Simple_Gesture_Test
Dependents: simple_gesture_test
Fork of APDS_9960 by
glibr.cpp
- Committer:
- kbhagat6
- Date:
- 2015-04-27
- Revision:
- 2:ba051af6731a
- Parent:
- 0:1aac12a5f1e0
- Child:
- 3:8e5d2639d7bf
File content as of revision 2:ba051af6731a:
#include "glibr.h" #include "mbed.h" glibr::glibr(PinName sda, PinName scl):i2c(sda, scl){ 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; } glibr::~glibr(){ } bool glibr::ginit(){ uint8_t 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 true; } //#if 0 // /* Gesture config register dump */ // uint8_t reg; // uint8_t val; // // for(reg = 0x80; reg <= 0xAF; reg++) { // if( (reg != 0x82) && \ // (reg != 0x8A) && \ // (reg != 0x91) && \ // (reg != 0xA8) && \ // (reg != 0xAC) && \ // (reg != 0xAD) ) // { // val= I2CreadByte(APDS9960_I2C_ADDR, reg); // if(val==ERROR){ // printf("ERROR"); // } // /* // print(reg, HEX); // print(": 0x"); // println(val, HEX);*/ // } // } // // for(reg = 0xE4; reg <= 0xE7; reg++) { // val= I2CreadByte(APDS9960_I2C_ADDR, reg); // /* Serial.print(reg, HEX); // Serial.print(": 0x"); // Serial.println(val, HEX);*/ // } //#endif // return true; /** * @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() { uint8_t val; val= I2CreadByte(APDS9960_I2C_ADDR, APDS9960_ENABLE); if(val==ERROR){ return ERROR; } return val; } 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_expected= 0; int check; //char fifo_data[128]; char fifo_data[128]; char *fptr; fptr= fifo_data; 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 */ fifo_level=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_GFLVL); if( fifo_level==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) { check = I2CReadDataBlock(APDS9960_I2C_ADDR,APDS9960_GFIFO_U, fptr, (fifo_level * 4) ); if( check == -1 ) { return ERROR; } #if DEBUG //Serial.print("FIFO Dump: "); for ( i = 0; i < (fifo_level * 4); 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((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 // 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_.sindex = 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; } } // delete fptr; } /** * Turn the APDS-9960 on * * @return True if operation successful. False otherwise. */ bool glibr::enablePower() { if( !setMode(Power, 1) ) { return false; } return true; } /** * Turn the APDS-9960 off * * @return True if operation successful. False otherwise. */ bool glibr::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 glibr::readAmbientLight(uint16_t &val) { uint8_t val_byte; val = 0; /* Read value from clear channel, low byte register */ val_byte=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_CDATAL); if( val_byte==ERROR) { return false; } val = val_byte; /* Read value from clear channel, high byte register */ val_byte=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_CDATAH); if( val_byte==ERROR) { 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 glibr::readRedLight(uint16_t &val) { uint8_t val_byte; val = 0; /* Read value from clear channel, low byte register */ val_byte=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_RDATAL); if( val_byte==ERROR) { return false; } val = val_byte; /* Read value from clear channel, high byte register */ val_byte=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_RDATAH); if( val_byte==ERROR) { 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 glibr::readGreenLight(uint16_t &val) { uint8_t val_byte; val = 0; /* Read value from clear channel, low byte register */ val_byte=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_GDATAL); if( val_byte==ERROR) { return false; } val = val_byte; /* Read value from clear channel, high byte register */ val_byte=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_GDATAH); if( val_byte==ERROR) { 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 glibr::readBlueLight(uint16_t &val) { uint8_t val_byte; val = 0; /* Read value from clear channel, low byte register */ val_byte=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_BDATAL); if( val_byte==ERROR) { return false; } val = val_byte; /* Read value from clear channel, high byte register */ val_byte=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_BDATAH); if( val_byte==ERROR) { 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 glibr::readProximity(uint8_t &val) { val = 0; /* Read value from proximity data register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_PDATA); if(val==ERROR){ return false; } return true; } /******************************************************************************* * High-level gesture controls ******************************************************************************/ /** * @brief Resets all the parameters in the gesture data member */ void glibr::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; } bool glibr::processGestureData() { uint8_t u_first = 0; uint8_t d_first = 0; uint8_t l_first = 0; uint8_t r_first = 0; uint8_t u_last = 0; uint8_t d_last = 0; uint8_t l_last = 0; uint8_t r_last = 0; int ud_ratio_first; int lr_ratio_first; int ud_ratio_last; int lr_ratio_last; int ud_delta; int lr_delta; int i; /* If we have less than 4 total gestures, that's not enough */ if( gesture_data_.total_gestures <= 4 ) { return false; } /* Check to make sure our data isn't out of bounds */ if( (gesture_data_.total_gestures <= 32) && \ (gesture_data_.total_gestures > 0) ) { /* Find the first value in U/D/L/R above the threshold */ for( i = 0; i < gesture_data_.total_gestures; i++ ) { if( (gesture_data_.u_data[i] > GESTURE_THRESHOLD_OUT) && (gesture_data_.d_data[i] > GESTURE_THRESHOLD_OUT) && (gesture_data_.l_data[i] > GESTURE_THRESHOLD_OUT) && (gesture_data_.r_data[i] > GESTURE_THRESHOLD_OUT) ) { u_first = gesture_data_.u_data[i]; d_first = gesture_data_.d_data[i]; l_first = gesture_data_.l_data[i]; r_first = gesture_data_.r_data[i]; break; } } /* If one of the _first values is 0, then there is no good data */ if( (u_first == 0) || (d_first == 0) || \ (l_first == 0) || (r_first == 0) ) { return false; } /* Find the last value in U/D/L/R above the threshold */ for( i = gesture_data_.total_gestures - 1; i >= 0; i-- ) { /* #if DEBUG Serial.print(F("Finding last: ")); Serial.print(F("U:")); Serial.print(gesture_data_.u_data[i]); Serial.print(F(" D:")); Serial.print(gesture_data_.d_data[i]); Serial.print(F(" L:")); Serial.print(gesture_data_.l_data[i]); Serial.print(F(" R:")); Serial.println(gesture_data_.r_data[i]); #endif */ if( (gesture_data_.u_data[i] > GESTURE_THRESHOLD_OUT) && (gesture_data_.d_data[i] > GESTURE_THRESHOLD_OUT) && (gesture_data_.l_data[i] > GESTURE_THRESHOLD_OUT) && (gesture_data_.r_data[i] > GESTURE_THRESHOLD_OUT) ) { u_last = gesture_data_.u_data[i]; d_last = gesture_data_.d_data[i]; l_last = gesture_data_.l_data[i]; r_last = gesture_data_.r_data[i]; break; } } } /* Calculate the first vs. last ratio of up/down and left/right */ ud_ratio_first = ((u_first - d_first) * 100) / (u_first + d_first); lr_ratio_first = ((l_first - r_first) * 100) / (l_first + r_first); ud_ratio_last = ((u_last - d_last) * 100) / (u_last + d_last); lr_ratio_last = ((l_last - r_last) * 100) / (l_last + r_last); /* #if DEBUG Serial.print(F("Last Values: ")); Serial.print(F("U:")); Serial.print(u_last); Serial.print(F(" D:")); Serial.print(d_last); Serial.print(F(" L:")); Serial.print(l_last); Serial.print(F(" R:")); Serial.println(r_last); Serial.print(F("Ratios: ")); Serial.print(F("UD Fi: ")); Serial.print(ud_ratio_first); Serial.print(F(" UD La: ")); Serial.print(ud_ratio_last); Serial.print(F(" LR Fi: ")); Serial.print(lr_ratio_first); Serial.print(F(" LR La: ")); Serial.println(lr_ratio_last); #endif */ /* Determine the difference between the first and last ratios */ ud_delta = ud_ratio_last - ud_ratio_first; lr_delta = lr_ratio_last - lr_ratio_first; /* #if DEBUG Serial.print("Deltas: "); Serial.print("UD: "); Serial.print(ud_delta); Serial.print(" LR: "); Serial.println(lr_delta); #endif */ /* Accumulate the UD and LR delta values */ gesture_ud_delta_ += ud_delta; gesture_lr_delta_ += lr_delta; /* #if DEBUG Serial.print("Accumulations: "); Serial.print("UD: "); Serial.print(gesture_ud_delta_); Serial.print(" LR: "); Serial.println(gesture_lr_delta_); #endif */ /* Determine U/D gesture */ if( gesture_ud_delta_ >= GESTURE_SENSITIVITY_1 ) { gesture_ud_count_ = 1; } else if( gesture_ud_delta_ <= -GESTURE_SENSITIVITY_1 ) { gesture_ud_count_ = -1; } else { gesture_ud_count_ = 0; } /* Determine L/R gesture */ if( gesture_lr_delta_ >= GESTURE_SENSITIVITY_1 ) { gesture_lr_count_ = 1; } else if( gesture_lr_delta_ <= -GESTURE_SENSITIVITY_1 ) { gesture_lr_count_ = -1; } else { gesture_lr_count_ = 0; } /* Determine Near/Far gesture */ if( (gesture_ud_count_ == 0) && (gesture_lr_count_ == 0) ) { if( (abs(ud_delta) < GESTURE_SENSITIVITY_2) && \ (abs(lr_delta) < GESTURE_SENSITIVITY_2) ) { if( (ud_delta == 0) && (lr_delta == 0) ) { gesture_near_count_++; } else if( (ud_delta != 0) || (lr_delta != 0) ) { gesture_far_count_++; } if( (gesture_near_count_ >= 10) && (gesture_far_count_ >= 2) ) { if( (ud_delta == 0) && (lr_delta == 0) ) { gesture_state_ = NEAR_STATE; } else if( (ud_delta != 0) && (lr_delta != 0) ) { gesture_state_ = FAR_STATE; } return true; } } } else { if( (abs(ud_delta) < GESTURE_SENSITIVITY_2) && \ (abs(lr_delta) < GESTURE_SENSITIVITY_2) ) { if( (ud_delta == 0) && (lr_delta == 0) ) { gesture_near_count_++; } if( gesture_near_count_ >= 5 ) { gesture_ud_count_ = 0; gesture_lr_count_ = 0; gesture_ud_delta_ = 0; gesture_lr_delta_ = 0; } } } // #if DEBUG /* printf("UD_CT: %d\n",gesture_ud_count_); printf("LR_CT: %d\n",gesture_lr_count_); printf("NEAR_CT: %d\n",gesture_near_count_); printf(" FAR_CT: %d\n",gesture_far_count_); printf("----------"); */ //#endif */ return false; } /** * @brief Determines swipe direction or near/far state * * @return True if near/far event. False otherwise. */ bool glibr::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 glibr::getProxIntLowThresh() { uint8_t val; /* Read value from PILT register */ /* if( !wireReadDataByte(APDS9960_PILT, val) ) { val = 0; }*/ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_PILT); if(val==ERROR){ 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 glibr::setProxIntLowThresh(uint8_t threshold) { if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_PILT, threshold) ) { return false; } return true; } /** * @brief Returns the high threshold for proximity detection * * @return high threshold */ uint8_t glibr::getProxIntHighThresh() { uint8_t val; /* Read value from PIHT register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_PILT); if( val==ERROR ) { 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 glibr::setProxIntHighThresh(uint8_t threshold) { if( I2CwriteByte(APDS9960_I2C_ADDR,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 glibr::getLEDDrive() { uint8_t val; /* Read value from CONTROL register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_CONTROL); if( val == ERROR ){//!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 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 &= 0b00000011 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; } /** * @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 glibr::getProximityGain() { uint8_t val; /* Read value from CONTROL register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_CONTROL); if( val == ERROR){//!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 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 &= 0b11110011 val &= 0xF3; val |= drive; /* Write register value back into CONTROL register */ if( I2CwriteByte(APDS9960_I2C_ADDR,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 glibr::getAmbientLightGain() { uint8_t val; /* Read value from CONTROL register */ val=I2CreadByte(APDS9960_I2C_ADDR,APDS9960_CONTROL); if( val == ERROR){//!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 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 &=0b11111100 val &= 0xF3; val |= drive; /* Write register value back into CONTROL register */ if( I2CwriteByte(APDS9960_I2C_ADDR,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 glibr::getLEDBoost() { uint8_t val; /* Read value from CONFIG2 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_CONFIG2); if( val == ERROR){//!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 glibr::setLEDBoost(uint8_t boost) { uint8_t val; /* Read value from CONFIG2 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_CONFIG2); if( val == ERROR){//!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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_CONFIG2, val)){//!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 glibr::getProxGainCompEnable() { uint8_t val; /* Read value from CONFIG3 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_CONFIG3); if( val == ERROR){//!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 glibr::setProxGainCompEnable(uint8_t enable) { uint8_t val; /* Read value from CONFIG3 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_CONFIG3); if( val == ERROR){//!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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_CONFIG3, val)){//!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 glibr::getProxPhotoMask() { uint8_t val; /* Read value from CONFIG3 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_CONFIG3); if( val == ERROR){//!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 glibr::setProxPhotoMask(uint8_t mask) { uint8_t val; /* Read value from CONFIG3 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_CONFIG3); if( val == ERROR){//!