Fork of
SFE_APDS9960
by 
Nenad Milosevic
Diff: SparkFun_APDS9960.cpp
- Revision:
- 0:c04b49e0a678
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SparkFun_APDS9960.cpp Fri Apr 10 13:21:48 2015 +0000
@@ -0,0 +1,2050 @@
+/**
+ * @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;
+}
\ No newline at end of file