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input.gesture.paj7620u2.spin2
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input.gesture.paj7620u2.spin2
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{
--------------------------------------------
Filename: input.gesture.paj7620u2.spin2
Author: Jesse Burt
Description: Driver for PAJ6520U2 Gesture Sensor (P2 version)
Copyright (c) 2021
Started May 21, 2020
Updated Nov 27, 2022
See end of file for terms of use.
--------------------------------------------
}
CON
SLAVE_WR = core.SLAVE_ADDR
SLAVE_RD = core.SLAVE_ADDR|1
DEF_HZ = 100_000
I2C_MAX_FREQ = core.I2C_MAX_FREQ
' Delays used to make correct gesture detection easier
ENTRY_TIME = 400
QUIT_TIME = 800
' Gestures recognized
RIGHT = 1
LEFT = 2
UP = 3
DOWN = 4
FORWARD = 5
BACKWARD = 6
CCLOCKWISE = 7
CLOCKWISE = 8
WAVE = 9
OBJ
i2c : "com.i2c"
core: "core.con.paj7620u2"
PUB null()
' This is not a top-level object
PUB startx(SCL_PIN, SDA_PIN, I2C_HZ): status
' Start using custom settings
if lookdown(SCL_PIN: 0..63) and lookdown(SDA_PIN: 0..63) and {
} I2C_HZ <= core.I2C_MAX_FREQ
if (status := i2c.init(SCL_PIN, SDA_PIN, I2C_HZ))
waitus(core.T_POR)
if (dev_id() == core.DEVID_RESP)
return
' if this point is reached, something above failed
' Double check I/O pin assignments, connections, power
' Lastly - make sure you have at least one free core/cog
return FALSE
PUB stop()
' Stop the driver
powered(FALSE)
i2c.deinit()
PUB defaults()
' Set factory defaults
int_mask(%111111111)
PUB preset_active()
' Like defaults, but power on sensor
powered(TRUE)
PUB dev_id(): id
' Read device identification
readreg(core.PARTID_LSB, 2, @id)
PUB interrupt(): int_src
' Flag indicating one or more interrupts have asserted, as a 9-bit mask
' Mask:
' %876543210
' 8 - Wave gesture
' 7 - Counter-clockwise
' 6 - Clockwise
' 5 - Backward
' 4 - Forward
' 3 - Down
' 2 - Up
' 1 - Left
' 0 - Right
readreg(core.INTFLAG_1, 2, @int_src)
PUB int_mask(mask=-2): curr_mask
' Select which events will trigger an interrupt, as a 9-bit mask
' Mask:
' %876543210
' 8 - Wave gesture
' 7 - Counter-clockwise
' 6 - Clockwise
' 5 - Backward
' 4 - Forward
' 3 - Down
' 2 - Up
' 1 - Left
' 0 - Right
' Any other value polls the chip and returns the current setting
case mask
%000000000..%111111111:
writereg(core.INTFLAG_1, 2, @mask)
other:
curr_mask := 0
readreg(core.R_INT_1_EN, 2, @curr_mask)
return curr_mask
PUB last_gesture(): gest
' Last gesture recognized by sensor
' Returns:
' Right (1)
' Left (2)
' Up (3)
' Down (4)
' Forward (5)
' Backward (6)
' Clockwise (7)
' Counter-Clockwise (8)
' Wave (9)
' or 0, if no gesture was detected
case interrupt()
core.FLAG_RIGHT:
waitms(ENTRY_TIME)
case interrupt()
core.FLAG_FORWARD:
waitms(QUIT_TIME)
return FORWARD
core.FLAG_BACKWARD:
waitms(QUIT_TIME)
return BACKWARD
other:
return RIGHT
