Ethan P
APDS9960 gesture sensor library for use with mbed. Ported from Justin Woodman's RPI APDS9960 library.
Revision 0:49ae62548910, committed 2015-05-19
- Comitter:
- chiggayeuh
- Date:
- Tue May 19 11:00:23 2015 +0000
- Commit message:
- Initial release of APDS9960 library for mBed
Changed in this revision
| APDS9960_I2C.cpp | Show annotated file Show diff for this revision Revisions of this file |
| APDS9960_I2C.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 49ae62548910 APDS9960_I2C.cpp
--- /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;
+}
diff -r 000000000000 -r 49ae62548910 APDS9960_I2C.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/APDS9960_I2C.h Tue May 19 11:00:23 2015 +0000
@@ -0,0 +1,357 @@
+/**
+* @file APDS9960_RPi.h
+* @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
+*/
+
+#ifndef APDS9960_I2C_H
+#define APDS9960_I2C_H
+#include "mbed.h"
+
+#include <stdint.h>
+#include <stdlib.h>
+
+/* Debug */
+#define DEBUG 0
+
+/* APDS-9960 I2C address */
+#define APDS9960_I2C_ADDR 0x39
+
+/* Gesture parameters */
+#define GESTURE_THRESHOLD_OUT 10
+#define GESTURE_SENSITIVITY_1 50
+#define GESTURE_SENSITIVITY_2 20
+
+/* Error code for returned values */
+#define ERROR 0xFF
+
+/* Acceptable device IDs */
+#define APDS9960_ID_1 0xAB
+#define APDS9960_ID_2 0x9C
+
+/* Misc parameters */
+#define FIFO_PAUSE_TIME 30 // Wait period (ms) between FIFO reads
+
+/* APDS-9960 register addresses */
+#define APDS9960_ENABLE 0x80
+#define APDS9960_ATIME 0x81
+#define APDS9960_WTIME 0x83
+#define APDS9960_AILTL 0x84
+#define APDS9960_AILTH 0x85
+#define APDS9960_AIHTL 0x86
+#define APDS9960_AIHTH 0x87
+#define APDS9960_PILT 0x89
+#define APDS9960_PIHT 0x8B
+#define APDS9960_PERS 0x8C
+#define APDS9960_CONFIG1 0x8D
+#define APDS9960_PPULSE 0x8E
+#define APDS9960_CONTROL 0x8F
+#define APDS9960_CONFIG2 0x90
+#define APDS9960_ID 0x92
+#define APDS9960_STATUS 0x93
+#define APDS9960_CDATAL 0x94
+#define APDS9960_CDATAH 0x95
+#define APDS9960_RDATAL 0x96
+#define APDS9960_RDATAH 0x97
+#define APDS9960_GDATAL 0x98
+#define APDS9960_GDATAH 0x99
+#define APDS9960_BDATAL 0x9A
+#define APDS9960_BDATAH 0x9B
+#define APDS9960_PDATA 0x9C
+#define APDS9960_POFFSET_UR 0x9D
+#define APDS9960_POFFSET_DL 0x9E
+#define APDS9960_CONFIG3 0x9F
+#define APDS9960_GPENTH 0xA0
+#define APDS9960_GEXTH 0xA1
+#define APDS9960_GCONF1 0xA2
+#define APDS9960_GCONF2 0xA3
+#define APDS9960_GOFFSET_U 0xA4
+#define APDS9960_GOFFSET_D 0xA5
+#define APDS9960_GOFFSET_L 0xA7
+#define APDS9960_GOFFSET_R 0xA9
+#define APDS9960_GPULSE 0xA6
+#define APDS9960_GCONF3 0xAA
+#define APDS9960_GCONF4 0xAB
+#define APDS9960_GFLVL 0xAE
+#define APDS9960_GSTATUS 0xAF
+#define APDS9960_IFORCE 0xE4
+#define APDS9960_PICLEAR 0xE5
+#define APDS9960_CICLEAR 0xE6
+#define APDS9960_AICLEAR 0xE7
+#define APDS9960_GFIFO_U 0xFC
+#define APDS9960_GFIFO_D 0xFD
+#define APDS9960_GFIFO_L 0xFE
+#define APDS9960_GFIFO_R 0xFF
+
+/* Bit fields */
+#define APDS9960_PON 00000001
+#define APDS9960_AEN 00000010
+#define APDS9960_PEN 00000100
+#define APDS9960_WEN 00001000
+#define APSD9960_AIEN 00010000
+#define APDS9960_PIEN 00100000
+#define APDS9960_GEN 01000000
+#define APDS9960_GVALID 00000001
+
+/* On/Off definitions */
+#define OFF 0
+#define ON 1
+
+/* Acceptable parameters for setMode */
+#define POWER 0
+#define AMBIENT_LIGHT 1
+#define PROXIMITY 2
+#define WAIT 3
