Haptic feedback generalized - DRV2605 and solenoids (#4939)

* initial work to add eeprom to haptic feedback and decouple the feedback process from keyboards

* Haptic feedback enhancements: on/off toggle working, feedback order working
todo:
-work on modes switching
-get modes switching to save to eeprom

* haptic enhancement - eeprom and modes added

* Added set and get functions for haptic feedback

* initial implementation of solenoids under haptic feedback

* changed eeprom to 32 bits to reserve blocks for future features

* start documentation of haptic feedback

* change keycode per comment from reviewers

* typo fixes

* added eeprom for solenoid configs

* added solenoid and docs

* Add/fix default parameters configs, improve docs

* more doc cleanup

* add in solenoid buzz toggle, clean up doc

* some fixes for error in compiling solenoid

* fix a chibios specific i2c read function and added one for AVR controllers in DRV2605L.c

* fixes for avr side issues

* update keymap

* fix keymap compile error

* fix bugs found during solenoid testing

* set pin that is not powered during bootloader

* added warning about certain pins on the MCU may trip solenoid during DFU/bootloader

6 files changed, 523 insertions, 20 deletions

diff --git a/drivers/haptic/DRV2605L.c b/drivers/haptic/DRV2605L.c
index 97ca292b9..215e6be3e 100644
--- a/drivers/haptic/DRV2605L.c
+++ b/drivers/haptic/DRV2605L.c
@@ -21,7 +21,7 @@
 #include <math.h>
 
 
-uint8_t DRV2605L_transfer_buffer[20];
+uint8_t DRV2605L_transfer_buffer[2];
 uint8_t DRV2605L_tx_register[0];
 uint8_t DRV2605L_read_buffer[0];
 uint8_t DRV2605L_read_register;
@@ -34,6 +34,11 @@ void DRV_write(uint8_t drv_register, uint8_t settings) {
 }
 
 uint8_t DRV_read(uint8_t regaddress) {
+#ifdef __AVR__
+  i2c_readReg(DRV2605L_BASE_ADDRESS << 1,
+    regaddress, DRV2605L_read_buffer, 1, 100);
+  DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
+#else
   DRV2605L_tx_register[0] = regaddress;
   if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1,
     DRV2605L_tx_register, 1,
@@ -42,14 +47,13 @@ uint8_t DRV_read(uint8_t regaddress) {
     printf("err reading reg \n");
   }
   DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
+#endif
 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); 
 
@@ -104,21 +108,17 @@ void DRV_init(void)
     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 */
 
+//Play greeting sequence
+  DRV_write(DRV_GO, 0x00);
+  DRV_write(DRV_WAVEFORM_SEQ_1, DRV_GREETING);
+  DRV_write(DRV_GO, 0x01);
 }
 
 void DRV_pulse(uint8_t sequence)
diff --git a/drivers/haptic/DRV2605L.h b/drivers/haptic/DRV2605L.h
index de9d294e9..836e9cbcd 100644
--- a/drivers/haptic/DRV2605L.h
+++ b/drivers/haptic/DRV2605L.h
@@ -31,13 +31,6 @@
 #define FB_LOOPGAIN 1 /* For  Low:0, Medium:1, High:2, Very High:3 */
 #endif
 
-#ifndef RATED_VOLTAGE
-#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
-#ifndef V_PEAK
-#define V_PEAK 2.8
-#endif
-#endif
-
 /* LRA specific settings */
 #if FB_ERM_LRA == 1
 #ifndef V_RMS
@@ -49,6 +42,16 @@
 #ifndef F_LRA
 #define F_LRA 205
 #endif
+#ifndef RATED_VOLTAGE
+#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
+#endif
+#endif
+
+#ifndef RATED_VOLTAGE
+#define RATED_VOLTAGE 2 /* 2v as safe range in case device voltage is not set */
+#endif
+#ifndef V_PEAK
+#define V_PEAK 2.8
 #endif
 
