remove last traces of legacy I2C calls

apds9960/apds9960.go

@@ -8,15 +8,16 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers"
-	"tinygo.org/x/drivers/internal/legacy"
 )
 
 // Device wraps an I2C connection to a APDS-9960 device.
 type Device struct {
 	bus     drivers.I2C
+	_txerr  error
+	gesture gestureData
+	buf     [8]byte
 	Address uint8
 	mode    uint8
-	gesture gestureData
 }
 
 // Configuration for APDS-9960 device.
@@ -46,15 +47,24 @@ type gestureData struct {
 	received    bool
 }
 
-// for enabling various device function
-type enableConfig struct {
-	GEN  bool
-	PIEN bool
-	AIEN bool
-	WEN  bool
-	PEN  bool
-	AEN  bool
-	PON  bool
+// for enabling various device functions.
+type encfg uint8
+
+// data := []byte{gen<<6 | pien<<5 | aien<<4 | wen<<3 | pen<<2 | aen<<1 | pon}
+const (
+	enPON encfg = 1 << iota
+	enAEN
+	enPEN
+	enWEN
+	enAIEN
+	enPIEN
+	enGEN
+)
+
+func (e encfg) write7bits(b []byte) {
+	for i := uint8(0); i < 7; i++ {
+		b[i] = byte(e>>(6-i)) & 1
+	}
 }
 
 // New creates a new APDS-9960 connection. The I2C bus must already be
@@ -68,9 +78,8 @@ func New(bus drivers.I2C) Device {
 // Connected returns whether APDS-9960 has been found.
 // It does a "who am I" request and checks the response.
 func (d *Device) Connected() bool {
-	data := []byte{0}
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_ID_REG, data)
-	return data[0] == 0xAB
+	d.txNew()
+	return d.txRead8(APDS9960_ID_REG) == 0xAB && d.txErr() == nil
 }
 
 // GetMode returns current engine mode
@@ -79,65 +88,82 @@ func (d *Device) GetMode() uint8 {
 }
 
 // DisableAll turns off the device and all functions
-func (d *Device) DisableAll() {
-	d.enable(enableConfig{})
-	legacy.WriteRegister(d.bus, d.Address, APDS9960_GCONF4_REG, []byte{0x00})
-	d.mode = MODE_NONE
-	d.gesture.detected = GESTURE_NONE
+func (d *Device) DisableAll() error {
+	err := d.enable(0)
+	if err != nil {
+		return err
+	}
+	d.txWrite8(APDS9960_GCONF4_REG, 0)
+	err = d.txErr()
+	if err == nil {
+		d.mode = MODE_NONE
+		d.gesture.detected = GESTURE_NONE
+	}
+	return err
 }
 
-// SetProximityPulse sets proximity pulse length (4, 8, 16, 32) and count (1~64)
+// SetProximityPulse sets proximity pulse length (4, 8, 16, 32) and count (1..64)
 // default: 16, 64
-func (d *Device) SetProximityPulse(length, count uint8) {
-	legacy.WriteRegister(d.bus, d.Address, APDS9960_PPULSE_REG, []byte{getPulseLength(length)<<6 | getPulseCount(count)})
+func (d *Device) SetProximityPulse(length, count uint8) error {
+	d.txNew()
+	d.txWrite8(APDS9960_PPULSE_REG, getPulseLength(length)<<6|getPulseCount(count))
+	return d.txErr()
 }
 
-// SetGesturePulse sets gesture pulse length (4, 8, 16, 32) and count (1~64)
+// SetGesturePulse sets gesture pulse length (4, 8, 16, 32) and count (1..64)
 // default: 16, 64
-func (d *Device) SetGesturePulse(length, count uint8) {
-	legacy.WriteRegister(d.bus, d.Address, APDS9960_GPULSE_REG, []byte{getPulseLength(length)<<6 | getPulseCount(count)})
+func (d *Device) SetGesturePulse(length, count uint8) error {
+	d.txNew()
+	d.txWrite8(APDS9960_GPULSE_REG, getPulseLength(length)<<6|getPulseCount(count))
+	return d.txErr()
 }
 
