/** * @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 #include #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 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; } 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 SparkFun_APDS9960::getProxIntLowThresh() { uint8_t val; /* Read value from PILT register */ if (!wireReadDataByte(APDS9960_PILT, val)) { 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 SparkFun_APDS9960::setProxIntLowThresh(uint8_t threshold) { if (!wireWriteDataByte(APDS9960_PILT, threshold)) { return false; } return true; } /** * @brief Returns the high threshold for proximity detection * * @return high threshold */ uint8_t SparkFun_APDS9960::getProxIntHighThresh() { uint8_t val; /* Read value from PIHT register */ if (!wireReadDataByte(APDS9960_PIHT, val)) { 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 SparkFun_APDS9960::setProxIntHighThresh(uint8_t threshold) { if (!wireWriteDataByte(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 SparkFun_APDS9960::getLEDDrive() { uint8_t val; /* Read value from CONTROL register */ if (!wireReadDataByte(APDS9960_CONTROL, val)) { return ERROR; } /* Shift and mask out LED drive bits */ val = (val >> 6) & 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 SparkFun_APDS9960::setLEDDrive(uint8_t drive) { uint8_t val; /* Read value from CONTROL register */ if (!wireReadDataByte(APDS9960_CONTROL, val)) { return false; } /* Set bits in register to given value */ drive &= 0b00000011; drive = drive << 6; val &= 0b00111111; val |= drive; /* Write register value back into CONTROL register */ if (!wireWriteDataByte(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 SparkFun_APDS9960::getProximityGain() { uint8_t val; /* Read value from CONTROL register */ if (!wireReadDataByte(APDS9960_CONTROL, val)) { return ERROR; } /* Shift and mask out PDRIVE bits */ val = (val >> 2) & 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 SparkFun_APDS9960::setProximityGain(uint8_t drive) { uint8_t val; /* Read value from CONTROL register */ if (!wireReadDataByte(APDS9960_CONTROL, val)) { return false; } /* Set bits in register to given value */ drive &= 0b00000011; drive = drive << 2; val &= 0b11110011; val |= drive; /* Write register value back into CONTROL register */ if (!wireWriteDataByte(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 SparkFun_APDS9960::getAmbientLightGain() { uint8_t val; /* Read value from CONTROL register */ if (!wireReadDataByte(APDS9960_CONTROL, val)) { return ERROR; } /* Shift and mask out ADRIVE bits */ val &= 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 SparkFun_APDS9960::setAmbientLightGain(uint8_t drive) { uint8_t val; /* Read value from CONTROL register */ if (!wireReadDataByte(APDS9960_CONTROL, val)) { return false; } /* Set bits in register to given value */ drive &= 0b00000011; val &= 0b11111100; val |= drive; /* Write register value back into CONTROL register */ if (!wireWriteDataByte(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 SparkFun_APDS9960::getLEDBoost() { uint8_t val; /* Read value from CONFIG2 register */ if (!wireReadDataByte(APDS9960_CONFIG2, val)) { return ERROR; } /* Shift and mask out LED_BOOST bits */ val = (val >> 4) & 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 SparkFun_APDS9960::setLEDBoost(uint8_t boost) { uint8_t val; /* Read value from CONFIG2 register */ if (!wireReadDataByte(APDS9960_CONFIG2, val)) { return false; } /* Set bits in register to given value */ boost &= 0b00000011; boost = boost << 4; val &= 0b11001111; val |= boost; /* Write register value back into CONFIG2 register */ if (!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 SparkFun_APDS9960::getProxGainCompEnable() { uint8_t val; /* Read value from CONFIG3 register */ if (!wireReadDataByte(APDS9960_CONFIG3, val)) { return ERROR; } /* Shift and mask out PCMP bits */ val = (val >> 5) & 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 SparkFun_APDS9960::setProxGainCompEnable(uint8_t enable) { uint8_t val; /* Read value from CONFIG3 register */ if (!wireReadDataByte(APDS9960_CONFIG3, val)) { return false; } /* Set bits in register to given value */ enable &= 0b00000001; enable = enable << 5; val &= 0b11011111; val |= enable; /* Write register value back into CONFIG3 register */ if (!