Control apparatus and vibration presentation apparatus

Abstract

To provide a control apparatus and a vibration presentation apparatus for transferring vibration data that is periodically generated to a computer without loss of data.SOLUTION: In a vibration presentation apparatus 100, a control apparatus 200A comprises: a register unit 210A; a conversion unit 223 that periodically converts a detection signal output from a strain detection sensor for detecting a displacement of an operation device due to pressing or vibration of the operation device into a first digital signal; and a data storage unit 290A including a buffer 292A in which the latest n pieces of vibration data indicated by the first digital signal are sequentially stored, and that stores the n pieces of vibration data held in the buffer 292A in the register unit 210A every time the n pieces of vibration data held in the buffer 292A are replaced. The register unit 210A outputs a read request to an external apparatus every time the n pieces of vibration data are stored, and, after the n pieces of vibration data have been sequentially read by the external apparatus, waits for the next n pieces of latest vibration data to be stored.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a control device and a vibration presentation device.

Background Art

[0002] For example, a tactile interface is known that gives a user a tactile sensation by driving an actuator based on contact with an operating device such as a touch panel to vibrate the operating device. This type of tactile interface performs feedback control to generate a drive pulse signal output to the actuator based on contact with the operating device to vibrate the operating device, and then generate a subsequent drive pulse signal to continue or attenuate the vibration, thereby providing the user with a mechanical click feeling.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a vibration presentation device including this type of tactile interface, due to variations in the natural frequencies of an operating device such as a touch panel and an actuator, even when the same drive pulse signal is applied to the actuator, the behavior of the vibration of the operating device may be different. Due to variations in the natural frequencies, for example, the vibration may decay even when a drive pulse signal for continuing the vibration is generated, or the vibration may continue even when a drive pulse signal for attenuating the vibration is generated. Therefore, before shipping the vibration presentation device, learning is performed in which the control device mounted on the vibration presentation device applies various drive pulse signals to the actuator to acquire vibration data and tunes an appropriate drive pulse signal according to the variation in the natural frequency.

[0005] For example, in learning, the control device generates a drive pulse signal to vibrate the operating device and transfers the acquired vibration data to a computer connected to the vibration presentation device. The computer tunes the appropriate drive signal pulse by analyzing the transferred vibration data.

[0006] However, for example, when the acquisition frequency of vibration data by the control device is higher than the reception frequency of vibration data by the computer, the vibration data used for analysis by the computer may be missing, and it may become difficult to tune the appropriate drive signal pulse. For example, the missing of vibration data occurs when the communication speed of the communication interface connecting the vibration presentation device and the computer is low, or when the analysis speed of vibration data by the computer is low.

[0007] The disclosed technology aims to transfer the periodically generated vibration data to a computer without missing in a control device mounted on a vibration presentation device that vibrates an operating device based on the detection of contact with the operating device.

Means for Solving the Problems

[0008] In order to solve the above technical problems, a control device according to an aspect of the present invention is a control device that controls an actuator that vibrates an operating device based on an operation of the operating device, and includes a register unit accessible from an external device disposed outside, a conversion unit that periodically converts a detection signal output from a sensor that detects displacement of the operating device due to pressing or vibration of the operating device into a first digital signal, and a buffer that sequentially stores the latest n pieces (n is an integer of 2 or more) of the vibration data indicated by the first digital signal converted by the conversion unit. Each time the n pieces of vibration data held in the buffer are replaced, the control device has a data storage unit that stores the n pieces of vibration data held in the buffer in the register unit. The register unit outputs a read request to the external device each time the n pieces of vibration data are stored, and waits for the next n pieces of the latest vibration data to be stored after the n pieces of vibration data are sequentially read by the external device.

Advantages of the Invention

[0009] In a control device mounted on a vibration presentation device that applies vibration to an operating device based on detection of contact with the operating device, vibration data generated periodically can be transferred to a computer without omission.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments will be described with reference to the drawings. Hereinafter, the same reference numerals as the signal names may be used for signal lines, signal terminals, signal nodes, and signal values through which signals are transmitted. In each drawing, the same components may be denoted by the same reference numerals, and redundant descriptions may be omitted.

