Send 50% duty cycle from the processor to the DRV8662 input filter. This is to allow the source and input filter to settle before the DRV8662 is fully enabled. At the same time (or on the next available processor cycle), transition the DRV8662 enable pin from logic low to logic high.
Wait 2 ms to ensure that the DRV8662 circuitry is fully enabled and settled.
Begin and complete playback of the haptic waveform. The haptic waveform PWM should end with a 50% duty cycle to bring the differential output back to 0 V.
Transition the DRV8662 enable pin from high to low and power down the PWM source.