diff --git a/scripts/libraries/apds9960/ChangeLog b/scripts/libraries/apds9960/ChangeLog new file mode 100644 index 000000000..e178ded6f --- /dev/null +++ b/scripts/libraries/apds9960/ChangeLog @@ -0,0 +1,19 @@ +needrestart (0.2) + + * Features: + - micropython port + (github pr #2 by Thomas Waldmann @ThomasWaldmann) + - upload to PyPi + + * Changes: + - add 0xa8 to valid device id's + (github pr #1 by Ristomatti Airo @ristomatti) + + -- Thomas Liske Sun, 15 Apr 2018 21:36:49 +0200 + +needrestart (0.1) + + * Initial release. + + -- Thomas Liske Tue, 06 Jun 2017 01:30:55 +0200 + diff --git a/scripts/libraries/apds9960/LICENSE b/scripts/libraries/apds9960/LICENSE new file mode 100644 index 000000000..9cecc1d46 --- /dev/null +++ b/scripts/libraries/apds9960/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a program--to make sure it remains free +software for all its users. We, the Free Software Foundation, use the +GNU General Public License for most of our software; it applies also to +any other work released this way by its authors. You can apply it to +your programs, too. + + When we speak of free software, we are referring to freedom, not +price. Our General Public Licenses are designed to make sure that you +have the freedom to distribute copies of free software (and charge for +them if you wish), that you receive source code or can get it if you +want it, that you can change the software or use pieces of it in new +free programs, and that you know you can do these things. + + To protect your rights, we need to prevent others from denying you +these rights or asking you to surrender the rights. Therefore, you have +certain responsibilities if you distribute copies of the software, or if +you modify it: responsibilities to respect the freedom of others. + + For example, if you distribute copies of such a program, whether +gratis or for a fee, you must pass on to the recipients the same +freedoms that you received. You must make sure that they, too, receive +or can get the source code. And you must show them these terms so they +know their rights. + + Developers that use the GNU GPL protect your rights with two steps: +(1) assert copyright on the software, and (2) offer you this License +giving you legal permission to copy, distribute and/or modify it. + + For the developers' and authors' protection, the GPL clearly explains +that there is no warranty for this free software. For both users' and +authors' sake, the GPL requires that modified versions be marked as +changed, so that their problems will not be attributed erroneously to +authors of previous versions. + + Some devices are designed to deny users access to install or run +modified versions of the software inside them, although the manufacturer +can do so. This is fundamentally incompatible with the aim of +protecting users' freedom to change the software. The systematic +pattern of such abuse occurs in the area of products for individuals to +use, which is precisely where it is most unacceptable. Therefore, we +have designed this version of the GPL to prohibit the practice for those +products. If such problems arise substantially in other domains, we +stand ready to extend this provision to those domains in future versions +of the GPL, as needed to protect the freedom of users. + + Finally, every program is threatened constantly by software patents. +States should not allow patents to restrict development and use of +software on general-purpose computers, but in those that do, we wish to +avoid the special danger that patents applied to a free program could +make it effectively proprietary. To prevent this, the GPL assures that +patents cannot be used to render the program non-free. + + The precise terms and conditions for copying, distribution and +modification follow. + + TERMS AND CONDITIONS + + 0. Definitions. + + "This License" refers to version 3 of the GNU General Public License. + + "Copyright" also means copyright-like laws that apply to other kinds of +works, such as semiconductor masks. + + "The Program" refers to any copyrightable work licensed under this +License. Each licensee is addressed as "you". "Licensees" and +"recipients" may be individuals or organizations. + + To "modify" a work means to copy from or adapt all or part of the work +in a fashion requiring copyright permission, other than the making of an +exact copy. The resulting work is called a "modified version" of the +earlier work or a work "based on" the earlier work. + + A "covered work" means either the unmodified Program or a work based +on the Program. + + To "propagate" a work means to do anything with it that, without +permission, would make you directly or secondarily liable for +infringement under applicable copyright law, except executing it on a +computer or modifying a private copy. Propagation includes copying, +distribution (with or without modification), making available to the +public, and in some countries other activities as well. + + To "convey" a work means any kind of propagation that enables other +parties to make or receive copies. Mere interaction with a user through +a computer network, with no transfer of a copy, is not conveying. + + An interactive user interface displays "Appropriate Legal Notices" +to the extent that it includes a convenient and prominently visible +feature that (1) displays an appropriate copyright notice, and (2) +tells the user that there is no warranty for the work (except to the +extent that warranties are provided), that licensees may convey the +work under this License, and how to view a copy of this License. If +the interface presents a list of user commands or options, such as a +menu, a prominent item in the list meets this criterion. + + 1. Source Code. + + The "source code" for a work means the preferred form of the work +for making modifications to it. "Object code" means any non-source +form of a work. + + A "Standard Interface" means an interface that either is an official +standard defined by a recognized standards body, or, in the case of +interfaces specified for a particular programming language, one that +is widely used among developers working in that language. + + The "System Libraries" of an executable work include anything, other +than the work as a whole, that (a) is included in the normal form of +packaging a Major Component, but which is not part of that Major +Component, and (b) serves only to enable use of the work with that +Major Component, or to implement a Standard Interface for which an +implementation is available to the public in source code form. A +"Major Component", in this context, means a major essential