/* ----------------------------------------------------------------------------*
*
* Function Name : setMode(uint8_t mode, uint8_t enable)
*
* Description :Reads and returns the contents of the ENABLE register
*
* Input : mode which feature to enable,enable ON (1) or OFF (0)
*
* Output : None
*
* Return : Contents of the ENABLE register. 0xFF if error.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
uint8_t getMode(void)
{
uint8_t enable_value;
/* Read current ENABLE register */
if( !i2c1_read(APDS9960_ENABLE,&enable_value,1) )
{
return ERROR;
}
return enable_value;
}/* End of this function */
void task_telemetry(void){
OS_Stop();
user_debug_msg(STR_TELEMETRY_QA "Starting.");
#if 1
OS_Delay(250);
// structure that will contain the results
typedef struct{
uint64_t passed;
uint64_t failed;
uint16_t test_num; // Last test number
uint16_t failed_num;
uint16_t failed_res; // Non-zero when/if test fails
}selftest_res_t;
selftest_res_t test;
//unsigned char TestData[sizeof(selftest_res)+13];
supmcu_selftest_start(TRUE);
OS_Delay(250);
supmcu_selftest_tel(TRUE);
i2c1_read(I2C_ADDR.g, &TEL_DATA[0], sizeof(test)+13);
memcpy(&test.passed, &TEL_DATA[5],sizeof(uint64_t));
memcpy(&test.failed, &TEL_DATA[5+8],sizeof(uint64_t));
memcpy(&test.test_num, &TEL_DATA[5+8+8],sizeof(uint16_t));
memcpy(&test.failed_num, &TEL_DATA[5+8+8+2],sizeof(uint16_t));
memcpy(&test.failed_res, &TEL_DATA[5+8+8+2+2],sizeof(uint16_t));
//sprintf(strTmp,"pass %llu ; fail %llu; num %u; num_fail %u; res_fail %u",test.passed,test.failed, test.test_num, test.failed_num,test.failed_res);
//user_debug_msg(strTmp);
if(test.failed == 0){
sprintf(strTmp,"All selftests passed");
user_debug_msg(STR_TELEMETRY_QA "All selftests passed");
}
else{
sprintf(strTmp,STR_TELEMETRY_QA "Failed %llu tests, last failed %u",test.failed,test.failed_num);
user_debug_msg(strTmp);
}
while(1) {
OS_Delay(250);
}
#endif
}
// return: the read data
int cs8556_i2c_read(int addr)
{
#ifdef CONFIG_KERNEL
// return i2c_api_register_read(CS8556_ADDR, 2, addr);
char buf = 0;
vpp_i2c_read(CS8556_ID, CS8556_ADDR, addr, &buf, 1);
return buf;
#else
uchar data = 0;
i2c1_read(CS8556_ADDR, addr, 2, &data, 1);
return data;
#endif
}
/* ----------------------------------------------------------------------------*
*
* Function Name : isGestureAvailable(void)
*
* Description :Determines if there is a gesture available for reading
*
* Input : None
*
* Output : None
*
* Return : True if gesture available. False otherwise.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int isGestureAvailable(void)
{
uint8_t val;
/* Read value from GSTATUS register */
if( !i2c1_read(APDS9960_GSTATUS, &val,1) ) {
return ERROR;
}
/* Shift and mask out GVALID bit */
val &= APDS9960_GVALID;
/* Return true/false based on GVALID bit */
if( val == 1) {
return true;
} else {
return false;
}
}/* End of this function */
/* ----------------------------------------------------------------------------*
*
* Function Name : setGestureMode(uint8_t mode)
*
* Description :Tells the state machine to either enter or exit gesture state machine
*
* Input : mode 1 to enter gesture state machine, 0 to exit.