 /* Library Selection */
@@ -60,6 +63,13 @@
 #endif
 #endif
 
+#ifndef DRV_GREETING
+#define DRV_GREETING alert_750ms
+#endif
+#ifndef DRV_MODE_DEFAULT
+#define DRV_MODE_DEFAULT strong_click1
+#endif
+
 /* Control 1 register settings */
 #ifndef DRIVE_TIME
 #define DRIVE_TIME 25
@@ -162,7 +172,6 @@ void DRV_write(const uint8_t drv_register, const uint8_t settings);
 uint8_t DRV_read(const uint8_t regaddress);
 void DRV_pulse(const uint8_t sequence);
 
-
 typedef enum DRV_EFFECT{
   clear_sequence      = 0,
   strong_click              = 1,
@@ -288,6 +297,7 @@ typedef enum DRV_EFFECT{
   smooth_hum3_30 = 121,
   smooth_hum4_20 = 122,
   smooth_hum5_10 = 123,
+  drv_effect_max = 124,
 } DRV_EFFECT;
 
 /* Register bit array unions */
diff --git a/drivers/haptic/haptic.c b/drivers/haptic/haptic.c
new file mode 100644
index 000000000..a94f05565
--- /dev/null
+++ b/drivers/haptic/haptic.c
@@ -0,0 +1,248 @@
+/* Copyright 2019 ishtob
+ * Driver for haptic feedback 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 "haptic.h"
+#include "eeconfig.h"
+#include "progmem.h"
+#include "debug.h"
+#ifdef DRV2605L
+#include "DRV2605L.h"
+#endif
+#ifdef SOLENOID_ENABLE
+#include "solenoid.h"
+#endif
+
+haptic_config_t haptic_config;
+
+void haptic_init(void) {
+  debug_enable = 1; //Debug is ON!
+  if (!eeconfig_is_enabled()) {
+        eeconfig_init();
+  }
+  haptic_config.raw = eeconfig_read_haptic();
+  if (haptic_config.mode < 1){
+  haptic_config.mode = 1;
+  }
+  if (!haptic_config.mode){
+  dprintf("No haptic config found in eeprom, setting default configs\n");
+  haptic_reset();
+  }
+  #ifdef SOLENOID_ENABLE
+    solenoid_setup();
+    dprintf("Solenoid driver initialized\n");
+  #endif
+  #ifdef DRV2605L
+    DRV_init();
+    dprintf("DRV2605 driver initialized\n");
+  #endif
+  eeconfig_debug_haptic();
+}
+
+void haptic_task(void) {
+  #ifdef SOLENOID_ENABLE
+  solenoid_check();
+  #endif
+}
+
+void eeconfig_debug_haptic(void) {
+  dprintf("haptic_config eprom\n");
+  dprintf("haptic_config.enable = %d\n", haptic_config.enable);
+  dprintf("haptic_config.mode = %d\n", haptic_config.mode);
+}
+
+void haptic_enable(void) {
+  haptic_config.enable = 1;
+  xprintf("haptic_config.enable = %u\n", haptic_config.enable);
+  eeconfig_update_haptic(haptic_config.raw);
+}
+
+void haptic_disable(void) {
+  haptic_config.enable = 0;
+  xprintf("haptic_config.enable = %u\n", haptic_config.enable);
+  eeconfig_update_haptic(haptic_config.raw);
+}
+
+void haptic_toggle(void) {
+if (haptic_config.enable) {
+  haptic_disable();
+  } else {
+  haptic_enable();
+  }
+  eeconfig_update_haptic(haptic_config.raw);
+}
+
+void haptic_feedback_toggle(void){
+ haptic_config.feedback++;
+  if (haptic_config.feedback >= HAPTIC_FEEDBACK_MAX)
+  haptic_config.feedback = KEY_PRESS;
+  xprintf("haptic_config.feedback = %u\n", !haptic_config.feedback);
+  eeconfig_update_haptic(haptic_config.raw);
+}
+
+void haptic_buzz_toggle(void) {
+  bool buzz_stat = !haptic_config.buzz;
+  haptic_config.buzz = buzz_stat;
