APDS9960 gesture sensor library for use with mbed. Ported from Justin Woodman's RPI APDS9960 library.
APDS9960_I2C.cpp
- Committer:
- chiggayeuh
- Date:
- 2015-05-19
- Revision:
- 0:49ae62548910
File content as of revision 0:49ae62548910:
/** * @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; }