Revision 0:830ac1db5bf7, committed 2015-04-05

Comitter:

devsar

Date:

Sun Apr 05 13:48:45 2015 +0000

Commit message:

Initial Release.; Use Interrupt to detect.; Only check gesture sensor. (will test other sensor later)

Changed in this revision

diff -r 000000000000 -r 830ac1db5bf7 apds9960.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/apds9960.cpp	Sun Apr 05 13:48:45 2015 +0000
@@ -0,0 +1,1799 @@
+/**
+ * @file        apds9960.cpp
+ * @brief       Library for the SparkFun APDS-9960 breakout board
+ * @author      devsar
+ * @origin      The origin of this file was from Arduino's library
+ *              by Shawn Hymel (SparkFun Electronics).
+ * @copyright   Public domain (Beerware license).
+ *
+ * This library interfaces the Avago APDS-9960 to Arduino over I2C. The library
+ * relies on the Arduino Wire (I2C) library. to use the library, instantiate an
+ * APDS9960 object, call init(), and call the appropriate functions.
+ *
+ * APDS-9960 current draw tests (default parameters):
+ *   Off:                   1mA
+ *   Waiting for gesture:   14mA
+ *   Gesture in progress:   35mA
+ */
+#include "mbed.h"
+#include "apds9960.h"
+
+/**
+ * @brief Constructor - Instantiates SparkFun_APDS9960 object
+ */
+ apds9960::apds9960(PinName sda, PinName scl):i2c(sda, scl){   
+    resetGestureParameters();
+}
+
+/**
+ * @brief Destructor
+ */
+apds9960::~apds9960(){
+       
+} 
+
+/**
+ * @brief Configures I2C communications and initializes registers to defaults
+ *
+ * @return True if initialized successfully. False otherwise.
+ */
+#ifdef DEBUG
+bool  apds9960::ginit(Serial &par){
+    pc = ∥
+#else
+bool  apds9960::ginit(){
+#endif
+    uint8_t id;
+    
+    /* Read ID register and check against known values for APDS-9960 */
+    if( !wireReadDataByte(APDS9960_ID, id) ) { return false; }
+    
+    if( (!(id == APDS9960_ID_1 || id == APDS9960_ID_2))||id==ERROR) { return false; }
+    
+    /* Set ENABLE register to 0 (disable all features) */
+    if(!setMode(ALL, OFF)) { return false; }
+
+    /* Set default values for ambient light and proximity registers */
+    if( !wireWriteDataByte(APDS9960_ATIME, DEFAULT_ATIME) ) { return false; }
+    if( !wireWriteDataByte(APDS9960_WTIME, DEFAULT_WTIME) ) { return false; }
+    if( !wireWriteDataByte(APDS9960_PPULSE, DEFAULT_PROX_PPULSE) ) { return false; }
+    if( !wireWriteDataByte(APDS9960_POFFSET_UR, DEFAULT_POFFSET_UR) ) { return false; }
+    if( !wireWriteDataByte(APDS9960_POFFSET_DL, DEFAULT_POFFSET_DL) ) { return false; }
+    if( !wireWriteDataByte(APDS9960_CONFIG1, DEFAULT_CONFIG1) ) { return false; }
+    
+    if( !setLEDDrive(DEFAULT_LDRIVE) ) { return false; }
+    
+    if( !setProximityGain(DEFAULT_PGAIN) ) { return false; }
+    if( !setAmbientLightGain(DEFAULT_AGAIN) ) { return false; }
+    if( !setProxIntLowThresh(DEFAULT_PILT) ) { return false; }
+    if( !setProxIntHighThresh(DEFAULT_PIHT) ) { return false; }
+    if( !setLightIntLowThreshold(DEFAULT_AILT) ) { return false; }
+    if( !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::getMode()
+{
+    uint8_t enable_value;
+    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::setMode(uint8_t mode, uint8_t enable)
+{
+    uint8_t reg_val;
+
+    /* Read current ENABLE register */
+    reg_val = getMode();
+    if( reg_val == ERROR ) {return false;}
+    
+    /* Change bit(s) in ENABLE register */
+    enable = enable & 0x01;
+    if( mode <= 6 ) {
+        if (enable) { reg_val |= (1 << mode); }
+        else {reg_val &= ~(1 << mode); }
+    } else if( mode == ALL ) {
+        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::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::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::enableProximitySensor(bool interrupts)
+{
+    /* Set default gain, LED, interrupts, enable power, and enable sensor */
+    if( !setProximityGain(DEFAULT_PGAIN) ) { return false; }
+    if( !setLEDDrive(DEFAULT_LDRIVE) ) { return false; }
+    if( interrupts ) {
+        if( !setProximityIntEnable(1) ) { return false; }
+    } else {
+        if( !setProximityIntEnable(0) ) { return false; }
+    }
+    if( !enablePower() ){ return false; }
+    if( !setMode(PROXIMITY, 1) ) { return false; }
+    
+    return true;
+}
+
+/**
+ * @brief Ends the proximity sensor on the APDS-9960
+ *
+ * @return True if sensor disabled correctly. False on error.
