/** * @file SparkFun_APDS-9960.h * @brief Library fo...
/**
* @file SparkFun_APDS-9960.h
* @brief Library for the SparkFun APDS-9960 breakout board
* @author Shawn Hymel (SparkFun Electronics)
*
* @copyright This code is public domain but you buy me a beer if you use
* this and we meet someday (Beerware license).
*
* This library interfaces the Avago APDS-9960 to Arduino over I2C. The library
* relies on the Arduino Wire (I2C) library. to use the library, instantiate an
* APDS9960 object, call init(), and call the appropriate functions.
*/
#ifndef SparkFun_APDS9960_H
#define SparkFun_APDS9960_H
#include <stdbool.h>
#include "stm32f10x.h"
/* Debug */
#define DEBUG 0
/* APDS-9960 I2C address */
#define APDS9960_I2C_ADDR 0x39
/* Gesture parameters */
#define GESTURE_THRESHOLD_OUT 10
#define GESTURE_SENSITIVITY_1 50
#define GESTURE_SENSITIVITY_2 20
/* Error code for returned values */
#define ERROR 0xFF
/* Acceptable device IDs */
#define APDS9960_ID_1 0xAB
#define APDS9960_ID_2 0x9C
/* Misc parameters */
#define FIFO_PAUSE_TIME 30 // Wait period (ms) between FIFO reads
/* APDS-9960 register addresses */
#define APDS9960_ENABLE 0x80
#define APDS9960_ATIME 0x81
#define APDS9960_WTIME 0x83
#define APDS9960_AILTL 0x84
#define APDS9960_AILTH 0x85
#define APDS9960_AIHTL 0x86
#define APDS9960_AIHTH 0x87
#define APDS9960_PILT 0x89
#define APDS9960_PIHT 0x8B
#define APDS9960_PERS 0x8C
#define APDS9960_CONFIG1 0x8D
#define APDS9960_PPULSE 0x8E
#define APDS9960_CONTROL 0x8F
#define APDS9960_CONFIG2 0x90
#define APDS9960_ID 0x92
#define APDS9960_STATUS 0x93
#define APDS9960_CDATAL 0x94
#define APDS9960_CDATAH 0x95
#define APDS9960_RDATAL 0x96
#define APDS9960_RDATAH 0x97
#define APDS9960_GDATAL 0x98
#define APDS9960_GDATAH 0x99
#define APDS9960_BDATAL 0x9A
#define APDS9960_BDATAH 0x9B
#define APDS9960_PDATA 0x9C
#define APDS9960_POFFSET_UR 0x9D
#define APDS9960_POFFSET_DL 0x9E
#define APDS9960_CONFIG3 0x9F
#define APDS9960_GPENTH 0xA0
#define APDS9960_GEXTH 0xA1
#define APDS9960_GCONF1 0xA2
#define APDS9960_GCONF2 0xA3
#define APDS9960_GOFFSET_U 0xA4
#define APDS9960_GOFFSET_D 0xA5
#define APDS9960_GOFFSET_L 0xA7
#define APDS9960_GOFFSET_R 0xA9
#define APDS9960_GPULSE 0xA6
#define APDS9960_GCONF3 0xAA
#define APDS9960_GCONF4 0xAB
#define APDS9960_GFLVL 0xAE
#define APDS9960_GSTATUS 0xAF
#define APDS9960_IFORCE 0xE4
#define APDS9960_PICLEAR 0xE5
#define APDS9960_CICLEAR 0xE6
#define APDS9960_AICLEAR 0xE7
#define APDS9960_GFIFO_U 0xFC
#define APDS9960_GFIFO_D 0xFD
#define APDS9960_GFIFO_L 0xFE
#define APDS9960_GFIFO_R 0xFF
/* Bit fields */
#define APDS9960_PON 00000001
#define APDS9960_AEN 00000010
#define APDS9960_PEN 00000100
#define APDS9960_WEN 00001000
#define APSD9960_AIEN 00010000
#define APDS9960_PIEN 00100000
#define APDS9960_GEN 01000000
#define APDS9960_GVALID 00000001
/* On/Off definitions */
#define OFF 0
#define ON 1
/* Acceptable parameters for setMode */
#define POWER 0
#define AMBIENT_LIGHT 1
#define PROXIMITY 2
#define WAIT 3
#define AMBIENT_LIGHT_INT 4
#define PROXIMITY_INT 5
#define GESTURE 6
#define ALL 7
/* LED Drive values */
#define LED_DRIVE_100MA 0
#define LED_DRIVE_50MA 1
#define LED_DRIVE_25MA 2
#define LED_DRIVE_12_5MA 3
/* Proximity Gain (PGAIN) values */
#define PGAIN_1X 0
#define PGAIN_2X 1
#define PGAIN_4X 2
#define PGAIN_8X 3
/* ALS Gain (AGAIN) values */
#define AGAIN_1X 0
#define AGAIN_4X 1
#define AGAIN_16X 2
#define AGAIN_64X 3
/* Gesture Gain (GGAIN) values */