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 */ I2CwriteByte(APDS9960_I2C_ADDR, APDS9960_CONFIG3, val); if( val == ERROR){//!wireWriteDataByte(APDS9960_CONFIG3, val) ) { return false; } return true; } /** * @brief Gets the entry proximity threshold for gesture sensing * * @return Current entry proximity threshold. */ uint8_t glibr::getGestureEnterThresh() { uint8_t val; /* Read value from GPENTH register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GPENTH); if( val == ERROR){//!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 glibr::setGestureEnterThresh(uint8_t threshold) { if( I2CwriteByte(APDS9960_I2C_ADDR, APDS9960_GPENTH, threshold)){;//!wireWriteDataByte(APDS9960_GPENTH, threshold) ) { return false; } return true; } /** * @brief Gets the exit proximity threshold for gesture sensing * * @return Current exit proximity threshold. */ uint8_t glibr::getGestureExitThresh() { uint8_t val; /* Read value from GEXTH register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GEXTH); if( val == ERROR){//!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 glibr::setGestureExitThresh(uint8_t threshold) { if( I2CwriteByte(APDS9960_I2C_ADDR, APDS9960_GEXTH, threshold)){//!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 glibr::getGestureGain() { uint8_t val; /* Read value from GCONF2 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF2); if( val == ERROR){//!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 glibr::setGestureGain(uint8_t gain) { uint8_t val; /* Read value from GCONF2 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF2); if( val == ERROR){//!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( I2CwriteByte(APDS9960_I2C_ADDR, APDS9960_GCONF2, val)){//!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 glibr::getGestureLEDDrive() { uint8_t val; /* Read value from GCONF2 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF2); if( val == ERROR){//!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 glibr::setGestureLEDDrive(uint8_t drive) { uint8_t val; /* Read value from GCONF2 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF2); if( val == ERROR){//!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( I2CwriteByte(APDS9960_I2C_ADDR, APDS9960_GCONF2, val)){//!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 glibr::getGestureWaitTime() { uint8_t val; /* Read value from GCONF2 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF2); if( val == ERROR){//!wireReadDataByte(APDS9960_GCONF2, val) ) { return ERROR; } /* Mask out GWTIME bits */ val &= 0x07;//0b00000111; return val; } /* * * * *LEFT Off HERE AT 3:47PM On 3/6/15 * * * * */ /** * @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 glibr::setGestureWaitTime(uint8_t time) { uint8_t val; /* Read value from GCONF2 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF2); if( val == ERROR){//!wireReadDataByte(APDS9960_GCONF2, val) ) { return false; } /* 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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GCONF2,val)){//!wireWriteDataByte(APDS9960_GCONF2, val) ) { return false; } /*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 glibr::getLightIntLowThreshold(uint16_t &threshold) { uint8_t val_byte; threshold = 0; /* Read value from ambient light low threshold, low byte register */ val_byte = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_AILTL); if( val_byte == ERROR){//!wireReadDataByte(APDS9960_AILTL, val_byte) ) { return false; } threshold = val_byte; /* Read value from ambient light low threshold, high byte register */ val_byte = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_AILTH); if( val_byte == ERROR){//!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 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)){//!wireWriteDataByte(APDS9960_AILTL, val_low) ) { return false; } /* Write high byte */ if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_AILTH,val_high)){//!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 glibr::getLightIntHighThreshold(uint16_t &threshold) { uint8_t val_byte; threshold = 0; /* Read value from ambient light high threshold, low byte register */ val_byte = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_AIHTL); if( val_byte == ERROR){//!wireReadDataByte(APDS9960_AIHTL, val_byte) ) { return false; } threshold = val_byte; /* Read value from ambient light high threshold, high byte register */ val_byte = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_AIHTH); if( val_byte == ERROR){//!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 glibr::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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_AIHTL,val_low)){//!wireWriteDataByte(APDS9960_AIHTL, val_low) ) { return false; } /* Write high byte */ if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_AIHTH,val_high)){//!