+  haptic_set_buzz(buzz_stat);
+}
+
+void haptic_mode_increase(void) {
+  uint8_t mode = haptic_config.mode + 1;
+  #ifdef DRV2605L
+  if (haptic_config.mode >= drv_effect_max) {
+    mode = 1;
+  }
+  #endif
+    haptic_set_mode(mode);
+}
+
+void haptic_mode_decrease(void) {
+  uint8_t mode = haptic_config.mode -1;
+  #ifdef DRV2605L
+  if (haptic_config.mode < 1) {
+    mode = (drv_effect_max - 1);
+  }
+  #endif
+  haptic_set_mode(mode);
+}
+
+void haptic_dwell_increase(void) {
+  uint8_t dwell = haptic_config.dwell + 1;
+  #ifdef SOLENOID_ENABLE
+  if (haptic_config.dwell >= SOLENOID_MAX_DWELL) {
+    dwell = 1;
+  }
+  solenoid_set_dwell(dwell);
+  #endif
+  haptic_set_dwell(dwell);
+}
+
+void haptic_dwell_decrease(void) {
+  uint8_t dwell = haptic_config.dwell -1;
+  #ifdef SOLENOID_ENABLE
+  if (haptic_config.dwell < SOLENOID_MIN_DWELL) {
+    dwell = SOLENOID_MAX_DWELL;
+  }
+  solenoid_set_dwell(dwell);
+  #endif
+  haptic_set_dwell(dwell);
+}
+
+void haptic_reset(void){
+  haptic_config.enable = true;
+  uint8_t feedback = HAPTIC_FEEDBACK_DEFAULT;
+  haptic_config.feedback = feedback;
+  #ifdef DRV2605L
+    uint8_t mode = HAPTIC_MODE_DEFAULT;
+    haptic_config.mode = mode;
+  #endif
+  #ifdef SOLENOID_ENABLE
+    uint8_t dwell = SOLENOID_DEFAULT_DWELL;
+    haptic_config.dwell = dwell;
+  #endif
+  eeconfig_update_haptic(haptic_config.raw);
+  xprintf("haptic_config.feedback = %u\n", haptic_config.feedback);
+  xprintf("haptic_config.mode = %u\n", haptic_config.mode);
+}
+
+void haptic_set_feedback(uint8_t feedback) {
+  haptic_config.feedback = feedback;
+  eeconfig_update_haptic(haptic_config.raw);
+  xprintf("haptic_config.feedback = %u\n", haptic_config.feedback);
+}
+
+void haptic_set_mode(uint8_t mode) {
+  haptic_config.mode = mode;
+  eeconfig_update_haptic(haptic_config.raw);
+  xprintf("haptic_config.mode = %u\n", haptic_config.mode);
+}
+
+void haptic_set_buzz(uint8_t buzz) {
+  haptic_config.buzz = buzz;
+  eeconfig_update_haptic(haptic_config.raw);
+  xprintf("haptic_config.buzz = %u\n", haptic_config.buzz);
+}
+
+void haptic_set_dwell(uint8_t dwell) {
+  haptic_config.dwell = dwell;
+  eeconfig_update_haptic(haptic_config.raw);
+  xprintf("haptic_config.dwell = %u\n", haptic_config.dwell);
+}
+
+uint8_t haptic_get_mode(void) {
+  if (!haptic_config.enable){
+    return false;
+  }
+  return haptic_config.mode;
+}
+
+uint8_t haptic_get_feedback(void) {
+  if (!haptic_config.enable){
+    return false;
+  }
+  return haptic_config.feedback;
+}
+
+uint8_t haptic_get_dwell(void) {
+  if (!haptic_config.enable){
+    return false;
+  }
+  return haptic_config.dwell;
+}
+
+void haptic_play(void) {
+  #ifdef DRV2605L
+  uint8_t play_eff = 0;
+  play_eff = haptic_config.mode;
+  DRV_pulse(play_eff);
+  #endif
+  #ifdef SOLENOID_ENABLE
+  solenoid_fire();
+  #endif
+}
+
+bool process_haptic(uint16_t keycode, keyrecord_t *record) {
+    if (keycode == HPT_ON && record->event.pressed) { haptic_enable(); }
+    if (keycode == HPT_OFF && record->event.pressed) { haptic_disable(); }
