Enum drv2605::Register

#[repr(u8)]
pub enum Register {
    Status,
    Mode,
    RealTimePlaybackInput,
    Register3,
    WaveformSequence0,
    WaveformSequence1,
    WaveformSequence2,
    WaveformSequence3,
    WaveformSequence4,
    WaveformSequence5,
    WaveformSequence6,
    WaveformSequence7,
    Go,
    OverdriveTimeOffset,
    SustainTimeOffsetPositive,
    SustainTimeOffsetNegative,
    BrakeTimeOffset,
    RatedVoltage,
    OverdriveClampVoltage,
    AutoCalibrationCompensationResult,
    AutoCalibrationBackEMFResult,
    FeedbackControl,
    Control1,
    Control2,
    Control3,
    Control4,
}

Variants

StatusModeRealTimePlaybackInput

This field is the entry point for real-time playback (RTP) data. The DRV2605 playback engine drives the RTP_INPUT[7:0] value to the load when MODE[2:0] = 5 (RTP mode). The RTP_INPUT[7:0] value can be updated in real-time by the host controller to create haptic waveforms. The RTP_INPUT[7:0] value is interpreted as signed by default, but can be set to unsigned by the DATA_FORMAT_RTP bit in register 0x1D. When the haptic waveform is complete, the user can idle the device by setting MODE[2:0] = 0, or alternatively by setting STANDBY = 1.

Register3WaveformSequence0WaveformSequence1WaveformSequence2WaveformSequence3WaveformSequence4WaveformSequence5WaveformSequence6WaveformSequence7GoOverdriveTimeOffsetSustainTimeOffsetPositiveSustainTimeOffsetNegativeBrakeTimeOffsetRatedVoltage

This bit sets the reference voltage for full-scale output during closed-loop operation. The auto-calibration routine uses this register as an input, so this register must be written with the rated voltage value of the motor before calibration is performed. This register is ignored for open-loop operation because the overdrive voltage sets the reference for that case. Any modification of this register value should be followed by calibration to set A_CAL_BEMF appropriately. See the Rated Voltage Programming section for calculating the correct register value.

OverdriveClampVoltage

During closed-loop operation the actuator feedback allows the output voltage to go above the rated voltage during the automatic overdrive and automatic braking periods. This register sets a clamp so that the automatic overdrive is bounded. This bit also serves as the full-scale reference voltage for open-loop operation. See the Overdrive Voltage-Clamp Programming section for calculating the correct register value.

AutoCalibrationCompensationResult

This register contains the voltage-compensation result after execution of auto calibration. The value stored in the A_CAL_COMP bit compensates for any resistive losses in the driver. The calibration routine checks the impedance of the actuator to automatically determine an appropriate value. The auto- calibration compensation-result value is multiplied by the drive gain during playback. Auto-calibration compensation coefficient = 1 + A_CAL_COMP[7:0] / 255

AutoCalibrationBackEMFResult

This register contains the rated back-EMF result after execution of auto calibration. The A_CAL_BEMF[7:0] bit is the level of back-EMF voltage that the actuator gives when the actuator is driven at the rated voltage. The DRV2605 playback engine uses this the value stored in this bit to automatically determine the appropriate feedback gain for closed-loop operation. Auto-calibration back-EMF (V) = (A_CAL_BEMF[7:0] / 255) × 1.22 V / BEMF_GAIN[1:0]

FeedbackControlControl1Control2Control3Control4

Trait Implementations

impl Copy for Register

impl Clone for Register

fn clone(&self) -> Register

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.