kopia lustrzana https://github.com/GuyCarver/MicroPython
Modifications to apds9960 driver.
Added comments and made some memory improvements using _ prefix on all constants.master
Guy Carver
rodzic
92645e0524
commit
84e5e5ee34
172
lib/APDS9960.py
172
lib/APDS9960.py
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@ -1,5 +1,7 @@
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# MicroPython apds9960 motion detection device driver.
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#NOTE: This code is derived from a mix of Sparkfun and Adafruit arduino drivers.
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#todo: Have a mix of styles here. Some use properties for setters while others use functions.
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import pyb
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@ -129,64 +131,66 @@ class apds9960(object) :
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_GPULSE_16US = const(2)
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_GPULSE_32US = const(3)
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#Value Location data.
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#Following are the bytes describing the data packed into each 8 bit value on the chip.
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#Nibble 1 = position, 0 = bits
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#NOTE: Commented out currently unused locations.
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ENABLE_PON = const(0x01)
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ENABLE_AEN = const(0x11)
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ENABLE_PEN = const(0x21)
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ENABLE_WEN = const(0x31)
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ENABLE_AIEN = const(0x41)
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ENABLE_PIEN = const(0x51)
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ENABLE_GEN = const(0x61)
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_ENABLE_PON = const(0x01)
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_ENABLE_AEN = const(0x11)
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_ENABLE_PEN = const(0x21)
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# _ENABLE_WEN = const(0x31)
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# _ENABLE_AIEN = const(0x41)
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_ENABLE_PIEN = const(0x51)
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_ENABLE_GEN = const(0x61)
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PERS_APERS = const(0x04)
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PERS_PPERS = const(0x44)
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# _PERS_APERS = const(0x04)
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_PERS_PPERS = const(0x44)
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PPULSE_PPULSE = const(0x06)
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PPULSE_PPLEN = const(0x62)
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_PPULSE_PPULSE = const(0x06)
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_PPULSE_PPLEN = const(0x62)
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CONTROL_AGAIN = const(0x02)
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CONTROL_PGAIN = const(0x22)
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CONTROL_LDRIVE = const(0x42)
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_CONTROL_AGAIN = const(0x02)
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_CONTROL_PGAIN = const(0x22)
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_CONTROL_LDRIVE = const(0x42)
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CONFIG2_LED_BOOST = const(0x42)
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CONFIG2_CPSIEN = const(0x61) #Clear photo diode saturation int enable.
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CONFIG2_PSIEN = const(0x71) #Proximity saturation interrupt enable.
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_CONFIG2_LED_BOOST = const(0x42)
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# _CONFIG2_CPSIEN = const(0x61) #Clear photo diode saturation int enable.
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# _CONFIG2_PSIEN = const(0x71) #Proximity saturation interrupt enable.
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CONFIG3_PMASK_R = const(0x01)
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CONFIG3_PMASK_L = const(0x11)
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CONFIG3_PMASK_D = const(0x21)
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CONFIG3_PMASK_U = const(0x31)
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CONFIG3_SAI = const(0x41)
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CONFIG3_PCMP = const(0x51)
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# _CONFIG3_PMASK_R = const(0x01)
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# _CONFIG3_PMASK_L = const(0x11)
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# _CONFIG3_PMASK_D = const(0x21)
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# _CONFIG3_PMASK_U = const(0x31)
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# _CONFIG3_SAI = const(0x41)
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# _CONFIG3_PCMP = const(0x51)
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GCONFIG1_GEXPERS = const(0x02)
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GCONFIG1_GEXMSK = const(0x24)
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GCONFIG1_GFIFOTH = const(0x62)
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# _GCONFIG1_GEXPERS = const(0x02)
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# _GCONFIG1_GEXMSK = const(0x24)
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_GCONFIG1_GFIFOTH = const(0x62)
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GCONFIG2_GWTIME = const(0x03)
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GCONFIG2_GLDRIVE = const(0x32)
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GCONFIG2_GGAIN = const(0x52)
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_GCONFIG2_GWTIME = const(0x03)
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# _GCONFIG2_GLDRIVE = const(0x32)
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_GCONFIG2_GGAIN = const(0x52)
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GCONFIG3_GDIMS = const(0x02)
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_GCONFIG3_GDIMS = const(0x02)
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GCONFIG4_GMODE = const(0x01)
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GCONFIG4_GIEN = const(0x12)
