A library for the combined proximity, ambient light, RGB color and gesture sensor Avago APDS9960. Tested with corresponding breakout board from SparkFun.
Small test program that briefly shows the usage of the library (only gesture detection). It uses my SFE_MicroOLED Library for result output on a 64 x 48 pixel small 0.66" OLED screen. But it should be easy to change the output to the Serial interface. The platform used was a LPCXpresso11U68:
gesture detection Test-Program
#include "mbed.h" #include "SparkFun_APDS9960.h" #include "SFE_MicroOLED.h" // Constants // Global Variables and forward declarations InterruptIn apds_int(P1_24); SPI my_spi(P0_9, P0_8, P1_29); MicroOLED uView(my_spi, P2_3, P1_28, P1_25); I2C my_i2c(P0_5, P0_4); SparkFun_APDS9960 apds = SparkFun_APDS9960(my_i2c); volatile int isr_flag = 0; void interruptRoutine(); void handleGesture(); void drawArrowUp(); void drawArrowDown(); void drawArrowLeft(); void drawArrowRight(); void drawCircle(); void drawX(); int main() { // Initialize MicroView uView.init(0, 8000000); uView.clear(PAGE); // Initialize interrupt service routine apds_int.mode(PullUp); apds_int.fall(&interruptRoutine); apds_int.disable_irq(); uView.setFontType(0); wait_ms(500); // Initialize APDS-9960 (configure I2C and initial values) if ( apds.init(400000) ) { uView.puts("INIT OK!\n"); } else { uView.puts("I-ERROR!\n"); } // Start running the gesture sensor engine (with interrupts) if ( apds.enableGestureSensor(true) ) { uView.puts("Gest OK!"); } else { uView.puts("G-ERROR!"); } uView.display(); // Wait for initialization and calibration to finish wait_ms(2000); uView.clear(PAGE); // Draw title uView.setCursor(16, 0); uView.puts("Swipe!"); uView.display(); apds_int.enable_irq(); while(1) { // If interrupt, display gesture on MicroOLED if( isr_flag == 1 ) { apds_int.disable_irq(); handleGesture(); isr_flag = 0; wait_ms(500); uView.display(); apds_int.enable_irq(); } // Wait before next reading wait_ms(100); } } void interruptRoutine() { isr_flag = 1; } void handleGesture() { bool do_clear = true; // Draw symbol based on gesture if ( apds.isGestureAvailable() ) { switch ( apds.readGesture() ) { case DIR_UP: drawArrowUp(); break; case DIR_DOWN: drawArrowDown(); break; case DIR_LEFT: drawArrowLeft(); break; case DIR_RIGHT: drawArrowRight(); break; case DIR_NEAR: drawCircle(); break; case DIR_FAR: drawX(); break; default: do_clear = false; } } // Let symbol sit on screen for a while, then clear if ( do_clear ) { uView.clear(PAGE); uView.setCursor(16, 0); uView.puts("Swipe!"); } } void drawArrowUp() { uView.clear(PAGE); uView.line(27, 43, 37, 43); // Bottom: over 10 uView.line(27, 43, 27, 18); // Legs: Up 25 uView.line(37, 43, 37, 18); // Legs: Up 25 uView.line(27, 18, 17, 18); // Head: Over 10 uView.line(37, 18, 47, 18); // Head: Over 10 uView.line(17, 18, 32, 3); // Tip: Over 14, up 15 uView.line(47, 18, 32, 3); // Tip: Over 14, up 15 uView.display(); } void drawArrowDown() { uView.clear(PAGE); uView.line(27, 5, 37, 5); // Bottom: over 10 uView.line(27, 5, 27, 30); // Legs: Up 25 uView.line(37, 5, 37, 30); // Legs: Up 25 uView.line(27, 30, 17, 30); // Head: Over 10 uView.line(37, 30, 47, 30); // Head: Over 10 uView.line(17, 30, 32, 45); // Tip: Over 14, up 15 uView.line(47, 30, 32, 45); // Tip: Over 14, up 15 uView.display(); } void drawArrowLeft() { uView.clear(PAGE); uView.line(52, 19, 52, 29); // Bottom: up 10 uView.line(52, 19, 27, 19); // Legs: over 25 uView.line(52, 29, 27, 29); // Legs: over 25 uView.line(27, 19, 27, 9); // Head: up 10 uView.line(27, 29, 27, 39); // Head: down 10 uView.line(27, 9, 12, 24); // Tip: over 15, down 14 uView.line(27, 39, 12, 24); // Tip: over 15, down 14 uView.display(); } void drawArrowRight() { uView.clear(PAGE); uView.line(12, 19, 12, 29); // Bottom: up 10 uView.line(12, 19, 37, 19); // Legs: over 25 uView.line(12, 29, 37, 29); // Legs: over 25 uView.line(37, 19, 37, 9); // Head: up 10 uView.line(37, 29, 37, 39); // Head: down 10 uView.line(37, 9, 53, 25); // Tip: over 15, down 14 uView.line(37, 39, 52, 24); // Tip: over 15, down 14 uView.display(); } void drawCircle() { uView.clear(PAGE); uView.circle(32, 24, 20); uView.display(); } void drawX() { uView.clear(PAGE); uView.line(12, 4, 52, 44); uView.line(12, 44, 52, 4); uView.display(); }