-// SetADCIntegrationCycles sets ALS/color ADC internal integration cycles (1~256, 1 cycle = 2.78 ms)
-// default: 4 (~10 ms)
-func (d *Device) SetADCIntegrationCycles(cycles uint16) {
+// SetADCIntegrationCycles sets ALS/color ADC internal integration cycles (1..256, 1 cycle = 2.78 ms)
+// default: 4 (approx. 10 ms)
+func (d *Device) SetADCIntegrationCycles(cycles uint16) error {
 	if cycles > 256 {
 		cycles = 256
 	}
-	legacy.WriteRegister(d.bus, d.Address, APDS9960_ATIME_REG, []byte{uint8(256 - cycles)})
+	d.txNew()
+	d.txWrite8(APDS9960_ATIME_REG, uint8(256-cycles))
+	return d.txErr()
 }
 
 // SetGains sets proximity/gesture gain (1, 2, 4, 8x) and ALS/color gain (1, 4, 16, 64x)
 // default: 1, 1, 4
-func (d *Device) SetGains(proximityGain, gestureGain, colorGain uint8) {
-	legacy.WriteRegister(d.bus, d.Address, APDS9960_CONTROL_REG, []byte{getProximityGain(proximityGain)<<2 | getALSGain(colorGain)})
-	legacy.WriteRegister(d.bus, d.Address, APDS9960_GCONF2_REG, []byte{getProximityGain(gestureGain) << 5})
+func (d *Device) SetGains(proximityGain, gestureGain, colorGain uint8) error {
+	d.txNew()
+	d.txWrite8(APDS9960_CONTROL_REG, getProximityGain(proximityGain)<<2|getALSGain(colorGain))
+	d.txWrite8(APDS9960_GCONF2_REG, getProximityGain(gestureGain)<<5)
+	return d.txErr()
 }
 
 // LEDBoost sets proximity and gesture LED current level (100, 150, 200, 300 (%))
 // default: 100
-func (d *Device) LEDBoost(percent uint16) {
+func (d *Device) LEDBoost(percent uint16) error {
 	var v uint8
-	switch percent {
-	case 100:
+	switch {
+	case percent < 125:
 		v = 0
-	case 150:
+	case percent < 175:
 		v = 1
-	case 200:
+	case percent < 250:
 		v = 2
-	case 300:
-		v = 3
+	default:
+		v = 3 // Maximum case.
 	}
-	legacy.WriteRegister(d.bus, d.Address, APDS9960_CONFIG2_REG, []byte{0x01 | v<<4})
+	d.txNew()
+	d.txWrite8(APDS9960_CONFIG2_REG, 0x01|(v<<4))
+	return d.txErr()
 }
 
-// Setthreshold sets threshold (0~255) for detecting gestures
+// Setthreshold sets threshold (0..255) for detecting gestures
 // default: 30
 func (d *Device) Setthreshold(t uint8) {
 	d.gesture.threshold = t
 }
 
-// Setsensitivity sets sensivity (0~100) for detecting gestures
+// Setsensitivity sets sensivity (0..100) for detecting gestures
 // default: 20
 func (d *Device) Setsensitivity(s uint8) {
 	if s > 100 {
@@ -147,47 +173,69 @@ func (d *Device) Setsensitivity(s uint8) {
 }
 
 // EnableProximity starts the proximity engine
-func (d *Device) EnableProximity() {
+func (d *Device) EnableProximity() error {
 	if d.mode != MODE_NONE {
-		d.DisableAll()
+		err := d.DisableAll()
+		if err != nil {
+			return err
+		}
 	}
-	d.enable(enableConfig{PON: true, PEN: true, WEN: true})
-	d.mode = MODE_PROXIMITY
+	err := d.enable(enPON | enPEN | enWEN)
+	if err == nil {
+		d.mode = MODE_PROXIMITY
+	}
+	return err
+}
+
+// Err returns the current error state of the device if encountered during I2C communication.
+// After a call to Err the error is cleared.
+func (d *Device) Err() error {
+	err := d.txErr()
+	d.txNew()
+	return err
 }
 
 // ProximityAvailable reports if proximity data is available
 func (d *Device) ProximityAvailable() bool {
-	if d.mode == MODE_PROXIMITY && d.readStatus("PVALID") {
-		return true
+	if d.mode != MODE_PROXIMITY {
+		return false
 	}
-	return false
+	status, err := d.ReadStatus()
+	return err == nil && status.PVALID()
 }
 
