mirror of
https://github.com/tinygo-org/drivers.git
synced 2026-07-26 10:38:41 +00:00
soypat
469 lines
12 KiB
Go
469 lines
12 KiB
Go
// Package apds9960 implements a driver for APDS-9960,
|
|
// a digital proximity, ambient light, RGB and gesture sensor.
|
|
//
|
|
// Datasheet: https://cdn.sparkfun.com/assets/learn_tutorials/3/2/1/Avago-APDS-9960-datasheet.pdf
|
|
package apds9960
|
|
|
|
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
|
|
Address uint8
|
|
mode uint8
|
|
gesture gestureData
|
|
}
|
|
|
|
// Configuration for APDS-9960 device.
|
|
type Configuration struct {
|
|
ProximityPulseLength uint8
|
|
ProximityPulseCount uint8
|
|
GesturePulseLength uint8
|
|
GesturePulseCount uint8
|
|
ProximityGain uint8
|
|
GestureGain uint8
|
|
ColorGain uint8
|
|
ADCIntegrationCycles uint16
|
|
LEDBoost uint16
|
|
threshold uint8
|
|
sensitivity uint8
|
|
}
|
|
|
|
// for gesture-related data
|
|
type gestureData struct {
|
|
detected uint8
|
|
threshold uint8
|
|
sensitivity uint8
|
|
gXDelta int16
|
|
gYDelta int16
|
|
gXPrevDelta int16
|
|
gYPrevDelta int16
|
|
received bool
|
|
}
|
|
|
|
// for enabling various device function
|
|
type enableConfig struct {
|
|
GEN bool
|
|
PIEN bool
|
|
AIEN bool
|
|
WEN bool
|
|
PEN bool
|
|
AEN bool
|
|
PON bool
|
|
}
|
|
|
|
// New creates a new APDS-9960 connection. The I2C bus must already be
|
|
// configured.
|
|
//
|
|
// This function only creates the Device object, it does not touch the device.
|
|
func New(bus drivers.I2C) Device {
|
|
return Device{bus: bus, Address: ADPS9960_ADDRESS, mode: MODE_NONE}
|
|
}
|
|
|
|
// 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
|
|
}
|
|
|
|
// GetMode returns current engine mode
|
|
func (d *Device) GetMode() uint8 {
|
|
return d.mode
|
|
}
|
|
|
|
// 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
|
|
}
|
|
|
|
// 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)})
|
|
}
|
|
|
|
// 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)})
|
|
}
|
|
|
|
// 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) {
|
|
if cycles > 256 {
|
|
cycles = 256
|
|
}
|
|
legacy.WriteRegister(d.bus, d.Address, APDS9960_ATIME_REG, []byte{uint8(256 - cycles)})
|
|
}
|
|
|
|
// 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})
|
|
}
|
|
|
|
// LEDBoost sets proximity and gesture LED current level (100, 150, 200, 300 (%))
|
|
// default: 100
|
|
func (d *Device) LEDBoost(percent uint16) {
|
|
var v uint8
|
|
switch percent {
|
|
case 100:
|
|
v = 0
|
|
case 150:
|
|
v = 1
|
|
case 200:
|
|
v = 2
|
|
case 300:
|
|
v = 3
|
|
}
|
|
legacy.WriteRegister(d.bus, d.Address, APDS9960_CONFIG2_REG, []byte{0x01 | v<<4})
|
|
}
|
|
|
|
// 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
|
|
// default: 20
|
|
func (d *Device) Setsensitivity(s uint8) {
|
|
if s > 100 {
|
|
s = 100
|
|
}
|
|
d.gesture.sensitivity = 100 - s
|
|
}
|
|
|
|
// EnableProximity starts the proximity engine
|
|