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 SparkFun_APDS9960::getProxPhotoMask() { uint8_t val; /* Read value from CONFIG3 register */ if (!wireReadDataByte(APDS9960_CONFIG3, val)) { return ERROR; } /* Mask out photodiode enable mask bits */ val &= 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 SparkFun_APDS9960::setProxPhotoMask(uint8_t mask) { uint8_t val; /* Read value from CONFIG3 register */ if (!wireReadDataByte(APDS9960_CONFIG3, val)) { return false; } /* Set bits in register to given value */ mask &= 0b00001111; val &= 0b11110000; val |= mask; /* Write register value back into CONFIG3 register */ if (!wireWriteDataByte(APDS9960_CONFIG3, val)) { return false; } return true; } /** * @brief Gets the entry proximity threshold for gesture sensing * * @return Current entry proximity threshold. */ uint8_t SparkFun_APDS9960::getGestureEnterThresh() { uint8_t val; /* Read value from GPENTH register */ if (!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 SparkFun_APDS9960::setGestureEnterThresh(uint8_t threshold) { if (!wireWriteDataByte(APDS9960_GPENTH, threshold)) { return false; } return true; } /** * @brief Gets the exit proximity threshold for gesture sensing * * @return Current exit proximity threshold. */ uint8_t SparkFun_APDS9960::getGestureExitThresh() { uint8_t val; /* Read value from GEXTH register */ if (!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 SparkFun_APDS9960::setGestureExitThresh(uint8_t threshold) { if (!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 SparkFun_APDS9960::getGestureGain() { uint8_t val; /* Read value from GCONF2 register */ if (!wireReadDataByte(APDS9960_GCONF2, val)) { return ERROR; } /* Shift and mask out GGAIN bits */ val = (val >> 5) & 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 SparkFun_APDS9960::setGestureGain(uint8_t gain) { uint8_t val; /* Read value from GCONF2 register */ if (!wireReadDataByte(APDS9960_GCONF2, val)) { return false; } /* Set bits in register to given value */ gain &= 0b00000011; gain = gain << 5; val &= 0b10011111; val |= gain; /* Write register value back into GCONF2 register */ if (!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 SparkFun_APDS9960::getGestureLEDDrive() { uint8_t val; /* Read value from GCONF2 register */ if (!wireReadDataByte(APDS9960_GCONF2, val)) { return ERROR; } /* Shift and mask out GLDRIVE bits */ val = (val >> 3) & 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 SparkFun_APDS9960::setGestureLEDDrive(uint8_t drive) { uint8_t val; /* Read value from GCONF2 register */ if (!wireReadDataByte(APDS9960_GCONF2, val)) { return false; } /* Set bits in register to given value */ drive &= 0b00000011; drive = drive << 3; val &= 0b11100111; val |= drive; /* Write register value back into GCONF2 register */ if (!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 SparkFun_APDS9960::getGestureWaitTime() { uint8_t val; /* Read value from GCONF2 register */ if (!wireReadDataByte(APDS9960_GCONF2, val)) { return ERROR; } /* Mask out GWTIME bits */ val &= 0b00000111; return val; } /** * @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 SparkFun_APDS9960::setGestureWaitTime(uint8_t time) { uint8_t val; /* Read value from GCONF2 register */ if (!wireReadDataByte(APDS9960_GCONF2, val)) { return false; } /* Set bits in register to given value */ time &= 0b00000111; val &= 0b11111000; val |= time; /* Write register value back into GCONF2 register */ 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 SparkFun_APDS9960::getLightIntLowThreshold(uint16_t &threshold) { uint8_t val_byte; threshold = 0; /* Read value from ambient light low threshold, low byte register */ if (!wireReadDataByte(APDS9960_AILTL, val_byte)) { return false; } threshold = val_byte; /* Read value from ambient light low threshold, high byte register */ if (!