+ */
+bool apds9960::disableProximitySensor()
+{
+    if( !setProximityIntEnable(0) ) { return false; }
+    if( !setMode(PROXIMITY, 0) ) { return false; }
+
+    return true;
+}
+
+
+/**
+ * @brief Starts the gesture recognition engine on the APDS-9960
+ *
+ * @param[in] interrupts true to enable hardware external interrupt on gesture
+ * @return True if engine enabled correctly. False on error.
+ */
+bool apds9960::enableGestureSensor(bool interrupts)
+{
+    
+    /* Enable gesture mode
+       Set ENABLE to 0 (power off)
+       Set WTIME to 0xFF
+       Set AUX to LED_BOOST_300
+       Enable PON, WEN, PEN, GEN in ENABLE 
+    */
+
+    resetGestureParameters();
+    if( !wireWriteDataByte(APDS9960_WTIME, 0xFF) ) { return false; }
+    if( !wireWriteDataByte(APDS9960_PPULSE, DEFAULT_GESTURE_PPULSE) ) { return false; }
+    if( !setLEDBoost(LED_BOOST_300) ) { return false; }
+    if( interrupts ) {
+        if( !setGestureIntEnable(1) ) { return false; }
+    } else {
+        if( !setGestureIntEnable(0) ) { return false; }
+    }
+    if( !setGestureMode(1) ) { return false; }
+    if( !enablePower() ){ return false; }
+    if( !setMode(WAIT, 1) ) { return false; }
+    if( !setMode(PROXIMITY, 1) ) { return false; }
+    if( !setMode(GESTURE, 1) ) { return false; }
+    
+    return true;
+}
+
+/**
+ * @brief Ends the gesture recognition engine on the APDS-9960
+ *
+ * @return True if engine disabled correctly. False on error.
+ */
+bool apds9960::disableGestureSensor()
+{
+    resetGestureParameters();
+    if( !setGestureIntEnable(0) ) { return false; }
+    if( !setGestureMode(0) ) { return false; }
+    if( !setMode(GESTURE, 0) ) { return false; }
+    
+    return true;
+}
+
+
+/**
+ * @brief Determines if there is a gesture available for reading
+ *
+ * @return True if gesture available. False otherwise.
+ */
+bool apds9960::isGestureAvailable()
+{
+    uint8_t val;
+    
+    /* Read value from GSTATUS register */
+    if( !wireReadDataByte(APDS9960_GSTATUS, val) ) { return ERROR; }
+    
+    /* Shift and mask out GVALID bit */
+    val &= APDS9960_GVALID;
+    
+    /* Return true/false based on GVALID bit */
+    if( val == 1) { return true; } 
+    else { return false; }
+}
+
+/**
+ * @brief Processes a gesture event and returns best guessed gesture
+ *
+ * @return Number corresponding to gesture. -1 on error.
