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40: Haptics Control ​

Control the haptics The first haptics action after power-on will also result in the haptics driver being initialized, leading to a calibration. If Header Duration is provided, haptics are run in DRV2605 RTP (Real Time Playback) continuous mode and automatically stopped after the specified timeout. Parameter combinations are strict: - Pattern + Intensity (optional Duration) is valid. - Driver Pattern by itself is valid. (duration is defined by the pattern and cannot be overridden) - Driver Pattern cannot be combined with Pattern, Intensity, or Duration.

FieldNameDescriptionType
5MethodRequest a service to be perform an action
Possible values:
  • 1: SET— Set one or more values that are provided in the message payload.
  • 2: GET— Get values for the associated message type.
  • 3: SUBSCRIBE— Subscribe to values for the associated message type. Can be used in conjunction with other header fields to define the subscription parameters, such as Interval, Duration, Timeout, Storage Level and Message Level. If no interval is provided, messages will be sent as and when new data is available. Some data, such as GPS position, may require a set interval to be provided.
  • 5: UNSUBSCRIBE— Unsubscribe from a previous subscription.
uint8
7DurationTo be used with the SUBSCRIBE method, or actions that can be timed.

When used with a timed action:
This defines how long the action should go on for.

When used with the SUBSCRIBE method:
This defines a duration to keep the subscription active for.
A value of 0 means the subscription is indefinite until explicitly unsubscribed.
A message with an EXPIRED status code will be sent if the subscription duration elapses without being renewed with a new subscription request.
uint32
This is an extract of header fields that are relevant to this message type, you can find them all documented in the Headers section.

Payload ​

FieldNameDescriptionTypeUnit
1PatternPattern of haptics [1-3]
Possible values:
  • 1: Fade— Default
  • 2: Pulse
  • 3: Drop
uint8
2IntensityIntensity of haptics [0-2]
Possible values:
  • 0: Low
  • 1: Medium
  • 2: High
uint8
3Driver PatternDirect DRV2605 ROM effect index [1-123].
Must be sent on its own (without Pattern, Intensity, or Header Duration).

