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SparkFun_APDS9960.cpp
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SparkFun_APDS9960.cpp
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/**
* @file SparkFun_APDS-9960.cpp
* @brief Library for the SparkFun APDS-9960 breakout board
* @author Shawn Hymel (SparkFun Electronics)
*
* @copyright This code is public domain but you buy me a beer if you use
* this and we meet someday (Beerware license).
*
* This library interfaces the Avago APDS-9960 to Arduino over I2C. The library
* relies on the Arduino Wire (I2C) library. to use the library, instantiate an
* APDS9960 object, call init(), and call the appropriate functions.
*
* APDS-9960 current draw tests (default parameters):
* Off: 1mA
* Waiting for gesture: 14mA
* Gesture in progress: 35mA
*/
#include <Arduino.h>
#include <Wire.h>
#include "SparkFun_APDS9960.h"
/**
* @brief Constructor - Instantiates SparkFun_APDS9960 object
*/
SparkFun_APDS9960::SparkFun_APDS9960()
{
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;
}
/**
* @brief Destructor
*/
SparkFun_APDS9960::~SparkFun_APDS9960()
{
}
/**
* @brief Configures I2C communications and initializes registers to defaults
*
* @return True if initialized successfully. False otherwise.
*/
bool SparkFun_APDS9960::init()
{
uint8_t id;
/* Initialize I2C */
Wire.begin();
/* Read ID register and check against known values for APDS-9960 */
if( !wireReadDataByte(APDS9960_ID, id) ) {
return false;
}
if( !(id == APDS9960_ID_1 || id == APDS9960_ID_2) ) {
return false;
}
/* Set ENABLE register to 0 (disable all features) */
if( !setMode(ALL, OFF) ) {
return false;
}
/* Set default values for ambient light and proximity registers */
if( !wireWriteDataByte(APDS9960_ATIME, DEFAULT_ATIME) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_WTIME, DEFAULT_WTIME) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_PPULSE, DEFAULT_PROX_PPULSE) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_POFFSET_UR, DEFAULT_POFFSET_UR) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_POFFSET_DL, DEFAULT_POFFSET_DL) ) {
return false;
}
if( !wireWriteDataByte(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( !setLightIntHighThreshold(DEFAULT_AIHT) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_PERS, DEFAULT_PERS) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_CONFIG2, DEFAULT_CONFIG2) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_CONFIG3, DEFAULT_CONFIG3) ) {
return false;
}
/* Set default values for gesture sense registers */
if( !setGestureEnterThresh(DEFAULT_GPENTH) ) {
return false;
}
if( !setGestureExitThresh(DEFAULT_GEXTH) ) {
return false;
}
if( !wireWriteDataByte(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( !wireWriteDataByte(APDS9960_GOFFSET_U, DEFAULT_GOFFSET) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GOFFSET_D, DEFAULT_GOFFSET) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GOFFSET_L, DEFAULT_GOFFSET) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GOFFSET_R, DEFAULT_GOFFSET) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GPULSE, DEFAULT_GPULSE) ) {
return false;
}
if( !wireWriteDataByte(APDS9960_GCONF3, DEFAULT_GCONF3) ) {
return false;
}
if( !setGestureIntEnable(DEFAULT_GIEN) ) {
return false;
}
#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) )
{
wireReadDataByte(reg, val);
Serial.print(reg, HEX);
Serial.print(": 0x");
Serial.println(val, HEX);
}
}
for(reg = 0xE4; reg <= 0xE7; reg++) {
wireReadDataByte(reg, val);
Serial.print(reg, HEX);
Serial.print(": 0x");
Serial.println(val, HEX);
}
#endif
return true;
}
/*******************************************************************************
* Public methods for controlling the APDS-9960
******************************************************************************/
/**
* @brief Reads and returns the contents of the STATUS register
*
* @return Contents of the STATUS register. 0xFF if error.
*/
uint8_t SparkFun_APDS9960::getStatusRegister()
{
uint8_t status_value;
/* Read current ENABLE register */
if(!wireReadDataByte(APDS9960_STATUS, status_value) ) {
return ERROR;
}
return status_value;
}
/**
* @brief Reads and returns the contents of the ENABLE register
*
* @return Contents of the ENABLE register. 0xFF if error.
*/
uint8_t SparkFun_APDS9960::getMode()
{
uint8_t enable_value;
/* Read current ENABLE register */
if( !wireReadDataByte(APDS9960_ENABLE, enable_value) ) {
return ERROR;
}
return enable_value;
}
/**
* @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 SparkFun_APDS9960::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( !wireWriteDataByte(APDS9960_ENABLE, reg_val) ) {
return false;
}
return true;
}
/**
* @brief Starts the light (R/G/B/Ambient) sensor on the APDS-9960
*
* @param[in] interrupts true to enable hardware interrupt on high or low light
* @return True if sensor enabled correctly. False on error.