+ */
+int apds9960::readGesture()
+{
+    uint8_t fifo_level = 0;
+    uint8_t bytes_read = 0;
+    char fifo_data[128];
+    uint8_t gstatus;
+    int motion;
+    int i;
+    
+    /* Make sure that power and gesture is on and data is valid */
+    if( !isGestureAvailable() || !(getMode() & 0x41) ) {
+        return DIR_NONE;
+    }
+
+    
+    /* Keep looping as long as gesture data is valid */
+    while(1) {
+      
+        /* Wait some time to collect next batch of FIFO data */
+        wait_ms(FIFO_PAUSE_TIME);
+        
+        /* Get the contents of the STATUS register. Is data still valid? */
+          
+        if( !wireReadDataByte(APDS9960_GSTATUS, gstatus ) ) { return ERROR; }
+
+        /* If we have valid data, read in FIFO */
+        if( (gstatus & APDS9960_GVALID) == APDS9960_GVALID ) {
+        
+            /* Read the current FIFO level */
+            if( !wireReadDataByte(APDS9960_GFLVL, fifo_level) ) { return ERROR; }
+            
+#if DEBUG
+            pc->.printf("FIFO Level: &d\n\r", fifo_level);
+#endif
+
+            /* 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 DEBUG
+                pc->printf("FIFO Dump: ");
+                for ( i = 0; i < (fifo_level * 4); i++ ) {
+                   pc->printf("%d ", fifo_data[i]);
+                }
+                pc->printf("\n\r");
+#endif
+
+                /* If at least 1 set of data, sort the data into U/D/L/R */
+                if((fifo_level * 4)  >= 4 ) {
+                    for( i = 0; i < (fifo_level * 4); i += 4 ) {
+                        gesture_data_.u_data[gesture_data_.sindex] = fifo_data[i + 0];
+                        gesture_data_.d_data[gesture_data_.sindex] = fifo_data[i + 1];
+                        gesture_data_.l_data[gesture_data_.sindex] = fifo_data[i + 2];
+                        gesture_data_.r_data[gesture_data_.sindex] = fifo_data[i + 3];
+                        gesture_data_.sindex++;
+                        gesture_data_.total_gestures++;
+                    }
+                    
+#if DEBUG
+                pc->printf("Up Data: ");
+                for ( i = 0; i < gesture_data_.total_gestures; i++ ) {
+                    pc->printf("%d ", gesture_data_.u_data[i]);
+                }
+                pc->printf("\n\r");
+#endif
+
+                    /* Filter and process gesture data. Decode near/far state */
+                    if( processGestureData() ) {
+                        if( decodeGesture() ) {
+                            //***TODO: U-Turn Gestures
+#if DEBUG
+                            pc->printf("%s",gesture_motion_);
+#endif
+                        }
+                    }
+                    
+                    /* Reset data */
+                    gesture_data_.sindex = 0;
+                    gesture_data_.total_gestures = 0;
+                }
+            }
+        } else {
+    
+            /* Determine best guessed gesture and clean up */
+            wait_ms(FIFO_PAUSE_TIME);
+            decodeGesture();
+            motion = gesture_motion_;
+#if DEBUG
+        pc->printf("END: %s",gesture_motion_);
+#endif
+            resetGestureParameters();
+            return motion;
+        }
+    }
+   // delete fptr;
+}
+
+/**
+ * Turn the APDS-9960 on
+ *
+ * @return True if operation successful. False otherwise.
+ */
+bool apds9960::enablePower()
+{
+    if( !setMode(POWER, 1) ) { return false; }
+    
+    return true;
+}
+
+/**
+ * Turn the APDS-9960 off
+ *
+ * @return True if operation successful. False otherwise.
+ */
+bool apds9960::disablePower()
+{
+    if( !setMode(POWER, 0) ) { return false; }
+    
+    return true;
+}
+
+/*******************************************************************************
+ * Ambient light and color sensor controls
+ ******************************************************************************/
+
+/**
+ * @brief Reads the ambient (clear) light level as a 16-bit value
+ *
+ * @param[out] val value of the light sensor.
+ * @return True if operation successful. False otherwise.
+ */
+bool apds9960::readAmbientLight(uint16_t &val)
+{
+    uint8_t val_byte;
+    val = 0;
+    
+    /* Read value from clear channel, low byte register */
+    if( !wireReadDataByte(APDS9960_CDATAL, val_byte) ) { return false; }
+    val = val_byte;
+    
+    /* Read value from clear channel, high byte register */
+   
+    if( !wireReadDataByte(APDS9960_CDATAH, val_byte) ) { return false; }
+    val = val + ((uint16_t)val_byte << 8);
+    
+    return true;
+}
+
+/**
+ * @brief Reads the red light level as a 16-bit value
+ *
+ * @param[out] val value of the light sensor.