*
* Output : None
*
* Return : True if operation successful. False otherwise.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int setGestureMode(uint8_t mode)
{
uint8_t val;
/* Read value from GCONF4 register */
if( !i2c1_read(APDS9960_GCONF4, &val,1) ) {
return false;
}
/* Set bits in register to given value */
mode &= 0x01;
val &= 0xFE;
val |= mode;
/* Write register value back into GCONF4 register */
if( !i2c1_write(APDS9960_GCONF4, val) ) {
return false;
}
return true;
}/* End of this function */
/* ----------------------------------------------------------------------------*
*
* Function Name : setGestureWaitTime(uint8_t time)
*
* Description :Sets the time in low power mode between gesture detections
* Value Wait time
* 0 0 ms
* 1 2.8 ms
* 2 5.6 ms
* 3 8.4 ms
* 4 14.0 ms
* 5 22.4 ms
* 6 30.8 ms
* 7 39.2 ms
* Input : the value for the wait time
*
* Output : None
*
* Return : True if operation successful. False otherwise.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int setGestureWaitTime(uint8_t time)
{
uint8_t val;
/* Read value from GCONF2 register */
if( !i2c1_read(APDS9960_GCONF2, &val,1) ) {
return false;
}
/* Set bits in register to given value */
time &= 0x07;
val &= 0xF8;
val |= time;
/* Write register value back into GCONF2 register */
if( !i2c1_write(APDS9960_GCONF2, val) ) {
return false;
}
return true;
}/* End of this function */
/* ----------------------------------------------------------------------------*
*
* Function Name : setAmbientLightGain(uint8_t drive)
*
* Description :Sets the receiver gain for the ambient light sensor (ALS)
* Value Gain
* 0 1x
* 1 4x
* 2 16x
* 3 64x
* Input : drive the value (0-3) for the gain
*
* Output : None
*
* Return : True if operation successful. False otherwise.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int setAmbientLightGain(uint8_t drive)
{
uint8_t val;
/* Read value from CONTROL register */
if( !i2c1_read(APDS9960_CONTROL, &val,1) ) {
return false;
}
/* Set bits in register to given value */
drive &= 0x03;
val &= 0xFC;
val |= drive;
/* Write register value back into CONTROL register */
if( !i2c1_write(APDS9960_CONTROL, val) ) {
return false;
}
return true;
}/* End of this function */
/* ----------------------------------------------------------------------------*
*
* Function Name : setLEDBoost(uint8_t boost)
*
* Description :Sets the LED current boost value
* Value Boost Current
* 0 100%
* 1 150%
* 2 200%
* 3 300%
* Input : drive the value (0-3) for current boost (100-300%)
*
* Output : None
*
* Return : True if operation successful. False otherwise.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int setLEDBoost(uint8_t boost)
{
uint8_t val;
/* Read value from CONFIG2 register */
if( !i2c1_read(APDS9960_CONFIG2, &val,1) ) {
return false;
}
/* Set bits in register to given value */
boost &= 0x03;
boost = boost << 4;
val &= 0xCF;
val |= boost;
/* Write register value back into CONFIG2 register */
if( !i2c1_write(APDS9960_CONFIG2, val) ) {
return false;
}
return true;
}/* End of this function */
/* ----------------------------------------------------------------------------*
*
* Function Name : setGestureGain(uint8_t gain)
*
* Description :Sets the gain of the photodiode during gesture mode
* Value Gain
* 0 1x
* 1 2x
* 2 4x
* 3 8x
* Input : gain the value for the photodiode gain
*
* Output : None
*
* Return : True if operation successful. False otherwise.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int setGestureGain(uint8_t gain)
{
uint8_t val;
/* Read value from GCONF2 register */
if( !i2c1_read(APDS9960_GCONF2, &val,1) ) {
return false;
}
/* Set bits in register to given value */
gain &= 0x03;
gain = gain << 5;
val &= 0x9F;
val |= gain;
/* Write register value back into GCONF2 register */
if( !i2c1_write(APDS9960_GCONF2, val) ) {
return false;
}
return true;
}/* End of this function */
/* ----------------------------------------------------------------------------*
*
* Function Name : setGestureLEDDrive(uint8_t drive)
*
* Description :Sets the LED drive current during gesture mode
* Value LED Current
* 0 100 mA
* 1 50 mA
* 2 25 mA
* 3 12.5 mA
*
* Input : drive the value for the LED drive current
*
* Output : None
*
* Return : True if operation successful. False otherwise.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int setGestureLEDDrive(uint8_t drive)
{
uint8_t val;
/* Read value from GCONF2 register */
if( !i2c1_read(APDS9960_GCONF2, &val,1) ) {
return false;
}
/* Set bits in register to given value */
drive &= 0x03;
drive = drive << 3;
val &= 0xE7;
val |= drive;
/* Write register value back into GCONF2 register */
if( !i2c1_write(APDS9960_GCONF2, val) ) {
return false;
}
return true;
}/* End of this function */
/* ----------------------------------------------------------------------------*
*
* Function Name : setGestureIntEnable(uint8_t enable)
*
* Description :Turns gesture-related interrupts on or off
*
* Input : enable 1 to enable interrupts, 0 to turn them off
*
* Output : None
*
* Return : True if operation successful. False otherwise.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int setGestureIntEnable(uint8_t enable)
{
uint8_t val;
/* Read value from GCONF4 register */
if( !i2c1_read(APDS9960_GCONF4, &val,1) ) {
return false;
}
/* Set bits in register to given value */
enable &= 0x01;
enable = enable << 1;
val &= 0xFD;
val |= enable;
/* Write register value back into GCONF4 register */
if( !i2c1_write(APDS9960_GCONF4, val) ) {
return false;
}
return true;
}/* End of this function */
/* ----------------------------------------------------------------------------*
*
* Function Name : readGesture(void)
*
* Description :Processes a gesture event and returns best guessed gesture
*
* Input : None
*
* Output : None
*
* Return : Number corresponding to gesture. -1 on error.