component +(kernel, window system, and so on) of the specific operating system +(if any) on which the executable work runs, or a compiler used to +produce the work, or an object code interpreter used to run it. + + The "Corresponding Source" for a work in object code form means all +the source code needed to generate, install, and (for an executable +work) run the object code and to modify the work, including scripts to +control those activities. However, it does not include the work's +System Libraries, or general-purpose tools or generally available free +programs which are used unmodified in performing those activities but +which are not part of the work. For example, Corresponding Source +includes interface definition files associated with source files for +the work, and the source code for shared libraries and dynamically +linked subprograms that the work is specifically designed to require, +such as by intimate data communication or control flow between those +subprograms and other parts of the work. + + The Corresponding Source need not include anything that users +can regenerate automatically from other parts of the Corresponding +Source. + + The Corresponding Source for a work in source code form is that +same work. + + 2. Basic Permissions. + + All rights granted under this License are granted for the term of +copyright on the Program, and are irrevocable provided the stated +conditions are met. This License explicitly affirms your unlimited +permission to run the unmodified Program. The output from running a +covered work is covered by this License only if the output, given its +content, constitutes a covered work. This License acknowledges your +rights of fair use or other equivalent, as provided by copyright law. + + You may make, run and propagate covered works that you do not +convey, without conditions so long as your license otherwise remains +in force. You may convey covered works to others for the sole purpose +of having them make modifications exclusively for you, or provide you +with facilities for running those works, provided that you comply with +the terms of this License in conveying all material for which you do +not control copyright. Those thus making or running the covered works +for you must do so exclusively on your behalf, under your direction +and control, on terms that prohibit them from making any copies of +your copyrighted material outside their relationship with you. + + Conveying under any other circumstances is permitted solely under +the conditions stated below. Sublicensing is not allowed; section 10 +makes it unnecessary. + + 3. Protecting Users' Legal Rights From Anti-Circumvention Law. + + No covered work shall be deemed part of an effective technological +measure under any applicable law fulfilling obligations under article +11 of the WIPO copyright treaty adopted on 20 December 1996, or +similar laws prohibiting or restricting circumvention of such +measures. + + When you convey a covered work, you waive any legal power to forbid +circumvention of technological measures to the extent such circumvention +is effected by exercising rights under this License with respect to +the covered work, and you disclaim any intention to limit operation or +modification of the work as a means of enforcing, against the work's +users, your or third parties' legal rights to forbid circumvention of +technological measures. + + 4. Conveying Verbatim Copies. + + You may convey verbatim copies of the Program's source code as you +receive it, in any medium, provided that you conspicuously and +appropriately publish on each copy an appropriate copyright notice; +keep intact all notices stating that this License and any +non-permissive terms added in accord with section 7 apply to the code; +keep intact all notices of the absence of any warranty; and give all +recipients a copy of this License along with the Program. + + You may charge any price or no price for each copy that you convey, +and you may offer support or warranty protection for a fee. + + 5. Conveying Modified Source Versions. + + You may convey a work based on the Program, or the modifications to +produce it from the Program, in the form of source code under the +terms of section 4, provided that you also meet all of these conditions: + + a) The work must carry prominent notices stating that you modified + it, and giving a relevant date. + + b) The work must carry prominent notices stating that it is + released under this License and any conditions added under section + 7. This requirement modifies the requirement in section 4 to + "keep intact all notices". + + c) You must license the entire work, as a whole, under this + License to anyone who comes into possession of a copy. This + License will therefore apply, along with any applicable section 7 + additional terms, to the whole of the work, and all its parts, + regardless of how they are packaged. This License gives no + permission to license the work in any other way, but it does not + invalidate such permission if you have separately received it. + + d) If the work has interactive user interfaces, each must display + Appropriate Legal Notices; however, if the Program has interactive + interfaces that do not display Appropriate Legal Notices, your + work need not make them do so. + + A compilation of a covered work with other separate and independent +works, which are not by their nature extensions of the covered work, +and which are not combined with it such as to form a larger program, +in or on a volume of a storage or distribution medium, is called an +"aggregate" if the compilation and its resulting copyright are not +used to limit the access or legal rights of the compilation's users +beyond what the individual works permit. Inclusion of a covered work +in an aggregate does not cause this License to apply to the other +parts of the aggregate. + + 6. Conveying Non-Source Forms. + + You may convey a covered work in object code form under the terms +of sections 4 and 5, provided that you also convey the +machine-readable Corresponding Source under the terms of this License, +in one of these ways: + + a) Convey the object code in, or embodied in, a physical product + (including a physical distribution medium), accompanied by the + Corresponding Source fixed on a durable physical medium + customarily used for software interchange. + + b) Convey the object code in, or embodied in, a physical product + (including a physical distribution medium), accompanied by a + written offer, valid for at least three years and valid for as + long as you offer spare parts or customer support for that product + model, to give anyone who possesses the object code either (1) a + copy of the Corresponding Source for all the software in the + product that is covered by this License, on a durable physical + medium customarily used for software interchange, for a price no + more than your reasonable cost of physically performing this + conveying of source, or (2) access to copy the + Corresponding Source from a network server at no charge. + + c) Convey individual copies of the object code with a copy of the + written offer to provide the Corresponding Source. This + alternative is allowed only occasionally and noncommercially, and + only if you received the object code with such an offer, in accord + with subsection 6b. + + d) Convey the object code by offering access from a designated + place (gratis or for a charge), and offer equivalent access to the + Corresponding Source in the same way through the same place at no + further charge. You need not require recipients to copy the + Corresponding Source along with the object code. If the place to + copy the object code is a network server, the Corresponding Source + may be on a different server (operated by you or a third party) + that supports equivalent copying facilities, provided you maintain + clear directions next to the object code saying where to find the + Corresponding Source. Regardless of what server hosts the + Corresponding Source, you remain obligated to ensure that it is + available for as long as needed to satisfy these requirements. + + e) Convey the object code using peer-to-peer transmission, provided + you inform other peers where the object code and Corresponding + Source of the work are being offered to the general public at no + charge under subsection 6d. + + A separable portion of the object code, whose source code is excluded +from the Corresponding Source as a System Library, need not be +included in conveying the object code work. + + A "User Product" is either (1) a "consumer product", which means any +tangible personal property which is normally used for personal, family, +or household purposes, or (2) anything designed or sold for incorporation +into a dwelling. In determining whether a product is a consumer product, +doubtful cases shall be resolved in favor of coverage. For a particular +product received by a particular user, "normally used" refers to a +typical or common use of that class of product, regardless of the status +of the particular user or of the way in which the particular user +actually uses, or expects or is expected to use, the product. A product +is a consumer product regardless of whether the product has substantial +commercial, industrial or non-consumer uses, unless such uses represent +the only significant mode of use of the product. + + "Installation Information" for a User Product means any methods, +procedures, authorization keys, or other information required to install +and execute modified versions of a covered work in that User Product from +a modified version of its Corresponding Source. The information must +suffice to ensure that the continued functioning of the modified object +code is in no case prevented or interfered with solely because +modification has been made. + + If you convey an object code work under this section in, or with, or +specifically for use in, a User Product, and the conveying occurs as +part of a transaction in which the right of possession and use of the +User Product is transferred to the recipient in perpetuity or for a +fixed term (regardless of how the transaction is characterized), the +Corresponding Source conveyed under this section must be accompanied +by the Installation Information. But this requirement does not apply +if neither you nor any third party retains the ability to install +modified object code on the User Product (for example, the work has +been installed in ROM). + + The requirement to provide Installation Information does not include a +requirement to continue to provide support service, warranty, or updates +for a work that has been modified or installed by the recipient, or for +the User Product in which it has been modified or installed. Access to a +network may be denied when the modification itself materially and +adversely affects the operation of the network or violates the rules and +protocols for communication across the network. + + Corresponding Source conveyed, and Installation Information provided, +in accord with this section must be in a format that is publicly +documented (and with an implementation available to the public in +source code form), and must require no special password or key for +unpacking, reading or copying. + + 7. Additional Terms. + + "Additional permissions" are terms that supplement the terms of this +License by making exceptions from one or more of its conditions. +Additional permissions that are applicable to the entire Program shall +be treated as though they were included in this License, to the extent +that they are valid under applicable law. If additional permissions +apply only to part of the Program, that part may be used separately +under those permissions, but the entire Program remains governed by +this License without regard to the additional permissions. + + When you convey a copy of a covered work, you may at your option +remove any additional permissions from that copy, or from any part of +it. (Additional permissions may be written to require their own +removal in certain cases when you modify the work.) You may place +additional permissions on material, added by you to a covered work, +for which you have or can give appropriate copyright permission. + + Notwithstanding any other provision of this License, for material you +add to a covered work, you may (if authorized by the copyright holders of +that material) supplement the terms of this License with terms: + + a) Disclaiming warranty or limiting liability differently from the + terms of sections 15 and 16 of this License; or + + b) Requiring preservation of specified reasonable legal notices or + author attributions in that material or in the Appropriate Legal + Notices displayed by works containing it; or + + c) Prohibiting misrepresentation of the origin of that material, or + requiring that modified versions of such material be marked in + reasonable ways as different from the original version; or + + d) Limiting the use for publicity purposes of names of licensors or + authors of the material; or + + e) Declining to grant rights under trademark law for use of some + trade names, trademarks, or service marks; or + + f) Requiring indemnification of licensors and authors of