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| <div class="section" id="enabling-and-calibrating-off-board-drv2605-lra-actuator"> |
| <h1>Enabling and Calibrating Off-Board DRV2605 LRA Actuator<a class="headerlink" href="#enabling-and-calibrating-off-board-drv2605-lra-actuator" title="Permalink to this headline">¶</a></h1> |
| <p>This tutorial shows you how to run the <strong>sensors_test</strong> application |
| on an nRF52-DK board to communicate, via the I2C interface, with the <span class="xref std std-doc">Adafruit |
| DRV2605</span> |
| device. The DRV2605 driver includes the <code class="docutils literal notranslate"><span class="pre">drv2605</span></code> shell command that allows you |
| to quickly to view the status, calibrate and actuate your motor in |
| preperation for using it programmatically in your own app.</p> |
| <p>This tutorial shows you how to:</p> |
| <ul class="simple"> |
| <li><p>Create and build the application and bootloader targets.</p></li> |
| <li><p>Connect a DRV2605 actuator device to an nRF52-DK board.</p></li> |
| <li><p>Run <code class="docutils literal notranslate"><span class="pre">drv2605</span></code> shell commands to view the actuator data |
| and control the drv2605 device.</p></li> |
| </ul> |
| <div class="contents local topic" id="contents"> |
| <ul class="simple"> |
| <li><p><a class="reference internal" href="#prerequisites" id="id1">Prerequisites</a></p></li> |
| <li><p><a class="reference internal" href="#step-1-creating-the-application-target" id="id2">Step 1: Creating the Application Target</a></p></li> |
| <li><p><a class="reference internal" href="#step-2-creating-an-application-image-and-loading-it" id="id3">Step 2: Creating an Application Image and loading it</a></p></li> |
| <li><p><a class="reference internal" href="#step-3-communicating-with-and-calibrating-the-drv2605-device" id="id4">Step 3: Communicating with and Calibrating the DRV2605 device</a></p></li> |
| <li><p><a class="reference internal" href="#step-4-actually-actuate" id="id5">Step 4: Actually Actuate</a></p></li> |
| <li><p><a class="reference internal" href="#conclusion" id="id6">Conclusion</a></p></li> |
| </ul> |
| </div> |
| <div class="section" id="prerequisites"> |
| <h2><a class="toc-backref" href="#id1">Prerequisites</a><a class="headerlink" href="#prerequisites" title="Permalink to this headline">¶</a></h2> |
| <ul class="simple"> |
| <li><p>Meet the prerequisites listed in <a class="reference internal" href="sensors.html"><span class="doc">Sensor Tutorials</span></a></p></li> |
| <li><p>Understand how to <a class="reference internal" href="sensor_nrf52_bno055.html"><span class="doc">add an offboard sensor</span></a>, |
| we wont be covering bootloader and application console connection here.</p></li> |
| <li><p>Have a Nordic nRF52-DK board.</p></li> |
| <li><p>Have an <a class="reference external" href="https://learn.adafruit.com/adafruit-drv2605-haptic-controller-breakout/overview">Adafruit DRV2605</a> |
| actuator and LRA motor.</p></li> |
| </ul> |
| </div> |
| <div class="section" id="step-1-creating-the-application-target"> |
| <h2><a class="toc-backref" href="#id2">Step 1: Creating the Application Target</a><a class="headerlink" href="#step-1-creating-the-application-target" title="Permalink to this headline">¶</a></h2> |
| <p>In this step, you create a target for the sensors_test application that enables the DRV2605 |
| off-board device.</p> |
| <p>To add the DRV2605 device support, you create the application target with |
| the following syscfg settings enabled:</p> |
| <ul> |
| <li><p><code class="docutils literal notranslate"><span class="pre">I2C_0</span></code>: Enables the I2C interface 0 in the nRF52 BSP HAL setting.</p></li> |
| <li><div class="line-block"> |
| <div class="line"><code class="docutils literal notranslate"><span class="pre">DRV2605_OFB</span></code>: Enables support for the DRV2605 actuator in the sensor |
| creator package (<code class="docutils literal notranslate"><span class="pre">hw/sensor/creator</span></code>).</div> |