+    if (keycode == HPT_TOG && record->event.pressed) { haptic_toggle(); }
+    if (keycode == HPT_RST && record->event.pressed) { haptic_reset(); }
+    if (keycode == HPT_FBK && record->event.pressed) { haptic_feedback_toggle(); }
+    if (keycode == HPT_BUZ && record->event.pressed) { haptic_buzz_toggle(); }
+    if (keycode == HPT_MODI && record->event.pressed) { haptic_mode_increase(); }
+    if (keycode == HPT_MODD && record->event.pressed) { haptic_mode_decrease(); }
+    if (keycode == HPT_DWLI && record->event.pressed) { haptic_dwell_increase(); }
+    if (keycode == HPT_DWLD && record->event.pressed) { haptic_dwell_decrease(); }
+  if (haptic_config.enable) {
+    if ( record->event.pressed ) {
+        // keypress
+      if (haptic_config.feedback < 2) {
+      haptic_play();
+      }
+    } else {
+    //keyrelease
+      if (haptic_config.feedback > 0) {
+      haptic_play();
+      } 
+    }
+  }
+  return true;
+}
+
+void haptic_shutdown(void) {
+  #ifdef SOLENOID_ENABLE
+  solenoid_shutdown();
+  #endif
+
+}
diff --git a/drivers/haptic/haptic.h b/drivers/haptic/haptic.h
new file mode 100644
index 000000000..d39dc5c3b
--- /dev/null
+++ b/drivers/haptic/haptic.h
@@ -0,0 +1,82 @@
+/* Copyright 2019 ishtob
+ * Driver for haptic feedback 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/>.
+ */
+
+#pragma once
+#include <stdint.h>
+#include <stdbool.h>
+#include "quantum.h"
+#ifdef DRV2605L
+#include "DRV2605L.h"
+#endif
+
+
+#ifndef HAPTIC_FEEDBACK_DEFAULT
+#define HAPTIC_FEEDBACK_DEFAULT 0
+#endif
+#ifndef HAPTIC_MODE_DEFAULT
+#define HAPTIC_MODE_DEFAULT DRV_MODE_DEFAULT
+#endif
+
+/* EEPROM config settings */
+typedef union {
+  uint32_t raw;
+  struct {
+    bool     enable    :1;
+    uint8_t  feedback  :2;
+    uint8_t  mode      :7;
+    bool     buzz      :1;
+    uint8_t  dwell     :7;
+    uint16_t reserved  :16; 
+  };
+} haptic_config_t;
+
+typedef enum HAPTIC_FEEDBACK{
+  KEY_PRESS,
+  KEY_PRESS_RELEASE,
+  KEY_RELEASE,
+  HAPTIC_FEEDBACK_MAX,
+} HAPTIC_FEEDBACK;
+
+bool process_haptic(uint16_t keycode, keyrecord_t *record);
+void haptic_init(void);
+void haptic_task(void);
+void eeconfig_debug_haptic(void);
+void haptic_enable(void);
+void haptic_disable(void);
+void haptic_toggle(void);
+void haptic_feedback_toggle(void);
+void haptic_mode_increase(void);
+void haptic_mode_decrease(void);
+void haptic_mode(uint8_t mode);
+void haptic_reset(void);
+void haptic_set_feedback(uint8_t feedback);
+void haptic_set_mode(uint8_t mode);
+void haptic_set_dwell(uint8_t dwell);
+void haptic_set_buzz(uint8_t buzz);
+void haptic_buzz_toggle(void);
+uint8_t haptic_get_mode(void);
+uint8_t haptic_get_feedback(void);
+void haptic_dwell_increase(void);
+void haptic_dwell_decrease(void);
+
+void haptic_play(void);
+void haptic_shutdown(void);
+
+
+
+
+
diff --git a/drivers/haptic/solenoid.c b/drivers/haptic/solenoid.c
new file mode 100644
index 000000000..2d39dbc17
--- /dev/null
+++ b/drivers/haptic/solenoid.c
@@ -0,0 +1,109 @@
+/* Copyright 2018 mtdjr - modified by ishtob