+ * @return True if operation successful. False otherwise.
+ */
+bool apds9960::readRedLight(uint16_t &val)
+{
+    uint8_t val_byte;
+    val = 0;
+    
+    /* Read value from clear channel, low byte register */
+    if( !wireReadDataByte(APDS9960_RDATAL, val_byte) ) { return false; }
+    
+    val = val_byte;
+    
+    /* Read value from clear channel, high byte register */
+    if( !wireReadDataByte(APDS9960_RDATAH, val_byte) ) { return false; }
+    val = val + ((uint16_t)val_byte << 8);
+    
+    return true;
+}
+
+/**
+ * @brief Reads the green light level as a 16-bit value
+ *
+ * @param[out] val value of the light sensor.
+ * @return True if operation successful. False otherwise.
+ */
+bool apds9960::readGreenLight(uint16_t &val)
+{
+    uint8_t val_byte;
+    val = 0;
+    
+    /* Read value from clear channel, low byte register */
+    if( !wireReadDataByte(APDS9960_GDATAL, val_byte) ) { return false; }
+    
+    val = val_byte;
+    
+    /* Read value from clear channel, high byte register */
+    if( !wireReadDataByte(APDS9960_GDATAH, val_byte) ) { return false; }
+    val = val + ((uint16_t)val_byte << 8);
+    
+    return true;
+}
+
+/**
+ * @brief Reads the red light level as a 16-bit value
+ *
+ * @param[out] val value of the light sensor.
+ * @return True if operation successful. False otherwise.
+*/
+bool apds9960::readBlueLight(uint16_t &val)
+{
+    uint8_t val_byte;
+    val = 0;
+    
+    /* Read value from clear channel, low byte register */
+    if( !wireReadDataByte(APDS9960_BDATAL, val_byte) ) { return false; }
+    
+    val = val_byte;
+    
+    /* Read value from clear channel, high byte register */
+    if( !wireReadDataByte(APDS9960_BDATAH, val_byte) ) { return false; }
+    val = val + ((uint16_t)val_byte << 8);
+    
+    return true;
+}
+
+/*******************************************************************************
+ * Proximity sensor controls
+ ******************************************************************************/
+
+/**
+ * @brief Reads the proximity level as an 8-bit value
+ *
+ * @param[out] val value of the proximity sensor.
+ * @return True if operation successful. False otherwise.
+ */
+bool apds9960::readProximity(uint8_t &val)
+{
+    val = 0;
+    
+    /* Read value from proximity data register */
+    if( !wireReadDataByte(APDS9960_PDATA, val) ) { return false; }
+        
+    return true;
+}
+
+/*******************************************************************************
+ * High-level gesture controls
+ ******************************************************************************/
+
+/**
+ * @brief Resets all the parameters in the gesture data member
+ */
+void apds9960::resetGestureParameters()
+{
+    gesture_data_.sindex = 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::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
+            pc->printf(F("Finding last: "));
+            pc->printf(F("U:"));
+            pc->printf(gesture_data_.u_data[i]);
+            pc->printf(F(" D:"));
+            pc->printf(gesture_data_.d_data[i]);
+            pc->printf(F(" L:"));
+            pc->printf(gesture_data_.l_data[i]);
+            pc->printf(F(" R:"));
+            pc->printfln(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
+    pc->printf(F("Last Values: "));
+    pc->printf(F("U:"));
+    pc->printf(u_last);
+    pc->printf(F(" D:"));
+    pc->printf(d_last);
+    pc->printf(F(" L:"));
+    pc->printf(l_last);
+    pc->printf(F(" R:"));
+    pc->printf(r_last);
+    pc->printf("\n\r");
+
+    pc->printf(F("Ratios: "));
+    pc->printf(F("UD Fi: "));
+    pc->printf(ud_ratio_first);
+    pc->printf(F(" UD La: "));
+    pc->printf(ud_ratio_last);
+    pc->printf(F(" LR Fi: "));
+    pc->printf(lr_ratio_first);
+    pc->printf(F(" LR La: "));
+    pc->printf(lr_ratio_last);