that + material by anyone who conveys the material (or modified versions of + it) with contractual assumptions of liability to the recipient, for + any liability that these contractual assumptions directly impose on + those licensors and authors. + + All other non-permissive additional terms are considered "further +restrictions" within the meaning of section 10. If the Program as you +received it, or any part of it, contains a notice stating that it is +governed by this License along with a term that is a further +restriction, you may remove that term. If a license document contains +a further restriction but permits relicensing or conveying under this +License, you may add to a covered work material governed by the terms +of that license document, provided that the further restriction does +not survive such relicensing or conveying. + + If you add terms to a covered work in accord with this section, you +must place, in the relevant source files, a statement of the +additional terms that apply to those files, or a notice indicating +where to find the applicable terms. + + Additional terms, permissive or non-permissive, may be stated in the +form of a separately written license, or stated as exceptions; +the above requirements apply either way. + + 8. Termination. + + You may not propagate or modify a covered work except as expressly +provided under this License. Any attempt otherwise to propagate or +modify it is void, and will automatically terminate your rights under +this License (including any patent licenses granted under the third +paragraph of section 11). + + However, if you cease all violation of this License, then your +license from a particular copyright holder is reinstated (a) +provisionally, unless and until the copyright holder explicitly and +finally terminates your license, and (b) permanently, if the copyright +holder fails to notify you of the violation by some reasonable means +prior to 60 days after the cessation. + + Moreover, your license from a particular copyright holder is +reinstated permanently if the copyright holder notifies you of the +violation by some reasonable means, this is the first time you have +received notice of violation of this License (for any work) from that +copyright holder, and you cure the violation prior to 30 days after +your receipt of the notice. + + Termination of your rights under this section does not terminate the +licenses of parties who have received copies or rights from you under +this License. If your rights have been terminated and not permanently +reinstated, you do not qualify to receive new licenses for the same +material under section 10. + + 9. Acceptance Not Required for Having Copies. + + You are not required to accept this License in order to receive or +run a copy of the Program. Ancillary propagation of a covered work +occurring solely as a consequence of using peer-to-peer transmission +to receive a copy likewise does not require acceptance. However, +nothing other than this License grants you permission to propagate or +modify any covered work. These actions infringe copyright if you do +not accept this License. Therefore, by modifying or propagating a +covered work, you indicate your acceptance of this License to do so. + + 10. Automatic Licensing of Downstream Recipients. + + Each time you convey a covered work, the recipient automatically +receives a license from the original licensors, to run, modify and +propagate that work, subject to this License. You are not responsible +for enforcing compliance by third parties with this License. + + An "entity transaction" is a transaction transferring control of an +organization, or substantially all assets of one, or subdividing an +organization, or merging organizations. If propagation of a covered +work results from an entity transaction, each party to that +transaction who receives a copy of the work also receives whatever +licenses to the work the party's predecessor in interest had or could +give under the previous paragraph, plus a right to possession of the +Corresponding Source of the work from the predecessor in interest, if +the predecessor has it or can get it with reasonable efforts. + + You may not impose any further restrictions on the exercise of the +rights granted or affirmed under this License. For example, you may +not impose a license fee, royalty, or other charge for exercise of +rights granted under this License, and you may not initiate litigation +(including a cross-claim or counterclaim in a lawsuit) alleging that +any patent claim is infringed by making, using, selling, offering for +sale, or importing the Program or any portion of it. + + 11. Patents. + + A "contributor" is a copyright holder who authorizes use under this +License of the Program or a work on which the Program is based. The +work thus licensed is called the contributor's "contributor version". + + A contributor's "essential patent claims" are all patent claims +owned or controlled by the contributor, whether already acquired or +hereafter acquired, that would be infringed by some manner, permitted +by this License, of making, using, or selling its contributor version, +but do not include claims that would be infringed only as a +consequence of further modification of the contributor version. For +purposes of this definition, "control" includes the right to grant +patent sublicenses in a manner consistent with the requirements of +this License. + + Each contributor grants you a non-exclusive, worldwide, royalty-free +patent license under the contributor's essential patent claims, to +make, use, sell, offer for sale, import and otherwise run, modify and +propagate the contents of its contributor version. + + In the following three paragraphs, a "patent license" is any express +agreement or commitment, however denominated, not to enforce a patent +(such as an express permission to practice a patent or covenant not to +sue for patent infringement). To "grant" such a patent license to a +party means to make such an agreement or commitment not to enforce a +patent against the party. + + If you convey a covered work, knowingly relying on a patent license, +and the Corresponding Source of the work is not available for anyone +to copy, free of charge and under the terms of this License, through a +publicly available network server or other readily accessible means, +then you must either (1) cause the Corresponding Source to be so +available, or (2) arrange to deprive yourself of the benefit of the +patent license for this particular work, or (3) arrange, in a manner +consistent with the requirements of this License, to extend the