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 glibr::getProximityIntLowThreshold(uint8_t &threshold) { threshold = 0; /* Read value from proximity low threshold register */ threshold = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_PILT); if( threshold == ERROR){//!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 glibr::setProximityIntLowThreshold(uint8_t threshold) { /* Write threshold value to register */ if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_PILT,threshold)){//!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 glibr::getProximityIntHighThreshold(uint8_t &threshold) { threshold = 0; /* Read value from proximity low threshold register */ threshold = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_PIHT); if( threshold == ERROR){//!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 glibr::setProximityIntHighThreshold(uint8_t threshold) { /* Write threshold value to register */ if( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_PIHT,threshold)){//!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 glibr::getAmbientLightIntEnable() { uint8_t val; /* Read value from ENABLE register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_ENABLE); if( val == ERROR){//!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 glibr::setAmbientLightIntEnable(uint8_t enable) { uint8_t val; /* Read value from ENABLE register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_ENABLE); if( val == ERROR){//!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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_ENABLE,val)){//!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 glibr::getProximityIntEnable() { uint8_t val; /* Read value from ENABLE register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_ENABLE); if( val == ERROR){//!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 glibr::setProximityIntEnable(uint8_t enable) { uint8_t val; /* Read value from ENABLE register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_ENABLE); if( val == ERROR){//!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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_ENABLE,val)){//!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 glibr::getGestureIntEnable() { uint8_t val; /* Read value from GCONF4 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF4); if( val == ERROR){//!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 glibr::setGestureIntEnable(uint8_t enable) { uint8_t val; /* Read value from GCONF4 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF4); if( val == ERROR){//!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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GCONF4,val)){//!wireWriteDataByte(APDS9960_GCONF4, val) ) { return false; } return true; } /** * @brief Clears the ambient light interrupt * * @return True if operation completed successfully. False otherwise. */ bool glibr::clearAmbientLightInt() { uint8_t throwaway; throwaway = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_AICLEAR); if( throwaway == ERROR){//!wireReadDataByte(APDS9960_AICLEAR, throwaway) ) { return false; } return true; } /** * @brief Clears the proximity interrupt * * @return True if operation completed successfully. False otherwise. */ bool glibr::clearProximityInt() { uint8_t throwaway; throwaway = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_PICLEAR); if( throwaway == ERROR){//!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 glibr::getGestureMode() { uint8_t val; /* Read value from GCONF4 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF4); if( val == ERROR){//!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 glibr::setGestureMode(uint8_t mode) { uint8_t val; /* Read value from GCONF4 register */ val = I2CreadByte(APDS9960_I2C_ADDR, APDS9960_GCONF4); if( val == ERROR){//!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( I2CwriteByte(APDS9960_I2C_ADDR,APDS9960_GCONF4,val)){//!wireWriteDataByte(APDS9960_GCONF4, val) ) { 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 } if(i2c.read(address<<1, &data, 1)){ /////CHANGED THIS NEED TO TEST. return ERROR; } //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, char *data, unsigned int len) { // unsigned char i = 0; /* 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 */ if(i2c.read(address<<1, data, len)){ return -1; } return 1; //Wire.requestFrom(APDS9960_I2C_ADDR, len); /*while (Wire.available()) { if (i >= len) { return -1; } val[i] = Wire.read(); i++; }*/ }