+    pc->printf("\n\r");
+#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
+    pc->printf("Deltas: ");
+    pc->printf("UD: ");
+    pc->printf(ud_delta);
+    pc->printf(" LR: ");
+    pc->printf(lr_delta);
+    pc->printf("\n\r");
+#endif */
+
+    /* Accumulate the UD and LR delta values */
+    gesture_ud_delta_ += ud_delta;
+    gesture_lr_delta_ += lr_delta;
+    
+/* #if DEBUG
+    pc->printf("Accumulations: ");
+    pc->printf("UD: ");
+    pc->printf(gesture_ud_delta_);
+    pc->printf(" LR: ");
+    pc->printf(gesture_lr_delta_);
+    pc->printf("\n\r");
+#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_ >= 5 ) {
+                gesture_ud_count_ = 0;
+                gesture_lr_count_ = 0;
+                gesture_ud_delta_ = 0;
+                gesture_lr_delta_ = 0;
+            }
+        }
+    }
+    
+/*
+#if DEBUG
+      pc->printf("UD_CT: %d\n",gesture_ud_count_);
+      pc->printf("LR_CT: %d\n",gesture_lr_count_);
+      pc->printf("NEAR_CT: %d\n",gesture_near_count_);
+      pc->printf(" FAR_CT: %d\n",gesture_far_count_);
+      pc->printf("----------");
+#endif
+*/
+    
+    return false;
+}
+
+/**
+ * @brief Determines swipe direction or near/far state
+ *
+ * @return True if near/far event. False otherwise.
+ */
+bool apds9960::decodeGesture()
+{
+    /* Return if near or far event is detected */
+    if( gesture_state_ == NEAR_STATE ) {
+        gesture_motion_ = DIR_NEAR;
+        return true;
+    } else if ( gesture_state_ == FAR_STATE ) {
+        gesture_motion_ = DIR_FAR;
+        return true;
+    }
+    
+    /* Determine swipe direction */
+    if( (gesture_ud_count_ == -1) && (gesture_lr_count_ == 0) ) {
+        gesture_motion_ = DIR_UP;
+    } else if( (gesture_ud_count_ == 1) && (gesture_lr_count_ == 0) ) {
+        gesture_motion_ = DIR_DOWN;
+    } else if( (gesture_ud_count_ == 0) && (gesture_lr_count_ == 1) ) {
+        gesture_motion_ = DIR_RIGHT;
+    } else if( (gesture_ud_count_ == 0) && (gesture_lr_count_ == -1) ) {
+        gesture_motion_ = DIR_LEFT;
+    } else if( (gesture_ud_count_ == -1) && (gesture_lr_count_ == 1) ) {
+        if( abs(gesture_ud_delta_) > abs(gesture_lr_delta_) ) {
+            gesture_motion_ = DIR_UP;
+        } else {
+            gesture_motion_ = DIR_RIGHT;
+        }
+    } else if( (gesture_ud_count_ == 1) && (gesture_lr_count_ == -1) ) {
+        if( abs(gesture_ud_delta_) > abs(gesture_lr_delta_) ) {
+            gesture_motion_ = DIR_DOWN;
+        } else {
+            gesture_motion_ = DIR_LEFT;
+        }
+    } else if( (gesture_ud_count_ == -1) && (gesture_lr_count_ == -1) ) {
+        if( abs(gesture_ud_delta_) > abs(gesture_lr_delta_) ) {
+            gesture_motion_ = DIR_UP;
+        } else {
+            gesture_motion_ = DIR_LEFT;
+        }
+    } else if( (gesture_ud_count_ == 1) && (gesture_lr_count_ == 1) ) {
+        if( abs(gesture_ud_delta_) > abs(gesture_lr_delta_) ) {
+            gesture_motion_ = DIR_DOWN;
+        } else {
+            gesture_motion_ = DIR_RIGHT;
+        }
+    } else {
+        return false;
+    }
+    
+    return true;
+}
+
+/*******************************************************************************
+ * Getters and setters for register values
+ ******************************************************************************/
+
+/**
+ * @brief Returns the lower threshold for proximity detection
+ *
+ * @return lower threshold
+ */
+uint8_t apds9960::getProxIntLowThresh()
+{
+    uint8_t val;
+    
+    /* Read value from PILT register */
+    if( !wireReadDataByte(APDS9960_PILT, val) ) { val = 0; }
+    
+    return val;
+}
+ 
+ /**
+ * @brief Sets the lower threshold for proximity detection
+ *
+ * @param[in] threshold the lower proximity threshold
+ * @return True if operation successful. False otherwise.