func (d *Device) EnableProximity() {
|
|
if d.mode != MODE_NONE {
|
|
d.DisableAll()
|
|
}
|
|
d.enable(enableConfig{PON: true, PEN: true, WEN: true})
|
|
d.mode = MODE_PROXIMITY
|
|
}
|
|
|
|
// ProximityAvailable reports if proximity data is available
|
|
func (d *Device) ProximityAvailable() bool {
|
|
if d.mode == MODE_PROXIMITY && d.readStatus("PVALID") {
|
|
return true
|
|
}
|
|
return false
|
|
}
|
|
|
|
// 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])
|
|
}
|
|
|
|
// EnableColor starts the color engine
|
|
func (d *Device) EnableColor() {
|
|
if d.mode != MODE_NONE {
|
|
d.DisableAll()
|
|
}
|
|
d.enable(enableConfig{PON: true, AEN: true, WEN: true})
|
|
d.mode = MODE_COLOR
|
|
}
|
|
|
|
// ColorAvailable reports if color data is available
|
|
func (d *Device) ColorAvailable() bool {
|
|
if d.mode == MODE_COLOR && d.readStatus("AVALID") {
|
|
return true
|
|
}
|
|
return false
|
|
}
|
|
|
|
// ReadColor reads color data (red, green, blue, clear color/brightness)
|
|
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:])
|
|
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
|
|
}
|
|
|
|
// EnableGesture starts the gesture engine
|
|
func (d *Device) EnableGesture() {
|
|
if d.mode != MODE_NONE {
|
|
d.DisableAll()
|
|
}
|
|
d.enable(enableConfig{PON: true, PEN: true, GEN: true, WEN: true})
|
|
d.mode = MODE_GESTURE
|
|
d.gesture.detected = GESTURE_NONE
|
|
d.gesture.gXDelta = 0
|
|
d.gesture.gYDelta = 0
|
|
d.gesture.gXPrevDelta = 0
|
|
d.gesture.gYPrevDelta = 0
|
|
d.gesture.received = false
|
|
}
|
|
|
|
// GestureAvailable reports if gesture data is available
|
|
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 {
|
|
return false
|
|
}
|
|
|
|
// get number of data sets available in FIFO
|
|
legacy.ReadRegister(d.bus, d.Address, APDS9960_GFLVL_REG, data[:1])
|
|
availableDataSets := data[0]
|
|
if availableDataSets == 0 {
|
|
return false
|
|
}
|
|
|
|
// read up, down, left and right proximity data from FIFO
|
|
var dataSets [32][4]uint8
|
|
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 < 4; j++ {
|
|
dataSets[i][j] = data[j]
|
|
}
|
|
}
|
|
|
|
// gesture detection process
|
|
d.gesture.detected = GESTURE_NONE
|
|
for i := uint8(0); i < availableDataSets; i++ {
|
|
U := dataSets[i][0]
|
|
D := dataSets[i][1]
|
|
L := dataSets[i][2]
|
|
R := dataSets[i][3]
|
|
|
|
// if all readings fall below threshold, it's possible that
|
|
// a movement's just been made
|
|
if U < d.gesture.threshold && D < d.gesture.threshold && L < d.gesture.threshold && R < d.gesture.threshold {
|
|
d.gesture.received = true
|
|
// if there were movement in the previous step (including the last data sets)
|
|
if d.gesture.gXPrevDelta != 0 && d.gesture.gYPrevDelta != 0 {
|
|
totalX := d.gesture.gXPrevDelta - d.gesture.gXDelta
|
|
totalY := d.gesture.gYPrevDelta - d.gesture.gYDelta
|
|
// if previous and current movement are in opposite directions (pass through one led then next)
|
|