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 SparkFun_APDS9960::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 (!wireWriteDataByte(APDS9960_AILTL, val_low)) { return false; } /* Write high byte */ if (!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 SparkFun_APDS9960::getLightIntHighThreshold(uint16_t &threshold) { uint8_t val_byte; threshold = 0; /* Read value from ambient light high threshold, low byte register */ if (!wireReadDataByte(APDS9960_AIHTL, val_byte)) { return false; } threshold = val_byte; /* Read value from ambient light high threshold, high byte register */ if (!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 SparkFun_APDS9960::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 (!wireWriteDataByte(APDS9960_AIHTL, val_low)) { return false; } /* Write high byte */ if (!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 SparkFun_APDS9960::getProximityIntLowThreshold(uint8_t &threshold) { threshold = 0; /* Read value from proximity low threshold register */ if (!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 SparkFun_APDS9960::setProximityIntLowThreshold(uint8_t threshold) { /* Write threshold value to register */ if (!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 SparkFun_APDS9960::getProximityIntHighThreshold(uint8_t &threshold) { threshold = 0; /* Read value from proximity low threshold register */ if (!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 SparkFun_APDS9960::setProximityIntHighThreshold(uint8_t threshold) { /* Write threshold value to register */ if (!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 SparkFun_APDS9960::getAmbientLightIntEnable() { uint8_t val; /* Read value from ENABLE register */ if (!wireReadDataByte(APDS9960_ENABLE, val)) { return ERROR; } /* Shift and mask out AIEN bit */ val = (val >> 4) & 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 SparkFun_APDS9960::setAmbientLightIntEnable(uint8_t enable) { uint8_t val; /* Read value from ENABLE register */ if (!wireReadDataByte(APDS9960_ENABLE, val)) { return false; } /* Set bits in register to given value */ enable &= 0b00000001; enable = enable << 4; val &= 0b11101111; val |= enable; /* Write register value back into ENABLE register */ if (!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 SparkFun_APDS9960::getProximityIntEnable() { uint8_t val; /* Read value from ENABLE register */ if (!wireReadDataByte(APDS9960_ENABLE, val)) { return ERROR; } /* Shift and mask out PIEN bit */ val = (val >> 5) & 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 SparkFun_APDS9960::setProximityIntEnable(uint8_t enable) { uint8_t val; /* Read value from ENABLE register */ if (!wireReadDataByte(APDS9960_ENABLE, val)) { return false; } /* Set bits in register to given value */ enable &= 0b00000001; enable = enable << 5; val &= 0b11011111; val |= enable; /* Write register value back into ENABLE register */ if (!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 SparkFun_APDS9960::getGestureIntEnable() { uint8_t val; /* Read value from GCONF4 register */ if (!wireReadDataByte(APDS9960_GCONF4, val)) { return ERROR; } /* Shift and mask out GIEN bit */ val = (val >> 1) & 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 SparkFun_APDS9960::setGestureIntEnable(uint8_t enable) { uint8_t val; /* Read value from GCONF4 register */ if (!wireReadDataByte(APDS9960_GCONF4, val)) { return false; } /* Set bits in register to given value */ enable &= 0b00000001; enable = enable << 1; val &= 0b11111101; val |= enable; /* Write register value back into GCONF4 register */ if (!wireWriteDataByte(APDS9960_GCONF4, val)) { return false; } return true; } /** * @brief Clears the ambient light interrupt * * @return True if operation completed successfully. False otherwise. */ bool SparkFun_APDS9960::clearAmbientLightInt() { uint8_t throwaway; if (!wireReadDataByte(APDS9960_AICLEAR, throwaway)) { return false; } return true; } /** * @brief Clears the proximity interrupt * * @return True if operation completed successfully. False otherwise. */ bool SparkFun_APDS9960::clearProximityInt() { uint8_t throwaway; if (!