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Modifications to apds9960 driver. 

Added comments and made some memory improvements using _ prefix on all
constants.
master
Guy Carver 2018-02-28 12:51:45 -05:00
rodzic 92645e0524
commit 84e5e5ee34
1 zmienionych plików z 91 dodań i 81 usunięć
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lib/APDS9960.py
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@ -1,5 +1,7 @@
# MicroPython apds9960 motion detection device driver. # MicroPython apds9960 motion detection device driver.
#NOTE: This code is derived from a mix of Sparkfun and Adafruit arduino drivers.
#todo: Have a mix of styles here. Some use properties for setters while others use functions. #todo: Have a mix of styles here. Some use properties for setters while others use functions.
import pyb import pyb
@ -129,64 +131,66 @@ class apds9960(object) :
_GPULSE_16US = const(2) _GPULSE_16US = const(2)
_GPULSE_32US = const(3) _GPULSE_32US = const(3)
#Value Location data.
#Following are the bytes describing the data packed into each 8 bit value on the chip. #Following are the bytes describing the data packed into each 8 bit value on the chip.
#Nibble 1 = position, 0 = bits #Nibble 1 = position, 0 = bits
#NOTE: Commented out currently unused locations.
ENABLE_PON = const(0x01) _ENABLE_PON = const(0x01)
ENABLE_AEN = const(0x11) _ENABLE_AEN = const(0x11)
ENABLE_PEN = const(0x21) _ENABLE_PEN = const(0x21)
ENABLE_WEN = const(0x31) # _ENABLE_WEN = const(0x31)
ENABLE_AIEN = const(0x41) # _ENABLE_AIEN = const(0x41)
ENABLE_PIEN = const(0x51) _ENABLE_PIEN = const(0x51)
ENABLE_GEN = const(0x61) _ENABLE_GEN = const(0x61)
PERS_APERS = const(0x04) # _PERS_APERS = const(0x04)
PERS_PPERS = const(0x44) _PERS_PPERS = const(0x44)
PPULSE_PPULSE = const(0x06) _PPULSE_PPULSE = const(0x06)
PPULSE_PPLEN = const(0x62) _PPULSE_PPLEN = const(0x62)
CONTROL_AGAIN = const(0x02) _CONTROL_AGAIN = const(0x02)
CONTROL_PGAIN = const(0x22) _CONTROL_PGAIN = const(0x22)
CONTROL_LDRIVE = const(0x42) _CONTROL_LDRIVE = const(0x42)
CONFIG2_LED_BOOST = const(0x42) _CONFIG2_LED_BOOST = const(0x42)
CONFIG2_CPSIEN = const(0x61) #Clear photo diode saturation int enable. # _CONFIG2_CPSIEN = const(0x61) #Clear photo diode saturation int enable.
CONFIG2_PSIEN = const(0x71) #Proximity saturation interrupt enable. # _CONFIG2_PSIEN = const(0x71) #Proximity saturation interrupt enable.