Here is a video from Sparkfun showing all the implemented gestures:
SparkFun_APDS9960.cpp
- Committer:
- synvox
- Date:
- 2015-04-10
- Revision:
- 0:c04b49e0a678
File content as of revision 0:c04b49e0a678:
/** * @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). * * Adapted for mbed by Nenad Milosevic (synvox.ch) in April 2015. * * This library interfaces the Avago APDS-9960 to mbed over I2C. The library * relies on the mbed 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 "mbed.h" #include "SparkFun_APDS9960.h" /** * @brief Constructor - Instantiates SparkFun_APDS9960 object */ SparkFun_APDS9960::SparkFun_APDS9960(I2C &i2c) : apds_i2c(i2c) { 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 Destructor */ SparkFun_APDS9960::~SparkFun_APDS9960() { } /** * @brief Configures I2C communications and initializes registers to defaults * * @return True if initialized successfully. False otherwise. */ bool SparkFun_APDS9960::init(int apds_i2c_freq) { uint8_t id; /* Initialize I2C */ apds_i2c.frequency(apds_i2c_freq); /* Read ID register and check against known values for APDS-9960 */ if( !wireReadDataByte(APDS9960_ID, id) ) { return false; } if( !(id == APDS9960_ID_1 || id == APDS9960_ID_2) ) { return false; } /* Set ENABLE register to 0 (disable all features) */ if( !setMode(ALL_MODES, OFF) ) { return false; } /* Set default values for ambient light and proximity registers */ if( !wireWriteDataByte(APDS9960_ATIME, DEFAULT_ATIME) ) { return false; } if( !wireWriteDataByte(APDS9960_WTIME, DEFAULT_WTIME) ) { return false; } if( !wireWriteDataByte(APDS9960_PPULSE, DEFAULT_PROX_PPULSE) ) { return false; } if( !wireWriteDataByte(APDS9960_POFFSET_UR, DEFAULT_POFFSET_UR) ) { return false; } if( !wireWriteDataByte(APDS9960_POFFSET_DL, DEFAULT_POFFSET_DL) ) { return false; } if( !wireWriteDataByte(APDS9960_CONFIG1, DEFAULT_CONFIG1) ) { return false; } if( !setLEDDrive(DEFAULT_LDRIVE) ) { return false; } if( !setProximityGain(DEFAULT_PGAIN) ) { return false; } if( !setAmbientLightGain(DEFAULT_AGAIN) ) { return false; } if( !setProxIntLowThresh(DEFAULT_PILT) ) { return false; } if( !setProxIntHighThresh(DEFAULT_PIHT) ) { return false; } if( !setLightIntLowThreshold(DEFAULT_AILT) ) { return false; } if( !setLightIntHighThreshold(DEFAULT_AIHT) ) { return false; } if( !wireWriteDataByte(APDS9960_PERS, DEFAULT_PERS) ) { return false; } if( !wireWriteDataByte(APDS9960_CONFIG2, DEFAULT_CONFIG2) ) { return false; } if( !wireWriteDataByte(APDS9960_CONFIG3, DEFAULT_CONFIG3) ) { 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 SparkFun_APDS9960::getMode() { 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 SparkFun_APDS9960::setMode(uint8_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 <= 6 ) { if (enable) { reg_val |= (1 << mode); } else { reg_val &= ~(1 << mode); } } else if( mode == ALL_MODES ) { 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 light (R/G/B/Ambient) sensor on the APDS-9960 * * @param[in] interrupts true to enable hardware interrupt on high or low light * @return True if sensor enabled correctly. False on error. */ bool SparkFun_APDS9960::enableLightSensor(bool interrupts) { /* Set default gain, interrupts, enable power, and enable sensor */ if( !setAmbientLightGain(DEFAULT_AGAIN) ) { return false; } if( interrupts ) { if( !setAmbientLightIntEnable(1) ) { return false; } } else { if( !setAmbientLightIntEnable(0) ) { return false; } } if( !enablePower() ){ return false; } if( !setMode(AMBIENT_LIGHT, 1) ) { return false; } return true; } /** * @brief Ends the light sensor on the APDS-9960 * * @return True if sensor disabled correctly. False on error. */ bool SparkFun_APDS9960::disableLightSensor() { if( !setAmbientLightIntEnable(0) ) { return false; } if( !setMode(AMBIENT_LIGHT, 0) ) { return false; } return true; } /** * @brief Starts the proximity sensor on the APDS-9960 * * @param[in] interrupts true to enable hardware external interrupt on proximity * @return True if sensor enabled correctly. False on error. */ bool SparkFun_APDS9960::enableProximitySensor(bool interrupts) { /* Set default gain, LED, interrupts, enable power, and enable sensor */ if( !setProximityGain(DEFAULT_PGAIN) ) { return false; } if( !setLEDDrive(DEFAULT_LDRIVE) ) { return false; } if( interrupts ) { if( !setProximityIntEnable(1) ) { return false; } } else { if( !setProximityIntEnable(0) ) { return false; } } if( !enablePower() ){ return false; } if( !setMode(PROXIMITY, 1) ) { return false; } return true; } /** * @brief Ends the proximity sensor on the APDS-9960 * * @return True if sensor disabled correctly. False on error. */ bool SparkFun_APDS9960::disableProximitySensor() { if( !setProximityIntEnable(0) ) { return false; } if( !setMode(PROXIMITY, 0) ) { 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 SparkFun_APDS9960::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 */ 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 Ends the gesture recognition engine on the APDS-9960 * * @return True if engine disabled correctly. False on error. */ bool SparkFun_APDS9960::disableGestureSensor() { resetGestureParameters(); if( !setGestureIntEnable(0) ) { return false; } if( !setGestureMode(0) ) { return false; } if( !setMode(GESTURE, 0) ) { return false; } return true; } /** * @brief Determines if there is a gesture available for reading * * @return True if gesture available. False otherwise. */ bool SparkFun_APDS9960::isGestureAvailable() { 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 SparkFun_APDS9960::readGesture() { uint8_t fifo_level = 0; int 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() & 0x41) ) { return DIR_NONE; } /* Keep looping as long as gesture data is valid */ while(1) { /* Wait some time to collect next batch of FIFO data */ wait_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 */ wait_ms(FIFO_PAUSE_TIME); decodeGesture(); motion = gesture_motion_; resetGestureParameters(); return motion; } } } /** * Turn the APDS-9960 on * * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::enablePower() { if( !setMode(POWER, 1) ) { return false; } return true; } /** * Turn the APDS-9960 off * * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::disablePower() { if( !setMode(POWER, 0) ) { return false; } return true; } /******************************************************************************* * Ambient light and color sensor controls ******************************************************************************/ /** * @brief Reads the ambient (clear) light level as a 16-bit value * * @param[out] val value of the light sensor. * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::readAmbientLight(uint16_t &val) { uint8_t val_byte; val = 0; /* Read value from clear channel, low byte register */ if( !wireReadDataByte(APDS9960_CDATAL, val_byte) ) { return false; } val = val_byte; /* Read value from clear channel, high byte register */ if( !wireReadDataByte(APDS9960_CDATAH, val_byte) ) { return false; } val = val + ((uint16_t)val_byte << 8); return true; } /** * @brief Reads the red light level as a 16-bit value * * @param[out] val value of the light sensor. * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::readRedLight(uint16_t &val) { uint8_t val_byte; val = 0; /* Read value from clear channel, low byte register */ if( !wireReadDataByte(APDS9960_RDATAL, val_byte) ) { return false; } val = val_byte; /* Read value from clear channel, high byte register */ if( !wireReadDataByte(APDS9960_RDATAH, val_byte) ) { return false; } val = val + ((uint16_t)val_byte << 8); return true; } /** * @brief Reads the green light level as a 16-bit value * * @param[out] val value of the light sensor. * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::readGreenLight(uint16_t &val) { uint8_t val_byte; val = 0; /* Read value from clear channel, low byte register */ if( !wireReadDataByte(APDS9960_GDATAL, val_byte) ) { return false; } val = val_byte; /* Read value from clear channel, high byte register */ if( !wireReadDataByte(APDS9960_GDATAH, val_byte) ) { return false; } val = val + ((uint16_t)val_byte << 8); return true; } /** * @brief Reads the red light level as a 16-bit value * * @param[out] val value of the light sensor. * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::readBlueLight(uint16_t &val) { uint8_t val_byte; val = 0; /* Read value from clear channel, low byte register */ if( !wireReadDataByte(APDS9960_BDATAL, val_byte) ) { return false; } val = val_byte; /* Read value from clear channel, high byte register */ if( !wireReadDataByte(APDS9960_BDATAH, val_byte) ) { return false; } val = val + ((uint16_t)val_byte << 8); return true; } /******************************************************************************* * Proximity sensor controls ******************************************************************************/ /** * @brief Reads the proximity level as an 8-bit value * * @param[out] val value of the proximity sensor. * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::readProximity(uint8_t &val) { val = 0; /* Read value from proximity data register */ if( !wireReadDataByte(APDS9960_PDATA, val) ) { return false; } return true; } /******************************************************************************* * High-level gesture controls ******************************************************************************/ /** * @brief Resets all the parameters in the gesture data member */ void SparkFun_APDS9960::resetGestureParameters() { 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 SparkFun_APDS9960::processGestureData() { 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(ud_delta) < GESTURE_SENSITIVITY_2) && \ (abs(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 SparkFun_APDS9960::decodeGesture() { /* 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; } /******************************************************************************* * Getters and setters for register values ******************************************************************************/ /** * @brief Returns the lower threshold for proximity detection * * @return lower threshold */ uint8_t SparkFun_APDS9960::getProxIntLowThresh() { uint8_t val; /* Read value from PILT register */ if( !wireReadDataByte(APDS9960_PILT, val) ) { val = 0; } return val; } /** * @brief Sets the lower threshold for proximity detection * * @param[in] threshold the lower proximity threshold * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setProxIntLowThresh(uint8_t threshold) { if( !wireWriteDataByte(APDS9960_PILT, threshold) ) { return false; } return true; } /** * @brief Returns the high threshold for proximity detection * * @return high threshold */ uint8_t SparkFun_APDS9960::getProxIntHighThresh() { uint8_t val; /* Read value from PIHT register */ if( !wireReadDataByte(APDS9960_PIHT, val) ) { val = 0; } return val; } /** * @brief Sets the high threshold for proximity detection * * @param[in] threshold the high proximity threshold * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setProxIntHighThresh(uint8_t threshold) { if( !wireWriteDataByte(APDS9960_PIHT, threshold) ) { return false; } return true; } /** * @brief Returns LED drive strength for proximity and ALS * * Value LED Current * 0 100 mA * 1 50 mA * 2 25 mA * 3 12.5 mA * * @return the value of the LED drive strength. 0xFF on failure. */ uint8_t SparkFun_APDS9960::getLEDDrive() { uint8_t val; /* Read value from CONTROL register */ if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return ERROR; } /* Shift and mask out LED drive bits */ val = (val >> 6) & 0x03; return val; } /** * @brief Sets the LED drive strength for proximity and ALS * * Value LED Current * 0 100 mA * 1 50 mA * 2 25 mA * 3 12.5 mA * * @param[in] drive the value (0-3) for the LED drive strength * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setLEDDrive(uint8_t drive) { uint8_t val; /* Read value from CONTROL register */ if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return false; } /* Set bits in register to given value */ drive &= 0x03; drive = drive << 6; val &= 0x3F; val |= drive; /* Write register value back into CONTROL register */ if( !wireWriteDataByte(APDS9960_CONTROL, val) ) { return false; } return true; } /** * @brief Returns receiver gain for proximity detection * * Value Gain * 0 1x * 1 2x * 2 4x * 3 8x * * @return the value of the proximity gain. 0xFF on failure. */ uint8_t SparkFun_APDS9960::getProximityGain() { uint8_t val; /* Read value from CONTROL register */ if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return ERROR; } /* Shift and mask out PDRIVE bits */ val = (val >> 2) & 0x03; return val; } /** * @brief Sets the receiver gain for proximity detection * * Value Gain * 0 1x * 1 2x * 2 4x * 3 8x * * @param[in] drive the value (0-3) for the gain * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setProximityGain(uint8_t drive) { uint8_t val; /* Read value from CONTROL register */ if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return false; } /* Set bits in register to given value */ drive &= 0x03; drive = drive << 2; val &= 0xF3; val |= drive; /* Write register value back into CONTROL register */ if( !wireWriteDataByte(APDS9960_CONTROL, val) ) { return false; } return true; } /** * @brief Returns receiver gain for the ambient light sensor (ALS) * * Value Gain * 0 1x * 1 4x * 2 16x * 3 64x * * @return the value of the ALS gain. 0xFF on failure. */ uint8_t SparkFun_APDS9960::getAmbientLightGain() { uint8_t val; /* Read value from CONTROL register */ if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return ERROR; } /* Shift and mask out ADRIVE bits */ val &= 0x03; return val; } /** * @brief Sets the receiver gain for the ambient light sensor (ALS) * * Value Gain * 0 1x * 1 4x * 2 16x * 3 64x * * @param[in] drive the value (0-3) for the gain * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setAmbientLightGain(uint8_t drive) { uint8_t val; /* Read value from CONTROL register */ if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return false; } /* Set bits in register to given value */ drive &= 0x03; val &= 0xFC; val |= drive; /* Write register value back into CONTROL register */ if( !wireWriteDataByte(APDS9960_CONTROL, val) ) { return false; } return true; } /** * @brief Get the current LED boost value * * Value Boost Current * 0 100% * 1 150% * 2 200% * 3 300% * * @return The LED boost value. 0xFF on failure. */ uint8_t SparkFun_APDS9960::getLEDBoost() { uint8_t val; /* Read value from CONFIG2 register */ if( !wireReadDataByte(APDS9960_CONFIG2, val) ) { return ERROR; } /* Shift and mask out LED_BOOST bits */ val = (val >> 4) & 0x03; return val; } /** * @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 SparkFun_APDS9960::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 &= 0x03; boost = boost << 4; val &= 0xCF; val |= boost; /* Write register value back into CONFIG2 register */ if( !wireWriteDataByte(APDS9960_CONFIG2, val) ) { return false; } return true; } /** * @brief Gets proximity gain compensation enable * * @return 1 if compensation is enabled. 0 if not. 0xFF on error. */ uint8_t SparkFun_APDS9960::getProxGainCompEnable() { uint8_t val; /* Read value from CONFIG3 register */ if( !wireReadDataByte(APDS9960_CONFIG3, val) ) { return ERROR; } /* Shift and mask out PCMP bits */ val = (val >> 5) & 0x01; return val; } /** * @brief Sets the proximity gain compensation enable * * @param[in] enable 1 to enable compensation. 0 to disable compensation. * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setProxGainCompEnable(uint8_t enable) { uint8_t val; /* Read value from CONFIG3 register */ if( !wireReadDataByte(APDS9960_CONFIG3, val) ) { return false; } /* Set bits in register to given value */ enable &= 0x01; enable = enable << 5; val &= 0xDF; val |= enable; /* Write register value back into CONFIG3 register */ if( !wireWriteDataByte(APDS9960_CONFIG3, val) ) { return false; } return true; } /** * @brief Gets the current mask for enabled/disabled proximity photodiodes * * 1 = disabled, 0 = enabled * Bit Photodiode * 3 UP * 2 DOWN * 1 LEFT * 0 RIGHT * * @return Current proximity mask for photodiodes. 0xFF on error. */ uint8_t SparkFun_APDS9960::getProxPhotoMask() { uint8_t val; /* Read value from CONFIG3 register */ if( !wireReadDataByte(APDS9960_CONFIG3, val) ) { return ERROR; } /* Mask out photodiode enable mask bits */ val &= 0x0F; return val; } /** * @brief Sets the mask for enabling/disabling proximity photodiodes * * 1 = disabled, 0 = enabled * Bit Photodiode * 3 UP * 2 DOWN * 1 LEFT * 0 RIGHT * * @param[in] mask 4-bit mask value * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setProxPhotoMask(uint8_t mask) { uint8_t val; /* Read value from CONFIG3 register */ if( !wireReadDataByte(APDS9960_CONFIG3, val) ) { return false; } /* Set bits in register to given