*/
bool SparkFun_APDS9960::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 SparkFun_APDS9960::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 SparkFun_APDS9960::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 SparkFun_APDS9960::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 SparkFun_APDS9960::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( !wireWriteDataByte(APDS9960_WTIME, 0xFF) ) {
return false;
}
if( !wireWriteDataByte(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 SparkFun_APDS9960::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 SparkFun_APDS9960::isGestureAvailable()
{
uint8_t val;
/* Read value from GSTATUS register */
if( !wireReadDataByte(APDS9960_GSTATUS, val) ) {
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;
}
}
/**
* @brief Processes a gesture event and returns best guessed gesture
*
* @return Number corresponding to gesture. -1 on error.
*/
int SparkFun_APDS9960::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() & 0b01000001) ) {
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? */
if( !wireReadDataByte(APDS9960_GSTATUS, gstatus) ) {
return ERROR;
}
/* If we have valid data, read in FIFO */
if( (gstatus & APDS9960_GVALID) == APDS9960_GVALID ) {
/* Read the current FIFO level */
if( !wireReadDataByte(APDS9960_GFLVL, fifo_level) ) {
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 */
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;
}
}
}
/**
* Turn the APDS-9960 on
*
* @return True if operation successful. False otherwise.
*/
bool SparkFun_APDS9960::enablePower()
{
if( !setMode(POWER, 1) ) {
return false;
}
return true;
}
/**
* Turn the APDS-9960 off
*
* @return True if operation successful. False otherwise.
*/
bool SparkFun_APDS9960::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 SparkFun_APDS9960::readAmbientLight(uint16_t &val)
{
uint8_t val_byte;
val = 0;
/* Read value from clear channel, low byte register */
if( !wireReadDataByte(APDS9960_CDATAL, val_byte) ) {
return false;
}
val = val_byte;
/* Read value from clear channel, high byte register */
if( !wireReadDataByte(APDS9960_CDATAH, val_byte) ) {
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 SparkFun_APDS9960::readRedLight(uint16_t &val)
{
uint8_t val_byte;
val = 0;
/* Read value from clear channel, low byte register */
if( !wireReadDataByte(APDS9960_RDATAL, val_byte) ) {
return false;
}
val = val_byte;
/* Read value from clear channel, high byte register */
if( !wireReadDataByte(APDS9960_RDATAH, val_byte) ) {
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 SparkFun_APDS9960::readGreenLight(uint16_t &val)
{
uint8_t val_byte;
val = 0;
/* Read value from clear channel, low byte register */
if( !wireReadDataByte(APDS9960_GDATAL, val_byte) ) {
return false;
}
val = val_byte;
/* Read value from clear channel, high byte register */
if( !wireReadDataByte(APDS9960_GDATAH, val_byte) ) {
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 SparkFun_APDS9960::readBlueLight(uint16_t &val)
{
uint8_t val_byte;
val = 0;
/* Read value from clear channel, low byte register */
if( !wireReadDataByte(APDS9960_BDATAL, val_byte) ) {
return false;
}
val = val_byte;
/* Read value from clear channel, high byte register */
if( !wireReadDataByte(APDS9960_BDATAH, val_byte) ) {
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 SparkFun_APDS9960::readProximity(uint8_t &val)
{
val = 0;
/* Read value from proximity data register */
if( !wireReadDataByte(APDS9960_PDATA, val) ) {
return false;
}
return true;
}
/*******************************************************************************
* High-level gesture controls
******************************************************************************/
/**
* @brief Resets all the parameters in the gesture data member
*/
void SparkFun_APDS9960::resetGestureParameters()
{
gesture_data_.index = 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;
}
/**
* @brief Processes the raw gesture data to determine swipe direction
*
* @return True if near or far state seen. False otherwise.
*/
bool SparkFun_APDS9960::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_ >= 10 ) {
gesture_ud_count_ = 0;
gesture_lr_count_ = 0;
gesture_ud_delta_ = 0;
gesture_lr_delta_ = 0;
}
}
}
#if DEBUG
Serial.print("UD_CT: ");
Serial.print(gesture_ud_count_);
Serial.print(" LR_CT: ");
Serial.print(gesture_lr_count_);
Serial.print(" NEAR_CT: ");
Serial.print(gesture_near_count_);
Serial.print(" FAR_CT: ");
Serial.println(gesture_far_count_);
Serial.println("----------");
#endif
return false;
}
/**
* @brief Determines swipe direction or near/far state
*
* @return True if near/far event. False otherwise.
*/
bool SparkFun_APDS9960::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;