CONFIG3_PMASK_R = const(0x01) # _CONFIG3_PMASK_R = const(0x01)
CONFIG3_PMASK_L = const(0x11) # _CONFIG3_PMASK_L = const(0x11)
CONFIG3_PMASK_D = const(0x21) # _CONFIG3_PMASK_D = const(0x21)
CONFIG3_PMASK_U = const(0x31) # _CONFIG3_PMASK_U = const(0x31)
CONFIG3_SAI = const(0x41) # _CONFIG3_SAI = const(0x41)
CONFIG3_PCMP = const(0x51) # _CONFIG3_PCMP = const(0x51)
GCONFIG1_GEXPERS = const(0x02) # _GCONFIG1_GEXPERS = const(0x02)
GCONFIG1_GEXMSK = const(0x24) # _GCONFIG1_GEXMSK = const(0x24)
GCONFIG1_GFIFOTH = const(0x62) _GCONFIG1_GFIFOTH = const(0x62)
GCONFIG2_GWTIME = const(0x03) _GCONFIG2_GWTIME = const(0x03)
GCONFIG2_GLDRIVE = const(0x32) # _GCONFIG2_GLDRIVE = const(0x32)
GCONFIG2_GGAIN = const(0x52) _GCONFIG2_GGAIN = const(0x52)
GCONFIG3_GDIMS = const(0x02) _GCONFIG3_GDIMS = const(0x02)
GCONFIG4_GMODE = const(0x01) # _GCONFIG4_GMODE = const(0x01)
GCONFIG4_GIEN = const(0x12) # _GCONFIG4_GIEN = const(0x12)
GPULSE_GPULSE = const(0x06) _GPULSE_GPULSE = const(0x06)
GPULSE_GPLEN = const(0x62) _GPULSE_GPLEN = const(0x62)
STATUS_AVALID = const(0x01) _STATUS_AVALID = const(0x01)
STATUS_PVALID = const(0x11) # _STATUS_PVALID = const(0x11)
STATUS_GINT = const(0x21) # _STATUS_GINT = const(0x21)
STATUS_AINT = const(0x41) # _STATUS_AINT = const(0x41)
STATUS_PINT = const(0x51) # _STATUS_PINT = const(0x51)
STATUS_PGSTAT = const(0x61) # _STATUS_PGSTAT = const(0x61)
STATUS_CPSTAT = const(0x71) # _STATUS_CPSTAT = const(0x71)
GSTATUS_GVALID = const(0x01) _GSTATUS_GVALID = const(0x01)
GSTATUS_GFOV = const(0x11) # _GSTATUS_GFOV = const(0x11)
# Gesture wait time values # Gesture wait time values
_GWTIME_0MS = const(0) _GWTIME_0MS = const(0)
@ -219,10 +223,10 @@ class apds9960(object) :
_DefaultIntTimeMS = const(10) _DefaultIntTimeMS = const(10)
def __init__( self, aLoc ) : def __init__( self, aLoc ) :
"""aLoc I2C pin location is either 1, 'X', 2 or'Y'.""" '''aLoc I2C pin location is either 1, 'X', 2 or'Y'.'''
self._i2c = pyb.I2C(aLoc, pyb.I2C.MASTER) self._i2c = pyb.I2C(aLoc, pyb.I2C.MASTER)
#Mirrors data on the controller. #Mirrors data on the controller in order to eliminate need to read data from the controller on modification.
self._enable = 0 #Enable self._enable = 0 #Enable
self._pers = 0 #Pers self._pers = 0 #Pers
self._ppulse = 0 #PPulse self._ppulse = 0 #PPulse
@ -263,31 +267,31 @@ class apds9960(object) :
self.begin() self.begin()
def read( self, aLoc ) : def read( self, aLoc ) :
"""Read 8 bit value and return.""" '''Read 8 bit value and return.'''
self._i2c.mem_read(self._b1, _ADDRESS, aLoc) self._i2c.mem_read(self._b1, _ADDRESS, aLoc)
return self._b1[0] return self._b1[0]
def readbuffer( self, aBuffer, aLoc ) : def readbuffer( self, aBuffer, aLoc ) :
"""Read 8 bit values into given buffer.""" '''Read 8 bit values into given buffer.'''
self._i2c.mem_read(aBuffer, _ADDRESS, aLoc) self._i2c.mem_read(aBuffer, _ADDRESS, aLoc)
def read16( self, aLoc ) : def read16( self, aLoc ) :
"""Read 16 bit value and return.""" '''Read 16 bit value and return.'''
self._i2c.mem_read(self._b2, _ADDRESS, aLoc) self._i2c.mem_read(self._b2, _ADDRESS, aLoc)
return (self._b2[1] << 8) | self._b2[0] return (self._b2[1] << 8) | self._b2[0]
def write( self, aLoc, aVal ) : def write( self, aLoc, aVal ) :
"""Write 8 bit value to given address. aVal may be a byte array.""" '''Write 8 bit value to given address. aVal may be a byte array.'''
