da728x

An async and no_std rust library for the wide-bandwidth haptic driver IC DA7280/DA7281/DA7282 from Renesas.

Supported ICs

• DA7280
• DA7281
• DA7282

What works

• CHIP_REV verification
• Configuration with validation
• Setting (resonant) frequency
• Enable / disable playback
• Reading and clearing system events and diagnostics
• Driving an LRA in frequency track, wideband or custom waveform mode
• DRO mode

What's missing

• Testing of PWM_MODE
• Uploading into the waveform memory and RTWM_MODE
• GPI configuration and ETWM_MODE
• Uploading a script (list of registers and values as exported by GUI)

Features

• debug - Enable debug logging with the defmt crate

Usage

    use da728x::{DA728x, Variant};
    use da728x::config::{ActuatorConfig, ActuatorType, DeviceConfig, OperationMode, DrivingMode};

    // Setup I2C
    // let i2c = ...
    // let address = ...

    let mut haptics = DA728x::new(i2c, address, Variant::DA7280)
        .await
        .unwrap();

    // Values for the G1040003D LRA on the SparkFun board
    let actuator_config = ActuatorConfig {
        actuator_type: ActuatorType::LRA,
        nominal_max_mV: 2_106,
        absolute_max_mV: 2_260,
        max_current_mA: 165,
        impedance_mOhm: 13_800,
        frequency_Hz: 170,
    };

    // DRO Mode, which means we can set the amplitude via set_override_value()
    let device_config = DeviceConfig {
        operation_mode: OperationMode::DRO_MODE,
        driving_mode: DrivingMode::FREQUENCY_TRACK,
        acceleration: false,
        rapid_stop: false,
    };

    // Sets all registers as needed depending on the actuator type, operation mode and driving mode
    haptics.configure(actuator_config, device_config).await.unwrap();

    // Enables the Operation Mode (default is INACTIVE after configuration)
    haptics.enable().await.unwrap();

    loop {
        info!("100%");
        haptics.set_override_value(127).await.unwrap();
        Timer::after_millis(800).await;
        info!("33%");
        haptics.set_override_value(42).await.unwrap();
        Timer::after_millis(800).await;
        info!("0%");
        haptics.set_override_value(0).await.unwrap();
        Timer::after_millis(800).await;

        let status = haptics.get_status().await.unwrap();
        info!("Haptics Status: {:?}", status);
    }

Devkits

• SparkFun Haptic Driver (ROB-17590)
• Haptic 4 Click (MIKROE-6045)
• Haptic 3 Click (MIKROE-5087)
• DA728X-EVAL-KIT