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remove last traces of legacy I2C calls
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@soypat
soypat committed Dec 26, 2023
1 parent 5dfacc3 commit ca37c1c
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Showing 2 changed files with 74 additions and 50 deletions.
93 changes: 54 additions & 39 deletions apds9960/apds9960.go
View file
Original file line number Diff line number Diff line change
Expand Up @@ -8,17 +8,16 @@ import (
"time"

"tinygo.org/x/drivers"
"tinygo.org/x/drivers/internal/legacy"
)

// Device wraps an I2C connection to a APDS-9960 device.
type Device struct {
bus drivers.I2C
_txerr error
gesture gestureData
buf [8]byte
Address uint8
mode uint8
gesture gestureData
buf [32]byte
_txerr error
}

// Configuration for APDS-9960 device.
Expand Down Expand Up @@ -48,17 +47,7 @@ type gestureData struct {
received bool
}

// for enabling various device function
type enableConfig struct {
GEN bool
PIEN bool
AIEN bool
WEN bool
PEN bool
AEN bool
PON bool
}

// for enabling various device functions.
type encfg uint8

// data := []byte{gen<<6 | pien<<5 | aien<<4 | wen<<3 | pen<<2 | aen<<1 | pon}
Expand Down Expand Up @@ -113,24 +102,24 @@ func (d *Device) DisableAll() error {
return err
}

// SetProximityPulse sets proximity pulse length (4, 8, 16, 32) and count (1~64)
// SetProximityPulse sets proximity pulse length (4, 8, 16, 32) and count (1..64)
// default: 16, 64
func (d *Device) SetProximityPulse(length, count uint8) error {
d.txNew()
d.txWrite8(APDS9960_PPULSE_REG, getPulseLength(length)<<6|getPulseCount(count))
return d.txErr()
}

// SetGesturePulse sets gesture pulse length (4, 8, 16, 32) and count (1~64)
// SetGesturePulse sets gesture pulse length (4, 8, 16, 32) and count (1..64)
// default: 16, 64
func (d *Device) SetGesturePulse(length, count uint8) error {
d.txNew()
d.txWrite8(APDS9960_GPULSE_REG, getPulseLength(length)<<6|getPulseCount(count))
return d.txErr()
}

// SetADCIntegrationCycles sets ALS/color ADC internal integration cycles (1~256, 1 cycle = 2.78 ms)
// default: 4 (~10 ms)
// SetADCIntegrationCycles sets ALS/color ADC internal integration cycles (1..256, 1 cycle = 2.78 ms)
// default: 4 (approx. 10 ms)
func (d *Device) SetADCIntegrationCycles(cycles uint16) error {
if cycles > 256 {
cycles = 256
Expand Down Expand Up @@ -168,13 +157,13 @@ func (d *Device) LEDBoost(percent uint16) error {
return d.txErr()
}

// Setthreshold sets threshold (0~255) for detecting gestures
// Setthreshold sets threshold (0..255) for detecting gestures
// default: 30
func (d *Device) Setthreshold(t uint8) {
d.gesture.threshold = t
}

// Setsensitivity sets sensivity (0~100) for detecting gestures
// Setsensitivity sets sensivity (0..100) for detecting gestures
// default: 20
func (d *Device) Setsensitivity(s uint8) {
if s > 100 {
Expand All @@ -198,6 +187,14 @@ func (d *Device) EnableProximity() error {
return err
}

// Err returns the current error state of the device if encountered during I2C communication.
// After a call to Err the error is cleared.
func (d *Device) Err() error {
err := d.txErr()
d.txNew()
return err
}

// ProximityAvailable reports if proximity data is available
func (d *Device) ProximityAvailable() bool {
if d.mode != MODE_PROXIMITY {
Expand All @@ -207,7 +204,7 @@ func (d *Device) ProximityAvailable() bool {
return err == nil && status.PVALID()
}

// ReadProximity reads proximity data (0~255)
// ReadProximity reads proximity data (0..255)
func (d *Device) ReadProximity() (proximity int32) {
if d.mode != MODE_PROXIMITY {
return 0
Expand All @@ -218,11 +215,14 @@ func (d *Device) ReadProximity() (proximity int32) {
}