+ */
+bool apds9960::setProxIntLowThresh(uint8_t threshold)
+{
+    if( !wireWriteDataByte(APDS9960_PILT, threshold) ) { return false; }
+    
+    return true;
+}
+
+/**
+ * @brief Returns the high threshold for proximity detection
+ *
+ * @return high threshold
+ */
+uint8_t apds9960::getProxIntHighThresh()
+{
+    uint8_t val;
+    
+    /* Read value from PIHT register */
+    if( !wireReadDataByte(APDS9960_PILT, 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::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::getLEDDrive()
+{
+    uint8_t val;
+    
+    /* Read value from CONTROL register */
+    if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return ERROR; }
+    
+    /* Shift and mask out LED drive bits */
+    val = (val >> 6) & 0x03; //0b00000011;
+    
+    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::setLEDDrive(uint8_t drive)
+{
+    uint8_t val;
+    
+    /* Read value from CONTROL register */
+    if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return false; }
+
+    /* Set bits in register to given value */
+    drive &= 0x03; // 0b00000011
+    drive = drive << 6;
+    val &= 0x3F; // 0b00111111
+    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::getProximityGain()
+{
+    uint8_t val;
+    
+    /* Read value from CONTROL register */
+    if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return ERROR; }
+    
+    /* Shift and mask out PDRIVE bits */
+    val = (val >> 2) & 0x03; //0b00000011;
+    
+    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::setProximityGain(uint8_t drive)
+{
+    uint8_t val;
+    
+    /* Read value from CONTROL register */
+    if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    drive &=0x03; // 0b00000011
+    drive = drive << 2;
+    val &= 0xF3; // 0b11110011
+    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::getAmbientLightGain()
+{
+    uint8_t val;
+    
+    /* Read value from CONTROL register */
+    if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return ERROR; }
+    
+    /* Shift and mask out ADRIVE bits */
+    val &= 0x03; //0b00000011;
+    
+    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::setAmbientLightGain(uint8_t drive){
+
+    uint8_t val;
+    
+    /* Read value from CONTROL register */
+   
+    if( !wireReadDataByte(APDS9960_CONTROL, val) ) { return false; }
+
+    /* Set bits in register to given value */
+    drive &=0x03; // 0b00000011
+    drive = drive << 2;
+    val &= 0xF3; // 0b11111100
+    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::getLEDBoost() {
+    uint8_t val;
+    
+    /* Read value from CONFIG2 register */
+    if( !wireReadDataByte(APDS9960_CONFIG2, val) ) { return ERROR; }
+    
+    /* Shift and mask out LED_BOOST bits */
+    val = (val >> 4) & 0x03; //0b00000011;
+    
+    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::setLEDBoost(uint8_t boost)
+{
+    uint8_t val;
+    
+    /* Read value from CONFIG2 register */
+    if( !wireReadDataByte(APDS9960_CONFIG2, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    boost &= 0x03; //0b00000011;
+    boost = boost << 4;
+    val &= 0xCF; //0b11001111;
+    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::getProxGainCompEnable()
+{
+    uint8_t val;
+    
+    /* Read value from CONFIG3 register */
+    if( !wireReadDataByte(APDS9960_CONFIG3, val) ) { return ERROR; }
+    
+    /* Shift and mask out PCMP bits */
+    val = (val >> 5) & 0x01; //0b00000001;
+    
+    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::setProxGainCompEnable(uint8_t enable)
+{
+    uint8_t val;
+    
+    /* Read value from CONFIG3 register */
+    if( !wireReadDataByte(APDS9960_CONFIG3, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    enable &= 0x01; //0b00000001;
+    enable = enable << 5;
+    val &= 0xCF; //0b11011111;
+    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::getProxPhotoMask()
+{
+    uint8_t val;
+    
+    /* Read value from CONFIG3 register */
+    if( !wireReadDataByte(APDS9960_CONFIG3, val) ) { return ERROR; }
+    
+    /* Mask out photodiode enable mask bits */
+    val &= 0x0F; //0b00001111;
+    
+    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::setProxPhotoMask(uint8_t mask)
+{
+    uint8_t val;
+    
+    /* Read value from CONFIG3 register */
+    if( !wireReadDataByte(APDS9960_CONFIG3, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    mask &= 0x0F; //0b00001111;