self._i2c.mem_write(aVal, _ADDRESS, aLoc) self._i2c.mem_write(aVal, _ADDRESS, aLoc)
def write16( self, aLoc, aVal ) : def write16( self, aLoc, aVal ) :
"""Write 16 bit value to given address.""" '''Write 16 bit value to given address.'''
self._b2[0] = aVal self._b2[0] = aVal
self._b2[1] = aVal >> 8 self._b2[1] = aVal >> 8
self._i2c.mem_write(self._b2, _ADDRESS, aLoc) self._i2c.mem_write(self._b2, _ADDRESS, aLoc)
def reset( self ): def reset( self ):
"""Reset the controller and set default frequency.""" '''Reset the controller and set default frequency.'''
self.write(0, _MODE1) self.write(0, _MODE1)
self.setfreq(_DEFAULTFREQ) self.setfreq(_DEFAULTFREQ)
@ -371,10 +375,12 @@ class apds9960(object) :
#GStatus #GStatus
def getgstatus( self, aMember ) : def getgstatus( self, aMember ) :
'''Get member of gstatus'''
self._gstatus = self.read(_GSTATUS) self._gstatus = self.read(_GSTATUS)
return getvalue(self._gstatus, aMember) return getvalue(self._gstatus, aMember)
def resetcounts( self ) : def resetcounts( self ) :
'''Reset the gesture reading counters.'''
self._gestCnt = 0 self._gestCnt = 0
#todo - put these in an array. #todo - put these in an array.
self._ucount = 0 self._ucount = 0
@ -383,13 +389,13 @@ class apds9960(object) :
self._rcount = 0 self._rcount = 0
def enableproximityint( self, aValue ) : def enableproximityint( self, aValue ) :
self.setenable(ENABLE_PIEN, aValue) self.setenable(_ENABLE_PIEN, aValue)
self.clearInterrupt() self.clearInterrupt()
def proximityintthreshold( self, aValue, aPersistance ) : def proximityintthreshold( self, aValue, aPersistance ) :
self.write(_PILT, aValue & 0xFF) self.write(_PILT, aValue & 0xFF)
self.write(_PIHT, aValue >> 8) self.write(_PIHT, aValue >> 8)
self.setpers(PERS_PPERS, min(aPersistance, 7)) self.setpers(_PERS_PPERS, min(aPersistance, 7))
def proximity( self ) : def proximity( self ) :
return self.read(_PDATA) return self.read(_PDATA)
@ -409,19 +415,19 @@ class apds9960(object) :
def enablegesture( self, aEnable ) : def enablegesture( self, aEnable ) :
#If disabling make sure we aren't currently in gesture mode. #If disabling make sure we aren't currently in gesture mode.
# Gesture mode is auto entered when proximity enter threshold is hit # Gesture mode is auto entered when proximity enter threshold is hit
# so we don't need to enable it. # so we don't need to enable it even though we disable on gesture disable.
if not aEnable : if not aEnable :
self.setgconfig4(GCONFIG4_GMODE, False) self.setgconfig4(GCONFIG4_GMODE, False)
self.setenable(ENABLE_GEN, aEnable) self.setenable(_ENABLE_GEN, aEnable)
self.resetcounts() self.resetcounts()
@property @property
def gesturevalid( self ) : def gesturevalid( self ) :
"""Return True if gesture data exists.""" '''Return True if gesture data exists.'''
return self.getgstatus(GSTATUS_GVALID) return self.getgstatus(_GSTATUS_GVALID)
def gesturedata( self ) : def gesturedata( self ) :
"""Read gesture data and return as (u,d,l,r). Returns None of no data ready.""" '''Read gesture data and return as (u,d,l,r). Returns None of no data ready.'''
