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Add DRV2605 haptic driver with boot and sleep feedback
Minimal I2C driver for the DRV2605 ERM vibration motor. 117 built-in effects via the ERM effect library. Named constants for watch use cases (click, bump, alert, buzz, tick, etc.). Boot: sharp click on startup. Sleep: soft bump before entering deep sleep. XL9555 DRV_EN and DISP_EN now explicitly enabled at boot. Updated Makefile upload-twatch_ultra to set firmware hash after JTAG flash.
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GlassOnTin
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3 changed files with 151 additions and 1 deletions
136
DRV2605.h
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136
DRV2605.h
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// DRV2605 Haptic Driver — Minimal I2C driver for T-Watch Ultra
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// ERM vibration motor with 117 built-in effects
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// EN pin controlled by XL9555 EXPANDS_DRV_EN (port 0, pin 6)
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#ifndef DRV2605_H
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#define DRV2605_H
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#if BOARD_MODEL == BOARD_TWATCH_ULT
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#include <Wire.h>
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#define DRV2605_ADDR 0x5A
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// Registers
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#define DRV2605_STATUS 0x00
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#define DRV2605_MODE 0x01
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#define DRV2605_RTPIN 0x02
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#define DRV2605_LIBRARY 0x03
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#define DRV2605_WAVESEQ1 0x04
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#define DRV2605_GO 0x0C
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#define DRV2605_OVERDRIVE 0x0D
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#define DRV2605_SUSTAINPOS 0x0E
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#define DRV2605_SUSTAINNEG 0x0F
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#define DRV2605_BRAKE 0x10
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#define DRV2605_FEEDBACK 0x1A
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#define DRV2605_CONTROL3 0x1D
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// Named effects for watch use cases (ERM Library 1, effects 1-117)
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#define HAPTIC_STRONG_CLICK 1 // Strong Click - 100%
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#define HAPTIC_MEDIUM_CLICK 2 // Strong Click - 60%
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#define HAPTIC_LIGHT_CLICK 3 // Strong Click - 30%
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#define HAPTIC_SHARP_CLICK 4 // Sharp Click - 100%
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#define HAPTIC_SOFT_BUMP 7 // Soft Bump - 100%
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#define HAPTIC_DOUBLE_CLICK 10 // Double Click - 100%
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#define HAPTIC_TRIPLE_CLICK 12 // Triple Click - 100%
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#define HAPTIC_BUZZ 14 // Strong Buzz - 100%
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#define HAPTIC_ALERT 15 // 750ms Alert - 100%
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#define HAPTIC_LONG_ALERT 16 // 1000ms Alert - 100%
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#define HAPTIC_TICK 4 // Sharp Click (subtle tick)
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#define HAPTIC_TRANSITION 47 // Transition Click - 100%
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static bool drv2605_ready = false;
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static void drv2605_write(uint8_t reg, uint8_t val) {
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Wire.beginTransmission(DRV2605_ADDR);
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Wire.write(reg);
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Wire.write(val);
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Wire.endTransmission();
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}
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static uint8_t drv2605_read(uint8_t reg) {
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Wire.beginTransmission(DRV2605_ADDR);
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Wire.write(reg);
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Wire.endTransmission(false);
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Wire.requestFrom((uint8_t)DRV2605_ADDR, (uint8_t)1);
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return Wire.available() ? Wire.read() : 0;
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}
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bool drv2605_init() {
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// Probe device
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Wire.beginTransmission(DRV2605_ADDR);
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if (Wire.endTransmission() != 0) return false;
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// Verify chip ID (bits 7:5 of STATUS should be 3 or 7)
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uint8_t id = drv2605_read(DRV2605_STATUS) >> 5;
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if (id != 3 && id != 7) return false;
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// Exit standby
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drv2605_write(DRV2605_MODE, 0x00);
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// Disable real-time playback input
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drv2605_write(DRV2605_RTPIN, 0x00);
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// Select ERM mode: clear bit 7 of FEEDBACK register
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uint8_t fb = drv2605_read(DRV2605_FEEDBACK);
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drv2605_write(DRV2605_FEEDBACK, fb & 0x7F);
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// Enable open-loop drive: set bit 5 of CONTROL3
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uint8_t ctrl3 = drv2605_read(DRV2605_CONTROL3);
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drv2605_write(DRV2605_CONTROL3, ctrl3 | 0x20);
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// Select ERM effect library 1
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drv2605_write(DRV2605_LIBRARY, 1);
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// Clear timing offsets
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drv2605_write(DRV2605_OVERDRIVE, 0);
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drv2605_write(DRV2605_SUSTAINPOS, 0);
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drv2605_write(DRV2605_SUSTAINNEG, 0);
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drv2605_write(DRV2605_BRAKE, 0);
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// Clear all waveform slots
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for (uint8_t i = 0; i < 8; i++) {
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drv2605_write(DRV2605_WAVESEQ1 + i, 0);
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}
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drv2605_ready = true;