Possible values:
  • 1: Strong Click - 100%
  • 2: Strong Click - 60%
  • 3: Strong Click - 30%
  • 4: Sharp Click - 100%
  • 5: Sharp Click - 60%
  • 6: Sharp Click - 30%
  • 7: Soft Bump - 100%
  • 8: Soft Bump - 60%
  • 9: Soft Bump - 30%
  • 10: Double Click - 100%
  • 11: Double Click - 60%
  • 12: Triple Click - 100%
  • 13: Soft Fuzz - 60%
  • 14: Strong Buzz - 100%
  • 15: 750ms Alert - 100%
  • 16: 1000ms Alert - 100%
  • 17: Strong Click 1 - 100%
  • 18: Strong Click 2 - 80%
  • 19: Strong Click 3 - 60%
  • 20: Strong Click 4 - 30%
  • 21: Medium Click 1 - 100%
  • 22: Medium Click 2 - 80%
  • 23: Medium Click 3 - 60%
  • 24: Sharp Tick 1 - 100%
  • 25: Sharp Tick 2 - 80%
  • 26: Sharp Tick 3 - 60%
  • 27: Short Double Click Strong 1 - 100%
  • 28: Short Double Click Strong 2 - 80%
  • 29: Short Double Click Strong 3 - 60%
  • 30: Short Double Click Strong 4 - 30%
  • 31: Short Double Click Medium 1 - 100%
  • 32: Short Double Click Medium 2 - 80%
  • 33: Short Double Click Medium 3 - 60%
  • 34: Short Double Sharp Tick 1 - 100%
  • 35: Short Double Sharp Tick 2 - 80%
  • 36: Short Double Sharp Tick 3 - 60%
  • 37: Long Double Sharp Click Strong 1 - 100%
  • 38: Long Double Sharp Click Strong 2 - 80%
  • 39: Long Double Sharp Click Strong 3 - 60%
  • 40: Long Double Sharp Click Strong 4 - 30%
  • 41: Long Double Sharp Click Medium 1 - 100%
  • 42: Long Double Sharp Click Medium 2 - 80%
  • 43: Long Double Sharp Click Medium 3 - 60%
  • 44: Long Double Sharp Tick 1 - 100%
  • 45: Long Double Sharp Tick 2 - 80%
  • 46: Long Double Sharp Tick 3 - 60%
  • 47: Buzz 1 - 100%
  • 48: Buzz 2 - 80%
  • 49: Buzz 3 - 60%
  • 50: Buzz 4 - 40%
  • 51: Buzz 5 - 20%
  • 52: Pulsing Strong 1 - 100%
  • 53: Pulsing Strong 2 - 60%
  • 54: Pulsing Medium 1 - 100%
  • 55: Pulsing Medium 2 - 60%
  • 56: Pulsing Sharp 1 - 100%
  • 57: Pulsing Sharp 2 - 60%
  • 58: Transition Click 1 - 100%
  • 59: Transition Click 2 - 80%
  • 60: Transition Click 3 - 60%
  • 61: Transition Click 4 - 40%
  • 62: Transition Click 5 - 20%
  • 63: Transition Click 6 - 10%
  • 64: Transition Hum 1 - 100%
  • 65: Transition Hum 2 - 80%
  • 66: Transition Hum 3 - 60%
  • 67: Transition Hum 4 - 40%
  • 68: Transition Hum 5 - 20%
  • 69: Transition Hum 6 - 10%
  • 70: Transition Ramp Down Long Smooth 1 - 100 to 0%
  • 71: Transition Ramp Down Long Smooth 2 - 100 to 0%
  • 72: Transition Ramp Down Medium Smooth 1 - 100 to 0%
  • 73: Transition Ramp Down Medium Smooth 2 - 100 to 0%
  • 74: Transition Ramp Down Short Smooth 1 - 100 to 0%
  • 75: Transition Ramp Down Short Smooth 2 - 100 to 0%
  • 76: Transition Ramp Down Long Sharp 1 - 100 to 0%
  • 77: Transition Ramp Down Long Sharp 2 - 100 to 0%
  • 78: Transition Ramp Down Medium Sharp 1 - 100 to 0%
  • 79: Transition Ramp Down Medium Sharp 2 - 100 to 0%
  • 80: Transition Ramp Down Short Sharp 1 - 100 to 0%
  • 81: Transition Ramp Down Short Sharp 2 - 100 to 0%
  • 82: Transition Ramp Up Long Smooth 1 - 0 to 100%
  • 83: Transition Ramp Up Long Smooth 2 - 0 to 100%
  • 84: Transition Ramp Up Medium Smooth 1 - 0 to 100%
  • 85: Transition Ramp Up Medium Smooth 2 - 0 to 100%
  • 86: Transition Ramp Up Short Smooth 1 - 0 to 100%
  • 87: Transition Ramp Up Short Smooth 2 - 0 to 100%
  • 88: Transition Ramp Up Long Sharp 1 - 0 to 100%
  • 89: Transition Ramp Up Long Sharp 2 - 0 to 100%
  • 90: Transition Ramp Up Medium Sharp 1 - 0 to 100%
  • 91: Transition Ramp Up Medium Sharp 2 - 0 to 100%
  • 92: Transition Ramp Up Short Sharp 1 - 0 to 100%
  • 93: Transition Ramp Up Short Sharp 2 - 0 to 100%
  • 94: Transition Ramp Down Long Smooth 1 - 50 to 0%
  • 95: Transition Ramp Down Long Smooth 2 - 50 to 0%
  • 96: Transition Ramp Down Medium Smooth 1 - 50 to 0%
  • 97: Transition Ramp Down Medium Smooth 2 - 50 to 0%
  • 98: Transition Ramp Down Short Smooth 1 - 50 to 0%
  • 99: Transition Ramp Down Short Smooth 2 - 50 to 0%
  • 100: Transition Ramp Down Long Sharp 1 - 50 to 0%
  • 101: Transition Ramp Down Long Sharp 2 - 50 to 0%
  • 102: Transition Ramp Down Medium Sharp 1 - 50 to 0%
  • 103: Transition Ramp Down Medium Sharp 2 - 50 to 0%
  • 104: Transition Ramp Down Short Sharp 1 - 50 to 0%
  • 105: Transition Ramp Down Short Sharp 2 - 50 to 0%
  • 106: Transition Ramp Up Long Smooth 1 - 0 to 50%
  • 107: Transition Ramp Up Long Smooth 2 - 0 to 50%
  • 108: Transition Ramp Up Medium Smooth 1 - 0 to 50%
  • 109: Transition Ramp Up Medium Smooth 2 - 0 to 50%
  • 110: Transition Ramp Up Short Smooth 1 - 0 to 50%
  • 111: Transition Ramp Up Short Smooth 2 - 0 to 50%
  • 112: Transition Ramp Up Long Sharp 1 - 0 to 50%
  • 113: Transition Ramp Up Long Sharp 2 - 0 to 50%
  • 114: Transition Ramp Up Medium Sharp 1 - 0 to 50%
  • 115: Transition Ramp Up Medium Sharp 2 - 0 to 50%
  • 116: Transition Ramp Up Short Sharp 1 - 0 to 50%
  • 117: Transition Ramp Up Short Sharp 2 - 0 to 50%
  • 118: Long buzz for programmatic stopping - 100%
  • 119: Smooth Hum 1 (No kick or brake pulse) - 50%
  • 120: Smooth Hum 2 (No kick or brake pulse) - 40%
  • 121: Smooth Hum 3 (No kick or brake pulse) - 30%
  • 122: Smooth Hum 4 (No kick or brake pulse) - 20%
  • 123: Smooth Hum 5 (No kick or brake pulse) - 10%
uint8