patent +license to downstream recipients. "Knowingly relying" means you have +actual knowledge that, but for the patent license, your conveying the +covered work in a country, or your recipient's use of the covered work +in a country, would infringe one or more identifiable patents in that +country that you have reason to believe are valid. + + If, pursuant to or in connection with a single transaction or +arrangement, you convey, or propagate by procuring conveyance of, a +covered work, and grant a patent license to some of the parties +receiving the covered work authorizing them to use, propagate, modify +or convey a specific copy of the covered work, then the patent license +you grant is automatically extended to all recipients of the covered +work and works based on it. + + A patent license is "discriminatory" if it does not include within +the scope of its coverage, prohibits the exercise of, or is +conditioned on the non-exercise of one or more of the rights that are +specifically granted under this License. You may not convey a covered +work if you are a party to an arrangement with a third party that is +in the business of distributing software, under which you make payment +to the third party based on the extent of your activity of conveying +the work, and under which the third party grants, to any of the +parties who would receive the covered work from you, a discriminatory +patent license (a) in connection with copies of the covered work +conveyed by you (or copies made from those copies), or (b) primarily +for and in connection with specific products or compilations that +contain the covered work, unless you entered into that arrangement, +or that patent license was granted, prior to 28 March 2007. + + Nothing in this License shall be construed as excluding or limiting +any implied license or other defenses to infringement that may +otherwise be available to you under applicable patent law. + + 12. No Surrender of Others' Freedom. + + If conditions are imposed on you (whether by court order, agreement or +otherwise) that contradict the conditions of this License, they do not +excuse you from the conditions of this License. If you cannot convey a +covered work so as to satisfy simultaneously your obligations under this +License and any other pertinent obligations, then as a consequence you may +not convey it at all. For example, if you agree to terms that obligate you +to collect a royalty for further conveying from those to whom you convey +the Program, the only way you could satisfy both those terms and this +License would be to refrain entirely from conveying the Program. + + 13. Use with the GNU Affero General Public License. + + Notwithstanding any other provision of this License, you have +permission to link or combine any covered work with a work licensed +under version 3 of the GNU Affero General Public License into a single +combined work, and to convey the resulting work. The terms of this +License will continue to apply to the part which is the covered work, +but the special requirements of the GNU Affero General Public License, +section 13, concerning interaction through a network will apply to the +combination as such. + + 14. Revised Versions of this License. + + The Free Software Foundation may publish revised and/or new versions of +the GNU General Public License from time to time. Such new versions will +be similar in spirit to the present version, but may differ in detail to +address new problems or concerns. + + Each version is given a distinguishing version number. If the +Program specifies that a certain numbered version of the GNU General +Public License "or any later version" applies to it, you have the +option of following the terms and conditions either of that numbered +version or of any later version published by the Free Software +Foundation. If the Program does not specify a version number of the +GNU General Public License, you may choose any version ever published +by the Free Software Foundation. + + If the Program specifies that a proxy can decide which future +versions of the GNU General Public License can be used, that proxy's +public statement of acceptance of a version permanently authorizes you +to choose that version for the Program. + + Later license versions may give you additional or different +permissions. However, no additional obligations are imposed on any +author or copyright holder as a result of your choosing to follow a +later version. + + 15. Disclaimer of Warranty. + + THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY +APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT +HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY +OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM +IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF +ALL NECESSARY SERVICING, REPAIR OR CORRECTION. + + 16. Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + {one line to give the program's name and a brief idea of what it does.} + Copyright (C) {year} {name of author} + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + {project} Copyright (C) {year} {fullname} + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/scripts/libraries/apds9960/README.md b/scripts/libraries/apds9960/README.md new file mode 100644 index 000000000..63a4c76c5 --- /dev/null +++ b/scripts/libraries/apds9960/README.md @@ -0,0 +1,31 @@ +# Python (and MicroPython) APDS-9960 Library + +Python library for the APDS-9960 gesture sensor developed while I was looking to get the APDS-9960 to work with a _Raspberry Pi_ to build a user interface feeling like in _Minority Report_. + +This library is a port of the [APDS-9960 Raspberry Pi Library](https://bitbucket.org/justin_woodman/apds-9960-raspberry-pi-library) of [Justin Woodman](https://justinwoodman.wordpress.com/2014/11/15/using-the-apds-9960-rgb-proximity-and-gesture-sensor-with-the-raspberry-pi-2/). Sadly his library is coded in C++ and seems not to be maintained any more. + +This library has been tested with [SparkFun RGB and Gesture Sensor - APDS-9960](https://www.sparkfun.com/products/12787) but should work with any other APDS-9960 based I²C device, too. + +## Installation + +This library is available from [PyPi](https://pypi.org/project/apds9960/). You may want to setup a `virtualenv` before installing the library using: + +``` +pip install apds9960 +``` + + +## Features of the APDS-9960 +- operational voltage: 3.3V +- ambient light & RGB color sensing +- proximity sensing +- gesture detection +- operating range: 10 - 20cm +- I²C interface (hard wired I²C address: 0x39) + +## Documentation & Examples +- [RPi](RPi.md) - connect and configure