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Uses the APDS_9960 Digital Proximity, Ambient Light, RGB and Gesture Sensor library to play detected gesture sounds on a speaker from the SDcard
Dependencies: mbed SDFileSystem wave_player
glibr.cpp
- Committer:
- kbhagat6
- Date:
- 2015-03-06
- Revision:
- 5:3eb4f3091bd8
- Parent:
- 4:84545b0e63a9
- Child:
- 6:687dff16904e
File content as of revision 5:3eb4f3091bd8:
#include "glibr.h" #include "mbed.h" glibr::glibr(PinName sda, PinName scl):i2c(sda, scl){ } glibr::~glibr(){ } uint8_t glibr::ginit(){ uint8_t id; // if( !wireReadDataByte(APDS9960_ID, id) ) { id=I2CreadByte(APDS9960_I2C_ADDR, APDS9960_ID); if( (!(id == APDS9960_ID_1 || id == APDS9960_ID_2))||id==ERROR) { return false; } if(!setMode(ALL, OFF)) { return false; } if(I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_ATIME, DEFAULT_ATIME)){ return false; } if(I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_WTIME, DEFAULT_WTIME)){ return false; } if(I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_PPULSE, DEFAULT_PROX_PPULSE)){ return false; } if(I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_POFFSET_UR, DEFAULT_POFFSET_UR)){ return false; } if(I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_POFFSET_DL, DEFAULT_POFFSET_DL)){ return false; } if(I2CwriteByte(APDS9960_I2C_ADDR,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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_CONFIG2, DEFAULT_CONFIG2) ) { return false; } if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_CONFIG3, DEFAULT_CONFIG3) ) { return false; } if( !setGestureEnterThresh(DEFAULT_GPENTH) ) { return false; } if( !setGestureExitThresh(DEFAULT_GEXTH) ) { return false; } if( I2CwriteByte(APDS9960_I2C_ADDR,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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GOFFSET_U, DEFAULT_GOFFSET) ) { return false; } if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GOFFSET_D, DEFAULT_GOFFSET) ) { return false; } if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GOFFSET_L, DEFAULT_GOFFSET) ) { return false; } if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GOFFSET_R, DEFAULT_GOFFSET) ) { return false; } if(I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GPULSE, DEFAULT_GPULSE) ) { return false; } if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GCONF3, DEFAULT_GCONF3) ) { return false; } if( !setGestureIntEnable(DEFAULT_GIEN) ) { return false; } return id; } /** * @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 glibr::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(I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_ENABLE, reg_val)){ return false; } return true; } uint8_t glibr::getMode() { return I2CreadByte(APDS9960_I2C_ADDR, APDS9960_ENABLE); } bool glibr::setLEDDrive(uint8_t drive) { uint8_t val; /* Read value from CONTROL register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_CONTROL); if(val==ERROR){ return false; } /* Set bits in register to given value */ drive &= 0x03; drive = drive << 6; //val &= 0b00111111; val &= 0x3F; val |= drive; /* Write register value back into CONTROL register */ if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_CONTROL, val) ) { return false; } return true; } bool glibr::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 glibr::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 glibr::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 glibr::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 glibr::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(I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_WTIME, 0xFF) ) { return false; } if(I2CwriteByte(APDS9960_I2C_ADDR,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 glibr::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 glibr::isGestureAvailable() { uint8_t val; /* Read value from GSTATUS register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_GSTATUS); if( val==ERROR) { 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; } } int glibr::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() & 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(FIFO_PAUSE_TIME); /* Get the contents of the STATUS register. Is data still valid? */ gstatus=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_GSTATUS); if( gstatus==ERROR ) { return ERROR; } /* If we have