#define GGAIN_1X 0
#define GGAIN_2X 1
#define GGAIN_4X 2
#define GGAIN_8X 3
/* LED Boost values */
#define LED_BOOST_100 0
#define LED_BOOST_150 1
#define LED_BOOST_200 2
#define LED_BOOST_300 3
/* Gesture wait time values */
#define GWTIME_0MS 0
#define GWTIME_2_8MS 1
#define GWTIME_5_6MS 2
#define GWTIME_8_4MS 3
#define GWTIME_14_0MS 4
#define GWTIME_22_4MS 5
#define GWTIME_30_8MS 6
#define GWTIME_39_2MS 7
/* Default values */
#define DEFAULT_ATIME 219 // 103ms
#define DEFAULT_WTIME 246 // 27ms
#define DEFAULT_PROX_PPULSE 0x87 // 16us, 8 pulses
#define DEFAULT_GESTURE_PPULSE 0x89 // 16us, 10 pulses
#define DEFAULT_POFFSET_UR 0 // 0 offset
#define DEFAULT_POFFSET_DL 0 // 0 offset
#define DEFAULT_CONFIG1 0x60 // No 12x wait (WTIME) factor
#define DEFAULT_LDRIVE LED_DRIVE_100MA
#define DEFAULT_PGAIN PGAIN_4X
#define DEFAULT_AGAIN AGAIN_4X
#define DEFAULT_PILT 0 // Low proximity threshold
#define DEFAULT_PIHT 50 // High proximity threshold
#define DEFAULT_AILT 0xFFFF // Force interrupt for calibration
#define DEFAULT_AIHT 0
#define DEFAULT_PERS 0x11 // 2 consecutive prox or ALS for int.
#define DEFAULT_CONFIG2 0x01 // No saturation interrupts or LED boost
#define DEFAULT_CONFIG3 0 // Enable all photodiodes, no SAI
#define DEFAULT_GPENTH 40 // Threshold for entering gesture mode
#define DEFAULT_GEXTH 30 // Threshold for exiting gesture mode
#define DEFAULT_GCONF1 0x40 // 4 gesture events for int., 1 for exit
#define DEFAULT_GGAIN GGAIN_4X
#define DEFAULT_GLDRIVE LED_DRIVE_100MA
#define DEFAULT_GWTIME GWTIME_2_8MS
#define DEFAULT_GOFFSET 0 // No offset scaling for gesture mode
#define DEFAULT_GPULSE 0xC9 // 32us, 10 pulses
#define DEFAULT_GCONF3 0 // All photodiodes active during gesture
#define DEFAULT_GIEN 0 // Disable gesture interrupts
/* Direction definitions */
enum {
DIR_NONE,
DIR_LEFT,
DIR_RIGHT,
DIR_UP,
DIR_DOWN,
DIR_NEAR,
DIR_FAR,
DIR_ALL
};
/* State definitions */
enum {
NA_STATE,
NEAR_STATE,
FAR_STATE,
ALL_STATE
};
/* APDS9960 */
/* Initialization methods */
void SparkFun_APDS9960(void);
bool SparkFun_APDS9960_init(void);
uint8_t getMode(void);
bool setMode(int8_t mode, uint8_t enable);
/* Turn the APDS-9960 on and off */
bool enablePower(void);
bool disablePower(void);
bool enableGestureSensor(bool interrupts);
/* LED drive strength control */
bool setGestureLEDDrive(uint8_t drive);
/* Gain control */
bool setGestureGain(uint8_t gain);
/* Get and set interrupt enables */
bool setGestureIntEnable(uint8_t enable);
/* Gesture methods */
bool isGestureAvailable(void);
int readGesture(void);
/* Gesture processing */
void resetGestureParameters(void);
bool processGestureData(void);
bool decodeGesture(void);
/* LED Boost Control */
bool setLEDBoost(uint8_t boost);
/* Gesture threshold control */
bool setGestureEnterThresh(uint8_t threshold);
bool setGestureExitThresh(uint8_t threshold);
/* Gesture LED, gain, and time control */
bool setGestureWaitTime(uint8_t time);
/* Gesture mode */
bool setGestureMode(uint8_t mode);
/* Raw I2C Commands */
bool wireWriteDataByte(uint8_t reg, uint8_t val);
bool wireReadDataByte(uint8_t reg, uint8_t *val);
int wireReadDataBlock(uint8_t reg, uint8_t *val, unsigned int len);
#endif
/**
* @file SparkFun_APDS-9960.cpp
* @brief Library for the SparkFun APDS-9960 breakout board
* @author Shawn Hymel (SparkFun Electronics)
*
* @copyright This code is public domain but you buy me a beer if you use
* this and we meet someday (Beerware license).