the APDS-9960 on Raspberry Pi +- Example scripts: + - simple ambient light level demo: [rpi](rpi/test_ambient.py), [micropython](micropython/test_ambient.py) + - simple gesture detection demo: [rpi](rpi/test_gesture.py), [micropython](micropython/test_gesture.py) + - simple proximity level demo: [rpi](rpi/test_prox.py), [micropython](micropython/test_prox.py) diff --git a/scripts/libraries/apds9960/apds9960/__init__.py b/scripts/libraries/apds9960/apds9960/__init__.py new file mode 100644 index 000000000..e8c754930 --- /dev/null +++ b/scripts/libraries/apds9960/apds9960/__init__.py @@ -0,0 +1,3 @@ +from apds9960.device import APDS9960, uAPDS9960 + +__all__ = [ 'APDS9960', 'uAPDS9960', ] diff --git a/scripts/libraries/apds9960/apds9960/const.py b/scripts/libraries/apds9960/apds9960/const.py new file mode 100644 index 000000000..ecf185037 --- /dev/null +++ b/scripts/libraries/apds9960/apds9960/const.py @@ -0,0 +1,169 @@ +# APDS9960 i2c address +APDS9960_I2C_ADDR = 0x39 + +# APDS9960 gesture parameters +APDS9960_GESTURE_THRESHOLD_OUT = 10 +APDS9960_GESTURE_SENSITIVITY_1 = 50 +APDS9960_GESTURE_SENSITIVITY_2 = 20 + +# APDS9960 device IDs +APDS9960_DEV_ID = [0xab, 0x9c, 0xa8, -0x55] + +# APDS9960 times +APDS9960_TIME_FIFO_PAUSE = 30 + +# APDS9960 register addresses +APDS9960_REG_ENABLE = 0x80 +APDS9960_REG_ATIME = 0x81 +APDS9960_REG_WTIME = 0x83 +APDS9960_REG_AILTL = 0x84 +APDS9960_REG_AILTH = 0x85 +APDS9960_REG_AIHTL = 0x86 +APDS9960_REG_AIHTH = 0x87 +APDS9960_REG_PILT = 0x89 +APDS9960_REG_PIHT = 0x8b +APDS9960_REG_PERS = 0x8c +APDS9960_REG_CONFIG1 = 0x8d +APDS9960_REG_PPULSE = 0x8e +APDS9960_REG_CONTROL = 0x8f +APDS9960_REG_CONFIG2 = 0x90 +APDS9960_REG_ID = 0x92 +APDS9960_REG_STATUS = 0x93 +APDS9960_REG_CDATAL = 0x94 +APDS9960_REG_CDATAH = 0x95 +APDS9960_REG_RDATAL = 0x96 +APDS9960_REG_RDATAH = 0x97 +APDS9960_REG_GDATAL = 0x98 +APDS9960_REG_GDATAH = 0x99 +APDS9960_REG_BDATAL = 0x9a +APDS9960_REG_BDATAH = 0x9b +APDS9960_REG_PDATA = 0x9c +APDS9960_REG_POFFSET_UR = 0x9d +APDS9960_REG_POFFSET_DL = 0x9e +APDS9960_REG_CONFIG3 = 0x9f +APDS9960_REG_GPENTH = 0xa0 +APDS9960_REG_GEXTH = 0xa1 +APDS9960_REG_GCONF1 = 0xa2 +APDS9960_REG_GCONF2 = 0xa3 +APDS9960_REG_GOFFSET_U = 0xa4 +APDS9960_REG_GOFFSET_D = 0xa5 +APDS9960_REG_GOFFSET_L = 0xa7 +APDS9960_REG_GOFFSET_R = 0xa9 +APDS9960_REG_GPULSE = 0xa6 +APDS9960_REG_GCONF3 = 0xaA +APDS9960_REG_GCONF4 = 0xaB +APDS9960_REG_GFLVL = 0xae +APDS9960_REG_GSTATUS = 0xaf +APDS9960_REG_IFORCE = 0xe4 +APDS9960_REG_PICLEAR = 0xe5 +APDS9960_REG_CICLEAR = 0xe6 +APDS9960_REG_AICLEAR = 0xe7 +APDS9960_REG_GFIFO_U = 0xfc +APDS9960_REG_GFIFO_D = 0xfd +APDS9960_REG_GFIFO_L = 0xfe +APDS9960_REG_GFIFO_R = 0xff + +# APDS9960 bit fields +APDS9960_BIT_PON = 0b00000001 +APDS9960_BIT_AEN = 0b00000010 +APDS9960_BIT_PEN = 0b00000100 +APDS9960_BIT_WEN = 0b00001000 +APSD9960_BIT_AIEN =0b00010000 +APDS9960_BIT_PIEN = 0b00100000 +APDS9960_BIT_GEN = 0b01000000 +APDS9960_BIT_GVALID = 0b00000001 + +# APDS9960 modes +APDS9960_MODE_POWER = 0 +APDS9960_MODE_AMBIENT_LIGHT = 1 +APDS9960_MODE_PROXIMITY = 2 +APDS9960_MODE_WAIT = 3 +APDS9960_MODE_AMBIENT_LIGHT_INT = 4 +APDS9960_MODE_PROXIMITY_INT = 5 +APDS9960_MODE_GESTURE = 6 +APDS9960_MODE_ALL = 7 + +# LED Drive values +APDS9960_LED_DRIVE_100MA = 0 +APDS9960_LED_DRIVE_50MA = 1 +APDS9960_LED_DRIVE_25MA = 2 +APDS9960_LED_DRIVE_12_5MA = 3 + +# Proximity Gain (PGAIN) values +APDS9960_PGAIN_1X = 0 +APDS9960_PGAIN_2X = 1 +APDS9960_PGAIN_4X = 2 +APDS9960_PGAIN_8X = 3 + +# ALS Gain (AGAIN) values +APDS9960_AGAIN_1X = 0 +APDS9960_AGAIN_4X = 1 +APDS9960_AGAIN_16X = 2 +APDS9960_AGAIN_64X = 3 + +# Gesture Gain (GGAIN) values +APDS9960_GGAIN_1X = 0 +APDS9960_GGAIN_2X = 1 +APDS9960_GGAIN_4X = 2 +APDS9960_GGAIN_8X = 3 + +# LED Boost values +APDS9960_LED_BOOST_100 = 0 +APDS9960_LED_BOOST_150 = 1 +APDS9960_LED_BOOST_200 = 2 +APDS9960_LED_BOOST_300 = 3 + +# Gesture wait time values +APDS9960_GWTIME_0MS = 0 +APDS9960_GWTIME_2_8MS = 1 +APDS9960_GWTIME_5_6MS = 2 +APDS9960_GWTIME_8_4MS = 3 +APDS9960_GWTIME_14_0MS = 4 +APDS9960_GWTIME_22_4MS = 5 +APDS9960_GWTIME_30_8MS = 6 +APDS9960_GWTIME_39_2MS = 7 + +# Default values +APDS9960_DEFAULT_ATIME = 219 # 103ms +APDS9960_DEFAULT_WTIME = 246 # 27ms +APDS9960_DEFAULT_PROX_PPULSE = 0x87 # 16us, 8 pulses +APDS9960_DEFAULT_GESTURE_PPULSE = 0x89 # 16us, 10 pulses +APDS9960_DEFAULT_POFFSET_UR = 0 # 0 offset +APDS9960_DEFAULT_POFFSET_DL = 0 # 0 offset +APDS9960_DEFAULT_CONFIG1 = 0x60 # No 12x wait (WTIME) factor +APDS9960_DEFAULT_LDRIVE = APDS9960_LED_DRIVE_100MA +APDS9960_DEFAULT_PGAIN = APDS9960_PGAIN_4X +APDS9960_DEFAULT_AGAIN = APDS9960_AGAIN_4X +APDS9960_DEFAULT_PILT = 0 # Low proximity threshold +APDS9960_DEFAULT_PIHT = 50 # High proximity threshold +APDS9960_DEFAULT_AILT = 0xffff # Force interrupt for calibration +APDS9960_DEFAULT_AIHT = 0 +APDS9960_DEFAULT_PERS = 0x11 # 2 consecutive prox or ALS for int. +APDS9960_DEFAULT_CONFIG2 = 0x01 # No saturation interrupts or LED boost +APDS9960_DEFAULT_CONFIG3 = 0 # Enable all photodiodes, no SAI +APDS9960_DEFAULT_GPENTH = 40 # Threshold for entering gesture mode +APDS9960_DEFAULT_GEXTH = 30 # Threshold for exiting gesture mode +APDS9960_DEFAULT_GCONF1 = 0x40 # 4 gesture events for int., 1 for exit +APDS9960_DEFAULT_GGAIN = APDS9960_GGAIN_4X +APDS9960_DEFAULT_GLDRIVE = APDS9960_LED_DRIVE_100MA +APDS9960_DEFAULT_GWTIME = APDS9960_GWTIME_2_8MS +APDS9960_DEFAULT_GOFFSET = 0 # No offset scaling for gesture mode +APDS9960_DEFAULT_GPULSE = 0xc9 # 32us, 10 pulses +APDS9960_DEFAULT_GCONF3 = 0 # All photodiodes active during gesture +APDS9960_DEFAULT_GIEN = 0 # Disable gesture interrupts + +# gesture directions +APDS9960_DIR_NONE = 0 +APDS9960_DIR_LEFT = 1 +APDS9960_DIR_RIGHT = 2 +APDS9960_DIR_UP = 3 +APDS9960_DIR_DOWN = 4 +APDS9960_DIR_NEAR = 5 +APDS9960_DIR_FAR = 6 +APDS9960_DIR_ALL = 7 + +# state definitions +APDS9960_STATE_NA = 0 +APDS9960_STATE_NEAR = 1 +APDS9960_STATE_FAR = 2 +APDS9960_STATE_ALL = 3 diff --git a/scripts/libraries/apds9960/apds9960/device.py b/scripts/libraries/apds9960/apds9960/device.py new file mode 100644 index 000000000..125dfec74 --- /dev/null +++ b/scripts/libraries/apds9960/apds9960/device.py @@ -0,0 +1,1097 @@ +from apds9960.const import * +from apds9960.exceptions import * + +from time import sleep_ms + +class APDS9960: + class GestureData: + def __init__(self): + self.u_data = [0] * 32 + self.d_data = [0] * 32 + self.l_data = [0] * 32 + self.r_data = [0] * 32 + self.index = 0 + self.total_gestures = 0 + self.in_threshold = 0 + self.out_threshold = 0 + + def __init__(self, bus, address=APDS9960_I2C_ADDR, valid_id=APDS9960_DEV_ID): + # I2C stuff + self.address = address + self.bus = bus + + # instance variables