level = self.read(_GFLVL) level = self.read(_GFLVL)
if level == 0 : if level == 0 :
return # no data return # no data
@ -434,11 +440,11 @@ class apds9960(object) :
@property @property
def colordataready( self ) : def colordataready( self ) :
"""Return true if color data ready to read.""" '''Return true if color data ready to read.'''
return self.getstatus(STATUS_AVALID) return self.getstatus(_STATUS_AVALID)
def colordata( self ) : def colordata( self ) :
"""Return color data as (c,r,g,b).""" '''Return color data as (c,r,g,b).'''
c = self.read16(_CDATAL) c = self.read16(_CDATAL)
r = self.read16(_RDATAL) r = self.read16(_RDATAL)
g = self.read16(_GDATAL) g = self.read16(_GDATAL)
@ -461,23 +467,24 @@ class apds9960(object) :
@property @property
def enabled( self ) : def enabled( self ) :
return self.getenable(ENABLE_PON) return self.getenable(_ENABLE_PON)
@enabled.setter @enabled.setter
def enabled( self, aValue ) : def enabled( self, aValue ) :
self.setenable(ENABLE_PON, aValue) self.setenable(_ENABLE_PON, aValue)
def proxpulse( self, aLen, aPulses ) : def proxpulse( self, aLen, aPulses ) :
setvalue(self._ppulse, PPULSE_PPULSE, min(64, max(aPulses, 1)) - 1) setvalue(self._ppulse, _PPULSE_PPULSE, min(64, max(aPulses, 1)) - 1)
setvalue(self._ppulse, PPULSE_PPLEN, aLen) setvalue(self._ppulse, _PPULSE_PPLEN, aLen)
self.write(PPULSE_PPULSE, self._ppulse) self.write(_PPULSE_PPULSE, self._ppulse)
def gpulse( self, aLen, aPulses ) : def gpulse( self, aLen, aPulses ) :
setvalue(self._gpulse, GPULSE_GPULSE, min(64, max(aPulses, 1)) - 1) setvalue(self._gpulse, _GPULSE_GPULSE, min(64, max(aPulses, 1)) - 1)
setvalue(self._gpulse, GPULSE_GPLEN, aLen) setvalue(self._gpulse, _GPULSE_GPLEN, aLen)
self.write(PPULSE_PPULSE, self._gpulse) self.write(_GPULSE_GPULSE, self._gpulse)
def begin( self ) : def begin( self ) :
'''Initialize the board for use.'''
id = self.read(_ID) id = self.read(_ID)
if id != _ID_1 and id != _ID_2: if id != _ID_1 and id != _ID_2:
raise Exception('Incorrect apds9960 ID {}.'.format(id)) raise Exception('Incorrect apds9960 ID {}.'.format(id))
@ -491,41 +498,41 @@ class apds9960(object) :
self.write(_POFFSET_UR, 0) self.write(_POFFSET_UR, 0)
self.write(_POFFSET_DL, 0) self.write(_POFFSET_DL, 0)
self.write(_CONFIG1, 0x60) self.write(_CONFIG1, 0x60)
self.setcontrol(CONTROL_LDRIVE, _LEDDRIVE_100MA) self.setcontrol(_CONTROL_LDRIVE, _LEDDRIVE_100MA)
self.setcontrol(CONTROL_AGAIN, _AGAIN_16X) self.setcontrol(_CONTROL_AGAIN, _AGAIN_16X)
self.setcontrol(CONTROL_PGAIN, _PGAIN_8X) self.setcontrol(_CONTROL_PGAIN, _PGAIN_8X)
self.proxpulse(_PPULSELEN_16US, 10) self.proxpulse(_PPULSELEN_16US, 10)
self.gpulse(_GPULSE_32US, 9) self.gpulse(_GPULSE_32US, 9)
self.proximityintthreshold(0x3200, 1) self.proximityintthreshold(0x3200, 1)
self.enableproximityint(False) #Proximity Interrupt self.enableproximityint(False) #Proximity Interrupt
# self.intlimits(0xFFFF, 0)
#100 makes the results a bit more erratic, No value boosts distance. It seems #100 makes the results a bit more erratic, No value boosts distance. It seems