[0012] (Example of a Vibration Presentation Device Having a Control Device) FIG. 1 is a side view showing an example of a vibration presentation device 100 having a control device 200 according to the present invention. In FIG. 1, some elements of the vibration presentation device 100 are shown transparently. The vibration presentation device 100 shown in FIG. 1 includes a control device 200, an electromagnetic actuator 300, a touch panel 400, and a strain detection sensor 500. For example, the control device 200 is manufactured as a semiconductor chip and mounted on a substrate (not shown) mounted on the vibration presentation device 100. The vibration presentation device 100 may operate by power supplied from a battery.

[0013] The electromagnetic actuator 300 is disposed between the touch panel 400 and a base 102 facing the touch panel 400, and is fixed to the base 102. The touch panel 400 is supported by a movable plate 104 that is movably disposed in the Z direction on the electromagnetic actuator 300. The movable plate 104 is connected to a plate-shaped fixed body 106 attached to the base 102 via a plate-shaped elastic portion 108. For example, the strain detection sensor 500 is attached to the movable plate 104 and detects the displacement of the touch panel 400 that moves together with the movable plate 104 due to the pressing or vibration of the touch panel 400.

[0014] The plate-shaped elastic portion 108 is deformed by the pulling force of the movable plate 104 toward the electromagnetic actuator 300 side due to the magnetic force generated by the driving of the electromagnetic actuator 300, and moves the movable plate 104 in the -Z direction. The touch panel 400 moves in the -Z direction together with the movement of the movable plate 104. The plate-shaped elastic portion 108 returns to its original shape when the driving of the electromagnetic actuator 300 stops. When the plate-shaped elastic portion 108 returns to its original shape, the movable plate 104 and the touch panel 400 return to their original positions.

[0015] Then, by repeating the driving and the stop of the driving of the electromagnetic actuator 300 by the control device 200, the touch panel 400 can be vibrated. Further, by changing the driving force and the driving period of the electromagnetic actuator 300, the amplitude and the period of the vibration can be freely changed.

[0016] The touch panel 400 may have a function of detecting a contact position of a user's finger or the like. For example, the touch panel 400 is an electrostatic type, a resistive film type, or an optical type, and is an example of an operating device operated by a user. The touch panel 400 may have a screen such as a liquid crystal type, an organic EL type, an electronic paper type, or a plasma type.

[0017] For example, a system such as an electronic device including the vibration presentation device 100 is a car navigation system, a smartphone, a notebook computer, a tablet computer, an image display device such as a television, a game machine with a touch panel, or a game controller with a touch panel. The touch panel 400 may be mounted on top of the display screen in these systems, or may be mounted as a touch pad.

[0018] The vibration presentation device 100 gives a vibration to the touch panel 400 in response to a contact operation of the user on the touch panel 400, thereby imparting a contact operation feeling (hereinafter also referred to as a touch feeling) to the user operating the touch panel 400. The control device 200 sets the amplitude of the vibration applied to the touch panel 400 according to the pressing, pressing force, and release from the pressing of the touch panel 400 by the user, and outputs a drive signal to the electromagnetic actuator 300.

[0019] Note that when the control device 200 can detect the contact position of the touch panel 400 by a user's finger or the like, the control device 200 may change the characteristics of the vibration applied to the touch panel 400 according to the contact position. The contact position may be detected by the control device 200, or may be detected by a microcomputer mounted on a system such as an electronic device including the vibration presentation device 100.

[0020] (Block diagram of the vibration presentation device) Figure 2 is a block diagram showing an example of the vibration presentation device 100 of FIG. 1. FIG. 2 also shows the configuration of the system 10 in which the vibration presentation device 100 is mounted. The system 10 includes a vibration presentation device 100 and a microcomputer 600. The microcomputer 600 is an example of an external device disposed outside the vibration presentation device 100. For example, the microcomputer 600 may be mounted on a system board provided in the system 10. The vibration presentation device 100 shown in FIG. 2 was proposed by the present inventor and is not known publicly. The problems of the vibration presentation device 100 will be described with reference to FIG. 3.