+ * Driver for solenoid 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 <timer.h>
+#include "solenoid.h"
+#include "haptic.h"
+
+bool solenoid_on = false;
+bool solenoid_buzzing = false;
+uint16_t solenoid_start = 0;
+uint8_t solenoid_dwell = SOLENOID_DEFAULT_DWELL;
+
+extern haptic_config_t haptic_config;
+
+
+void solenoid_buzz_on(void) {
+  haptic_set_buzz(1);
+}
+
+void solenoid_buzz_off(void) {
+  haptic_set_buzz(0);
+}
+
+void solenoid_set_buzz(int buzz) {
+  haptic_set_buzz(buzz);
+}
+
+
+void solenoid_dwell_minus(uint8_t solenoid_dwell) {
+  if (solenoid_dwell > 0) solenoid_dwell--;
+}
+
+void solenoid_dwell_plus(uint8_t solenoid_dwell) {
+  if (solenoid_dwell < SOLENOID_MAX_DWELL) solenoid_dwell++;
+}
+
+void solenoid_set_dwell(uint8_t dwell) {
+  solenoid_dwell = dwell;
+}
+
+void solenoid_stop(void) {
+  writePinLow(SOLENOID_PIN);
+  solenoid_on = false;
+  solenoid_buzzing = false;
+}
+
+void solenoid_fire(void) {
+  if (!haptic_config.buzz && solenoid_on) return;
+  if (haptic_config.buzz && solenoid_buzzing) return;
+
+  solenoid_on = true;
+  solenoid_buzzing = true;
+  solenoid_start = timer_read();
+  writePinHigh(SOLENOID_PIN);
+}
+
+void solenoid_check(void) {
+  uint16_t elapsed = 0;
+
+  if (!solenoid_on) return;
+
+  elapsed = timer_elapsed(solenoid_start);
+
+  //Check if it's time to finish this solenoid click cycle
+  if (elapsed > solenoid_dwell) {
+    solenoid_stop();
+    return;
+  }
+
+  //Check whether to buzz the solenoid on and off
+  if (haptic_config.buzz) {
+    if (elapsed / SOLENOID_MIN_DWELL % 2 == 0){
+      if (!solenoid_buzzing) {
+        solenoid_buzzing = true;
+        writePinHigh(SOLENOID_PIN);
+      }
+    }
+    else {
+      if (solenoid_buzzing) {
+        solenoid_buzzing = false;
+        writePinLow(SOLENOID_PIN);
+      }
+    }
+  }
+}
+
+void solenoid_setup(void) {
+  setPinOutput(SOLENOID_PIN);
+  solenoid_fire();
+}
+
+void solenoid_shutdown(void) {
+  writePinLow(SOLENOID_PIN);
+
+}
diff --git a/drivers/haptic/solenoid.h b/drivers/haptic/solenoid.h
new file mode 100644
index 000000000..a08f62a11
--- /dev/null
+++ b/drivers/haptic/solenoid.h
@@ -0,0 +1,54 @@
+/* Copyright 2018 mtdjr - modified by ishtob
+ * Driver for solenoid 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/>.
+ */
+
+#pragma once
+
+#ifndef SOLENOID_DEFAULT_DWELL
+#define SOLENOID_DEFAULT_DWELL 12
+#endif
+
+#ifndef SOLENOID_MAX_DWELL
+#define SOLENOID_MAX_DWELL 100
+#endif
+
+#ifndef SOLENOID_MIN_DWELL
+#define SOLENOID_MIN_DWELL 4
+#endif
+
+#ifndef SOLENOID_ACTIVE
+#define SOLENOID_ACTIVE false
+#endif
+
+#ifndef SOLENOID_PIN
+#define SOLENOID_PIN F6
+#endif
+
+void solenoid_buzz_on(void);
+void solenoid_buzz_off(void);
+void solenoid_set_buzz(int buzz);
+
+void solenoid_dwell_minus(uint8_t solenoid_dwell);
+void solenoid_dwell_plus(uint8_t solenoid_dwell);
+void solenoid_set_dwell(uint8_t dwell);
+
+void solenoid_stop(void);
+void solenoid_fire(void);
+
+void solenoid_check(void);
+
+void solenoid_setup(void);
+void solenoid_shutdown(void);