*
* This library interfaces the Avago APDS-9960 to Arduino over I2C. The library
* relies on the Arduino Wire (I2C) library. to use the library, instantiate an
* APDS9960 object, call init(), and call the appropriate functions.
*
* APDS-9960 current draw tests (default parameters):
* Off: 1mA
* Waiting for gesture: 14mA
* Gesture in progress: 35mA
*/
#include <math.h>
#include <stdbool.h>
#include "APDS_9960.h"
#include "delay.h"
#include "myiic.h"
#include "LED.h"
#include "usart.h"
extern int abs(int __x);
void Wire_begin_(void);
/* Container for gesture data */
typedef struct gesture_data_type {
uint8_t u_data[32];
uint8_t d_data[32];
uint8_t l_data[32];
uint8_t r_data[32];
uint8_t index;
uint8_t total_gestures;
uint8_t in_threshold;
uint8_t out_threshold;
} gesture_data_type;
/* Members */
gesture_data_type gesture_data_;
int gesture_ud_delta_;
int gesture_lr_delta_;
int gesture_ud_count_;
int gesture_lr_count_;
int gesture_near_count_;
int gesture_far_count_;
int gesture_state_;
int gesture_motion_;
/**
* @brief Constructor - Instantiates SparkFun_APDS9960 object
*/
void SparkFun_APDS9960(void)
{
gesture_ud_delta_ = 0;
gesture_lr_delta_ = 0;
gesture_ud_count_ = 0;
gesture_lr_count_ = 0;
gesture_near_count_ = 0;
gesture_far_count_ = 0;
gesture_state_ = 0;
gesture_motion_ = DIR_NONE;
}
/**
* @brief Configures I2C communications and initializes registers to defaults
*
* @return True if initialized successfully. False otherwise.
*/
bool SparkFun_APDS9960_init(void)
{
uint8_t id,*pid;
/* Initialize I2C */
Wire_begin_();
/* Read ID register and check against known values for APDS-9960 */
if( !wireReadDataByte(APDS9960_ID, pid) )
{
return false;
}
id=*pid;
if( !((id == APDS9960_ID_1 || id == APDS9960_ID_2)) )
{
return false;
}
/* Set ENABLE register to 0 (disable all features) */
if( !setMode(ALL, OFF) )
{
return false;
}
/* Set default values for gesture sense registers */
if( !setGestureEnterThresh(DEFAULT_GPENTH) ) {
return false;
}
if( !setGestureExitThresh(DEFAULT_GEXTH) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GCONF1, DEFAULT_GCONF1) ) {
return false;
}
if( !setGestureGain(DEFAULT_GGAIN) ) {
return false;
}
if( !setGestureLEDDrive(DEFAULT_GLDRIVE) ) {
return false;
}
if( !setGestureWaitTime(DEFAULT_GWTIME) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GOFFSET_U, DEFAULT_GOFFSET) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GOFFSET_D, DEFAULT_GOFFSET) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GOFFSET_L, DEFAULT_GOFFSET) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GOFFSET_R, DEFAULT_GOFFSET) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GPULSE, DEFAULT_GPULSE) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GCONF3, DEFAULT_GCONF3) ) {
return false;
}
if( !setGestureIntEnable(DEFAULT_GIEN) ) {
return false;
}
return true;
}
/*******************************************************************************
* Public methods for controlling the APDS-9960
******************************************************************************/
/**
* @brief Reads and returns the contents of the ENABLE register
*
* @return Contents of the ENABLE register. 0xFF if error.
