From e39754ba105213c133407e2dacb5fd31f3873e4c Mon Sep 17 00:00:00 2001
From: Robin Howard <robin@rhoward.id.au>
Date: Fri, 19 Apr 2024 16:00:57 +1000
Subject: [PATCH] Fix DRV2065L register usage: we were accidentally setting
 control2 when we meant control3.

---
 src/drivers/haptics.cpp         |  1 +
 src/drivers/include/haptics.hpp | 26 +++++++++++++-------------
 2 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/src/drivers/haptics.cpp b/src/drivers/haptics.cpp
index 46136e62..ccc9e599 100644
--- a/src/drivers/haptics.cpp
+++ b/src/drivers/haptics.cpp
@@ -10,6 +10,7 @@
 #include <cstdint>
 #include <initializer_list>
 #include <mutex>
+#include <variant>
 
 #include "assert.h"
 #include "driver/gpio.h"
diff --git a/src/drivers/include/haptics.hpp b/src/drivers/include/haptics.hpp
index 6cfcbb0d..cf970977 100644
--- a/src/drivers/include/haptics.hpp
+++ b/src/drivers/include/haptics.hpp
@@ -214,7 +214,7 @@ class Haptics {
   };
 
   struct ControlMask {
-    // Control1
+    // FeedbackControl
     static constexpr uint8_t kNErmLra = 0b10000000;
     // Control3
     static constexpr uint8_t kErmOpenLoop = 0b00100000;
@@ -257,12 +257,12 @@ class Haptics {
 
     // A bunch of different options, not grouped
     // in any particular sensible way
-    kControl1 = 0x1A,
-    kControl2 = 0x1B,
-    kControl3 = 0x1C,
-    kControl4 = 0x1D,
-    kControl5 = 0x1E,
-    kControl6 = 0x1F,
+    kFeedbackControl = 0x1A,
+    kControl1 = 0x1B,
+    kControl2 = 0x1C,
+    kControl3 = 0x1D,
+    kControl4 = 0x1E,
+    kControl5 = 0x1F,
 
     kSupplyVoltageMonitor = 0x21,  // "VBAT"
     kLraResonancePeriod = 0x22,
@@ -295,12 +295,12 @@ class Haptics {
     kOverdriveClampVoltage = 0x8C,
     kAutoCalibrationCompensationResult = 0x0C,
     kAutoCalibrationBackEmfResult = 0x6C,
-    kControl1 = 0x36,
-    kControl2 = 0x93,
-    kControl3 = 0xF5,
-    kControl4 = 0xA0,
-    kControl5 = 0x20,
-    kControl6 = 0x80,
+    kFeedbackControl = 0x36,
+    kControl1 = 0x93,
+    kControl2 = 0xF5,
+    kControl3 = 0xA0,
+    kControl4 = 0x20,
+    kControl5 = 0x80,
     kSupplyVoltageMonitor = 0,
     kLraResonancePeriod = 0,
   };