File content as of revision 4:84545b0e63a9:

#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 */
        delay(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 = wireReadDataBlock(  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 */
            delay(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, val);
    
    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, val);
    
    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::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;
}








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;
}


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;
}

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;

}