valid data, read in FIFO */ if( (gstatus & APDS9960_GVALID) == APDS9960_GVALID ) { /* Read the current FIFO level */ fifolevel=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_GFLVL); if( fifolevel==ERROR ) { return ERROR; } //#if DEBUG // Serial.print("FIFO Level: "); // Serial.println(fifo_level); //#endif /* If there's stuff in the FIFO, read it into our data block */ //NEED TO FIGURE OUT WHAT THIS IS DOING. if( fifo_level > 0) { bytes_read = I2CReadDataBlock(APDS9960_I2C_ADDR,APDS9960_GFIFO_U, (uint8_t*)fifo_data, (fifo_level * 4) ); if( bytes_read == -1 ) { return ERROR; } #if DEBUG Serial.print("FIFO Dump: "); for ( i = 0; i < bytes_read; i++ ) { Serial.print(fifo_data[i]); Serial.print(" "); } Serial.println(); #endif /* If at least 1 set of data, sort the data into U/D/L/R */ if( bytes_read >= 4 ) { for( i = 0; i < bytes_read; i += 4 ) { gesture_data_.u_data[gesture_data_.index] = \ fifo_data[i + 0]; gesture_data_.d_data[gesture_data_.index] = \ fifo_data[i + 1]; gesture_data_.l_data[gesture_data_.index] = \ fifo_data[i + 2]; gesture_data_.r_data[gesture_data_.index] = \ fifo_data[i + 3]; gesture_data_.index++; gesture_data_.total_gestures++; } #if DEBUG // Serial.print("Up Data: "); for ( i = 0; i < gesture_data_.total_gestures; i++ ) { // Serial.print(gesture_data_.u_data[i]); // Serial.print(" "); } // Serial.println(); #endif /* Filter and process gesture data. Decode near/far state */ if( processGestureData() ) { if( decodeGesture() ) { //***TODO: U-Turn Gestures #if DEBUG //Serial.println(gesture_motion_); #endif } } /* Reset data */ gesture_data_.index = 0; gesture_data_.total_gestures = 0; } } } else { /* Determine best guessed gesture and clean up */ wait(FIFO_PAUSE_TIME); decodeGesture(); motion = gesture_motion_; #if DEBUG // Serial.print("END: "); // Serial.println(gesture_motion_); #endif resetGestureParameters(); return motion; } } } bool glibr::setProximityGain(uint8_t drive) { uint8_t val; /* Read value from CONTROL register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_CONTROL); if(val==ERROR){ return false; } /* Set bits in register to given value */ //drive &= 0b00000011; drive &=0x03; drive = drive << 2; val &= 0xF3; val |= drive; /* Write register value back into CONTROL register */ if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_CONTROL, val) ) { return false; } return true; } bool glibr::setAmbientLightGain(uint8_t drive){ { uint8_t val; /* Read value from CONTROL register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_CONTROL); if(val==ERROR){ return false; } /* Set bits in register to given value */ //drive &= 0b00000011; drive &=0x03; drive = drive << 2; val &= 0xF3; val |= drive; /* Write register value back into CONTROL register */ if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_CONTROL, val) ) { return false; } return true; } bool setProxIntLowThresh(uint8_t threshold) { if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_PILT, threshold) ) { return false; } return true; } bool glibr::setProxIntHighThresh(uint8_t threshold) { if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_PIHT, threshold) ) { return false; } return true; } bool glibr::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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_AILTL, val_low) ) { return false; } /* Write high byte */ if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_AILTH, val_high) ) { return false; } return true; } int glibr::I2CwriteByte(char address, char subAddress, char data) { int ret; char cmd[2] = {subAddress, data}; ret=i2c.write(address<<1, cmd, 2); //if ret is 1, then not acked. return ret; } uint8_t glibr::I2CreadByte(char address, char subAddress) { char data; // store the register data if(i2c.write(address<<1, &subAddress, 1, true)){ return ERROR; //7 bit //not acked } i2c.read(address<<1, &data, 1); return data; } /** * @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 glibr::I2CReadDataBlock(char address, char subAddress, unsigned int len) { // unsigned char i = 0; char *data /* Indicate which register we want to read from */ if(i2c.write(address<<1, subAddress, 1, true)){ return -1; //7 bit //not acked } /* Read block data */ i2c.read(address<<1, &data, len); //Wire.requestFrom(APDS9960_I2C_ADDR, len); /*while (Wire.available()) { if (i >= len) { return -1; } val[i] = Wire.read(); i++; }*/ return data; }