Ethan P
APDS9960 gesture sensor library for use with mbed. Ported from Justin Woodman's RPI APDS9960 library.
Diff: APDS9960_I2C.cpp
- Revision:
- 0:49ae62548910
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/APDS9960_I2C.cpp Tue May 19 11:00:23 2015 +0000
@@ -0,0 +1,2158 @@
+/**
+* @file APDS9960.cpp
+* @brief Raspberry Pi library for the SparkFun APDS-9960 breakout board
+* @author Shawn Hymel (SparkFun Electronics), Modified for Raspberry Pi by Justin Woodman
+*
+* @copyright This code is public domain but you buy me a beer if you use
+* this and we meet someday (Beerware license).
+*
+* This library interfaces the Avago APDS-9960 to Raspberry Pi over I2C. The library
+* relies on the wiringPi 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 "APDS9960_I2C.h"
+#include <bitset>
+#include <stdio.h>
+#include <stdlib.h>
+#include <bitset>
+#include <iostream>
+#include <iomanip>
+#include "mbed.h"
+
+
+
+
+
+
+/**
+* @brief Constructor - Instantiates APDS9960 object
+*/
+
+
+APDS9960_I2C::APDS9960_I2C( PinName sda, PinName scl ) : i2c( sda, scl )
+{
+ i2c.frequency(100000);
+
+ 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
+*/
+//APDS9960_I2C::~APDS9960()
+//{
+
+//}
+
+/**
+* @brief Configures I2C communications and initializes registers to defaults
+*
+* @return True if initialized successfully. False otherwise.
+*/
+
+uint8_t APDS9960_I2C::read_this(){
+ //uint8_t val;
+ //wireReadDataByte(APDS9960_GFLVL, val);
+ //val &= 1;
+ /*uint8_t fifo_data[128];
+ uint8_t fifo_level;
+
+ if( !wireReadDataByte(APDS9960_GFLVL, fifo_level) ) {
+ return ERROR;
+ }
+
+
+ val = wireReadDataBlock( APDS9960_GFIFO_U,
+ (uint8_t*)fifo_data,
+ (fifo_level * 4) );
+
+ return val;*/
+
+}
+
+int APDS9960_I2C::write_this(){
+ int id;
+ id = wireWriteDataByte(APDS9960_WTIME, DEFAULT_WTIME);
+ return id;
+}
+
+bool APDS9960_I2C::init()
+{
+ uint8_t id;
+ /* Initialize I2C */
+ /*fd_ = wiringPiI2CSetup(APDS9960_I2C_ADDR);
+ if(fd_ == -1) {
+ return false;
+ }*/
+
+ /* Read ID register and check against known values for APDS-9960 */
+ if( !wireReadDataByte(0x92, id) ) {
+ return false;
+ }
+ if( !(id == 0xAB || id == 0x9C) ) {
+ return false;
+ }
+
+ /* Set ENABLE register to 0 (disable all features) */
+ if( !setMode(7, 0) ) {
+ return false;
+ }
+
+ /* Set default values for ambient light and proximity registers */
+ //if( !(0x81, 219) ) {
+ // 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 APDS9960_I2C::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 APDS9960_I2C::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 >= 0 && mode <= 6 ) {
+ if (enable) {
+ reg_val |= (1 << mode);
+ } else {
+ reg_val &= ~(1 << mode);
+ }
+ } else if( mode == ALL ) {
+ if (enable) {
+ reg_val = 0x7F;
+ } else {
+ reg_val = 0x00;
+ }
+ }
+
+ /* Write value back to ENABLE register */
+ if( !wireWriteDataByte(APDS9960_ENABLE, reg_val) ) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+* @brief Starts the 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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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;
+}
+bool disableProximitySensor();
+
+/**
+* @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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::isGestureAvailable()
+{
+ uint8_t val;
+
+ /* Read value from GSTATUS register */
+ if( !wireReadDataByte(APDS9960_GSTATUS, val) ) {
+ return ERROR;
+ }
+
+ /* Shift and mask out GVALID bit */
+ val &= 1; //00000001
+
+ /* 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 APDS9960_I2C::readGesture()
+{
+ uint8_t fifo_level = 0;
+ uint8_t bytes_read = 0;
+ uint8_t fifo_data[128];
+ uint8_t gstatus;
+ int motion;
+ int i;
+
+ /* Make sure that power and gesture is on and data is valid */
+ if( !isGestureAvailable() || !(getMode() & 65) ) { //01000001
+ return DIR_NONE;
+ }
+
+ /* Keep looping as long as gesture data is valid */
+ while(1) {
+ /* Wait some time to collect next batch of FIFO data */
+ 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 ) {//00000001
+
+ /* Read the current FIFO level */
+ //return DIR_UP;
+ 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 ) {
+ //return DIR_UP;
+ 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 Gesturesf
+ }
+ }
+
+ /* 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 APDS9960_I2C::enablePower()
+{
+ if( !setMode(POWER, 1) ) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+* Turn the APDS-9960 off
+*
+* @return True if operation successful. False otherwise.