*/
uint8_t getMode(void)
{
uint8_t enable_value;
/* Read current ENABLE register */
if( !wireReadDataByte(APDS9960_ENABLE, &enable_value) ) {
return ERROR;
}
return enable_value;
}
/**
* @brief Enables or disables a feature in the APDS-9960
*
* @param[in] mode which feature to enable
* @param[in] enable ON (1) or OFF (0)
* @return True if operation success. False otherwise.
*/
bool setMode(int8_t mode, uint8_t enable)
{
uint8_t reg_val;
/* Read current ENABLE register */
reg_val = getMode();
if( reg_val == ERROR ) {
return false;
}
/* Change bit(s) in ENABLE register */
enable = enable & 0x01;
if( (mode >= 0) && (mode <= 6) ) {
if (enable) {
reg_val |= (1 << mode);
} else {
reg_val &= ~(1 << mode);
}
} else if( mode == ALL ) {
if (enable) {
reg_val = 0x7F;
} else {
reg_val = 0x00;
}
}
/* Write value back to ENABLE register */
if( !wireWriteDataByte(APDS9960_ENABLE, reg_val) ) {
return false;
}
return true;
}
/**
* @brief Starts the gesture recognition engine on the APDS-9960
*
* @param[in] interrupts true to enable hardware external interrupt on gesture
* @return True if engine enabled correctly. False on error.
*/
bool enableGestureSensor(bool interrupts)
{
/* Enable gesture mode
Set ENABLE to 0 (power off)
Set WTIME to 0xFF
Set AUX to LED_BOOST_300
Enable PON, WEN, PEN, GEN in ENABLE
*/
//interrupts = true;
resetGestureParameters();
if( !wireWriteDataByte(APDS9960_WTIME, 0xFF) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_PPULSE, DEFAULT_GESTURE_PPULSE) ) {
return false;
}
if( !setLEDBoost(LED_BOOST_300) ) {
return false;
}
if( interrupts ) {
if( !setGestureIntEnable(1) ) {
return false;
}
} else {
if( !setGestureIntEnable(0) ) {
return false;
}
}
if( !setGestureMode(1) ) {
return false;
}
if( !enablePower() ){
return false;
}
if( !setMode(WAIT, 1) ) {
return false;
}
if( !setMode(PROXIMITY, 1) ) {
return false;
}
if( !setMode(GESTURE, 1) ) {
return false;
}
return true;
}
/**
* @brief Determines if there is a gesture available for reading
*
* @return True if gesture available. False otherwise.
*/
bool isGestureAvailable(void)
{
uint8_t val;
/* Read value from GSTATUS register */
if( !wireReadDataByte(APDS9960_GSTATUS, &val) )
{
return ERROR;
}
/* Shift and mask out GVALID bit */
val&=APDS9960_GVALID;
/* Return true/false based on GVALID bit */
if( val == 1)
{
return true;
}
else
{
return false;
}
}
/**
* @brief Processes a gesture event and returns best guessed gesture
*
* @return Number corresponding to gesture. -1 on error.
*/
int readGesture(void)
{
uint8_t fifo_level = 0;
int8_t bytes_read = 0;
uint8_t fifo_data[128];
uint8_t gstatus;
int motion;
int i;
/* Make sure that power and gesture is on and data is valid */
if(!isGestureAvailable()||!(getMode()&01000001) ) {
return DIR_NONE;
}
/* Keep looping as long as gesture data is valid */
while(1) {
/* Wait some time to collect next batch of FIFO data */
delay_ms(FIFO_PAUSE_TIME);
/* Get the contents of the STATUS register. Is data still valid? */
if( !wireReadDataByte(APDS9960_GSTATUS, &gstatus) ) {
return ERROR;
}
/* If we have valid data, read in FIFO */
if((gstatus & APDS9960_GVALID)==APDS9960_GVALID)
{
/* Read the current FIFO level */
if( !wireReadDataByte(APDS9960_GFLVL, &fifo_level) )
{
return ERROR;
}
/* If there's stuff in the FIFO, read it into our data block */
if( fifo_level > 0) {
bytes_read = wireReadDataBlock( APDS9960_GFIFO_U,
(uint8_t*)fifo_data,
(fifo_level * 4) );
if(bytes_read==-1) {
return ERROR;
}
/* If at least 1 set of data, sort the data into U/D/L/R */
if( bytes_read >= 4 ) {
for( i = 0; i < bytes_read; i += 4 ) {
gesture_data_.u_data[gesture_data_.index] = \
fifo_data[i + 0];
gesture_data_.d_data[gesture_data_.index] = \
fifo_data[i + 1];
gesture_data_.l_data[gesture_data_.index] = \
fifo_data[i + 2];
gesture_data_.r_data[gesture_data_.index] = \
fifo_data[i + 3];
gesture_data_.index++;
gesture_data_.total_gestures++;
}
/* Filter and process gesture data. Decode near/far state */
if( processGestureData() ) {
if( decodeGesture() ) {
//***TODO: U-Turn Gestures
}
}
/* Reset data */
gesture_data_.index = 0;
gesture_data_.total_gestures = 0;
}
}
} else
{
/* Determine best guessed gesture and clean up */
delay_ms(FIFO_PAUSE_TIME);
decodeGesture();
motion = gesture_motion_;
resetGestureParameters();
return motion;
}
}
}
/**
* Turn the APDS-9960 on
*
* @return True if operation successful. False otherwise.