// EnableColor starts the color engine
func (d *Device) EnableColor() error {
func (d *Device) EnableColor() (err error) {
if d.mode != MODE_NONE {
d.DisableAll()
err = d.DisableAll()
if err != nil {
return err
}
}
err := d.enable(enPON | enAEN | enWEN)
err = d.enable(enPON | enAEN | enWEN)
if err == nil {
d.mode = MODE_COLOR
}
Expand Down Expand Up @@ -300,11 +300,14 @@ func (d *Device) GestureAvailable() bool {
data := d.buf[:]
// read up, down, left and right proximity data from FIFO
var dataSets [32][4]uint8
const numAddrs = APDS9960_GFIFO_R_REG - APDS9960_GFIFO_U_REG + 1
for i := uint8(0); i < availableDataSets; i++ {
legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_U_REG, data[:1])
legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_D_REG, data[1:2])
legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_L_REG, data[2:3])
legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_R_REG, data[3:4])
for j := uint8(0); j < numAddrs; j++ {
data[j] = d.txRead8(j + APDS9960_GFIFO_U_REG)
}
if d.txErr() != nil {
return false
}
for j := uint8(0); j < 4; j++ {
dataSets[i][j] = data[j]
}
Expand Down Expand Up @@ -366,9 +369,11 @@ func (d *Device) ReadGesture() (gesture int32) {

// private functions

func (d *Device) configureDevice(cfg Configuration) {
d.DisableAll() // turn off everything

func (d *Device) configureDevice(cfg Configuration) error {
err := d.DisableAll() // turn off everything
if err != nil {
return err
}
// "default" settings
if cfg.ProximityPulseLength == 0 {
cfg.ProximityPulseLength = 16
Expand Down Expand Up @@ -401,14 +406,23 @@ func (d *Device) configureDevice(cfg Configuration) {
d.gesture.sensitivity = 20
}

d.SetProximityPulse(cfg.ProximityPulseLength, cfg.ProximityPulseCount)
d.SetGesturePulse(cfg.GesturePulseLength, cfg.GesturePulseCount)
d.SetGains(cfg.ProximityGain, cfg.GestureGain, cfg.ColorGain)
d.SetADCIntegrationCycles(cfg.ADCIntegrationCycles)

if cfg.LEDBoost > 0 {
d.LEDBoost(cfg.LEDBoost)
err = d.SetProximityPulse(cfg.ProximityPulseLength, cfg.ProximityPulseCount)
if err != nil {
return err
}
err = d.SetGesturePulse(cfg.GesturePulseLength, cfg.GesturePulseCount)
if err != nil {
return err
}
err = d.SetGains(cfg.ProximityGain, cfg.GestureGain, cfg.ColorGain)
if err != nil {
return err
}
err = d.SetADCIntegrationCycles(cfg.ADCIntegrationCycles)
if err == nil && cfg.LEDBoost > 0 {
err = d.LEDBoost(cfg.LEDBoost)
}
return err
}

func (d *Device) enable(cfg encfg) error {
Expand All @@ -434,6 +448,7 @@ func (d *Device) txRead8(addr uint8) uint8 {
d._txerr = d.bus.Tx(uint16(d.Address), d.buf[:1], d.buf[1:2])
return d.buf[1]
}

func (d *Device) txWrite8(addr uint8, val uint8) {
if d._txerr != nil {
return
Expand Down
31 changes: 20 additions & 11 deletions examples/apds9960/proximity/main.go
View file
Original file line number Diff line number Diff line change
Expand Up @@ -8,33 +8,42 @@ import (
)

func main() {

// Sleep to catch any errors through the serial monitor.
time.Sleep(1000 * time.Millisecond)
bus := machine.I2C0
// use Nano 33 BLE Sense's internal I2C bus
machine.I2C1.Configure(machine.I2CConfig{
SCL: machine.SCL1_PIN,
SDA: machine.SDA1_PIN,
Frequency: machine.TWI_FREQ_400KHZ,
err := bus.Configure(machine.I2CConfig{
SCL: machine.GP1,
SDA: machine.GP0,
Frequency: 400 * machine.KHz,
})
if err != nil {
panic(err.Error())
}

sensor := apds9960.New(machine.I2C1)
sensor := apds9960.New(bus)

// use default settings
sensor.Configure(apds9960.Configuration{})

if !sensor.Connected() {
println("APDS-9960 not connected!")
println("err:", sensor.Err())
return
}

sensor.EnableProximity() // enable proximity engine

println("APDS connected!")
err = sensor.EnableProximity() // enable proximity engine
if err != nil {
panic(err.Error())
}
for {

if sensor.ProximityAvailable() {
p := sensor.ReadProximity()
println("Proximity:", p)
}
if err := sensor.Err(); err != nil {
println(err.Error())
}
time.Sleep(time.Millisecond * 100)
}

}

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