+*/
+bool APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 DEBUG
+ Serial.print(F("Finding last: "));
+ Serial.print(F("U:"));
+ Serial.print(gesture_data_.u_data[i]);
+ Serial.print(F(" D:"));
+ Serial.print(gesture_data_.d_data[i]);
+ Serial.print(F(" L:"));
+ Serial.print(gesture_data_.l_data[i]);
+ Serial.print(F(" R:"));
+ Serial.println(gesture_data_.r_data[i]);
+#endif
+ 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);
+
+#if DEBUG
+ Serial.print(F("Last Values: "));
+ Serial.print(F("U:"));
+ Serial.print(u_last);
+ Serial.print(F(" D:"));
+ Serial.print(d_last);
+ Serial.print(F(" L:"));
+ Serial.print(l_last);
+ Serial.print(F(" R:"));
+ Serial.println(r_last);
+
+ Serial.print(F("Ratios: "));
+ Serial.print(F("UD Fi: "));
+ Serial.print(ud_ratio_first);
+ Serial.print(F(" UD La: "));
+ Serial.print(ud_ratio_last);
+ Serial.print(F(" LR Fi: "));
+ Serial.print(lr_ratio_first);
+ Serial.print(F(" LR La: "));
+ Serial.println(lr_ratio_last);
+#endif
+
+ /* 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;
+
+#if DEBUG
+ Serial.print("Deltas: ");
+ Serial.print("UD: ");
+ Serial.print(ud_delta);
+ Serial.print(" LR: ");
+ Serial.println(lr_delta);
+#endif
+
+ /* Accumulate the UD and LR delta values */
+ gesture_ud_delta_ += ud_delta;
+ gesture_lr_delta_ += lr_delta;
+
+#if DEBUG
+ Serial.print("Accumulations: ");
+ Serial.print("UD: ");
+ Serial.print(gesture_ud_delta_);
+ Serial.print(" LR: ");
+ Serial.println(gesture_lr_delta_);
+#endif
+
+ /* 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;
+ }
+ }
+ }
+
+#if DEBUG
+ Serial.print("UD_CT: ");
+ Serial.print(gesture_ud_count_);
+ Serial.print(" LR_CT: ");
+ Serial.print(gesture_lr_count_);
+ Serial.print(" NEAR_CT: ");
+ Serial.print(gesture_near_count_);
+ Serial.print(" FAR_CT: ");
+ Serial.println(gesture_far_count_);
+ Serial.println("----------");
+#endif
+
+ return false;
+}
+
+/**
+* @brief Determines swipe direction or near/far state
+*
+* @return True if near/far event. False otherwise.
+*/
+bool APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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) & 3; //00000011
+
+ 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 APDS9960_I2C::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 &= 3; //00000011
+ drive = drive << 6;
+ val &= 63; //
+ 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 APDS9960_I2C::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) & 3; //00000011
+
+ 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 APDS9960_I2C::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 &= 3; //00000011
+ drive = drive << 2;
+ val &= 11110011;
+ 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 APDS9960_I2C::getAmbientLightGain()
+{
+ uint8_t val;
+
+ /* Read value from CONTROL register */
+ if( !wireReadDataByte(APDS9960_CONTROL, val) ) {
+ return ERROR;
+ }
+
+ /* Shift and mask out ADRIVE bits */
+ val &= 3; //00000011
+
+ 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 APDS9960_I2C::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 &= 3; //00000011
+ val &= 11111100;
+ 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 APDS9960_I2C::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) & 3; //00000011
+
+ 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 APDS9960_I2C::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 &= 3; //00000011
+ boost = boost << 4;
+ val &= 11001111;
+ val |= boost;
+
+ /* Write register value back into CONFIG2 register */
+ if( !wireWriteDataByte(APDS9960_CONFIG2, val) ) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+* @brief Gets proximity gain compensation enable
+*
+* @return 1 if compensation is enabled. 0 if not. 0xFF on error.