+    val &= 0xF0; //0b11110000;
+    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::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::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::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::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::getGestureGain()
+{
+    uint8_t val;
+    
+    /* Read value from GCONF2 register */
+    if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return ERROR; }
+    
+    /* Shift and mask out GGAIN bits */
+    val = (val >> 5) & 0x03; //0b00000011;
+    
+    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::setGestureGain(uint8_t gain)
+{
+    uint8_t val;
+    
+    /* Read value from GCONF2 register */
+    if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    gain &= 0x03; //0b00000011;
+    gain = gain << 5;
+    val &= 0x9F; //0b10011111;
+    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::getGestureLEDDrive()
+{
+    uint8_t val;
+    
+    /* Read value from GCONF2 register */
+    if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return ERROR; }
+    
+    /* Shift and mask out GLDRIVE bits */
+    val = (val >> 3) & 0x03; //0b00000011;
+    
+    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::setGestureLEDDrive(uint8_t drive)
+{
+    uint8_t val;
+    
+    /* Read value from GCONF2 register */
+    if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    drive &= 0x03; //0b00000011;
+    drive = drive << 3;
+    val &= 0xE7; //0b11100111;
+    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::getGestureWaitTime()
+{
+    uint8_t val;
+    
+    /* Read value from GCONF2 register */
+    if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return ERROR; }
+    
+    /* Mask out GWTIME bits */
+    val &= 0x07; //0b00000111;
+    
+    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::setGestureWaitTime(uint8_t time)
+{
+    uint8_t val;
+    
+    /* Read value from GCONF2 register */
+    if( !wireReadDataByte(APDS9960_GCONF2, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    time &= 0x07; //0b00000111;
+    val &= 0xF8; //0b11111000;
+    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::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::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::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::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::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::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::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::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::getAmbientLightIntEnable()
+{
+    uint8_t val;
+    
+    /* Read value from ENABLE register */
+    if( !wireReadDataByte(APDS9960_ENABLE, val) ) { return ERROR; }
+    
+    /* Shift and mask out AIEN bit */
+    val = (val >> 4) & 0x01; //0b00000001;
+    
+    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::setAmbientLightIntEnable(uint8_t enable)
+{
+    uint8_t val;
+    
+    /* Read value from ENABLE register */
+    if( !wireReadDataByte(APDS9960_ENABLE, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    enable &= 0x01; //0b00000001;
+    enable = enable << 4;
+    val &= 0xEF; //0b11101111;
+    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::getProximityIntEnable()
+{
+    uint8_t val;
+    
+    /* Read value from ENABLE register */
+    if( !wireReadDataByte(APDS9960_ENABLE, val) ) { return ERROR; }
+    
+    /* Shift and mask out PIEN bit */
+    val = (val >> 5) & 0x01; //0b00000001;
+    
+    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::setProximityIntEnable(uint8_t enable)
+{
+    uint8_t val;
+    
+    /* Read value from ENABLE register */
+    if( !wireReadDataByte(APDS9960_ENABLE, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    enable &= 0x01;//0b00000001;
+    enable = enable << 5;
+    val &= 0xDF;//0b11011111;
+    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::getGestureIntEnable()
+{
+    uint8_t val;
+    
+    /* Read value from GCONF4 register */
+    if( !wireReadDataByte(APDS9960_GCONF4, val) ) { return ERROR; }
+    
+    /* Shift and mask out GIEN bit */
+    val = (val >> 1) & 0x01; //0b00000001;
+    
+    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::setGestureIntEnable(uint8_t enable)
+{
+    uint8_t val;
+    