core.FLAG_LEFT:
waitms(ENTRY_TIME)
case interrupt()
core.FLAG_FORWARD:
waitms(QUIT_TIME)
return FORWARD
core.FLAG_BACKWARD:
waitms(QUIT_TIME)
return BACKWARD
other:
return LEFT
core.FLAG_UP:
waitms(ENTRY_TIME)
case interrupt()
core.FLAG_FORWARD:
waitms(QUIT_TIME)
return FORWARD
core.FLAG_BACKWARD:
waitms(QUIT_TIME)
return BACKWARD
other:
return UP
core.FLAG_DOWN:
waitms(ENTRY_TIME)
case interrupt()
core.FLAG_FORWARD:
waitms(QUIT_TIME)
return FORWARD
core.FLAG_BACKWARD:
waitms(QUIT_TIME)
return BACKWARD
other:
return DOWN
core.FLAG_FORWARD:
waitms(QUIT_TIME)
return FORWARD
core.FLAG_BACKWARD:
waitms(QUIT_TIME)
return BACKWARD
core.FLAG_CLOCKWISE:
return CLOCKWISE
core.FLAG_CCLOCKWISE:
return CCLOCKWISE
core.FLAG_WAVE:
return WAVE
other:
return 0
PUB obj_brightness(): obj_brt
' Object brightness
' Returns: 0..255
readreg(core.OBJECTAVGY, 1, @obj_brt)
PUB obj_size(): sz
' Object size
' Returns: 0..4095
readreg(core.OBJECTSIZE_LSB, 2, @sz)
PUB powered(state=-2): curr_state
' Enable device power
' Valid values: TRUE (-1 or 1), FALSE (0)
' Any other value polls the chip and returns the current setting
curr_state := 0
readreg(core.TG_ENH, 1, @curr_state)
case abs(state)
0, 1:
state := abs(state) & 1
other:
return curr_state & 1
writereg(core.TG_ENH, 1, @state)
PUB reset() | tmp
' Reset the device
tmp := 1
writereg(core.R_REGBANK_RESET, 1, @tmp)
PRI readreg(reg_nr, nr_bytes, ptr_buff) | cmd_pkt
'' Read num_bytes from the slave device into the address stored in ptr_buff
case reg_nr
$000..$003, $032..$03F, $040..$052, $054..$05F, $060, $061, $063..$06C, $080..$089, {
} $08B..$09D, $09F..$0A5, $0A9, $0AA..$0DF, $0EE, $0EF, $100..$17F: 'XXX TRIM
cmd_pkt.byte[0] := SLAVE_WR
cmd_pkt.byte[1] := core.REGBANKSEL
cmd_pkt.byte[2] := (reg_nr >> 8) & 1
i2c.start() '
i2c.wrblock_lsbf(@cmd_pkt, 3) ' Bank select
i2c.stop() '
cmd_pkt.byte[0] := SLAVE_WR '
cmd_pkt.byte[1] := reg_nr & $FF '
i2c.start() '
i2c.wrblock_lsbf(@cmd_pkt, 2) ' Command/setup
i2c.start() '
i2c.write(SLAVE_RD) '
i2c.rdblock_lsbf(ptr_buff, nr_bytes, i2c.NAK)
i2c.stop() ' Read data
other:
return
PRI writereg(reg_nr, nr_bytes, ptr_buff) | cmd_pkt
' Write nr_bytes from ptr_buff to slave device
case reg_nr
$003, $032..$03A, $03F, $040..$042, $046..$052, $05C..$05F, $061, $063..$06A, $080..$089, {
} $08B..$09D, $09F..$0A5, $0A9, $0AA, $0AB, $0CC..$0D2, $0EE, $0EF, $060, $062, $06D..$075, {
} $08A, $09E, $0A6..$0A8, $0E0..$0E9, $100..$1EF:
cmd_pkt.byte[0] := SLAVE_WR
cmd_pkt.byte[1] := core.REGBANKSEL
cmd_pkt.byte[2] := (reg_nr >> 8) & 1
i2c.start()
i2c.wrblock_lsbf(@cmd_pkt, 3) ' Bank select
i2c.stop()
cmd_pkt.byte[0] := SLAVE_WR
cmd_pkt.byte[1] := reg_nr & $FF
i2c.start()
i2c.wrblock_lsbf(@cmd_pkt, 2) ' Command/setup
i2c.wrblock_lsbf(ptr_buff, nr_bytes)
i2c.stop()
DAT
{
Copyright 2022 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.
}