[0021] The vibration presentation device 100 includes a control device 200, an electromagnetic actuator 300 including a coil 310, a touch panel 400, and a strain detection sensor 500. The strain detection sensor 500 supported together with the touch panel 400 on the movable plate 104 of FIG. 1 detects the displacement of the touch panel 400 in response to the pressing of the touch panel 400, the release from the pressing, or the vibration by the electromagnetic actuator 300.

[0022] The control device 200 includes a register unit 210, an analog front end 220, a demodulation unit 230, a detection signal processing unit 240, a drive signal generation unit 250, a drive unit 270, and a push-in detection unit 280. The analog front end 220 includes an offset cancellation unit 221, a programmable gain amplifier (PGA) 222, and a delta-sigma ADC (Analog-to-Digital Converter) 223. The detection signal processing unit 240 includes a low-pass filter (LPF) 241 and a high-pass filter (HPF) 242.

[0023] The drive signal generation unit 250 includes a main drive signal generation unit 251, a sub-drive signal generation unit 260, and an output unit 252. The sub-drive signal generation unit 260 includes a timing detection unit 261, an amplitude setting unit 262, a cycle counting unit 263, a first sub-drive signal generation unit 264, a second sub-drive signal generation unit 265, and a synthesis unit 266. Note that the control device 200 operates in synchronization with a clock signal that is the system clock of the vibration presentation device 100, but the description of the clock signal is omitted.

[0024] The register unit 210 has a plurality of registers that are read and written by the microcomputer 600. For example, one of the plurality of registers is used to hold the vibration data indicated by the detection signal DET0 output from the demodulation unit 230. Although not particularly limited, the microcomputer 600 can access the register unit 210 via, for example, an I2C (Inter-Integrated Circuit) interface. The state of the control device 200 may be set by various control signals output from each register according to the set values of the register unit 210 written by the microcomputer 600.

[0025] In the analog front end 220, the offset cancellation unit 221 cancels the offset of the detection signal DDET (analog signal) indicating the amount of distortion detected by the distortion detection sensor 500 and outputs it to the programmable gain amplifier 222. The programmable gain amplifier 222 amplifies the detection signal DDET with the offset canceled. The delta-sigma ADC generates a serial data signal DT according to the change in the voltage of the amplified detection signal DDET and outputs the generated serial data signal DT to the demodulation unit 230.

[0026] The demodulation unit 230 sequentially demodulates the serial data signal DT received from the delta-sigma ADC while shifting the positions of the bit groups to generate a plurality of detection signals DET0 each indicating the amount of distortion of the touch panel 400. The demodulation unit 230 sequentially outputs the generated detection signals DET0 to the detection signal processing unit 240. That is, the demodulation unit 230 periodically converts the detection signal DDET output from the distortion detection sensor 500 into a digital detection signal DET0. Also, during the learning of the vibration presentation device 100, the demodulation unit 230 sequentially stores the generated detection signals DET0 in a predetermined register of the register unit 210. Hereinafter, the detection signal DET0 is also referred to as vibration data.

[0027] In the learning of the vibration presentation device 100, for example, the microcomputer 600 controls the control device 200 by executing a tuning program. Then, based on vibration data VDT obtained when a plurality of specific vibrations are applied to the touch panel 400, the microcomputer 600 tunes a drive signal DRV for driving the electromagnetic actuator 300. Information such as the amplitude of the drive signal DRV determined by tuning is stored, for example, in a data table or the like used by the amplitude setting unit 262.

[0028] By learning, it is possible to suppress the fact that the behavior of the vibration of the touch panel 400 varies for each vibration presentation device 100 due to variations in the natural frequencies of the touch panel 400 and the electromagnetic actuator 300. As a result, even when there are variations in the natural frequencies of the touch panel 400 and the electromagnetic actuator 300, it is possible to suppress the transmission of vibrations that give the user pressing the touch panel 400 a sense of discomfort. Note that the learning may be performed by connecting the vibration presentation device 100 to an evaluation device for learning instead of connecting it to the microcomputer 600.