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int readGesture(void)
{
uint8_t fifo_level = 0;
int bytes_read = 0;
uint8_t fifo_data[128];
uint8_t gstatus;
int motion;
int i;
/* Make sure that power and gesture is on and data is valid */
if( !isGestureAvailable() || !(getMode() & 0x41) ) {
return DIR_NONE;
}
/* Keep looping as long as gesture data is valid */
while(1) {
/* Wait some time to collect next batch of FIFO data */
delayms(FIFO_PAUSE_TIME);
/* Get the contents of the STATUS register. Is data still valid? */
if( !i2c1_read(APDS9960_GSTATUS, &gstatus,1) ) {
return ERROR;
}
/* If we have valid data, read in FIFO */
if( (gstatus & APDS9960_GVALID) == APDS9960_GVALID ) {
/* Read the current FIFO level */
if( !i2c1_read(APDS9960_GFLVL, &fifo_level,1) ) {
return ERROR;
}
#if DEBUGPRINT
debugPutString("FIFO Level: ");
debugPutChar(fifo_level);
#endif
/* If there's stuff in the FIFO, read it into our data block */
if( fifo_level > 0) {
bytes_read = i2c1_read(APDS9960_GFIFO_U,
fifo_data,
(fifo_level * 4) );
if( bytes_read == -1 ) {
return ERROR;
}
#if DEBUGPRINT
debugPutString("FIFO Dump: ");
for ( i = 0; i < bytes_read; i++ ) {
debugPutChar(fifo_data[i]);
debugPutString(" ");
}
debugPutString("\r\n");
#endif
/* If at least 1 set of data, sort the data into U/D/L/R */
if( bytes_read >= 4 ) {
for( i = 0; i < bytes_read; i += 4 ) {
gesture_data_.u_data[gesture_data_.index] = \
fifo_data[i + 0];
gesture_data_.d_data[gesture_data_.index] = \
fifo_data[i + 1];
gesture_data_.l_data[gesture_data_.index] = \
fifo_data[i + 2];
gesture_data_.r_data[gesture_data_.index] = \
fifo_data[i + 3];
gesture_data_.index++;
gesture_data_.total_gestures++;
}
#if DEBUGPRINT
debugPutString("Up Data: ");
for ( i = 0; i < gesture_data_.total_gestures; i++ ) {
debugPutChar(gesture_data_.u_data[i]);
debugPutString(" ");
}
debugPutString("\r\n");
#endif
/* Filter and process gesture data. Decode near/far state */
if( processGestureData() ) {
if( decodeGesture() ) {
//***TODO: U-Turn Gestures
#if DEBUGPRINT
debugPutChar(gesture_motion_);
#endif
}
}
/* Reset data */
gesture_data_.index = 0;
gesture_data_.total_gestures = 0;
}
}
} else {
/* Determine best guessed gesture and clean up */
delayms(FIFO_PAUSE_TIME);
decodeGesture();
motion = gesture_motion_;
#if DEBUGPRINT
debugPutString("END: ");
debugPutChar(gesture_motion_);
#endif
resetGestureParameters();
return motion;
}
}
}
/* ----------------------------------------------------------------------------*
*
* Function Name : apds9960init
*
* Description : Configures I2C communications and initializes registers to defaults
*
* Input : None
*
* Output : None
*
* Return : True if initialized successfully. False otherwise
* ----------------------------------------------------------------------------*
* Authors: Sarath S
* Date: May 17, 2017
* ---------------------------------------------------------------------------*/
int apds9960init(void)
{
uint8_t id;