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# _GCONFIG4_GMODE = const(0x01)
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# _GCONFIG4_GIEN = const(0x12)
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GPULSE_GPULSE = const(0x06)
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GPULSE_GPLEN = const(0x62)
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_GPULSE_GPULSE = const(0x06)
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_GPULSE_GPLEN = const(0x62)
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STATUS_AVALID = const(0x01)
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STATUS_PVALID = const(0x11)
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STATUS_GINT = const(0x21)
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STATUS_AINT = const(0x41)
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STATUS_PINT = const(0x51)
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STATUS_PGSTAT = const(0x61)
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STATUS_CPSTAT = const(0x71)
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_STATUS_AVALID = const(0x01)
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# _STATUS_PVALID = const(0x11)
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# _STATUS_GINT = const(0x21)
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# _STATUS_AINT = const(0x41)
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# _STATUS_PINT = const(0x51)
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# _STATUS_PGSTAT = const(0x61)
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# _STATUS_CPSTAT = const(0x71)
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GSTATUS_GVALID = const(0x01)
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GSTATUS_GFOV = const(0x11)
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_GSTATUS_GVALID = const(0x01)
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# _GSTATUS_GFOV = const(0x11)
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# Gesture wait time values
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_GWTIME_0MS = const(0)
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@ -219,10 +223,10 @@ class apds9960(object) :
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_DefaultIntTimeMS = const(10)
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def __init__( self, aLoc ) :
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"""aLoc I2C pin location is either 1, 'X', 2 or'Y'."""
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'''aLoc I2C pin location is either 1, 'X', 2 or'Y'.'''
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self._i2c = pyb.I2C(aLoc, pyb.I2C.MASTER)
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#Mirrors data on the controller.
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#Mirrors data on the controller in order to eliminate need to read data from the controller on modification.
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self._enable = 0 #Enable
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self._pers = 0 #Pers
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self._ppulse = 0 #PPulse
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@ -263,31 +267,31 @@ class apds9960(object) :
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self.begin()
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def read( self, aLoc ) :
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"""Read 8 bit value and return."""
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'''Read 8 bit value and return.'''
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self._i2c.mem_read(self._b1, _ADDRESS, aLoc)
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return self._b1[0]
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def readbuffer( self, aBuffer, aLoc ) :
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"""Read 8 bit values into given buffer."""
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'''Read 8 bit values into given buffer.'''
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self._i2c.mem_read(aBuffer, _ADDRESS, aLoc)
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def read16( self, aLoc ) :
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"""Read 16 bit value and return."""
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'''Read 16 bit value and return.'''
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self._i2c.mem_read(self._b2, _ADDRESS, aLoc)
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return (self._b2[1] << 8) | self._b2[0]
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def write( self, aLoc, aVal ) :
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"""Write 8 bit value to given address. aVal may be a byte array."""
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'''Write 8 bit value to given address. aVal may be a byte array.'''
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self._i2c.mem_write(aVal, _ADDRESS, aLoc)
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def write16( self, aLoc, aVal ) :
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"""Write 16 bit value to given address."""
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'''Write 16 bit value to given address.'''
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self._b2[0] = aVal
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self._b2[1] = aVal >> 8
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self._i2c.mem_write(self._b2, _ADDRESS, aLoc)
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def reset( self ):
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"""Reset the controller and set default frequency."""
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'''Reset the controller and set default frequency.'''
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self.write(0, _MODE1)
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self.setfreq(_DEFAULTFREQ)
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@ -371,10 +375,12 @@ class apds9960(object) :
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#GStatus
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def getgstatus( self, aMember ) :
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'''Get member of gstatus'''
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self._gstatus = self.read(_GSTATUS)
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return getvalue(self._gstatus, aMember)
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def resetcounts( self ) :
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'''Reset the gesture reading counters.'''