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 SparkFun_APDS9960::getGestureMode() { uint8_t val; /* Read value from GCONF4 register */ if (!wireReadDataByte(APDS9960_GCONF4, val)) { return ERROR; } /* Mask out GMODE bit */ val &= 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 SparkFun_APDS9960::setGestureMode(uint8_t mode) { uint8_t val; /* Read value from GCONF4 register */ if (!wireReadDataByte(APDS9960_GCONF4, val)) { return false; } /* Set bits in register to given value */ mode &= 0b00000001; val &= 0b11111110; val |= mode; /* Write register value back into GCONF4 register */ if (!wireWriteDataByte(APDS9960_GCONF4, val)) { return false; } return true; } /******************************************************************************* * Raw I2C Reads and Writes ******************************************************************************/ /** * @brief Writes a single byte to the I2C device (no register) * * @param[in] val the 1-byte value to write to the I2C device * @return True if successful write operation. False otherwise. */ bool SparkFun_APDS9960::wireWriteByte(uint8_t val) { Wire.beginTransmission(APDS9960_I2C_ADDR); Wire.write(val); if (Wire.endTransmission() != 0) { return false; } return true; } /** * @brief Writes a single byte to the I2C device and specified register * * @param[in] reg the register in the I2C device to write to * @param[in] val the 1-byte value to write to the I2C device * @return True if successful write operation. False otherwise. */ bool SparkFun_APDS9960::wireWriteDataByte(uint8_t reg, uint8_t val) { Wire.beginTransmission(APDS9960_I2C_ADDR); Wire.write(reg); Wire.write(val); if (Wire.endTransmission() != 0) { return false; } return true; } /** * @brief Writes a block (array) of bytes to the I2C device and register * * @param[in] reg the register in the I2C device to write to * @param[in] val pointer to the beginning of the data byte array * @param[in] len the length (in bytes) of the data to write * @return True if successful write operation. False otherwise. */ bool SparkFun_APDS9960::wireWriteDataBlock(uint8_t reg, uint8_t *val, unsigned int len) { unsigned int i; Wire.beginTransmission(APDS9960_I2C_ADDR); Wire.write(reg); for (i = 0; i < len; i++) { Wire.beginTransmission(val[i]); } if (Wire.endTransmission() != 0) { return false; } return true; } /** * @brief Reads a single byte from the I2C device and specified register * * @param[in] reg the register to read from * @param[out] the value returned from the register * @return True if successful read operation. False otherwise. */ bool SparkFun_APDS9960::wireReadDataByte(uint8_t reg, uint8_t &val) { /* Indicate which register we want to read from */ if (!wireWriteByte(reg)) { return false; } /* Read from register */ Wire.requestFrom(APDS9960_I2C_ADDR, 1); while (Wire.available()) { val = Wire.read(); } return true; } /** * @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 SparkFun_APDS9960::wireReadDataBlock(uint8_t reg, uint8_t *val, unsigned int len) { unsigned char i = 0; /* Indicate which register we want to read from */ if (!wireWriteByte(reg)) { return -1; } /* Read block data */ Wire.requestFrom(APDS9960_I2C_ADDR, len); while (Wire.available()) { if (i >= len) { return -1; } val[i] = Wire.read(); i++; } return i; } String SparkFun_APDS9960::handleGesture() { if (isGestureAvailable()) { switch (readGesture()) { case DIR_UP: return "UP"; break; case DIR_DOWN: return "DOWN"; break; case DIR_LEFT: return "LEFT"; break; case DIR_RIGHT: return "RIGHT"; break; case DIR_NEAR: return "NEAR"; break; case DIR_FAR: return "FAR"; break; default: return "NONE"; } } return "NONE"; }