| <div class="line">When this setting is enabled, the creator package performs the |
| following:</div> |
| </div> |
| <ul class="simple"> |
| <li><p>Includes the DRV2605 driver package (<code class="docutils literal notranslate"><span class="pre">hw/drivers/drv2605</span></code>) |
| as a package dependency.</p></li> |
| <li><p>Creates an os device for the device in the Mynewt kernel.</p></li> |
| <li><p>Configures the device with default values.</p></li> |
| </ul> |
| </li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">DRV2605_CLI</span></code>: Enables the <code class="docutils literal notranslate"><span class="pre">drv2605</span></code> shell command in the DRV2605 |
| device driver package. The sensors_test application also uses this |
| setting to conditionally include the call to the |
| <code class="docutils literal notranslate"><span class="pre">drv2605_shell_init()</span></code> function to initialize the shell support in |
| the driver.</p></li> |
| <li><dl class="simple"> |
| <dt><code class="docutils literal notranslate"><span class="pre">DRV2605_EN_PIN</span></code>: The pin the driver needs to gpio in order to enable</dt><dd><p>your DRV2605 device.</p> |
| </dd> |
| </dl> |
| </li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">DRV2605_RATED_VOLTAGE</span></code>: I have no easy default for you here, it is |
| entirelay based on your purchased LRA motor. See 8.5.2.1 Rated Voltage |
| Programming in the TI DRV2605 Datasheet or maybe talk to your motor supplier.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">DRV2605_OD_CLAMP</span></code>: I have no easy default for you here, it is |
| entirelay based on your purchased LRA motor. See 8.5.2.2 Overdrive |
| Voltage-Clamp Programming in the TI DRV2605 Datasheet or maybe talk |
| to your motor supplier. NOTE: LRA and ERM (8) and (9) equations are |
| swapped in the datasheet revision “SLOS854C REVISED SEPTEMBER 2014”</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">DRV2605_DRIVE_TIME</span></code>: I have no easy default for you here, it is |
| entirelay based on your purchased LRA motor. See 8.6.21, but generally |
| it is computable with the equation |
| LRA DRIVE_TIME = (0.5 × (1/fLRA * 1000) - 0.5 ms) / 0.1 ms</p></li> |
| </ul> |
| <p>1. Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">target</span> <span class="pre">create</span></code> command, from your project base |
| directory, to create the target. We name the target |
| <code class="docutils literal notranslate"><span class="pre">nrf52_drv2605_test</span></code>:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>target<span class="w"> </span>create<span class="w"> </span>nrf52_drv2605_test |
| <span class="go">Target targets/nrf52_drv2605_test successfully created</span> |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| <p>2. Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">target</span> <span class="pre">set</span></code> command to set the app, bsp, and |
| build_profile variables for the target:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>target<span class="w"> </span><span class="nb">set</span><span class="w"> </span>nrf52_drv2605_test<span class="w"> </span><span class="nv">app</span><span class="o">=</span>@apache-mynewt-core/apps/sensors_test<span class="w"> </span><span class="nv">bsp</span><span class="o">=</span>@apache-mynewt-core/hw/bsp/nrf52dk<span class="w"> </span><span class="nv">build_profile</span><span class="o">=</span>debug |
| <span class="go">Target targets/nrf52_drv2605_test successfully set target.app to @apache-mynewt-core/apps/sensors_test</span> |
| <span class="go">Target targets/nrf52_drv2605_test successfully set target.bsp to @apache-mynewt-core/hw/bsp/nrf52dk</span> |
| <span class="go">Target targets/nrf52_drv2605_test successfully set target.build_profile to debug</span> |
| |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| <p>3. Run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">target</span> <span class="pre">set</span></code> command to enable the <code class="docutils literal notranslate"><span class="pre">I2C_0</span></code>, |