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self._gestCnt = 0
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#todo - put these in an array.
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self._ucount = 0
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@ -383,13 +389,13 @@ class apds9960(object) :
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self._rcount = 0
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def enableproximityint( self, aValue ) :
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self.setenable(ENABLE_PIEN, aValue)
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self.setenable(_ENABLE_PIEN, aValue)
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self.clearInterrupt()
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def proximityintthreshold( self, aValue, aPersistance ) :
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self.write(_PILT, aValue & 0xFF)
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self.write(_PIHT, aValue >> 8)
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self.setpers(PERS_PPERS, min(aPersistance, 7))
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self.setpers(_PERS_PPERS, min(aPersistance, 7))
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def proximity( self ) :
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return self.read(_PDATA)
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@ -409,19 +415,19 @@ class apds9960(object) :
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def enablegesture( self, aEnable ) :
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#If disabling make sure we aren't currently in gesture mode.
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# Gesture mode is auto entered when proximity enter threshold is hit
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# so we don't need to enable it.
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# so we don't need to enable it even though we disable on gesture disable.
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if not aEnable :
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self.setgconfig4(GCONFIG4_GMODE, False)
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self.setenable(ENABLE_GEN, aEnable)
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self.setenable(_ENABLE_GEN, aEnable)
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self.resetcounts()
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@property
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def gesturevalid( self ) :
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"""Return True if gesture data exists."""
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return self.getgstatus(GSTATUS_GVALID)
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'''Return True if gesture data exists.'''
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return self.getgstatus(_GSTATUS_GVALID)
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def gesturedata( self ) :
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"""Read gesture data and return as (u,d,l,r). Returns None of no data ready."""
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'''Read gesture data and return as (u,d,l,r). Returns None of no data ready.'''
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level = self.read(_GFLVL)
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if level == 0 :
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return # no data
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@ -434,11 +440,11 @@ class apds9960(object) :
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@property
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def colordataready( self ) :
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"""Return true if color data ready to read."""
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return self.getstatus(STATUS_AVALID)
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'''Return true if color data ready to read.'''
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return self.getstatus(_STATUS_AVALID)
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def colordata( self ) :
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"""Return color data as (c,r,g,b)."""
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'''Return color data as (c,r,g,b).'''
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c = self.read16(_CDATAL)
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r = self.read16(_RDATAL)
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g = self.read16(_GDATAL)
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@ -461,23 +467,24 @@ class apds9960(object) :
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@property
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def enabled( self ) :
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return self.getenable(ENABLE_PON)
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return self.getenable(_ENABLE_PON)
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@enabled.setter
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def enabled( self, aValue ) :
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self.setenable(ENABLE_PON, aValue)
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self.setenable(_ENABLE_PON, aValue)
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def proxpulse( self, aLen, aPulses ) :
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setvalue(self._ppulse, PPULSE_PPULSE, min(64, max(aPulses, 1)) - 1)
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setvalue(self._ppulse, PPULSE_PPLEN, aLen)
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self.write(PPULSE_PPULSE, self._ppulse)
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setvalue(self._ppulse, _PPULSE_PPULSE, min(64, max(aPulses, 1)) - 1)
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setvalue(self._ppulse, _PPULSE_PPLEN, aLen)
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self.write(_PPULSE_PPULSE, self._ppulse)
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def gpulse( self, aLen, aPulses ) :
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setvalue(self._gpulse, GPULSE_GPULSE, min(64, max(aPulses, 1)) - 1)
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setvalue(self._gpulse, GPULSE_GPLEN, aLen)
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self.write(PPULSE_PPULSE, self._gpulse)
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setvalue(self._gpulse, _GPULSE_GPULSE, min(64, max(aPulses, 1)) - 1)
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setvalue(self._gpulse, _GPULSE_GPLEN, aLen)
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self.write(_GPULSE_GPULSE, self._gpulse)
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def begin( self ) :
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'''Initialize the board for use.'''