[0029] The low-pass filter 241 of the detection signal processing unit 240 performs noise removal processing on the detection signal DET0 received from the demodulation unit 230, and outputs it as the detection signal LPFDET to the high-pass filter 242 and the push-in detection unit 280. The high-pass filter 242 performs offset removal processing on the detection signal LPFDET from which the noise received from the low-pass filter 241 has been removed, and outputs it as the detection signal DET to the sub-drive signal generation unit 260.

[0030] The main drive signal generation unit 251 of the drive signal generation unit 250 generates a main drive signal MDRV in response to a trigger signal TRG received from the microcomputer 600, and outputs the generated main drive signal MDRV to the output unit 252. Although not particularly limited, for example, the main drive signal MDRV may be a rectangular wave. The trigger signal TRG is an example of a drive start signal.

[0031] The timing detection unit 261 of the sub-drive signal generation unit 260 detects the peak timing and bottom timing of the waveform of the detection signal DET from the detection signal processing unit 240, or the peak timing, bottom timing, and zero-crossing timing, and outputs them to the amplitude setting unit 262 as a timing signal. Note that the timing signal is also output to the period counting unit 263.

[0032] The amplitude setting unit 262 sets the amplitude of the sub-drive signal based on the timing signal from the timing detection unit 261, and outputs amplitude information indicating the set amplitude to the period counting unit 263. The amplitude setting unit 262 may, for example, refer to a data table stored in the storage unit of the control device 200 using the information indicated by the timing signal from the timing detection unit 261 to set the amplitude of the sub-drive signal.

[0033] The period counting unit 263 counts the period of the sub-drive signal SDRV based on the timing signal from the timing detection unit 261. Then, in the case of an odd-numbered period, for example, the period counting unit 263 instructs the first sub-drive signal generation unit 264 to generate the sub-drive signal SDRV, and in the case of an even-numbered period, it instructs the second sub-drive signal generation unit 265 to generate the sub-drive signal SDRV.

[0034] For example, the first sub-drive signal generation unit 264 and the second sub-drive signal generation unit 265 are sine wave generators. The first sub-drive signal generation unit 264 generates a sub-drive signal SDRV of a sine wave for one period based on the instruction from the period counting unit 263 and outputs it to the synthesis unit 266. The second sub-drive signal generation unit 265 generates a sub-drive signal SDRV of a sine wave for one period based on the instruction from the period counting unit 263 and outputs it to the synthesis unit 266. Thereby, it is possible to suppress the sub-drive signal SDRV from being interrupted or changing abruptly at the switching point of the period of the sub-drive signal SDRV, and to generate a sub-drive signal SDRV that changes smoothly. Note that the first sub-drive signal generation unit 264 and the second sub-drive signal generation unit 265 may be cosine wave generators.

[0035] The synthesizing unit 266 synthesizes the sub-driving signal OSDRV of the odd-numbered period generated by the first sub-driving signal generating unit 264 and the sub-driving signal ESDRV of the even-numbered period generated by the second sub-driving signal generating unit 265, and outputs them to the output unit 252 as a train of the sub-driving signal SDRV. The output unit 252 outputs the main driving signal MDRV from the main driving signal generating unit 251 or the sub-driving signal SDRV from the sub-driving signal generating unit 260 to the driving unit 270 as the driving signal DRV.

[0036] When starting to generate the driving signal DRV, the driving signal generating unit 250 asserts the driving period signal DRVP, and when the detection signal DET becomes smaller than a certain amplitude, negates the driving period signal DRVP. For example, the amplitude of the detection signal DET for determining the negation of the driving signal DRVP may be set in the register unit 210. The driving period signal DRVP is output to the push-in detection unit 280. By generating the driving period signal DRVP, as will be described later, it is possible to prevent the push-in detection unit 280 from detecting a push-in operation when the touch panel 400 vibrates due to the driving of the electromagnetic actuator 300.