| <code class="docutils literal notranslate"><span class="pre">DRV2605_OFB</span></code>, <code class="docutils literal notranslate"><span class="pre">DRV2605_CLI</span></code>, <code class="docutils literal notranslate"><span class="pre">DRV2605_EN_PIN</span></code>, <code class="docutils literal notranslate"><span class="pre">DRV2605_RATED_VOLTAGE</span></code>, |
| <code class="docutils literal notranslate"><span class="pre">DRV2605_OD_CLAMP</span></code>, and <code class="docutils literal notranslate"><span class="pre">DRV2605_DRIVE_TIME</span></code> syscfg settings:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>target<span class="w"> </span><span class="nb">set</span><span class="w"> </span>nrf52_drv2605_test<span class="w"> </span><span class="nv">syscfg</span><span class="o">=</span><span class="nv">DRV2605_OFB</span><span class="o">=</span><span class="m">1</span>:I2C_0<span class="o">=</span><span class="m">1</span>:DRV2605_CLI<span class="o">=</span><span class="m">1</span>:DRV2605_EN_PIN<span class="o">=</span><span class="m">3</span>:DRV2605_RATED_VOLTAGE<span class="o">=</span>0x53:DRV2605_OD_CLAMP<span class="o">=</span>0x69:DRV2605_DRIVE_TIME<span class="o">=</span><span class="m">20</span> |
| <span class="go">Target targets/nrf52_drv2605_test successfully set target.syscfg to DRV2605_OFB=1:I2C_0=1:DRV2605_CLI=1:DRV2605_EN_PIN=3:DRV2605_RATED_VOLTAGE=0x53:DRV2605_OD_CLAMP=0x69:DRV2605_DRIVE_TIME=20</span> |
| |
| <span class="gp">$</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="step-2-creating-an-application-image-and-loading-it"> |
| <h2><a class="toc-backref" href="#id3">Step 2: Creating an Application Image and loading it</a><a class="headerlink" href="#step-2-creating-an-application-image-and-loading-it" title="Permalink to this headline">¶</a></h2> |
| <p>This tutorial assumes you have a functioning bootloader as taught in |
| <a class="reference internal" href="sensor_nrf52_bno055.html"><span class="doc">add an offboard sensor</span></a> |
| Now run the <code class="docutils literal notranslate"><span class="pre">newt</span> <span class="pre">create-image</span></code> command to create an image file. You may |
| assign an arbitrary version (e.g. 1.0.0) to the image.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>newt<span class="w"> </span>build<span class="w"> </span>nrf52_drv2605_test<span class="w"> </span><span class="o">&&</span><span class="w"> </span>newt<span class="w"> </span>create-image<span class="w"> </span>nrf52_drv2605_test<span class="w"> </span><span class="m">1</span>.0.0 |
| <span class="go">App image succesfully generated: ~/dev/myproj/bin/targets/nrf52_drv2605_test/app/apps/sensors_test/sensors_test.img</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="step-3-communicating-with-and-calibrating-the-drv2605-device"> |
| <h2><a class="toc-backref" href="#id4">Step 3: Communicating with and Calibrating the DRV2605 device</a><a class="headerlink" href="#step-3-communicating-with-and-calibrating-the-drv2605-device" title="Permalink to this headline">¶</a></h2> |
| <p>This tutorial assumes you have a functioning application console as |
| taught in <a class="reference internal" href="sensor_nrf52_bno055.html"><span class="doc">add an offboard sensor</span></a> |
| The DRV2605 device driver implements the <code class="docutils literal notranslate"><span class="pre">drv2605</span></code> shell command |
| that allows you to:</p> |
| <ul class="simple"> |
| <li><p>Query the chip id, content of registers, calibrations.</p></li> |
| <li><p>Reset the device.</p></li> |
| <li><p>Change the power mode.</p></li> |
| <li><p>Change the operation mode.</p></li> |
| <li><p>Load waveforms to actuate.</p></li> |
| <li><p>Actuate the device.</p></li> |
| </ul> |
| <p><strong>Example 1:</strong> Query the device chip id:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">711273 compat> drv2605 chip_id</span> |