-// ReadProximity reads proximity data (0~255)
+// ReadProximity reads proximity data (0..255)
 func (d *Device) ReadProximity() (proximity int32) {
 	if d.mode != MODE_PROXIMITY {
 		return 0
 	}
-	data := []byte{0}
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_PDATA_REG, data)
-	return 255 - int32(data[0])
+	d.txNew()
+	val := d.txRead8(APDS9960_PDATA_REG)
+	return 255 - int32(val)
 }
 
 // EnableColor starts the color engine
-func (d *Device) EnableColor() {
+func (d *Device) EnableColor() (err error) {
 	if d.mode != MODE_NONE {
-		d.DisableAll()
+		err = d.DisableAll()
+		if err != nil {
+			return err
+		}
 	}
-	d.enable(enableConfig{PON: true, AEN: true, WEN: true})
-	d.mode = MODE_COLOR
+	err = d.enable(enPON | enAEN | enWEN)
+	if err == nil {
+		d.mode = MODE_COLOR
+	}
+	return err
 }
 
 // ColorAvailable reports if color data is available
 func (d *Device) ColorAvailable() bool {
-	if d.mode == MODE_COLOR && d.readStatus("AVALID") {
-		return true
+	if d.mode != MODE_COLOR {
+		return false
 	}
-	return false
+	status, err := d.ReadStatus()
+	return err == nil && status.AVALID()
 }
 
 // ReadColor reads color data (red, green, blue, clear color/brightness)
@@ -195,28 +243,36 @@ func (d *Device) ReadColor() (r int32, g int32, b int32, clear int32) {
 	if d.mode != MODE_COLOR {
 		return
 	}
-	data := []byte{0, 0, 0, 0, 0, 0, 0, 0}
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_CDATAL_REG, data[:1])
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_CDATAH_REG, data[1:2])
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_RDATAL_REG, data[2:3])
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_RDATAH_REG, data[3:4])
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_GDATAL_REG, data[4:5])
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_GDATAH_REG, data[5:6])
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_BDATAL_REG, data[6:7])
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_BDATAH_REG, data[7:])
+	d.txNew()
+	data := d.buf[:8]
+	const numLowRegs = APDS9960_GDATAH_REG - APDS9960_CDATAL_REG + 1
+	for i := uint8(0); i < numLowRegs; i++ {
+		data[i] = d.txRead8(i + APDS9960_CDATAL_REG)
+	}
+	data[numLowRegs] = d.txRead8(APDS9960_BDATAL_REG)
+	data[numLowRegs+1] = d.txRead8(APDS9960_BDATAH_REG)
+	if d.txErr() != nil {
+		return
+	}
 	clear = int32(uint16(data[1])<<8 | uint16(data[0]))
 	r = int32(uint16(data[3])<<8 | uint16(data[2]))
 	g = int32(uint16(data[5])<<8 | uint16(data[4]))
 	b = int32(uint16(data[7])<<8 | uint16(data[6]))
-	return
+	return r, g, b, clear
 }
 
 // EnableGesture starts the gesture engine
-func (d *Device) EnableGesture() {
+func (d *Device) EnableGesture() error {
 	if d.mode != MODE_NONE {
-		d.DisableAll()
+		err := d.DisableAll()
+		if err != nil {
+			return err
+		}
+	}
+	err := d.enable(enPON | enPEN | enGEN | enWEN)
+	if err != nil {
+		return err
 	}
-	d.enable(enableConfig{PON: true, PEN: true, GEN: true, WEN: true})
 	d.mode = MODE_GESTURE
 	d.gesture.detected = GESTURE_NONE
 	d.gesture.gXDelta = 0
@@ -224,6 +280,7 @@ func (d *Device) EnableGesture() {
 	d.gesture.gXPrevDelta = 0
 	d.gesture.gYPrevDelta = 0
 	d.gesture.received = false
+	return nil
 }
 