[0037] The driving unit 270 drives the electromagnetic actuator 300 in response to the driving signal DRV from the output unit 252. While the electromagnetic actuator 300 is being driven, the touch panel 400 moves toward the electromagnetic actuator 300 together with the strain detection sensor 500 according to the magnetic force generated by the coil 310 mounted on the electromagnetic actuator 300.

[0038] The depression detection unit 280 detects the vibration of the touch panel 400 based on the detection signal DDET indicating the amount of distortion detected by the distortion detection sensor 500. When the depression detection unit 280 detects a depression operation of the touch panel 400 based on the detected vibration, it outputs a depression signal PUSH to the microcomputer 600. For example, when the drive period signal DRVP is asserted, the depression detection unit 280 stops detecting the depression operation of the touch panel 400 based on the detection signal LPFDET. When the drive period signal DRVP is negated, the depression detection unit 280 detects the depression operation of the touch panel 400 based on the detection signal LPFDET from the detection signal processing unit 240. Here, the depression operation is detected based on the touch panel 400 being pressed by a user's finger or the like. For example, the depression detection unit 280 may generate a pulse signal by temporarily asserting the depression detection signal PUSH when it detects a depression operation.

[0039] In response to the assertion of the depression detection signal PUSH, the microcomputer 600 outputs a trigger signal TRG to the vibration presentation device 100. Note that the depression detection signal PUSH may be notified to the microcomputer 600 as an interrupt signal.

[0040] As described above, the vibration presentation device 100 generates a main drive signal MDRV based on the trigger signal TRG output from the microcomputer 600 by detecting a depression operation of the touch panel 400, and drives the electromagnetic actuator 300. Thereafter, the vibration presentation device 100 detects the amount of distortion (vibration) of the touch panel 400 by the main drive signal MDRV using the distortion detection sensor 500.

[0041] Then, the vibration presentation device 100 generates a sub-drive signal SDRV in response to the detection signal DET indicating the detected amount of distortion, and drives the electromagnetic actuator 300. The sub-drive signal SDRV has an amplitude corresponding to the amount of distortion indicated by the detection signal DET, and may be generated a plurality of times. Thereby, it is possible to give the user who operates the touch panel 400 a tactile sensation for each use of the touch panel 400.

[0042] (Transfer of Vibration Data from the Control Device to the Microcomputer) FIG. 3 is a timing diagram showing an example of transferring vibration data VDT from the control device 200 in FIG. 2 to the microcomputer 600. FIG. 3(A) shows an example where the frequency at which the microcomputer 600 reads the vibration data VDT from the register unit 210 is about the same as the frequency at which the demodulation unit 230 stores the vibration data VDT in the register unit 210. FIG. 3(B) shows an example where the frequency at which the microcomputer 600 reads the vibration data VDT from the register unit 210 is lower than the frequency at which the demodulation unit 230 stores the vibration data VDT in the register unit 210. FIG. 3(C) shows an example where the frequency at which the microcomputer 600 reads the vibration data VDT from the register unit 210 is even lower than the frequency at which the demodulation unit 230 stores the vibration data VDT in the register unit 210.

[0043] The frequency at which the microcomputer 600 reads the vibration data VDT from the register unit 210 becomes lower, for example, when the communication speed of the communication interface (in this example, the I2C interface) connecting the vibration presentation device 100 and the microcomputer 600 is low. Also, the frequency at which the microcomputer 600 reads the vibration data VDT from the register unit 210 becomes lower, for example, when the analysis speed of the vibration data VDT by the microcomputer 600 is low.

[0044] In FIG. 3, the write signal REGWR is output from the demodulation unit 230 to the register unit 210. The vibration data VDT (VDT1, VDT2, VDT3, VDT4, VDT5) is the signal value indicated by the detection signal DET0. The read request REQ is output from the demodulation unit 230 to the microcomputer 600. The data line REGDT is connected between the register unit 210 and the microcomputer 600 and is used for transferring information.