| <span class="go">769056 0x07</span> |
| </pre></div> |
| </div> |
| <p><strong>Example 2:</strong> Run Diagnostics on your motor setup numbers:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">827472 compat> drv2605 op_mode diag</span> |
| <span class="go">drv2605 op_mode diag</span> |
| <span class="go">829717 op_mode succeeded</span> |
| </pre></div> |
| </div> |
| <p>If that didn’t work or you will have to compute different DRV2605_RATED_VOLTAGE, |
| DRV2605_OD_CLAMP, and DRV2605_DRIVE_TIME values and try again or maybe talk to your |
| motor manufacturer or TI for more help.</p> |
| <p><strong>Example 3:</strong> Run Calibration on your motor: |
| Theres a lot more setup numbers you could enter here for the DRV2605 to figure out |
| how to actuate your motor, but some of them it can figure out itself through auto calibration. |
| Lets run autocalibration and then dump the fresh calibration numbers:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">001407 compat> drv2605 op_mode cal</span> |
| <span class="go">drv2605 op_mode cal</span> |
| <span class="go">001931 op_mode succeeded</span> |
| <span class="go">drv2605 dump_cal</span> |
| <span class="go">DRV2605_CALIBRATED_COMP: 0x09</span> |
| <span class="go">DRV2605_CALIBRATED_BEMF: 0x79</span> |
| <span class="go">DRV2605_CALIBRATED_BEMF_GAIN: 1</span> |
| </pre></div> |
| </div> |
| <p>You could programmatically run this on every startup, but more likely you’d want to save these |
| as in your syscfg.yml and restart. Presumably you’d never have to do these steps ever again.</p> |
| </div> |
| <div class="section" id="step-4-actually-actuate"> |
| <h2><a class="toc-backref" href="#id5">Step 4: Actually Actuate</a><a class="headerlink" href="#step-4-actually-actuate" title="Permalink to this headline">¶</a></h2> |
| <p>Now you’re ready to (sigh) rumble. One way to use the DRV2605 device is to enable |
| the ROM mode to use its stored patterns. Technically you dont need to do this after |
| first configure as ROM mode is the default mode:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">021773 compat> drv2605 op_mode rom</span> |
| <span class="go">drv2605 op_mode rom</span> |
| <span class="go">037245 op_mode succeeded</span> |
| </pre></div> |
| </div> |
| <p>Now you can load up to 8 internal roms or delays. In this case we’ll use four hard |
| clicks (1) with max delays (255) in between. You may only have to do this once per |
| boot if you wanted to use this same sequence every time you trigger the DRV2605 device.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">120858 compat> drv2605 load_rom 1 255 1 255 1 255 1 255</span> |
| <span class="go">drv2605 load_rom 1 255 1 255 1 255 1 255</span> |
| <span class="go">122555 Load succeeded</span> |
| </pre></div> |
| </div> |
| <p>The motor is in standby by default after a mode change, so enable it:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">002111 compat> drv2605 power_mode active</span> |
| <span class="go">drv2605 power_mode active</span> |
| <span class="go">003263 power_mode succeeded</span> |
| </pre></div> |
| </div> |
| <p>Now you can trigger those forms as many times as you want or load new forms and trigger again:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">122555 compat> drv2605 trigger</span> |
| <span class="go">drv2605 trigger</span> |
| <span class="go">128806 Trigger succeeded</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="conclusion"> |
| <h2><a class="toc-backref" href="#id6">Conclusion</a><a class="headerlink" href="#conclusion" title="Permalink to this headline">¶</a></h2> |
| <p>You’ve successfully enabled a mynewt application to communicate with a drv2605 device, |
| calibrated it and actuated a motor! Next youll want to look at the code comments |
| on the drv2605.c file and how the drv2605_shell.c file is implemented so you can |
| setup and actuate your device programmatically within your application.</p> |
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