*/
bool enablePower(void)
{
if( !setMode(POWER, 1) ) {
return false;
}
return true;
}
/**
* Turn the APDS-9960 off
*
* @return True if operation successful. False otherwise.
*/
bool disablePower(void)
{
if( !setMode(POWER, 0) ) {
return false;
}
return true;
}
/*******************************************************************************
* High-level gesture controls
******************************************************************************/
/**
* @brief Resets all the parameters in the gesture data member
*/
void resetGestureParameters(void)
{
gesture_data_.index = 0;
gesture_data_.total_gestures = 0;
gesture_ud_delta_ = 0;
gesture_lr_delta_ = 0;
gesture_ud_count_ = 0;
gesture_lr_count_ = 0;
gesture_near_count_ = 0;
gesture_far_count_ = 0;
gesture_state_ = 0;
gesture_motion_ = DIR_NONE;
}
/**
* @brief Processes the raw gesture data to determine swipe direction
*
* @return True if near or far state seen. False otherwise.
*/
bool processGestureData(void)
{
uint8_t u_first = 0;
uint8_t d_first = 0;
uint8_t l_first = 0;
uint8_t r_first = 0;
uint8_t u_last = 0;
uint8_t d_last = 0;
uint8_t l_last = 0;
uint8_t r_last = 0;
int ud_ratio_first;
int lr_ratio_first;
int ud_ratio_last;
int lr_ratio_last;
int ud_delta;
int lr_delta;
int i;
/* If we have less than 4 total gestures, that's not enough */
if( gesture_data_.total_gestures <= 4 ) {
return false;
}
/* Check to make sure our data isn't out of bounds */
if( (gesture_data_.total_gestures <= 32) && \
(gesture_data_.total_gestures > 0) ) {
/* Find the first value in U/D/L/R above the threshold */
for( i = 0; i < gesture_data_.total_gestures; i++ ) {
if( (gesture_data_.u_data[i] > GESTURE_THRESHOLD_OUT) &&
(gesture_data_.d_data[i] > GESTURE_THRESHOLD_OUT) &&
(gesture_data_.l_data[i] > GESTURE_THRESHOLD_OUT) &&
(gesture_data_.r_data[i] > GESTURE_THRESHOLD_OUT) ) {
u_first = gesture_data_.u_data[i];
d_first = gesture_data_.d_data[i];
l_first = gesture_data_.l_data[i];
r_first = gesture_data_.r_data[i];
break;
}
}
/* If one of the _first values is 0, then there is no good data */
if( (u_first == 0) || (d_first == 0) || \
(l_first == 0) || (r_first == 0) ) {
return false;
}
/* Find the last value in U/D/L/R above the threshold */
for( i = gesture_data_.total_gestures - 1; i >= 0; i-- ) {
if( (gesture_data_.u_data[i] > GESTURE_THRESHOLD_OUT) &&
(gesture_data_.d_data[i] > GESTURE_THRESHOLD_OUT) &&
(gesture_data_.l_data[i] > GESTURE_THRESHOLD_OUT) &&
(gesture_data_.r_data[i] > GESTURE_THRESHOLD_OUT) ) {
u_last = gesture_data_.u_data[i];
d_last = gesture_data_.d_data[i];
l_last = gesture_data_.l_data[i];
r_last = gesture_data_.r_data[i];
break;
}
}
}
/* Calculate the first vs. last ratio of up/down and left/right */
ud_ratio_first = ((u_first - d_first) * 100) / (u_first + d_first);
lr_ratio_first = ((l_first - r_first) * 100) / (l_first + r_first);
ud_ratio_last = ((u_last - d_last) * 100) / (u_last + d_last);
lr_ratio_last = ((l_last - r_last) * 100) / (l_last + r_last);
/* Determine the difference between the first and last ratios */
ud_delta = ud_ratio_last - ud_ratio_first;
lr_delta = lr_ratio_last - lr_ratio_first;
/* Accumulate the UD and LR delta values */