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return true;
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}
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// Play a single effect (1-117 from ERM library)
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void drv2605_play(uint8_t effect) {
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if (!drv2605_ready) return;
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drv2605_write(DRV2605_MODE, 0x00); // Internal trigger mode
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drv2605_write(DRV2605_WAVESEQ1, effect); // Effect in slot 1
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drv2605_write(DRV2605_WAVESEQ1 + 1, 0); // End sequence
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drv2605_write(DRV2605_GO, 1); // Start playback
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}
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// Play a sequence of up to 8 effects
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void drv2605_sequence(const uint8_t *effects, uint8_t count) {
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if (!drv2605_ready || count == 0) return;
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if (count > 8) count = 8;
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drv2605_write(DRV2605_MODE, 0x00);
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for (uint8_t i = 0; i < count; i++) {
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drv2605_write(DRV2605_WAVESEQ1 + i, effects[i]);
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}
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if (count < 8) {
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drv2605_write(DRV2605_WAVESEQ1 + count, 0); // Terminate
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}
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drv2605_write(DRV2605_GO, 1);
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}
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// Stop any playing effect
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void drv2605_stop() {
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if (!drv2605_ready) return;
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drv2605_write(DRV2605_GO, 0);
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}
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// Check if an effect is still playing
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bool drv2605_busy() {
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if (!drv2605_ready) return false;
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return drv2605_read(DRV2605_GO) & 1;
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}
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#endif // BOARD_MODEL == BOARD_TWATCH_ULT
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#endif // DRV2605_H
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4
Makefile
4
Makefile
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@ -121,11 +121,13 @@ firmware-twatch_ultra:
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arduino-cli compile --log --fqbn "esp32:esp32:esp32s3:CDCOnBoot=cdc" -e --build-property "build.partitions=no_ota" --build-property "upload.maximum_size=2097152" --build-property "compiler.cpp.extra_flags=-DBOARD_MODEL=0x45"
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upload-twatch_ultra: firmware-twatch_ultra
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@echo "Flashing T-Watch Ultra via OpenOCD JTAG..."
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@echo "Flashing T-Watch Ultra app via JTAG (no BOOT+RST needed)..."
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$(HOME)/.arduino15/packages/esp32/tools/openocd-esp32/v0.12.0-esp32-20230921/bin/openocd \
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-s $(HOME)/.arduino15/packages/esp32/tools/openocd-esp32/v0.12.0-esp32-20230921/share/openocd/scripts \
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-f board/esp32s3-builtin.cfg \
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-c "program_esp build/esp32.esp32.esp32s3/RNode_Firmware.ino.bin 0x10000 verify reset exit"
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@sleep 5
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rnodeconf /dev/ttyACM4 --firmware-hash $$(./partition_hashes ./build/esp32.esp32.esp32s3/RNode_Firmware.ino.bin)
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firmware-lora32_v10: check_bt_buffers
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arduino-cli compile --log --fqbn esp32:esp32:ttgo-lora32 -e --build-property "build.partitions=no_ota" --build-property "upload.maximum_size=2097152" --build-property "compiler.cpp.extra_flags=\"-DBOARD_MODEL=0x39\""
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@ -20,6 +20,7 @@
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#if BOARD_MODEL == BOARD_TWATCH_ULT
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#include "XL9555.h"
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#include "CO5300.h"
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#include "DRV2605.h"
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#endif
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#define CHANNEL_FIFO_SIZE (CONFIG_UART_BUFFER_SIZE / NUM_CHANNELS)
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@ -274,6 +275,11 @@ void setup() {
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#if BOARD_MODEL == BOARD_TWATCH_ULT
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xl9555_init();
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xl9555_enable_lora_antenna();
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xl9555_set(EXPANDS_DRV_EN, true); // Enable haptic motor driver
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xl9555_set(EXPANDS_DISP_EN, true); // Enable display power gate
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delay(10);
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drv2605_init();
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if (drv2605_ready) drv2605_play(HAPTIC_SHARP_CLICK); // Boot feedback
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// Beacon timer wakeup: if we woke from deep sleep via timer,
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// take the fast path — init GPS/LoRa only, transmit, sleep again.
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@ -1999,6 +2005,12 @@ void loop() {
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// Safely shuts down peripherals and enters ESP32 deep sleep.
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// Does not return — device reboots on wake.
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void twatch_enter_deep_sleep(bool beacon_timer) {
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// 0. Haptic feedback before sleep
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if (drv2605_ready) {
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drv2605_play(HAPTIC_SOFT_BUMP);
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delay(150); // Let the motor spin briefly before powering down
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}
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// 1. Put display controller into sleep mode (must happen before SPI.end)
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#if HAS_DISPLAY
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co5300_sleep();
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