for gesture detection + self.gesture_ud_delta_ = 0 + self.gesture_lr_delta_ = 0 + + self.gesture_ud_count_ = 0 + self.gesture_lr_count_ = 0 + + self.gesture_near_count_ = 0 + self.gesture_far_count_ = 0 + + self.gesture_state_ = 0 + self.gesture_motion_ = APDS9960_DIR_NONE + + self.gesture_data_ = APDS9960.GestureData() + + # check device id + self.dev_id = self._read_byte_data(APDS9960_REG_ID) + if not self.dev_id in valid_id: + raise ADPS9960InvalidDevId(self.dev_id, valid_id) + + # disable all features + self.setMode(APDS9960_MODE_ALL, False) + + # set default values for ambient light and proximity registers + self._write_byte_data(APDS9960_REG_ATIME, APDS9960_DEFAULT_ATIME) + self._write_byte_data(APDS9960_REG_WTIME, APDS9960_DEFAULT_WTIME) + self._write_byte_data(APDS9960_REG_PPULSE, APDS9960_DEFAULT_PROX_PPULSE) + self._write_byte_data(APDS9960_REG_POFFSET_UR, APDS9960_DEFAULT_POFFSET_UR) + self._write_byte_data(APDS9960_REG_POFFSET_DL, APDS9960_DEFAULT_POFFSET_DL) + self._write_byte_data(APDS9960_REG_CONFIG1, APDS9960_DEFAULT_CONFIG1) + self.setLEDDrive(APDS9960_DEFAULT_LDRIVE) + self.setProximityGain(APDS9960_DEFAULT_PGAIN) + self.setAmbientLightGain(APDS9960_DEFAULT_AGAIN) + self.setProxIntLowThresh(APDS9960_DEFAULT_PILT) + self.setProxIntHighThresh(APDS9960_DEFAULT_PIHT) + self.setLightIntLowThreshold(APDS9960_DEFAULT_AILT) + self.setLightIntHighThreshold(APDS9960_DEFAULT_AIHT) + + self._write_byte_data(APDS9960_REG_PERS, APDS9960_DEFAULT_PERS) + self._write_byte_data(APDS9960_REG_CONFIG2, APDS9960_DEFAULT_CONFIG2) + self._write_byte_data(APDS9960_REG_CONFIG3, APDS9960_DEFAULT_CONFIG3) + + # set default values for gesture sense registers + self.setGestureEnterThresh(APDS9960_DEFAULT_GPENTH) + self.setGestureExitThresh(APDS9960_DEFAULT_GEXTH) + self._write_byte_data(APDS9960_REG_GCONF1, APDS9960_DEFAULT_GCONF1) + + self.setGestureGain(APDS9960_DEFAULT_GGAIN) + self.setGestureLEDDrive(APDS9960_DEFAULT_GLDRIVE) + self.setGestureWaitTime(APDS9960_DEFAULT_GWTIME) + self._write_byte_data(APDS9960_REG_GOFFSET_U, APDS9960_DEFAULT_GOFFSET) + self._write_byte_data(APDS9960_REG_GOFFSET_D, APDS9960_DEFAULT_GOFFSET) + self._write_byte_data(APDS9960_REG_GOFFSET_L, APDS9960_DEFAULT_GOFFSET) + self._write_byte_data(APDS9960_REG_GOFFSET_R, APDS9960_DEFAULT_GOFFSET) + self._write_byte_data(APDS9960_REG_GPULSE, APDS9960_DEFAULT_GPULSE) + self._write_byte_data(APDS9960_REG_GCONF3, APDS9960_DEFAULT_GCONF3) + self.setGestureIntEnable(APDS9960_DEFAULT_GIEN) + + + def getMode(self): + return self._read_byte_data(APDS9960_REG_ENABLE) + + def setMode(self, mode, enable=True): + # read ENABLE register + reg_val = self.getMode() + + if mode < 0 or mode > APDS9960_MODE_ALL: + raise ADPS9960InvalidMode(mode) + + # change bit(s) in ENABLE register */ + if mode == APDS9960_MODE_ALL: + if enable: + reg_val = 0x7f + else: + reg_val = 0x00 + else: + if enable: + reg_val |= (1 << mode); + else: + reg_val &= ~(1 << mode); + + # write value to ENABLE register + self._write_byte_data(APDS9960_REG_ENABLE, reg_val) + + + # start the light (R/G/B/Ambient) sensor + def enableLightSensor(self, interrupts=True): + self.setAmbientLightGain(APDS9960_DEFAULT_AGAIN) + self.setAmbientLightIntEnable(interrupts) + self.enablePower() + self.setMode(APDS9960_MODE_AMBIENT_LIGHT, True) + + # stop the light sensor + def disableLightSensor(self): + self.setAmbientLightIntEnable(False) + self.setMode(APDS9960_MODE_AMBIENT_LIGHT, False) + + + # start the proximity sensor + def enableProximitySensor(self, interrupts=True): + self.setProximityGain(APDS9960_DEFAULT_PGAIN) + self.setLEDDrive(APDS9960_DEFAULT_LDRIVE) + self.setProximityIntEnable(interrupts) + self.enablePower() + self.setMode(APDS9960_MODE_PROXIMITY, True) + + # stop the proximity sensor + def disableProximitySensor(self): + self.setProximityIntEnable(False) + self.setMode(APDS9960_MODE_PROXIMITY, False) + + + # start the gesture recognition engine + def enableGestureSensor(self, interrupts=True): + self.resetGestureParameters() + self._write_byte_data(APDS9960_REG_WTIME, 0xff) + self._write_byte_data(APDS9960_REG_PPULSE, APDS9960_DEFAULT_GESTURE_PPULSE) + self.setLEDBoost(APDS9960_LED_BOOST_300) + self.setGestureIntEnable(interrupts) + self.setGestureMode(True) + self.enablePower() + self.setMode(APDS9960_MODE_WAIT, True) + self.setMode(APDS9960_MODE_PROXIMITY, True) + self.setMode(APDS9960_MODE_GESTURE, True) + + # stop the gesture recognition engine + def disableGestureSensor(self): + self.resetGestureParameters() + self.setGestureIntEnable(False) + self.setGestureMode(False) + self.setMode(APDS9960_MODE_GESTURE, False) + + + # check if there is a gesture available + def isGestureAvailable(self): + val = self._read_byte_data(APDS9960_REG_GSTATUS) + + # shift and mask out GVALID bit + val &= APDS9960_BIT_GVALID; + + return (val == APDS9960_BIT_GVALID) + + + # processes a gesture event and returns best guessed gesture + def readGesture(self): + fifo_level = 0 + bytes_read = 0 + fifo_data = [] + + # make sure that power and gesture is on and data is valid + if not (self.getMode() & 0b01000001) or not self.isGestureAvailable(): + return APDS9960_DIR_NONE + + # keep looping as long as gesture data is valid + while(self.isGestureAvailable()): + # read the current FIFO level + fifo_level = self._read_byte_data(APDS9960_REG_GFLVL) + + # if there's stuff in the FIFO, read it into our data block + if fifo_level > 0: + fifo_data = [] + for i in range(0, fifo_level): + fifo_data += self._read_i2c_block_data(APDS9960_REG_GFIFO_U, 4) + + # if at least 1 set of data, sort the data into U/D/L/R + if len(fifo_data) >= 4: + for i in range(0, len(fifo_data), 4): + self.gesture_data_.u_data[self.gesture_data_.index] = fifo_data[i + 0] + self.gesture_data_.d_data[self.gesture_data_.index] = fifo_data[i + 1] + self.gesture_data_.l_data[self.gesture_data_.index] = fifo_data[i + 2] + self.gesture_data_.r_data[self.gesture_data_.index] = fifo_data[i + 3] + self.gesture_data_.index += 1 + self.gesture_data_.total_gestures += 1 + + # filter and process gesture data, decode near/far state + if self.processGestureData(): + if self.decodeGesture(): + #***TODO: U-Turn Gestures + pass + + # reset data + self.gesture_data_.index = 0 + self.gesture_data_.total_gestures = 0 + + # wait some time to collect next batch of FIFO data + sleep_ms(APDS9960_TIME_FIFO_PAUSE) + + # determine best guessed gesture and clean up + sleep_ms(APDS9960_TIME_FIFO_PAUSE) + self.decodeGesture() + motion = self.gesture_motion_ + + self.resetGestureParameters() + return motion + + + # turn the APDS-9960 on + def enablePower(self): + self.setMode(APDS9960_MODE_POWER, True) + + + def