gesture_ud_delta_ += ud_delta;
gesture_lr_delta_ += lr_delta;
/* Determine U/D gesture */
if( gesture_ud_delta_ >= GESTURE_SENSITIVITY_1 ) {
gesture_ud_count_ = 1;
} else if( gesture_ud_delta_ <= -GESTURE_SENSITIVITY_1 ) {
gesture_ud_count_ = -1;
} else {
gesture_ud_count_ = 0;
}
/* Determine L/R gesture */
if( gesture_lr_delta_ >= GESTURE_SENSITIVITY_1 ) {
gesture_lr_count_ = 1;
} else if( gesture_lr_delta_ <= -GESTURE_SENSITIVITY_1 ) {
gesture_lr_count_ = -1;
} else {
gesture_lr_count_ = 0;
}
/* Determine Near/Far gesture */
if( (gesture_ud_count_ == 0) && (gesture_lr_count_ == 0) ) {
if( (abs(ud_delta) < GESTURE_SENSITIVITY_2) && (abs(lr_delta) < GESTURE_SENSITIVITY_2) )
{
if( (ud_delta == 0) && (lr_delta == 0) ) {
gesture_near_count_++;
} else if( (ud_delta != 0) || (lr_delta != 0) ) {
gesture_far_count_++;
}
if( (gesture_near_count_ >= 10) && (gesture_far_count_ >= 2) ) {
if( (ud_delta == 0) && (lr_delta == 0) ) {
gesture_state_ = NEAR_STATE;
} else if( (ud_delta != 0) && (lr_delta != 0) ) {
gesture_state_ = FAR_STATE;
}
return true;
}
}
} else {
if( (abs((int)ud_delta) < GESTURE_SENSITIVITY_2) && (abs((int)lr_delta) < GESTURE_SENSITIVITY_2) ) {
if( (ud_delta == 0) && (lr_delta == 0) ) {
gesture_near_count_++;
}
if( gesture_near_count_ >= 10 ) {
gesture_ud_count_ = 0;
gesture_lr_count_ = 0;
gesture_ud_delta_ = 0;
gesture_lr_delta_ = 0;
}
}
}
return false;
}
/**
* @brief Determines swipe direction or near/far state
*
* @return True if near/far event. False otherwise.
*/
bool decodeGesture(void)
{
/* Return if near or far event is detected */
if( gesture_state_ == NEAR_STATE ) {
gesture_motion_ = DIR_NEAR;
return true;
} else if ( gesture_state_ == FAR_STATE ) {
gesture_motion_ = DIR_FAR;
return true;
}
/* Determine swipe direction */
if( (gesture_ud_count_ == -1) && (gesture_lr_count_ == 0) ) {
gesture_motion_ = DIR_UP;
} else if( (gesture_ud_count_ == 1) && (gesture_lr_count_ == 0) ) {
gesture_motion_ = DIR_DOWN;
} else if( (gesture_ud_count_ == 0) && (gesture_lr_count_ == 1) ) {
gesture_motion_ = DIR_RIGHT;
} else if( (gesture_ud_count_ == 0) && (gesture_lr_count_ == -1) ) {
gesture_motion_ = DIR_LEFT;
} else if( (gesture_ud_count_ == -1) && (gesture_lr_count_ == 1) ) {
if( abs(gesture_ud_delta_) > abs(gesture_lr_delta_) ) {
gesture_motion_ = DIR_UP;
} else {
gesture_motion_ = DIR_RIGHT;
}
} else if( (gesture_ud_count_ == 1) && (gesture_lr_count_ == -1) ) {
if( abs(gesture_ud_delta_) > abs(gesture_lr_delta_) ) {
gesture_motion_ = DIR_DOWN;
} else {
gesture_motion_ = DIR_LEFT;
}
} else if( (gesture_ud_count_ == -1) && (gesture_lr_count_ == -1) ) {
if( abs(gesture_ud_delta_) > abs(gesture_lr_delta_) ) {
gesture_motion_ = DIR_UP;
} else {
gesture_motion_ = DIR_LEFT;
}
} else if( (gesture_ud_count_ == 1) && (gesture_lr_count_ == 1) ) {
if( abs(gesture_ud_delta_) > abs(gesture_lr_delta_) ) {
gesture_motion_ = DIR_DOWN;
} else {
gesture_motion_ = DIR_RIGHT;
}
} else {
return false;
}
return true;
}
/**
* @brief Sets the LED current boost value
*
* Value Boost Current
* 0 100%
* 1 150%
* 2 200%
* 3 300%
*
* @param[in] drive the value (0-3) for current boost (100-300%)
* @return True if operation successful. False otherwise.