 // GestureAvailable reports if gesture data is available
@@ -231,29 +288,26 @@ func (d *Device) GestureAvailable() bool {
 	if d.mode != MODE_GESTURE {
 		return false
 	}
-
-	data := []byte{0, 0, 0, 0}
-
-	// check GVALID
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_GSTATUS_REG, data[:1])
-	if data[0]&0x01 == 0 {
+	d.txNew()
+	gstatus := d.txRead8(APDS9960_GSTATUS_REG)
+	if gstatus&1 == 0 {
 		return false
 	}
-
-	// get number of data sets available in FIFO
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_GFLVL_REG, data[:1])
-	availableDataSets := data[0]
+	availableDataSets := d.txRead8(APDS9960_GFLVL_REG)
 	if availableDataSets == 0 {
 		return false
 	}
-
+	data := d.buf[:]
 	// read up, down, left and right proximity data from FIFO
 	var dataSets [32][4]uint8
+	const numAddrs = APDS9960_GFIFO_R_REG - APDS9960_GFIFO_U_REG + 1
 	for i := uint8(0); i < availableDataSets; i++ {
-		legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_U_REG, data[:1])
-		legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_D_REG, data[1:2])
-		legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_L_REG, data[2:3])
-		legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_R_REG, data[3:4])
+		for j := uint8(0); j < numAddrs; j++ {
+			data[j] = d.txRead8(j + APDS9960_GFIFO_U_REG)
+		}
+		if d.txErr() != nil {
+			return false
+		}
 		for j := uint8(0); j < 4; j++ {
 			dataSets[i][j] = data[j]
 		}
@@ -315,9 +369,11 @@ func (d *Device) ReadGesture() (gesture int32) {
 
 // private functions
 
-func (d *Device) configureDevice(cfg Configuration) {
-	d.DisableAll() // turn off everything
-
+func (d *Device) configureDevice(cfg Configuration) error {
+	err := d.DisableAll() // turn off everything
+	if err != nil {
+		return err
+	}
 	// "default" settings
 	if cfg.ProximityPulseLength == 0 {
 		cfg.ProximityPulseLength = 16
@@ -350,69 +406,92 @@ func (d *Device) configureDevice(cfg Configuration) {
 		d.gesture.sensitivity = 20
 	}
 
-	d.SetProximityPulse(cfg.ProximityPulseLength, cfg.ProximityPulseCount)
-	d.SetGesturePulse(cfg.GesturePulseLength, cfg.GesturePulseCount)
-	d.SetGains(cfg.ProximityGain, cfg.GestureGain, cfg.ColorGain)
-	d.SetADCIntegrationCycles(cfg.ADCIntegrationCycles)
-
-	if cfg.LEDBoost > 0 {
-		d.LEDBoost(cfg.LEDBoost)
+	err = d.SetProximityPulse(cfg.ProximityPulseLength, cfg.ProximityPulseCount)
+	if err != nil {
+		return err
 	}
+	err = d.SetGesturePulse(cfg.GesturePulseLength, cfg.GesturePulseCount)
+	if err != nil {
+		return err
+	}
+	err = d.SetGains(cfg.ProximityGain, cfg.GestureGain, cfg.ColorGain)
+	if err != nil {
+		return err
+	}
+	err = d.SetADCIntegrationCycles(cfg.ADCIntegrationCycles)
+	if err == nil && cfg.LEDBoost > 0 {
+		err = d.LEDBoost(cfg.LEDBoost)
+	}
+	return err
 }
 
-func (d *Device) enable(cfg enableConfig) {
-	var gen, pien, aien, wen, pen, aen, pon uint8
-
-	if cfg.GEN {
-		gen = 1
-	}
-	if cfg.PIEN {
-		pien = 1
-	}
-	if cfg.AIEN {
-		aien = 1
-	}
-	if cfg.WEN {
-		wen = 1
-	}
-	if cfg.PEN {
-		pen = 1
-	}
-	if cfg.AEN {
-		aen = 1
-	}
-	if cfg.PON {
-		pon = 1
-	}
-
-	data := []byte{gen<<6 | pien<<5 | aien<<4 | wen<<3 | pen<<2 | aen<<1 | pon}
-	legacy.WriteRegister(d.bus, d.Address, APDS9960_ENABLE_REG, data)
-
-	if cfg.PON {
+func (d *Device) enable(cfg encfg) error {
+	d.txNew()
+	cfg.write7bits(d.buf[:7])
+	d.txWrite(APDS9960_ENABLE_REG, d.buf[:7])
+	err := d.txErr()
+	if err == nil && cfg&enPON != 0 {
 		time.Sleep(time.Millisecond * 10)
 	}
+	return err
 }
 