[0045] In FIGS. 3(A) to 3(C), the demodulation unit 230 outputs a write signal REGWR to the register unit 210 together with the vibration data VDT to be stored in the register unit 210 (FIGS. 3(a1), (b1), (c1)). After storing the vibration data VDT in the register unit 210 in synchronization with the write signal REGWR, the demodulation unit 230 asserts a read request REQ to the microcomputer 600 via the register of the register unit 210 (FIGS. 3(a2), (b2), (c2)).

[0046] In response to the assertion of the read request REQ, the microcomputer 600 outputs the address AD of the register unit 210 in which the vibration data VDT is stored to the register unit 210 via the data line REGDT (FIGS. 3(a3), (b3), (c3)). Then, the microcomputer 600 reads out the vibration data VDT held in the register unit 210 via the data line REGDT (FIGS. 3(a4), (b4), (c4)).

[0047] After reading out the vibration data VDT from the register unit 210, the microcomputer 600 outputs a clear notification CLR indicating the completion of the readout of the vibration data VDT to the register unit 210 via the data line REGDT (FIGS. 3(a5), (b5), (c5)). In response to the reception of the clear notification CLR, the register unit 210 negates the read request REQ (FIGS. 3(a6), (b6), (c6)). Thereafter, in response to the storage of new vibration data VDT in the register in synchronization with the write signal REGWR, the register unit 210 outputs a read request RREQ to the microcomputer 600 (FIGS. 3(a7), (b7), (c7)).

[0048] In FIG. 3(A), the microcomputer 600 can read out the vibration data VDT every time the vibration data VDT is output from the demodulation unit 230, and the learning (tuning of the drive signal DRV) of the vibration presentation device 100 can be normally performed.

[0049] In FIG. 3(B), before the clear notification CLR for the vibration data VDT1 reaches the register unit 210, the demodulation unit 230 stores the next vibration data VDT2 in the register unit 210. Therefore, the register unit 210 cannot assert a read request RREQ for the vibration data VDT2 corresponding to the write signal REGWR, and the microcomputer 600 cannot read the vibration data VDT2. Since the vibration data VDT2 and VDT4 are missing, the microcomputer 600 cannot normally perform the learning of the vibration presentation device 100.

[0050] In FIG. 3(C), while the microcomputer 600 is reading the vibration data VDT1, the demodulation unit 230 stores the next vibration data VDT2 in the register unit 210. Therefore, the microcomputer 600 receives, for example, incorrect vibration data in which the vibration data VDT1 and VDT2 are mixed. When receiving the incorrect vibration data, the microcomputer 600 cannot perform the learning of the vibration presentation device 100.

[0051] (Block diagram of a vibration presentation device according to an embodiment) FIG. 4 is a block diagram showing an example of a vibration presentation device 100A having a control device 200A according to an embodiment of the present invention. For elements similar to those in FIG. 2, the same reference numerals are given, and detailed descriptions are omitted. The appearance and structure of the vibration presentation device 100A shown in FIG. 4 are the same as those of the vibration presentation device 100 in FIG. 1. The vibration presentation device 100A may operate with power supplied from a battery.

[0052] The vibration presentation device 100A shown in FIG. 4 has the same configuration as the vibration presentation device 100 in FIG. 2, except that it has a control device 200A instead of the control device 200 in FIG. 2. For example, the control device 200A is manufactured as a semiconductor chip and mounted on a substrate (not shown) mounted on the vibration presentation device 100A. Note that the control device 200A operates in synchronization with a clock signal, but the description of the clock signal is omitted.

[0053] The control device 200A has a register section 210A instead of the register section 210 of the control device 200 in FIG. 2, and further has a data storage section 290A, and has the same configuration as the control device 200 in FIG. 2 except for this.

[0054] The data storage section 290A has a FIFO (First-In First-Out) type buffer 292A that sequentially holds the values of the detection signal DET0 output from the demodulation section 230 (that is, vibration data VDT). For example, every time the buffer 292A holds four vibration data VDTs stored sequentially, the four held vibration data VDTs are output to the register section 210A in parallel as output data DOUT. Four registers with consecutive addresses for holding the four vibration data VDTs included in the output data DOUT are assigned to the register section 210A. Note that the number of vibration data VDTs held by the buffer 292A is not limited to four, and may be a plurality (n: n is an integer of 2 or more).