*/
bool setLEDBoost(uint8_t boost)
{
uint8_t val;
/* Read value from CONFIG2 register */
if( !wireReadDataByte(APDS9960_CONFIG2, &val) ) {
return false;
}
/* Set bits in register to given value */
boost &= 00000011;
boost = boost << 4;
val &= 11001111;
val |= boost;
/* Write register value back into CONFIG2 register */
if( !wireWriteDataByte(APDS9960_CONFIG2, val) ) {
return false;
}
return true;
}
/**
* @brief Sets the entry proximity threshold for gesture sensing
*
* @param[in] threshold proximity value needed to start gesture mode
* @return True if operation successful. False otherwise.
*/
bool setGestureEnterThresh(uint8_t threshold)
{
if( !wireWriteDataByte(APDS9960_GPENTH, threshold) ) {
return false;
}
return true;
}
/**
* @brief Sets the exit proximity threshold for gesture sensing
*
* @param[in] threshold proximity value needed to end gesture mode
* @return True if operation successful. False otherwise.
*/
bool setGestureExitThresh(uint8_t threshold)
{
if( !wireWriteDataByte(APDS9960_GEXTH, threshold) ) {
return false;
}
return true;
}
/**
* @brief Sets the gain of the photodiode during gesture mode
*
* Value Gain
* 0 1x
* 1 2x
* 2 4x
* 3 8x
*
* @param[in] gain the value for the photodiode gain
* @return True if operation successful. False otherwise.
*/
bool setGestureGain(uint8_t gain)
{
uint8_t val;
/* Read value from GCONF2 register */
if( !wireReadDataByte(APDS9960_GCONF2, &val) ) {
return false;
}
/* Set bits in register to given value */
gain &= 00000011;
gain = gain << 5;
val &= 10011111;
val |= gain;
/* Write register value back into GCONF2 register */
if( !wireWriteDataByte(APDS9960_GCONF2, val) ) {
return false;
}
return true;
}
/**
* @brief Sets the LED drive current during gesture mode
*
* Value LED Current
* 0 100 mA
* 1 50 mA
* 2 25 mA
* 3 12.5 mA
*
* @param[in] drive the value for the LED drive current
* @return True if operation successful. False otherwise.
*/
bool setGestureLEDDrive(uint8_t drive)
{
uint8_t val;
/* Read value from GCONF2 register */
if( !wireReadDataByte(APDS9960_GCONF2, &val) ) {
return false;
}
/* Set bits in register to given value */
drive &= 00000011;
drive = drive << 3;
val &= 11100111;
val |= drive;
/* Write register value back into GCONF2 register */
if( !wireWriteDataByte(APDS9960_GCONF2, val) ) {
return false;
}
return true;
}
/**
* @brief Sets the time in low power mode between gesture detections
*
* Value Wait time
* 0 0 ms
* 1 2.8 ms
* 2 5.6 ms
* 3 8.4 ms
* 4 14.0 ms
* 5 22.4 ms
* 6 30.8 ms
* 7 39.2 ms
*
* @param[in] the value for the wait time
* @return True if operation successful. False otherwise.
*/
bool setGestureWaitTime(uint8_t time)
{
uint8_t val;
/* Read value from GCONF2 register */
if( !wireReadDataByte(APDS9960_GCONF2, &val)){
return false;
}
/* Set bits in register to given value */
time &= 00000111;
val &= 11111000;
val |= time;
/* Write register value back into GCONF2 register */
if( !wireWriteDataByte(APDS9960_GCONF2, val) ) {
return false;
}
return true;
}
/**
* @brief Turns gesture-related interrupts on or off
*
* @param[in] enable 1 to enable interrupts, 0 to turn them off
* @return True if operation successful. False otherwise.
*/
bool setGestureIntEnable(uint8_t enable)
{
uint8_t val;
/* Read value from GCONF4 register */
if( !wireReadDataByte(APDS9960_GCONF4, &val) ) {
return false;
}
/* Set bits in register to given value */
enable &= 00000001;
enable = enable << 1;
val &= 11111101;
val |= enable;
/* Write register value back into GCONF4 register */
if( !wireWriteDataByte(APDS9960_GCONF4, val) ) {
return false;
}
return true;
}
/**
* @brief Tells the state machine to either enter or exit gesture state machine
*
* @param[in] mode 1 to enter gesture state machine, 0 to exit.