# the higher the boost the more stable the data is. # the higher the boost the more stable the data is.
self.setconfig2(CONFIG2_LED_BOOST, _LEDBOOST_300) self.setconfig2(_CONFIG2_LED_BOOST, _LEDBOOST_300)
#NOTE: This must be 1 if enter threshold is < exit or we will never get gesture input because we #NOTE: This must be 1 if enter threshold is < exit or we will never get gesture input because we
# won't stay in the gesture state for more than 1 cycle. # won't stay in the gesture state for more than 1 cycle.
self.setgconfig1(GCONFIG1_GFIFOTH, _GFIFO_1) self.setgconfig1(_GCONFIG1_GFIFOTH, _GFIFO_1)
self.setgconfig2(GCONFIG2_GWTIME, _GWTIME_2_8MS) self.setgconfig2(_GCONFIG2_GWTIME, _GWTIME_2_8MS)
self.setgconfig2(GCONFIG2_GGAIN, _GGAIN_4) self.setgconfig2(_GCONFIG2_GGAIN, _GGAIN_4)
self.setgconfig3(GCONFIG3_GDIMS, _DIMENSIONS_ALL) self.setgconfig3(_GCONFIG3_GDIMS, _DIMENSIONS_ALL)
#NOTE: An enter value lower than the exit value means we are constantly entering/exiting the state machine. #NOTE: An enter value lower than the exit value means we are constantly entering/exiting the state machine.
# If we don't do this we will not get proximity and color input because those are not updated when in gesture state. # If we don't do this we will not get proximity and color input because those are not updated when in gesture state.
self.gestureenterthreshold(5) #When proximity value is above this we enter the gesture state machine. self.gestureenterthreshold(5) #When proximity value is above this we enter the gesture state machine.
self.gestureexitthreshold(255) #When all gesture values are below this we exit the gesture state machine. self.gestureexitthreshold(255) #When all gesture values are below this we exit the gesture state machine.
self.gestureoffset(0, 0, 0, 0) self.gestureoffset(0, 0, 0, 0)
self.setenable(ENABLE_PEN, True) #enable proximity self.setenable(_ENABLE_PEN, True) #enable proximity
self.setenable(ENABLE_AEN, True) #enable color self.setenable(_ENABLE_AEN, True) #enable color
self.enablegesture(True) self.enablegesture(True)
self.enabled = True self.enabled = True
sleep_us(50) sleep_us(50)
def resetgestureparams( self ) : def resetgestureparams( self ) :
#NOTE: This function could probably be merged with resetcounts().
self._index = 0 self._index = 0
self._total_gestures = 0 self._total_gestures = 0
self._ud_delta = 0 self._ud_delta = 0
@ -538,11 +545,14 @@ class apds9960(object) :
self._motion = _DIR_NONE self._motion = _DIR_NONE
def readgesture( self ) : def readgesture( self ) :
'''Read gesture data and process for up, down, left, right movement.
Returns _DIR_???.'''
#NOTE: This function currently doesn't seem to return very accurate results.
if self.gesturevalid : if self.gesturevalid :
while True : while True :
sleep_us(30) #Wait a bit to make sure fifo buffer is full. sleep_us(30) #Wait a bit to make sure fifo buffer is full.
gstatus = self.getgstatus(GSTATUS_GVALID) gstatus = self.getgstatus(_GSTATUS_GVALID)
if gstatus : if gstatus :
fifo_level = self.read(_GFLVL) fifo_level = self.read(_GFLVL)
if fifo_level > 0 : if fifo_level > 0 :