// and the difference is big enough, the gesture is recorded
|
|
switch {
|
|
case totalX < -int16(d.gesture.sensitivity):
|
|
d.gesture.detected = GESTURE_LEFT
|
|
case totalX > int16(d.gesture.sensitivity):
|
|
d.gesture.detected = GESTURE_RIGHT
|
|
case totalY > int16(d.gesture.sensitivity):
|
|
d.gesture.detected = GESTURE_DOWN
|
|
case totalY < -int16(d.gesture.sensitivity):
|
|
d.gesture.detected = GESTURE_UP
|
|
}
|
|
d.gesture.gXDelta = 0
|
|
d.gesture.gYDelta = 0
|
|
d.gesture.gXPrevDelta = 0
|
|
d.gesture.gYPrevDelta = 0
|
|
}
|
|
continue
|
|
}
|
|
|
|
// recording current movement
|
|
d.gesture.gXDelta = int16(R) - int16(L)
|
|
d.gesture.gYDelta = int16(D) - int16(U)
|
|
if d.gesture.received {
|
|
d.gesture.received = false
|
|
d.gesture.gXPrevDelta = d.gesture.gXDelta
|
|
d.gesture.gYPrevDelta = d.gesture.gYDelta
|
|
}
|
|
}
|
|
|
|
return d.gesture.detected != GESTURE_NONE
|
|
}
|
|
|
|
// ReadGesture reads last gesture data
|
|
func (d *Device) ReadGesture() (gesture int32) {
|
|
return int32(d.gesture.detected)
|
|
}
|
|
|
|
// private functions
|
|
|
|
func (d *Device) configureDevice(cfg Configuration) {
|
|
d.DisableAll() // turn off everything
|
|
|
|
// "default" settings
|
|
if cfg.ProximityPulseLength == 0 {
|
|
cfg.ProximityPulseLength = 16
|
|
}
|
|
if cfg.ProximityPulseCount == 0 {
|
|
cfg.ProximityPulseCount = 64
|
|
}
|
|
if cfg.GesturePulseLength == 0 {
|
|
cfg.GesturePulseLength = 16
|
|
}
|
|
if cfg.GesturePulseCount == 0 {
|
|
cfg.GesturePulseCount = 64
|
|
}
|
|
if cfg.ProximityGain == 0 {
|
|
cfg.ProximityGain = 1
|
|
}
|
|
if cfg.GestureGain == 0 {
|
|
cfg.GestureGain = 1
|
|
}
|
|
if cfg.ColorGain == 0 {
|
|
cfg.ColorGain = 4
|
|
}
|
|
if cfg.ADCIntegrationCycles == 0 {
|
|
cfg.ADCIntegrationCycles = 4
|
|
}
|
|
if cfg.threshold == 0 {
|
|
d.gesture.threshold = 30
|
|
}
|
|
if cfg.sensitivity == 0 {
|
|
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)
|
|
}
|
|
}
|
|
|
|
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 {
|
|
time.Sleep(time.Millisecond * 10)
|
|
}
|
|
}
|
|
|
|
func (d *Device) readStatus(param string) bool {
|
|
data := []byte{0}
|
|
legacy.ReadRegister(d.bus, d.Address, APDS9960_STATUS_REG, data)
|
|
|
|
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 getPulseLength(l uint8) uint8 {
|
|
switch l {
|
|
case 4:
|
|
return 0
|
|
case 8:
|
|
return 1
|
|
case 16:
|
|
return 2
|
|
case 32:
|
|
return 3
|
|
default:
|
|
return 0
|
|
}
|
|
}
|
|
|
|
func getPulseCount(c uint8) uint8 {
|
|
if c < 1 && c > 64 {
|
|
return 0
|
|
}
|
|
return c - 1
|
|
}
|
|
|
|
func getProximityGain(g uint8) uint8 {
|
|
switch g {
|
|
case 1:
|
|
return 0
|
|
case 2:
|
|
return 1
|
|
case 4:
|
|
return 2
|
|
case 8:
|
|
return 3
|
|
default:
|
|
return 0
|
|
}
|
|
}
|
|
|
|
func getALSGain(g uint8) uint8 {
|
|
switch g {
|
|
case 1:
|
|
return 0
|
|
case 4:
|
|
return 1
|
|
case 16:
|
|
return 2
|
|
case 64:
|
|
return 3
|
|
default:
|
|
return 0
|
|
}
|
|
}
|