* @return True if operation successful. False otherwise.
*/
bool setGestureMode(uint8_t mode)
{
uint8_t val;
/* Read value from GCONF4 register */
if( !wireReadDataByte(APDS9960_GCONF4, &val) ) {
return false;
}
/* Set bits in register to given value */
mode &= 00000001;
val &= 11111110;
val |= mode;
/* Write register value back into GCONF4 register */
if( !wireWriteDataByte(APDS9960_GCONF4, val) ) {
return false;
}
return true;
}
/**
* @brief Writes a single byte to the I2C device and specified register
*
* @param[in] reg the register in the I2C device to write to
* @param[in] val the 1-byte value to write to the I2C device
* @return True if successful write operation. False otherwise.
*/
bool wireWriteDataByte(uint8_t reg, uint8_t val)
{
IIC_Start();
IIC_Send_Byte((APDS9960_I2C_ADDR<<1)|0);//发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
return false;
}
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Send_Byte(val);//发送数据
if(IIC_Wait_Ack()) //等待ACK
{
IIC_Stop();
return false;
}
IIC_Stop();
return true;
// IIC_Start();
// IIC_Send_Byte((APDS9960_I2C_ADDR<<1)|0x00);//发送器件地址+写命令
// IIC_Wait_Ack(); //等待应答
// IIC_Send_Byte(reg); //写寄存器地址
// IIC_Wait_Ack(); //等待应答
// IIC_Send_Byte(val);//发送数据
// IIC_Wait_Ack(); //等待应答
// IIC_Stop();
//
// return true;
}
/**
* @brief Reads a single byte from the I2C device and specified register
*
* @param[in] reg the register to read from
* @param[out] the value returned from the register
* @return True if successful read operation. False otherwise.
*/
bool wireReadDataByte(uint8_t reg,uint8_t *val)
{
IIC_Start();
IIC_Send_Byte((APDS9960_I2C_ADDR<<1)|0X00);//发送器件地址+写命令
IIC_Wait_Ack(); //等待应答
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Start();
IIC_Send_Byte((APDS9960_I2C_ADDR<<1)|0x01);//发送器件地址+读命令
IIC_Wait_Ack(); //等待应答
*val=IIC_Read_Byte(0);//读取数据,发送nACK
IIC_Stop(); //产生一个停止条件
return true;
// IIC_Start();
// IIC_Send_Byte((APDS9960_I2C_ADDR<<1)|0);//发送器件地址+写命令
// if(IIC_Wait_Ack()) //等待ACK
// {
// IIC_Stop();
// return false;
// } //等待应答
// IIC_Send_Byte(reg); //写寄存器地址
// if(IIC_Wait_Ack()) //等待ACK
// {
// IIC_Stop();
// return false;
// } //等待应答
// IIC_Start();
// IIC_Send_Byte((APDS9960_I2C_ADDR<<1)|1);//发送器件地址+读命令
// if(IIC_Wait_Ack()) //等待ACK
// {
// IIC_Stop();
// return false;
// } //等待应答
// val=IIC_Read_Byte(0);//读取数据,发送nACK
// IIC_Stop(); //产生一个停止条件
// return true;
}
/**
* @brief Reads a block (array) of bytes from the I2C device and register
*
* @param[in] reg the register to read from
* @param[out] val pointer to the beginning of the data
* @param[in] len number of bytes to read
* @return Number of bytes read. -1 on read error.
*/
int wireReadDataBlock( uint8_t reg,uint8_t *val, unsigned int len)
{
unsigned char i = 0;
IIC_Start();
IIC_Send_Byte((APDS9960_I2C_ADDR<<1)|0);//发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
return -1;
}
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Start();
IIC_Send_Byte((APDS9960_I2C_ADDR<<1)|1);//发送器件地址+读命令
IIC_Wait_Ack(); //等待应答
while(len)
{
// if(i >= len) //不能加，否则收不到数据
// {
// return -1;
// }
if(len==1) val[i]=IIC_Read_Byte(0);//读数据,发送nACK
else val[i]=IIC_Read_Byte(1); //读数据,发送ACK
i++;
len--;
}
IIC_Stop(); //产生一个停止条件
return i;
}
void Wire_begin_(void)
{
IIC_Init();
}