value */ mask &= 0x0F; val &= 0xF0; val |= mask; /* Write register value back into CONFIG3 register */ if( !wireWriteDataByte(APDS9960_CONFIG3, val) ) { return false; } return true; } /** * @brief Gets the entry proximity threshold for gesture sensing * * @return Current entry proximity threshold. */ uint8_t SparkFun_APDS9960::getGestureEnterThresh() { uint8_t val; /* Read value from GPENTH register */ if( !wireReadDataByte(APDS9960_GPENTH, val) ) { val = 0; } return val; } /** * @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 SparkFun_APDS9960::setGestureEnterThresh(uint8_t threshold) { if( !wireWriteDataByte(APDS9960_GPENTH, threshold) ) { return false; } return true; } /** * @brief Gets the exit proximity threshold for gesture sensing * * @return Current exit proximity threshold. */ uint8_t SparkFun_APDS9960::getGestureExitThresh() { uint8_t val; /* Read value from GEXTH register */ if( !wireReadDataByte(APDS9960_GEXTH, val) ) { val = 0; } return val; } /** * @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 SparkFun_APDS9960::setGestureExitThresh(uint8_t threshold) { if( !wireWriteDataByte(APDS9960_GEXTH, threshold) ) { return false; } return true; } /** * @brief Gets the gain of the photodiode during gesture mode * * Value Gain * 0 1x * 1 2x * 2 4x * 3 8x * * @return the current photodiode gain. 0xFF on error. */ uint8_t SparkFun_APDS9960::getGestureGain() { uint8_t val; /* Read value from GCONF2 register */ if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return ERROR; } /* Shift and mask out GGAIN bits */ val = (val >> 5) & 0x03; return val; } /** * @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 SparkFun_APDS9960::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 &= 0x03; gain = gain << 5; val &= 0x9F; val |= gain; /* Write register value back into GCONF2 register */ if( !wireWriteDataByte(APDS9960_GCONF2, val) ) { return false; } return true; } /** * @brief Gets the drive current of the LED during gesture mode * * Value LED Current * 0 100 mA * 1 50 mA * 2 25 mA * 3 12.5 mA * * @return the LED drive current value. 0xFF on error. */ uint8_t SparkFun_APDS9960::getGestureLEDDrive() { uint8_t val; /* Read value from GCONF2 register */ if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return ERROR; } /* Shift and mask out GLDRIVE bits */ val = (val >> 3) & 0x03; return val; } /** * @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 SparkFun_APDS9960::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 &= 0x03; drive = drive << 3; val &= 0xE7; val |= drive; /* Write register value back into GCONF2 register */ if( !wireWriteDataByte(APDS9960_GCONF2, val) ) { return false; } return true; } /** * @brief Gets 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 * * @return the current wait time between gestures. 0xFF on error. */ uint8_t SparkFun_APDS9960::getGestureWaitTime() { uint8_t val; /* Read value from GCONF2 register */ if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return ERROR; } /* Mask out GWTIME bits */ val &= 0x07; return val; } /** * @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 SparkFun_APDS9960::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 &= 0x07; val &= 0xF8; val |= time; /* Write register value back into GCONF2 register */ if( !wireWriteDataByte(APDS9960_GCONF2, val) ) { return false; } return true; } /** * @brief Gets the low threshold for ambient light interrupts * * @param[out] threshold current low threshold stored on the APDS-9960 * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::getLightIntLowThreshold(uint16_t &threshold) { uint8_t val_byte; threshold = 0; /* Read value from ambient light low threshold, low byte register */ if( !wireReadDataByte(APDS9960_AILTL, val_byte) ) { return false; } threshold = val_byte; /* Read value from ambient light low threshold, high byte register */ if( !wireReadDataByte(APDS9960_AILTH, val_byte) ) { return false; } threshold = threshold + ((uint16_t)val_byte << 8); return true; } /** * @brief Sets the low threshold for ambient light interrupts * * @param[in] threshold low threshold value for interrupt to trigger * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setLightIntLowThreshold(uint16_t threshold) { uint8_t