[0055] (Transfer of vibration data from the control device to the microcomputer) FIG. 5 is a timing diagram showing an example of transferring vibration data VDT from the control device 200A in FIG. 4 to the microcomputer 600. Detailed description of the same operations as in FIG. 3 is omitted. Assume that the microcomputer 600 used in the operation shown in FIG. 5 can transmit and receive data on the data line REGDT at the same timing as in FIG. 3(C). For example, the microcomputer 600 can transmit and receive approximately two data every output cycle of the write signal REGWR from the demodulation section 230 to the register section 210.

[0056] In FIG. 5, the vibration data VDT (VDT1 - VDT10) output from the demodulation unit 230 is sequentially stored in the buffer 292A of the data storage unit 290A (FIGS. 5(a)-(j)). The buffer 292A holds the latest four vibration data VDT. Each time the latest four vibration data VDT are held in the buffer 292A, the data storage unit 290A transfers the four held vibration data VDT to the register unit 210A as output data DOUT (FIGS. 5(k), (l)). In other words, each time the four vibration data VDT held in the buffer 292A are replaced, the data storage unit 290A stores the four vibration data VDT held in the buffer 292A in the register unit 210A.

[0057] In response to receiving the output data DOUT from the data storage unit 290A, the register unit 210A asserts a read request RREQ to the microcomputer 600 (FIG. 5(m)). In response to the assertion of the read request REQ, the microcomputer 600 outputs the starting address AD of the register in the register unit 210 where the vibration data VDT is stored to the register unit 210 via the data line REGDT (FIG. 5(n)).

[0058] The register unit 210 sequentially transfers the vibration data VDT held in the four registers starting from the starting address AD to the microcomputer 600 via the data line REGDT, and the microcomputer 600 sequentially acquires the transferred vibration data VDT (FIGS. 5(o), (p), (q), (r)). In this embodiment, the register unit 210A negates the read request REQ in response to the completion of the transfer of the four vibration data VDT to the microcomputer 600 (FIG. 5(s)). Therefore, the output of the clear notification CLR from the microcomputer 600 to the register unit 210A shown in FIG. 3 is unnecessary.

[0059] The time t2 from when the register unit 210 outputs (asserts) a read request RREQ until four vibration data are read by the microcomputer 600 is shorter than the time t1 until the four vibration data VDT are stored in the buffer 292A from the demodulation unit 230. Thereby, even when the analysis speed of the vibration data VDT by the microcomputer 600 is low, all the vibration data VDT output from the demodulation unit 230 can be transferred to the microcomputer 600.

[0060] As shown in FIG. 5, by transferring four vibration data VDT to the microcomputer 600 in response to one read request signal REQ, the transfer time per vibration data VDT can be shortened compared to FIG. 3. Note that, the larger the number of vibration data VDT held by the buffer 292A, the shorter the transfer time per vibration data VDT can be.

[0061] Also, since it is not necessary to output a clear notification CLR from the microcomputer 600 to the register unit 210A, the transfer time per vibration data VDT can be further shortened. As a result, for example, even when the processing performance of the microcomputer 600 is low, all the vibration data VDT output from the demodulation unit 230 can be transferred to the microcomputer 600.

[0062] As described above, in this embodiment, by collectively transferring a plurality of vibration data VDT to the microcomputer 600, all the vibration data VDT output from the demodulation unit 230 can be transferred to the microcomputer 600. Thereby, the omission of the vibration data VDT and the transfer of incorrect vibration data VDT shown in FIG. 3 can be suppressed, and the microcomputer 600 can normally perform the learning of the vibration presentation device 100.