+*/
+uint8_t APDS9960_I2C::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) & 1; //00000001
+
+ 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 APDS9960_I2C::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 &= 1; //00000001
+ enable = enable << 5;
+ val &= 11011111;
+ 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 APDS9960_I2C::getProxPhotoMask()
+{
+ uint8_t val;
+
+ /* Read value from CONFIG3 register */
+ if( !wireReadDataByte(APDS9960_CONFIG3, val) ) {
+ return ERROR;
+ }
+
+ /* Mask out photodiode enable mask bits */
+ val &= 15; //00001111
+
+ 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 APDS9960_I2C::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 &= 15; //00001111
+ val &= 11110000;
+ 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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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) & 3; //00000011
+
+ 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 APDS9960_I2C::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 &= 3; //00000011
+ gain = gain << 5;
+ val &= 10011111;
+ val |= gain;
+
+ /* Write register value back into GCONF2 register */
+ if( !wireWriteDataByte(APDS9960_GCONF2, val) ) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+* @brief 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 APDS9960_I2C::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) & 3; //00000011
+
+ 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 APDS9960_I2C::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 &= 3; //00000011
+ drive = drive << 3;
+ val &= 11100111;
+ val |= drive;
+
+ /* Write register value back into GCONF2 register */
+ if( !wireWriteDataByte(APDS9960_GCONF2, val) ) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+* @brief 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 APDS9960_I2C::getGestureWaitTime()
+{
+ uint8_t val;
+
+ /* Read value from GCONF2 register */
+ if( !wireReadDataByte(APDS9960_GCONF2, val) ) {
+ return ERROR;
+ }
+
+ /* Mask out GWTIME bits */
+ val &= 7; //00000111
+
+ 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 APDS9960_I2C::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 &= 7; //00000111
+ val &= 11111000;
+ 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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::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) & 1; //00000001
+
+ 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 APDS9960_I2C::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 &= 1; //00000001
+ enable = enable << 4;
+ val &= 11101111;
+ 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 APDS9960_I2C::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) & 1; //00000001
+
+ 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 APDS9960_I2C::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 &= 1; //00000001
+ enable = enable << 5;
+ val &= 11011111;
+ 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 APDS9960_I2C::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) & 1; //00000001
+
+ 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 APDS9960_I2C::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 &= 1; //00000001
+ enable = enable << 1;
+ val &= 11111101;
+ val |= enable;
+
+ /* Write register value back into GCONF4 register */
+ if( !wireWriteDataByte(APDS9960_GCONF4, val) ) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+* @brief Clears the ambient light interrupt
+*
+* @return True if operation completed successfully. False otherwise.
+*/
+bool APDS9960_I2C::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 APDS9960_I2C::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 APDS9960_I2C::getGestureMode()
+{
+ uint8_t val;
+
+ /* Read value from GCONF4 register */
+ if( !wireReadDataByte(APDS9960_GCONF4, val) ) {
+ return ERROR;
+ }
+
+ /* Mask out GMODE bit */
+ val &= 1; //00000001
+
+ 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 APDS9960_I2C::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 &= 1; //00000001
+ val &= 11111110;
+ 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 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.
+*/
+
+int APDS9960_I2C::wireWriteDataByte(uint8_t address, uint8_t data){
+ char address_fixed = address;
+ char data_fixed = data;
+ char tx[2] = { address_fixed, data_fixed }; //0d160 = 0b10100000
+ int ack = i2c.write(APDS9960_I2C_ADDR << 1, tx, 2 );
+ return !ack;
+}
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+* @brief Writes a block (array) of bytes to the I2C device and register
+*
+* @param[in] reg the register in the I2C device to write to
+* @param[in] val pointer to the beginning of the data byte array
+* @param[in] len the length (in bytes) of the data to write
+* @return True if successful write operation. False otherwise.
+*/
+
+int APDS9960_I2C::wireWriteDataBlock(uint8_t address, uint8_t* data, unsigned int quantity){
+ char address_fixed = address;
+ //char* data_fixed = data;
+
+ char tx[ quantity + 1 ];
+ tx[0] = address;
+ for ( int i = 1; i <= quantity; i++ ){
+ tx[ i ] = data[ i - 1 ];
+ }
+ int ack = i2c.write( APDS9960_I2C_ADDR << 1, tx, quantity + 1 );
+ return !ack;
+}
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+
+
+/**
+* @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.
+*/
+
+int APDS9960_I2C::wireReadDataByte(uint8_t address, uint8_t &val){
+ char output = 255;
+ //char address_fixed = address;
+ //char vag;
+ char command = address; //0d160 = 0b10100000
+ i2c.write( APDS9960_I2C_ADDR << 1, &command, 1, true);
+
+ int ack = i2c.read( APDS9960_I2C_ADDR << 1, &output, 1 );
+ val = output;
+ return !ack;
+
+}
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+* @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 APDS9960_I2C::wireReadDataBlock( uint8_t address, uint8_t* val, unsigned int quantity ){
+
+ char* val_holder = reinterpret_cast<char*>(val);
+ char command = address;
+ i2c.write( APDS9960_I2C_ADDR << 1, &command, 1, true );
+ int ack = i2c.read(APDS9960_I2C_ADDR << 1, val_holder, quantity);
+ return quantity;
+}