APDS9960-GestureDemo.spin2

{
----------------------------------------------------------------------------------------------------
    Filename:       APDS9960-GestureDemo.spin2
    Description:    Demo of the APDS9960 driver
        * Gesture sensing functionality
    Author:         Jesse Burt
    Started:        Aug 2, 2020
    Updated:        Jun 2, 2024
    Copyright (c) 2024 - See end of file for terms of use.
----------------------------------------------------------------------------------------------------
}


CON

    _clkfreq    = cfg._clkfreq_def
    _xtlfreq    = cfg._xtlfreq


OBJ

    cfg:    "boardcfg.p2eval"
    time:   "time"
    str:    "string"
    ser:    "com.serial.terminal.ansi" | SER_BAUD=2_000_000
    apds:   "sensor.light.apds9960" | SCL=0, SDA=1, I2C_FREQ=400_000


VAR

    long _ud_delta, _lr_delta, _ud_count, _lr_count, _near_count, _far_count, _gesture_motion
    long _gcnt
    byte _ser_cog
    byte _gest_u[32], _gest_d[32], _gest_l[32], _gest_r[32]
    byte _total
    byte _gesture_state


PUB main() | fifo_level, i

    setup()
    apds.preset_gesture_detect()
    apds.gest_int_ena(true)
    apds.gest_fifo_thresh(1)
    apds.gest_set_start_thresh(40)
    apds.gest_set_end_thresh(35)
    apds.gest_gain(4)
    apds.gest_wait_time(0)
    apds.gest_pulse_cnt(10)
    apds.gest_pulse_len(16)
    apds.gest_led_current(300)
    apds.prox_int_set_lo_thresh(0)
    apds.prox_int_set_hi_thresh(200)
    apds.gest_int_clear()
    _gcnt := 0
    _total := 0

    repeat
        apds.opmode(apds.GEST)
        waitms(30)
        repeat until apds.gest_data_rdy()
        fifo_level := apds.gest_fifo_nr_unread()
        if ( fifo_level > 0 )
            repeat
                apds.gest_data(@_gest_u[_total], @_gest_d[_total], @_gest_l[_total], @_gest_r[_total])
                _total += 1
            while ( apds.gest_fifo_nr_unread() > 0 )
            ser.pos_xy(0, 12)
            ser.dec(_total)
            ser.chars(32, 5)
{
            mdn(_gest_u[_total])
            mdn(_gest_d[_total])
            mdn(_gest_l[_total])
            mdn(_gest_r[_total])
}
            if ( processgesturedata() )
                _gcnt++
                if ( decodegesture() )
                    ser.pos_xy(0, 4)
                    ser.str(lookup(_gesture_motion: @"LEFT ", ...
                                                    @"RIGHT", ...
                                                    @"UP   ", ...
                                                    @"DOWN ", ...
                                                    @"NEAR ", ...
                                                    @"FAR  ", ...
                                                    @"ALL  ") )
            else
                ser.pos_xy(0, 4)
                ser.chars(" ", 5)
            _total := 0
        ser.pos_xy(0, 13)
        ser.dec(_gcnt)


pub msg(pstr, val, row)

    ser.pos_xy(0, row)
    ser.str(pstr)
    ser.dec(val)
    ser.clear_line()


pub md(val)

    ser.printf(@"%03.3d", val)


pub mdn(val)

    ser.printf(@"%03.3d ", val)


pub fl()

    repeat 10
        pint(56)
        waitms(50)


con

    GESTURE_THRESHOLD_OUT   = 20
    GESTURE_SENSITIVITY_1   = 50
    GESTURE_SENSITIVITY_2   = 20

    #0, STATE_NA, STATE_NEAR, STATE_FAR, STATE_ALL

    NONE = 0
    LEFT = 1
    RIGHT = 2
    UP = 3
    DOWN = 4
    NEAR = 5
    FAR = 6
    ALL = 7


pub dd(pstr, n, row)

    ser.position(0, row)
    ser.str(pstr)
    mdn(_gest_u[n])
    mdn(_gest_d[n])
    mdn(_gest_l[n])
    mdn(_gest_r[n])


pub processgesturedata(): g | u_first, d_first, l_first, r_first, u_last, d_last, l_last, r_last, i, ud_ratio_first, lr_ratio_first, ud_ratio_last, lr_ratio_last, ud_delta, lr_delta

    if ( _total <= 4 )
        return false

    if ( (_total <= 32) and (_total > 0) )
        repeat i from 0 to _total
            if ( (_gest_u[i] > GESTURE_THRESHOLD_OUT) and (_gest_d[i] > GESTURE_THRESHOLD_OUT) ...
                and (_gest_l[i] > GESTURE_THRESHOLD_OUT) and (_gest_r[i] > GESTURE_THRESHOLD_OUT) )
                u_first := _gest_u[i]
                d_first := _gest_d[i]
                l_first := _gest_l[i]
                r_first := _gest_r[i]
'                msg(@"firstidx: ", i, 12)
'                dd(@"first: ", i, 13)
                quit