//ledSetLeftLed(LED_ON);
/* Initialize I2C */
I2C1_init();
delayms(700);
/* Read ID register and check against known values for APDS-9960 */
if( !i2c1_read(APDS9960_ID, &id,1) ) {
ledSetRightLed(LED_ON);
return false;
}
ledSetLeftLed(LED_ON);
if( !(id == APDS9960_ID_1 || id == APDS9960_ID_2) ) {
return false;
}
/* Set ENABLE register to 0 (disable all features) */
if( !setMode(ALL, OFF) ) {
return false;
}
/* Set default values for ambient light and proximity registers */
if( !i2c1_write(APDS9960_ATIME, DEFAULT_ATIME) ) {
return false;
}
if( !i2c1_write(APDS9960_WTIME, DEFAULT_WTIME) ) {
return false;
}
if( !i2c1_write(APDS9960_PPULSE, DEFAULT_PROX_PPULSE) ) {
return false;
}
if( !i2c1_write(APDS9960_POFFSET_UR, DEFAULT_POFFSET_UR) ) {
return false;
}
if( !i2c1_write(APDS9960_POFFSET_DL, DEFAULT_POFFSET_DL) ) {
return false;
}
if( !i2c1_write(APDS9960_CONFIG1, DEFAULT_CONFIG1) ) {
return false;
}
if( !setLEDDrive(DEFAULT_LDRIVE) ) {
return false;
}
if( !setProximityGain(DEFAULT_PGAIN) ) {
return false;
}
if( !setAmbientLightGain(DEFAULT_AGAIN) ) {
return false;
}
if( !setProxIntLowThresh(DEFAULT_PILT) ) {
return false;
}
if( !setProxIntHighThresh(DEFAULT_PIHT) ) {
return false;
}
if( !setLightIntLowThreshold(DEFAULT_AILT) ) {
return false;
}
if( !setLightIntHighThreshold(DEFAULT_AIHT) ) {
return false;
}
if( !i2c1_write(APDS9960_PERS, DEFAULT_PERS) ) {
return false;
}
if( !i2c1_write(APDS9960_CONFIG2, DEFAULT_CONFIG2) ) {
return false;
}
if( !i2c1_write(APDS9960_CONFIG3, DEFAULT_CONFIG3) ) {
return false;
}
/* Set default values for gesture sense registers */
if( !setGestureEnterThresh(DEFAULT_GPENTH) ) {
return false;
}
if( !setGestureExitThresh(DEFAULT_GEXTH) ) {
return false;
}
if( !i2c1_write(APDS9960_GCONF1, DEFAULT_GCONF1) ) {
return false;
}
if( !setGestureGain(DEFAULT_GGAIN) ) {
return false;
}
if( !setGestureLEDDrive(DEFAULT_GLDRIVE) ) {
return false;
}
if( !setGestureWaitTime(DEFAULT_GWTIME) ) {
return false;
}
if( !i2c1_write(APDS9960_GOFFSET_U, DEFAULT_GOFFSET) ) {
return false;
}
if( !i2c1_write(APDS9960_GOFFSET_D, DEFAULT_GOFFSET) ) {
return false;
}
if( !i2c1_write(APDS9960_GOFFSET_L, DEFAULT_GOFFSET) ) {
return false;
}
if( !i2c1_write(APDS9960_GOFFSET_R, DEFAULT_GOFFSET) ) {
return false;
}
if( !i2c1_write(APDS9960_GPULSE, DEFAULT_GPULSE) ) {
return false;
}
if( !i2c1_write(APDS9960_GCONF3, DEFAULT_GCONF3) ) {
return false;
}
if( !setGestureIntEnable(DEFAULT_GIEN) ) {
return false;
}
#if 0
/* Gesture config register dump */
uint8_t reg;
uint8_t val;
for(reg = 0x80; reg <= 0xAF; reg++) {
if( (reg != 0x82) && \
(reg != 0x8A) && \
(reg != 0x91) && \
(reg != 0xA8) && \
(reg != 0xAC) && \
(reg != 0xAD) )
{
i2c1_read(reg, val,1);
//debugPutChar(reg);
debugPutString(": 0x");
//debugPutChar(val);
}
}
for(reg = 0xE4; reg <= 0xE7; reg++) {
i2c1_read(reg, val,1);
//debugPutChar(reg);
debugPutString(": 0x");
//debugPutChar(val);
}
#endif
return true;
}/* End of this function */