val_low; uint8_t val_high; /* Break 16-bit threshold into 2 8-bit values */ val_low = threshold & 0x00FF; val_high = (threshold & 0xFF00) >> 8; /* Write low byte */ if( !wireWriteDataByte(APDS9960_AILTL, val_low) ) { return false; } /* Write high byte */ if( !wireWriteDataByte(APDS9960_AILTH, val_high) ) { return false; } return true; } /** * @brief Gets the high threshold for ambient light interrupts * * @param[out] threshold current low threshold stored on the APDS-9960 * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::getLightIntHighThreshold(uint16_t &threshold) { uint8_t val_byte; threshold = 0; /* Read value from ambient light high threshold, low byte register */ if( !wireReadDataByte(APDS9960_AIHTL, val_byte) ) { return false; } threshold = val_byte; /* Read value from ambient light high threshold, high byte register */ if( !wireReadDataByte(APDS9960_AIHTH, val_byte) ) { return false; } threshold = threshold + ((uint16_t)val_byte << 8); return true; } /** * @brief Sets the high threshold for ambient light interrupts * * @param[in] threshold high threshold value for interrupt to trigger * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setLightIntHighThreshold(uint16_t threshold) { uint8_t val_low; uint8_t val_high; /* Break 16-bit threshold into 2 8-bit values */ val_low = threshold & 0x00FF; val_high = (threshold & 0xFF00) >> 8; /* Write low byte */ if( !wireWriteDataByte(APDS9960_AIHTL, val_low) ) { return false; } /* Write high byte */ if( !wireWriteDataByte(APDS9960_AIHTH, val_high) ) { return false; } return true; } /** * @brief Gets the low threshold for proximity interrupts * * @param[out] threshold current low threshold stored on the APDS-9960 * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::getProximityIntLowThreshold(uint8_t &threshold) { threshold = 0; /* Read value from proximity low threshold register */ if( !wireReadDataByte(APDS9960_PILT, threshold) ) { return false; } return true; } /** * @brief Sets the low threshold for proximity interrupts * * @param[in] threshold low threshold value for interrupt to trigger * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setProximityIntLowThreshold(uint8_t threshold) { /* Write threshold value to register */ if( !wireWriteDataByte(APDS9960_PILT, threshold) ) { return false; } return true; } /** * @brief Gets the high threshold for proximity interrupts * * @param[out] threshold current low threshold stored on the APDS-9960 * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::getProximityIntHighThreshold(uint8_t &threshold) { threshold = 0; /* Read value from proximity low threshold register */ if( !wireReadDataByte(APDS9960_PIHT, threshold) ) { return false; } return true; } /** * @brief Sets the high threshold for proximity interrupts * * @param[in] threshold high threshold value for interrupt to trigger * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setProximityIntHighThreshold(uint8_t threshold) { /* Write threshold value to register */ if( !wireWriteDataByte(APDS9960_PIHT, threshold) ) { return false; } return true; } /** * @brief Gets if ambient light interrupts are enabled or not * * @return 1 if interrupts are enabled, 0 if not. 0xFF on error. */ uint8_t SparkFun_APDS9960::getAmbientLightIntEnable() { uint8_t val; /* Read value from ENABLE register */ if( !wireReadDataByte(APDS9960_ENABLE, val) ) { return ERROR; } /* Shift and mask out AIEN bit */ val = (val >> 4) & 0x01; return val; } /** * @brief Turns ambient light interrupts on or off * * @param[in] enable 1 to enable interrupts, 0 to turn them off * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setAmbientLightIntEnable(uint8_t enable) { uint8_t val; /* Read value from ENABLE register */ if( !wireReadDataByte(APDS9960_ENABLE, val) ) { return false; } /* Set bits in register to given value */ enable &= 0x01; enable = enable << 4; val &= 0xEF; val |= enable; /* Write register value back into ENABLE register */ if( !wireWriteDataByte(APDS9960_ENABLE, val) ) { return false; } return true; } /** * @brief Gets if proximity interrupts are enabled or not * * @return 1 if interrupts are enabled, 0 if not. 0xFF on error. */ uint8_t SparkFun_APDS9960::getProximityIntEnable() { uint8_t