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id = self.read(_ID)
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if id != _ID_1 and id != _ID_2:
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raise Exception('Incorrect apds9960 ID {}.'.format(id))
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@ -491,41 +498,41 @@ class apds9960(object) :
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self.write(_POFFSET_UR, 0)
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self.write(_POFFSET_DL, 0)
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self.write(_CONFIG1, 0x60)
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self.setcontrol(CONTROL_LDRIVE, _LEDDRIVE_100MA)
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self.setcontrol(CONTROL_AGAIN, _AGAIN_16X)
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self.setcontrol(CONTROL_PGAIN, _PGAIN_8X)
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self.setcontrol(_CONTROL_LDRIVE, _LEDDRIVE_100MA)
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self.setcontrol(_CONTROL_AGAIN, _AGAIN_16X)
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self.setcontrol(_CONTROL_PGAIN, _PGAIN_8X)
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self.proxpulse(_PPULSELEN_16US, 10)
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self.gpulse(_GPULSE_32US, 9)
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self.proximityintthreshold(0x3200, 1)
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self.enableproximityint(False) #Proximity Interrupt
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# self.intlimits(0xFFFF, 0)
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#100 makes the results a bit more erratic, No value boosts distance. It seems
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# the higher the boost the more stable the data is.
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self.setconfig2(CONFIG2_LED_BOOST, _LEDBOOST_300)
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self.setconfig2(_CONFIG2_LED_BOOST, _LEDBOOST_300)
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#NOTE: This must be 1 if enter threshold is < exit or we will never get gesture input because we
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# won't stay in the gesture state for more than 1 cycle.
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self.setgconfig1(GCONFIG1_GFIFOTH, _GFIFO_1)
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self.setgconfig2(GCONFIG2_GWTIME, _GWTIME_2_8MS)
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self.setgconfig2(GCONFIG2_GGAIN, _GGAIN_4)
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self.setgconfig3(GCONFIG3_GDIMS, _DIMENSIONS_ALL)
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self.setgconfig1(_GCONFIG1_GFIFOTH, _GFIFO_1)
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self.setgconfig2(_GCONFIG2_GWTIME, _GWTIME_2_8MS)
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self.setgconfig2(_GCONFIG2_GGAIN, _GGAIN_4)
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self.setgconfig3(_GCONFIG3_GDIMS, _DIMENSIONS_ALL)
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#NOTE: An enter value lower than the exit value means we are constantly entering/exiting the state machine.
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# If we don't do this we will not get proximity and color input because those are not updated when in gesture state.
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self.gestureenterthreshold(5) #When proximity value is above this we enter the gesture state machine.
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self.gestureexitthreshold(255) #When all gesture values are below this we exit the gesture state machine.
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self.gestureoffset(0, 0, 0, 0)
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self.setenable(ENABLE_PEN, True) #enable proximity
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self.setenable(ENABLE_AEN, True) #enable color
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self.setenable(_ENABLE_PEN, True) #enable proximity
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self.setenable(_ENABLE_AEN, True) #enable color
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self.enablegesture(True)
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self.enabled = True
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sleep_us(50)
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def resetgestureparams( self ) :
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#NOTE: This function could probably be merged with resetcounts().
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self._index = 0
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self._total_gestures = 0
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self._ud_delta = 0
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@ -538,11 +545,14 @@ class apds9960(object) :
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self._motion = _DIR_NONE
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def readgesture( self ) :
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'''Read gesture data and process for up, down, left, right movement.
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Returns _DIR_???.'''
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#NOTE: This function currently doesn't seem to return very accurate results.
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if self.gesturevalid :
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while True :
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sleep_us(30) #Wait a bit to make sure fifo buffer is full.
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gstatus = self.getgstatus(GSTATUS_GVALID)
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gstatus = self.getgstatus(_GSTATUS_GVALID)
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if gstatus :
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fifo_level = self.read(_GFLVL)
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if fifo_level > 0 :
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