[0063] Therefore, it is possible to suppress the difference in the behavior of the vibration of the touch panel 400 due to the variation in the natural frequencies of the touch panel 400 and the electromagnetic actuator 300 for each vibration presentation device 100. As a result, even when there is a variation in the natural frequencies of the touch panel 400 and the electromagnetic actuator 300, it is possible to suppress the transmission of a vibration that gives an uncomfortable feeling to the user pressing the touch panel 400.

[0064] Furthermore, since it is not necessary to output a clear notification CLR from the microcomputer 600 when the reading of the vibration data VDT is completed, it is possible to suppress the omission of the vibration data VDT even when the analysis speed of the microcomputer 600 is low.

[0065] As described above, the present invention has been described based on each embodiment, but the present invention is not limited to the requirements shown in the above embodiments. Regarding these points, it can be changed within a range that does not deviate from the gist of the present invention, and can be appropriately determined according to the application form. For example, instead of the strain detection sensor 500, another sensor capable of detecting the displacement of the touch panel 400, such as an acceleration sensor, may be used.

Explanation of Reference Numerals

[0066] 10 System 100, 100A Vibration Presentation Device 200, 200A Control Device 210, 210A Register Unit 220 Analog Front End 221 Offset Cancellation Unit 222 Programmable Gain Amplifier 223 Delta Sigma ADC 230 Demodulation Unit 240 Detection Signal Processing Unit 241 Low Pass Filter 242 High Pass Filter 250, 250A Drive Signal Generation Unit 251 Main Drive Signal Generation Unit 252 Output Unit 260 Sub-drive signal generation unit 270 Drive unit 280 Depression detection unit 290A Data storage unit 292A Buffer 300 Electromagnetic actuator 310 Coil 400 Touch panel 500 Strain detection sensor 600 Microcomputer AD Address CLR Clear notification DDET Detection signal DET, DET0 Detection signal DRV Drive signal DRVP Drive period signal DT Serial data signal ESDRV Sub-drive signal LPFDET Detection signal MDRV Main drive signal OSDRV Sub-drive signal PUSH Depression detection signal REGDT Data line REGWR Write signal RREQ Read request SDRV Sub-drive signal TRG Trigger signal VDT Vibration data

Claims

1. A control device for controlling an actuator that applies vibration to the operating device based on the operation of the operating device, comprising: a register unit accessible from an external device disposed outside; a conversion unit that periodically converts a detection signal output from a sensor that detects displacement of the operating device due to pressing or vibration of the operating device into a first digital signal; a buffer in which the latest n (n is an integer of 2 or more) pieces of vibration data among the vibration data indicated by the first digital signal converted by the conversion unit are sequentially stored, and each time the n pieces of vibration data held in the buffer are replaced, a data storage unit that stores the n pieces of vibration data held in the buffer in the register unit; The register unit outputs a read request to the external device each time the n pieces of vibration data are stored, and waits for the next n pieces of latest vibration data to be stored after the n pieces of vibration data are sequentially read by the external device Control device.

2. The time from the output of the read request until the n pieces of vibration data are read by the external device is shorter than the time from when the n pieces of vibration data are stored in the buffer from the conversion unit. The control device according to claim 1.

3. The register unit asserts a read request to the external device each time the n pieces of vibration data are stored, and negates the read request in response to the n pieces of vibration data being read by the external device. The control device according to claim 1 or claim 2.

4. An operating device; an actuator that applies vibration to the operating device based on the operation of the operating device; A vibration presentation device having a control device for controlling the actuator, wherein the control device has a register unit accessible from an external device disposed outside; a conversion unit that periodically converts a detection signal output from a sensor that detects displacement of the operating device due to pressing or vibration of the operating device into a first digital signal; a buffer in which the latest n (n is an integer of 2 or more) pieces of vibration data among the vibration data indicated by the first digital signal converted by the conversion unit are sequentially stored, and each time the n pieces of vibration data held in the buffer are replaced, a data storage unit that stores the n pieces of vibration data held in the buffer in the register unit; Each time the n vibration data are stored, the register unit outputs a read request to the external device, and after the n vibration data are sequentially read by the external device, it waits for the next n pieces of latest vibration data to be stored. Vibration presentation device.

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