+#define AMBIENT_LIGHT_INT 4
+#define PROXIMITY_INT 5
+#define GESTURE 6
+#define ALL 7
+
+/* LED Drive values */
+#define LED_DRIVE_100MA 0
+#define LED_DRIVE_50MA 1
+#define LED_DRIVE_25MA 2
+#define LED_DRIVE_12_5MA 3
+
+/* Proximity Gain (PGAIN) values */
+#define PGAIN_1X 0
+#define PGAIN_2X 1
+#define PGAIN_4X 2
+#define PGAIN_8X 3
+
+/* ALS Gain (AGAIN) values */
+#define AGAIN_1X 0
+#define AGAIN_4X 1
+#define AGAIN_16X 2
+#define AGAIN_64X 3
+
+/* Gesture Gain (GGAIN) values */
+#define GGAIN_1X 0
+#define GGAIN_2X 1
+#define GGAIN_4X 2
+#define GGAIN_8X 3
+
+/* LED Boost values */
+#define LED_BOOST_100 0
+#define LED_BOOST_150 1
+#define LED_BOOST_200 2
+#define LED_BOOST_300 3
+
+/* Gesture wait time values */
+#define GWTIME_0MS 0
+#define GWTIME_2_8MS 1
+#define GWTIME_5_6MS 2
+#define GWTIME_8_4MS 3
+#define GWTIME_14_0MS 4
+#define GWTIME_22_4MS 5
+#define GWTIME_30_8MS 6
+#define GWTIME_39_2MS 7
+
+/* Default values */
+#define DEFAULT_ATIME 219 // 103ms
+#define DEFAULT_WTIME 246 // 27ms
+#define DEFAULT_PROX_PPULSE 0x87 // 16us, 8 pulses
+#define DEFAULT_GESTURE_PPULSE 0x89 // 16us, 10 pulses
+#define DEFAULT_POFFSET_UR 0 // 0 offset
+#define DEFAULT_POFFSET_DL 0 // 0 offset
+#define DEFAULT_CONFIG1 0x60 // No 12x wait (WTIME) factor
+#define DEFAULT_LDRIVE LED_DRIVE_100MA
+#define DEFAULT_PGAIN PGAIN_4X
+#define DEFAULT_AGAIN AGAIN_4X
+#define DEFAULT_PILT 0 // Low proximity threshold
+#define DEFAULT_PIHT 50 // High proximity threshold
+#define DEFAULT_AILT 0xFFFF // Force interrupt for calibration
+#define DEFAULT_AIHT 0
+#define DEFAULT_PERS 0x11 // 2 consecutive prox or ALS for int.
+#define DEFAULT_CONFIG2 0x01 // No saturation interrupts or LED boost
+#define DEFAULT_CONFIG3 0 // Enable all photodiodes, no SAI
+#define DEFAULT_GPENTH 40 // Threshold for entering gesture mode
+#define DEFAULT_GEXTH 30 // Threshold for exiting gesture mode
+#define DEFAULT_GCONF1 0x40 // 4 gesture events for int., 1 for exit
+#define DEFAULT_GGAIN GGAIN_4X
+#define DEFAULT_GLDRIVE LED_DRIVE_100MA
+#define DEFAULT_GWTIME GWTIME_2_8MS
+#define DEFAULT_GOFFSET 0 // No offset scaling for gesture mode
+#define DEFAULT_GPULSE 0xC9 // 32us, 10 pulses
+#define DEFAULT_GCONF3 0 // All photodiodes active during gesture
+#define DEFAULT_GIEN 0 // Disable gesture interrupts
+
+/* Direction definitions */
+enum {
+ DIR_NONE,
+ DIR_LEFT,
+ DIR_RIGHT,
+ DIR_UP,
+ DIR_DOWN,
+ DIR_NEAR,
+ DIR_FAR,
+ DIR_ALL
+};
+
+/* State definitions */
+enum {
+ NA_STATE,
+ NEAR_STATE,
+ FAR_STATE,
+ ALL_STATE
+};
+
+/* Container for gesture data */
+typedef struct gesture_data_type {
+ uint8_t u_data[32];
+ uint8_t d_data[32];
+ uint8_t l_data[32];
+ uint8_t r_data[32];
+ uint8_t index;
+ uint8_t total_gestures;
+ uint8_t in_threshold;
+ uint8_t out_threshold;
+} gesture_data_type;
+
+/* APDS9960 Class */
+class APDS9960_I2C {
+public:
+
+ /* Initialization methods */
+ APDS9960_I2C( PinName sda, PinName scl );
+ //~APDS9960();
+ bool init();
+ uint8_t read_this();
+ uint8_t getMode();
+ int write_this();
+ bool setMode(uint8_t mode, uint8_t enable);
+
+ /* Turn the APDS-9960 on and off */
+ bool enablePower();
+ bool disablePower();
+
+ /* Enable or disable specific sensors */
+ bool enableLightSensor(bool interrupts = false);
+ bool disableLightSensor();
+ bool enableProximitySensor(bool interrupts = false);