        if ( (u_first == 0) || (d_first == 0) or (l_first == 0) or (r_first == 0) )
            return false

        repeat i from _total to 0
            if ( (_gest_u[i] > GESTURE_THRESHOLD_OUT) and (_gest_d[i] > GESTURE_THRESHOLD_OUT) ...
                and (_gest_l[i] > GESTURE_THRESHOLD_OUT) and (_gest_r[i] > GESTURE_THRESHOLD_OUT) )
                u_last := _gest_u[i]
                d_last := _gest_d[i]
                l_last := _gest_l[i]
                r_last := _gest_r[i]
'                msg(@"lastidx: ", i, 15)
'                dd(@"last: ", i, 16)
                quit

        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)
{
        msg(@"udr_f: ", ud_ratio_first, 18)
        msg(@"lrr_f: ", lr_ratio_first, 19)
        msg(@"udr_l: ", ud_ratio_last, 20)
        msg(@"lrr_l: ", lr_ratio_last, 21)
}
        ud_delta := ud_ratio_last - ud_ratio_first
        lr_delta := lr_ratio_last - lr_ratio_first

        _ud_delta := ud_delta
        _lr_delta := lr_delta

        if ( _ud_delta >= GESTURE_SENSITIVITY_1 )
            _ud_count := 1
        elseif ( _ud_delta <= -GESTURE_SENSITIVITY_1 )
            _ud_count := -1
        else
            _ud_count := 0

        if ( _lr_delta >= GESTURE_SENSITIVITY_1 )
            _lr_count := 1
        elseif ( _lr_delta <= -GESTURE_SENSITIVITY_1 )
            _lr_count := -1
        else
            _lr_count := 0

        if ( (_ud_count == 0) and (_lr_count == 0) )
            if ( (abs(ud_delta) < GESTURE_SENSITIVITY_2) and (abs(lr_delta) < GESTURE_SENSITIVITY_2) )
                if ( (ud_delta == 0) and (lr_delta == 0) )
                    _near_count += 1
                elseif ( (ud_delta <> 0) or (lr_delta <> 0) )
                    _far_count += 1

                if ( (_near_count >= 10) and (_far_count >= 2) )
                    if ( (ud_delta == 0) and (lr_delta == 0) )
                        _gesture_state := STATE_NEAR
                    elseif ( (ud_delta <> 0) and (lr_delta <> 0) )
                        _gesture_state := STATE_FAR
                    return true
        else
            if ( (abs(ud_delta) < GESTURE_SENSITIVITY_2) and (abs(lr_delta) < GESTURE_SENSITIVITY_2) )
                if ( (ud_delta == 0) and (lr_delta == 0) )
                    _near_count += 1

                if ( _near_count >= 10 )
                    _ud_count := 0
                    _lr_count := 0
                    _ud_delta := 0
                    _lr_delta := 0

    return false


pub decodegesture(): g

    if ( _gesture_state == STATE_NEAR )
        _gesture_motion := NEAR
        return true

    if ( _gesture_state == FAR )
        _gesture_motion := FAR
        return true

    ' determine swipe direction
    if ( (_ud_count == -1) and (_lr_count == 0) )
        _gesture_motion := UP
    elseif ( (_ud_count == 1) and (_lr_count == 0) )
        _gesture_motion := DOWN
    elseif ( (_ud_count == 0) and (_lr_count == 1) )
        _gesture_motion := RIGHT
    elseif ( (_ud_count == 0) and (_lr_count == -1) )
        _gesture_motion := LEFT
    elseif ( (_ud_count == -1) and (_lr_count == 1) )
        if ( abs(_ud_delta) > abs(_lr_delta) )
                _gesture_motion := UP
        else
            _gesture_motion := DOWN
    elseif ( (_ud_count == 1) and (_lr_count == -1) )
        if ( abs(_ud_delta) > abs(_lr_delta) )
                _gesture_motion := DOWN
        else
            _gesture_motion := LEFT
    elseif ( (_ud_count == -1) and (_lr_count == -1) )
        if ( abs(_ud_delta) > abs(_lr_delta) )
            _gesture_motion := UP
        else
            _gesture_motion := LEFT
    elseif ( (_ud_count == 1) and (_lr_count == 1) )
        if ( abs(_ud_delta) > abs(_lr_delta) )
            _gesture_motion := DOWN
        else
            _gesture_motion := RIGHT
    else
        return false

    return true


PUB setup()

    ser.start()
    waitms(30)
    ser.clear()
    ser.strln(@"Serial terminal started")

    if ( apds.start() )
        ser.strln(@"APDS9960 driver started")
    else
        ser.strln(@"APDS9960 driver failed to start - halting")
        repeat

DAT
{
Copyright 2024 Jesse Burt

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute,
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or
substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
}