Examples ​

Medium intensity fade
Protocol
03
3
Length
2300
23 bytes
Type
4000
40 (Haptics Control)
Header Count
0100
1
Header Types
01
1
Message ID
0457000000
57
Payload Count
0200
2
Payload Types
0102
1, 2
Pattern
0101
1 (Fade)
Intensity
0101
1 (Medium)
Checksum
21242
61973
📡 Real example from RH2 ESP32 Toit on 2025-10-14This example is captured from an RH2 device as part of normal communications over I2C with the ESP32 co-processor, where Toit on the ESP32 made the request.
Medium intensity pulse
Protocol
03
3
Length
2300
23 bytes
Type
4000
40 (Haptics Control)
Header Count
0100
1
Header Types
01
1
Message ID
0461000000
61
Payload Count
0200
2
Payload Types
0102
1, 2
Pattern
0102
2 (Pulse)
Intensity
0101
1 (Medium)
Checksum
145166
42641
📡 Real example from RH2 ESP32 Toit on 2025-10-14This example is captured from an RH2 device as part of normal communications over I2C with the ESP32 co-processor, where Toit on the ESP32 made the request.
Mediaum intensity drop
Protocol
03
3
Length
2300
23 bytes
Type
4000
40 (Haptics Control)
Header Count
0100
1
Header Types
01
1
Message ID
0465000000
65
Payload Count
0200
2
Payload Types
0102
1, 2
Pattern
0103
3 (Drop)
Intensity
0101
1 (Medium)
Checksum
10903
877
📡 Real example from RH2 ESP32 Toit on 2025-10-14This example is captured from an RH2 device as part of normal communications over I2C with the ESP32 co-processor, where Toit on the ESP32 made the request.

Code ​

For convenience, the following constants can be used to reference this message type.