Integrated driver and controller for haptic engine

An integrated circuit (IC) chip for driving a mass of a linear resonant actuator using low-latency closed-loop control, the IC chip comprising:

• an output driving port to couple the IC circuit with one or more coils of the LRA;
• class-D amplifier circuitry configured to provide, through the output driving port to the one or more coils of the LRA, an analog driving signal, which has a pulse-width modulation configured to control a position of the mass as a function of time;
• an input sensing port to couple the IC circuit with one or more position sensors of the LRA;
• and
• class-D controller circuitry programmable to
• process at least (i) a digital position-monitoring signal relating to position-monitoring information, which is received through the input sensing port from the one or more position sensors of the LRA and corresponds to the mass position, and (ii) a digital drive-monitoring signal relating to the analog driving signal, to obtain a digital driving signal, and
• provide the digital driving signal to the class-D amplifier circuitry,
• wherein the class-D amplifier circuit is configured to amplify the digital driving signal to obtain the analog driving signal.