+ bool disableProximitySensor();
+ bool enableGestureSensor(bool interrupts = true);
+ bool disableGestureSensor();
+
+ /* LED drive strength control */
+ uint8_t getLEDDrive();
+ bool setLEDDrive(uint8_t drive);
+ uint8_t getGestureLEDDrive();
+ bool setGestureLEDDrive(uint8_t drive);
+
+ /* Gain control */
+ uint8_t getAmbientLightGain();
+ bool setAmbientLightGain(uint8_t gain);
+ uint8_t getProximityGain();
+ bool setProximityGain(uint8_t gain);
+ uint8_t getGestureGain();
+ bool setGestureGain(uint8_t gain);
+
+ /* Get and set light interrupt thresholds */
+ bool getLightIntLowThreshold(uint16_t &threshold);
+ bool setLightIntLowThreshold(uint16_t threshold);
+ bool getLightIntHighThreshold(uint16_t &threshold);
+ bool setLightIntHighThreshold(uint16_t threshold);
+
+ /* Get and set proximity interrupt thresholds */
+ bool getProximityIntLowThreshold(uint8_t &threshold);
+ bool setProximityIntLowThreshold(uint8_t threshold);
+ bool getProximityIntHighThreshold(uint8_t &threshold);
+ bool setProximityIntHighThreshold(uint8_t threshold);
+
+ /* Get and set interrupt enables */
+ uint8_t getAmbientLightIntEnable();
+ bool setAmbientLightIntEnable(uint8_t enable);
+ uint8_t getProximityIntEnable();
+ bool setProximityIntEnable(uint8_t enable);
+ uint8_t getGestureIntEnable();
+ bool setGestureIntEnable(uint8_t enable);
+
+ /* Clear interrupts */
+ bool clearAmbientLightInt();
+ bool clearProximityInt();
+
+ /* Ambient light methods */
+ bool readAmbientLight(uint16_t &val);
+ bool readRedLight(uint16_t &val);
+ bool readGreenLight(uint16_t &val);
+ bool readBlueLight(uint16_t &val);
+
+ /* Proximity methods */
+ bool readProximity(uint8_t &val);
+
+ /* Gesture methods */
+ bool isGestureAvailable();
+ int readGesture();
+
+private:
+ I2C i2c;
+
+ /* Gesture processing */
+ void resetGestureParameters();
+ bool processGestureData();
+ bool decodeGesture();
+
+ /* Proximity Interrupt Threshold */
+ uint8_t getProxIntLowThresh();
+ bool setProxIntLowThresh(uint8_t threshold);
+ uint8_t getProxIntHighThresh();
+ bool setProxIntHighThresh(uint8_t threshold);
+
+ /* LED Boost Control */
+ uint8_t getLEDBoost();
+ bool setLEDBoost(uint8_t boost);
+
+ /* Proximity photodiode select */
+ uint8_t getProxGainCompEnable();
+ bool setProxGainCompEnable(uint8_t enable);
+ uint8_t getProxPhotoMask();
+ bool setProxPhotoMask(uint8_t mask);
+
+ /* Gesture threshold control */
+ uint8_t getGestureEnterThresh();
+ bool setGestureEnterThresh(uint8_t threshold);
+ uint8_t getGestureExitThresh();
+ bool setGestureExitThresh(uint8_t threshold);
+
+ /* Gesture LED, gain, and time control */
+ uint8_t getGestureWaitTime();
+ bool setGestureWaitTime(uint8_t time);
+
+ /* Gesture mode */
+ uint8_t getGestureMode();
+ bool setGestureMode(uint8_t mode);
+
+ /* Raw I2C Commands */
+ //bool wireWriteByte(uint8_t val);
+ int wireWriteDataByte(uint8_t reg, uint8_t val);
+ int wireWriteDataBlock(uint8_t reg, uint8_t *val, unsigned int len);
+ int wireReadDataByte(uint8_t reg, uint8_t &val);
+ int wireReadDataBlock(uint8_t reg, uint8_t *val, unsigned int len);
+
+ /* Members */
+ gesture_data_type gesture_data_;
+ int gesture_ud_delta_;
+ int gesture_lr_delta_;
+ int gesture_ud_count_;
+ int gesture_lr_count_;
+ int gesture_near_count_;
+ int gesture_far_count_;
+ int gesture_state_;
+ int gesture_motion_;
+ int fd_;
+};
+
+#endif
\ No newline at end of file