t reg, uint8_t val) {

  selectChannel(_channel);

  // use i2c

  Wire.beginTransmission(DRV2605_ADDR);

  Wire.write((byte)reg);

  Wire.write((byte)val);

  Wire.endTransmission();

}

/****************/

// Allow users to use ERM motor or LRA motors

void Adafruit_DRV2605::useERM ()

{ 

  writeRegister8(DRV2605_REG_FEEDBACK, readRegister8(DRV2605_REG_FEEDBACK) & 0x7F);

}

void Adafruit_DRV2605::useLRA ()

{

  writeRegister8(DRV2605_REG_FEEDBACK, readRegister8(DRV2605_REG_FEEDBACK) | 0x80);

}

void Adafruit_DRV2605::selectChannel (uint8_t channel)

{

  // choose channel, all address bits to gnd on PCA9546A/TCA9548A = 0x70

  Wire.beginTransmission(0x70);

  Wire.write(1 << channel);

  Wire.endTransmission();

}