val; /* Read value from ENABLE register */ if( !wireReadDataByte(APDS9960_ENABLE, val) ) { return ERROR; } /* Shift and mask out PIEN bit */ val = (val >> 5) & 0x01; return val; } /** * @brief Turns proximity interrupts on or off * * @param[in] enable 1 to enable interrupts, 0 to turn them off * @return True if operation successful. False otherwise. */ bool SparkFun_APDS9960::setProximityIntEnable(uint8_t enable) { uint8_t val; /* Read value from ENABLE register */ if( !wireReadDataByte(APDS9960_ENABLE, val) ) { return false; } /* Set bits in register to given value */ enable &= 0x01; enable = enable << 5; val &= 0xDF; val |= enable; /* Write register value back into ENABLE register */ if( !wireWriteDataByte(APDS9960_ENABLE, val) ) { return false; } return true; } /** * @brief Gets if gesture interrupts are enabled or not * * @return 1 if interrupts are enabled, 0 if not. 0xFF on error. */ uint8_t SparkFun_APDS9960::getGestureIntEnable() { uint8_t val; /* Read value from GCONF4 register */ if( !wireReadDataByte(APDS9960_GCONF4, val) ) { return ERROR; } /* Shift and mask out GIEN bit */ val = (val >> 1) & 0x01; return val; } /** * @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 SparkFun_APDS9960::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 &= 0x01; enable = enable << 1; val &= 0xFD; val |= enable; /* Write register value back into GCONF4 register */ if( !wireWriteDataByte(APDS9960_GCONF4, val) ) { return false; } return true; } /** * @brief Clears the ambient light interrupt * * @return True if operation completed successfully. False otherwise. */ bool SparkFun_APDS9960::clearAmbientLightInt() { uint8_t throwaway; if( !wireReadDataByte(APDS9960_AICLEAR, throwaway) ) { return false; } return true; } /** * @brief Clears the proximity interrupt * * @return True if operation completed successfully. False otherwise. */ bool SparkFun_APDS9960::clearProximityInt() { uint8_t throwaway; if( !wireReadDataByte(APDS9960_PICLEAR, throwaway) ) { return false; } return true; } /** * @brief Tells if the gesture state machine is currently running * * @return 1 if gesture state machine is running, 0 if not. 0xFF on error. */ uint8_t SparkFun_APDS9960::getGestureMode() { uint8_t val; /* Read value from GCONF4 register */ if( !wireReadDataByte(APDS9960_GCONF4, val) ) { return ERROR; } /* Mask out GMODE bit */ val &= 0x01; return val; } /** * @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 SparkFun_APDS9960::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 &= 0x01; val &= 0xFE; val |= mode; /* Write register value back into GCONF4 register */ if( !wireWriteDataByte(APDS9960_GCONF4, val) ) { return false; } return true; } /******************************************************************************* * Raw I2C Reads and Writes ******************************************************************************/ /** * @brief Writes a single byte to the I2C device (no register) * * @param[in] val the 1-byte value to write to the I2C device * @return True if successful write operation. False otherwise. */ bool SparkFun_APDS9960::wireWriteByte(uint8_t val) { //char wr_data[1]; //wr_data[0] = (char)val; if (apds_i2c.write(APDS9960_I2C_ADDR8, (char *)&val, 1) != 0) 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 SparkFun_APDS9960::wireWriteDataByte(uint8_t reg, uint8_t val) { char wr_data[2]; wr_data[0] = (char)reg; wr_data[1] = (char)val; if (apds_i2c.write(APDS9960_I2C_ADDR8, wr_data, 2) != 0) return false; 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 SparkFun_APDS9960::wireReadDataByte(uint8_t reg, uint8_t &val) { /* Indicate which register we want to read from */ if (apds_i2c.write(APDS9960_I2C_ADDR8, (char *)®, 1, true) != 0) return false; /* Read from register */ if (apds_i2c.read(APDS9960_I2C_ADDR8, (char *)&val, 1) != 0) return false; 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 SparkFun_APDS9960::wireReadDataBlock( uint8_t reg, uint8_t *val, unsigned int len) { //unsigned char i = 0; /* Indicate which register we want to read from */ if (apds_i2c.write(APDS9960_I2C_ADDR8, (char *)®, 1, true) != 0) return -1; /* Read block data */ if (apds_i2c.read(APDS9960_I2C_ADDR8, (char *)val, len) != 0) return -1; return len; }