-func (d *Device) readStatus(param string) bool {
-	data := []byte{0}
-	legacy.ReadRegister(d.bus, d.Address, APDS9960_STATUS_REG, data)
+func (d *Device) txErr() error { return d._txerr }
 
-	switch param {
-	case "CPSAT":
-		return data[0]>>7&0x01 == 1
-	case "PGSAT":
-		return data[0]>>6&0x01 == 1
-	case "PINT":
-		return data[0]>>5&0x01 == 1
-	case "AINT":
-		return data[0]>>4&0x01 == 1
-	case "PVALID":
-		return data[0]>>1&0x01 == 1
-	case "AVALID":
-		return data[0]&0x01 == 1
-	default:
-		return false
+func (d *Device) txNew() { d._txerr = nil }
+
+func (d *Device) txRead8(addr uint8) uint8 {
+	if d._txerr != nil {
+		return 0
 	}
+	d.buf[0] = addr
+	d._txerr = d.bus.Tx(uint16(d.Address), d.buf[:1], d.buf[1:2])
+	return d.buf[1]
+}
+
+func (d *Device) txWrite8(addr uint8, val uint8) {
+	if d._txerr != nil {
+		return
+	}
+	d.buf[0] = addr
+	d.buf[1] = val
+	d._txerr = d.bus.Tx(uint16(d.Address), d.buf[:2], nil)
+}
+
+func (d *Device) txWrite(addr uint8, data []byte) {
+	if d._txerr != nil {
+		return
+	} else if len(data) > len(d.buf)-1 {
+		panic("txWrite: data too long")
+	}
+	d.buf[0] = addr
+	copy(d.buf[1:], data)
+	d._txerr = d.bus.Tx(uint16(d.Address), d.buf[:len(data)+1], nil)
+}
+
+type status uint8
+
+const (
+	statusAVALID status = 1 << iota
+	statusPVALID
+	_
+	_
+	statusAINT
+	statusPINT
+	statusPGSAT
+	statusCPSAT
+)
+
+func (s status) CPSAT() bool  { return s&statusCPSAT != 0 }
+func (s status) PGSAT() bool  { return s&statusPGSAT != 0 }
+func (s status) PINT() bool   { return s&statusPINT != 0 }
+func (s status) AINT() bool   { return s&statusAINT != 0 }
+func (s status) PVALID() bool { return s&statusPVALID != 0 }
+func (s status) AVALID() bool { return s&statusAVALID != 0 }
+
+func (d *Device) ReadStatus() (status, error) {
+	d.txNew()
+	return status(d.txRead8(APDS9960_STATUS_REG)), d.txErr()
 }
 
 func getPulseLength(l uint8) uint8 {

examples/apds9960/proximity/main.go

@@ -8,33 +8,42 @@ import (
 )
 
 func main() {
-
+	// Sleep to catch any errors through the serial monitor.
+	time.Sleep(1000 * time.Millisecond)
+	bus := machine.I2C0
 	// use Nano 33 BLE Sense's internal I2C bus
-	machine.I2C1.Configure(machine.I2CConfig{
-		SCL:       machine.SCL1_PIN,
-		SDA:       machine.SDA1_PIN,
-		Frequency: machine.TWI_FREQ_400KHZ,
+	err := bus.Configure(machine.I2CConfig{
+		SCL:       machine.GP1,
+		SDA:       machine.GP0,
+		Frequency: 400 * machine.KHz,
 	})
+	if err != nil {
+		panic(err.Error())
+	}
 
-	sensor := apds9960.New(machine.I2C1)
+	sensor := apds9960.New(bus)
 
 	// use default settings
 	sensor.Configure(apds9960.Configuration{})
 
 	if !sensor.Connected() {
 		println("APDS-9960 not connected!")
+		println("err:", sensor.Err())
 		return
 	}
-
-	sensor.EnableProximity() // enable proximity engine
-
+	println("APDS connected!")
+	err = sensor.EnableProximity() // enable proximity engine
+	if err != nil {
+		panic(err.Error())
+	}
 	for {
-
 		if sensor.ProximityAvailable() {
 			p := sensor.ReadProximity()
 			println("Proximity:", p)
 		}
+		if err := sensor.Err(); err != nil {
+			println(err.Error())
+		}
 		time.Sleep(time.Millisecond * 100)
 	}
-
 }