+    /* Read value from GCONF4 register */
+    if( !wireReadDataByte(APDS9960_GCONF4, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    enable &= 0x01; //0b00000001;
+    enable = enable << 1;
+    val &= 0xFD; //0b11111101;
+    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::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::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::getGestureMode()
+{
+    uint8_t val;
+    
+    /* Read value from GCONF4 register */
+    if( !wireReadDataByte(APDS9960_GCONF4, val) ) { return ERROR; }
+    
+    /* Mask out GMODE bit */
+    val &= 0x01; //0b00000001;
+    
+    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::setGestureMode(uint8_t mode)
+{
+    uint8_t val;
+    
+    /* Read value from GCONF4 register */
+    if( !wireReadDataByte(APDS9960_GCONF4, val) ) { return false; }
+    
+    /* Set bits in register to given value */
+    mode &= 0x01; //0b00000001;
+    val &= 0xFE; //0b11111110;
+    val |= mode;
+    
+    /* Write register value back into GCONF4 register */
+    if( !wireWriteDataByte(APDS9960_GCONF4,val) ) { return false; }
+    
+    return true;
+}
+
+/*******************************************************************************
+ * Raw I2C Reads and Writes
+ ******************************************************************************/
+
+bool apds9960::wireWriteDataByte(char reg, uint8_t val)
+{   
+    int ret;
+    char cmd[2] = {reg, val};
+    ret=i2c.write(APDS9960_I2C_ADDR<<1, cmd, 2);  
+    if(ret==1) return false;
+    else return true;
+}
+
+bool apds9960::wireReadDataByte(char reg, uint8_t &val)
+{   
+    if(i2c.write(APDS9960_I2C_ADDR<<1, &reg, 1, true)){ return false; }
+    if(i2c.read(APDS9960_I2C_ADDR<<1, (char*)&val, 1)){ return ERROR; }
+    
+    return true;
+}
+
+int apds9960::wireReadDataBlock(char reg, uint8_t *data, unsigned int len)
+{
+    /* Indicate which register we want to read from */
+    if(i2c.write(APDS9960_I2C_ADDR<<1, &reg, 1, true)){ return -1; }
+    
+    /* Read block data */     
+    if(i2c.read(APDS9960_I2C_ADDR<<1, (char*)data, len)){ return -1; }
+    
+    return 1;
+}
\ No newline at end of file

diff -r 000000000000 -r 830ac1db5bf7 apds9960.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/apds9960.h	Sun Apr 05 13:48:45 2015 +0000
@@ -0,0 +1,354 @@
+/** 
+ * @file        apds9960.h
+ * @brief       Library for the SparkFun APDS-9960 breakout board
+ * @author      devsar
+ * @origin      The origin of this file was from Arduino's library
+ *              by Shawn Hymel (SparkFun Electronics).
+ * @copyright   Public domain (Beerware license).
+ *
+ * This library interfaces the Avago APDS-9960 to Arduino over I2C. The library
+ * relies on the Arduino Wire (I2C) library. to use the library, instantiate an
+ * APDS9960 object, call init(), and call the appropriate functions.
+ */
+
+#ifndef SparkFun_APDS9960_H
+#define SparkFun_APDS9960_H
+
+#include "mbed.h"
+
+#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            0x01
+#define APDS9960_AEN            0x02
+#define APDS9960_PEN            0x04
+#define APDS9960_WEN            0x08
+#define APSD9960_AIEN           0x10
+#define APDS9960_PIEN           0x20
+#define APDS9960_GEN            0x40
+#define APDS9960_GVALID         0x01
+
+/* 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 sindex;
+    uint8_t total_gestures;
+    uint8_t in_threshold;
+    uint8_t out_threshold;
+} gesture_data_type;
+
+
+class apds9960{
+    
+    public:
+
+     apds9960(PinName sda, PinName scl);  //constructor
+    ~apds9960();
+
+    
+#ifdef DEBUG
+    Serial *pc;
+    bool ginit(Serial &par);
+#else
+    bool ginit();
+#endif
+    /* Initialization methods */
+    
+    uint8_t getMode();
+    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();
+    void clearGestureFifo();
+     
+    private:  
+    /* 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);
+    
+    /* Members */
+    gesture_data_type gesture_data_;  //instanciation from struct 
+    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_;
+    
+    /* Raw I2C Commands */
+    I2C i2c;
+    bool wireWriteDataByte(char reg, uint8_t val);
+    bool wireReadDataByte(char reg, uint8_t &val);
+    int wireReadDataBlock(char reg, uint8_t *val, unsigned int len);
+    
+};
+
+#endif // SparkFun_APDS9960_H
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