disablePower(self): + # turn the APDS-9960 off + self.setMode(APDS9960_MODE_POWER, False) + + + + # ******************************************************************************* + # ambient light and color sensor controls + # ******************************************************************************* + + # reads the ambient (clear) light level as a 16-bit value + def readAmbientLight(self): + # read value from clear channel, low byte register + l = self._read_byte_data(APDS9960_REG_CDATAL) + + # read value from clear channel, high byte register + h = self._read_byte_data(APDS9960_REG_CDATAH) + + return l + (h << 8) + + # reads the red light level as a 16-bit value + def readRedLight(self): + # read value from red channel, low byte register + l = self._read_byte_data(APDS9960_REG_RDATAL) + + # read value from red channel, high byte register + h = self._read_byte_data(APDS9960_REG_RDATAH) + + return l + (h << 8) + + # reads the green light level as a 16-bit value + def readGreenLight(self): + # read value from green channel, low byte register + l = self._read_byte_data(APDS9960_REG_GDATAL) + + # read value from green channel, high byte register + h = self._read_byte_data(APDS9960_REG_GDATAH) + + return l + (h << 8) + + # reads the blue light level as a 16-bit value + def readBlueLight(self): + # read value from blue channel, low byte register + l = self._read_byte_data(APDS9960_REG_BDATAL) + + # read value from blue channel, high byte register + h = self._read_byte_data(APDS9960_REG_BDATAH) + + return l + (h << 8) + + + # ******************************************************************************* + # Proximity sensor controls + # ******************************************************************************* + + # reads the proximity level as an 8-bit value + def readProximity(self): + return self._read_byte_data(APDS9960_REG_PDATA) + + + # ******************************************************************************* + # High-level gesture controls + # ******************************************************************************* + + # resets all the parameters in the gesture data member + def resetGestureParameters(self): + self.gesture_data_.index = 0 + self.gesture_data_.total_gestures = 0 + + self.gesture_ud_delta_ = 0 + self.gesture_lr_delta_ = 0 + + self.gesture_ud_count_ = 0 + self.gesture_lr_count_ = 0 + + self.gesture_near_count_ = 0 + self.gesture_far_count_ = 0 + + self.gesture_state_ = 0 + self.gesture_motion_ = APDS9960_DIR_NONE + + + def processGestureData(self): + """Processes the raw gesture data to determine swipe direction + + Returns: + bool: True if near or far state seen, False otherwise. + """ + u_first = 0 + d_first = 0 + l_first = 0 + r_first = 0 + u_last = 0 + d_last = 0 + l_last = 0 + r_last = 0 + + # if we have less than 4 total gestures, that's not enough + if self.gesture_data_.total_gestures <= 4: + return False + + # check to make sure our data isn't out of bounds + if self.gesture_data_.total_gestures <= 32 and self.gesture_data_.total_gestures > 0: + # find the first value in U/D/L/R above the threshold + for i in range(0, self.gesture_data_.total_gestures): + if self.gesture_data_.u_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \ + self.gesture_data_.d_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \ + self.gesture_data_.l_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \ + self.gesture_data_.r_data[i] > APDS9960_GESTURE_THRESHOLD_OUT: + + u_first = self.gesture_data_.u_data[i] + d_first = self.gesture_data_.d_data[i] + l_first = self.gesture_data_.l_data[i] + r_first = self.gesture_data_.r_data[i] + break + + # if one of the _first values is 0, then there is no good data + if u_first == 0 or d_first == 0 or l_first == 0 or r_first == 0: + return False + + # find the last value in U/D/L/R above the threshold + for i in reversed(range(0, self.gesture_data_.total_gestures)): + if self.gesture_data_.u_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \ + self.gesture_data_.d_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \ + self.gesture_data_.l_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \ + self.gesture_data_.r_data[i] > APDS9960_GESTURE_THRESHOLD_OUT: + + u_last = self.gesture_data_.u_data[i] + d_last = self.gesture_data_.d_data[i] + l_last = self.gesture_data_.l_data[i] + r_last = self.gesture_data_.r_data[i] + break + + # calculate the first vs. last ratio of up/down and left/right + 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) + + # determine the difference between the first and last ratios + ud_delta = ud_ratio_last - ud_ratio_first + lr_delta = lr_ratio_last - lr_ratio_first + + # accumulate the UD and LR delta values + self.gesture_ud_delta_ += ud_delta + self.gesture_lr_delta_ += lr_delta + + # determine U/D gesture + if self.gesture_ud_delta_ >= APDS9960_GESTURE_SENSITIVITY_1: + self.gesture_ud_count_ = 1 + elif self.gesture_ud_delta_ <= -APDS9960_GESTURE_SENSITIVITY_1: + self.gesture_ud_count_ = -1 + else: + self.gesture_ud_count_ = 0 + + # determine L/R gesture + if self.gesture_lr_delta_ >= APDS9960_GESTURE_SENSITIVITY_1: + self.gesture_lr_count_ = 1 + elif self.gesture_lr_delta_ <= -APDS9960_GESTURE_SENSITIVITY_1: + self.gesture_lr_count_ = -1 + else: + self.gesture_lr_count_ = 0 + + # determine Near/Far gesture + if self.gesture_ud_count_ == 0 and self.gesture_lr_count_ == 0: + if abs(ud_delta) < APDS9960_GESTURE_SENSITIVITY_2 and \ + abs(lr_delta) < APDS9960_GESTURE_SENSITIVITY_2: + + if ud_delta == 0 and lr_delta == 0: + self.gesture_near_count_ += 1 + elif ud_delta != 0 or lr_delta != 0: + self.gesture_far_count_ += 1 + + if self.gesture_near_count_ >= 10 and self.gesture_far_count_ >= 2: + if ud_delta == 0 and lr_delta == 0: + self.gesture_state_ = APDS9960_STATE_NEAR + elif ud_delta != 0 and lr_delta != 0: + self.gesture_state_ = APDS9960_STATE_FAR + return True + else: + if abs(ud_delta) < APDS9960_GESTURE_SENSITIVITY_2 and \ + abs(lr_delta) < APDS9960_GESTURE_SENSITIVITY_2: + + if ud_delta == 0 and lr_delta == 0: + self.gesture_near_count_ += 1 + + if self.gesture_near_count_ >= 10: + self.gesture_ud_count_ = 0 + self.gesture_lr_count_ = 0 + self.gesture_ud_delta_ = 0 + self.gesture_lr_delta_ = 0 + + return False + + def decodeGesture(self): + """Determines swipe direction or near/far state. + """ + + # return if near or far event is detected + if self.gesture_state_ == APDS9960_STATE_NEAR: + self.gesture_motion_ = APDS9960_DIR_NEAR + return True + + if self.gesture_state_ == APDS9960_STATE_FAR: + self.gesture_motion_ = APDS9960_DIR_FAR + return True + + # determine swipe direction + if self.gesture_ud_count_ == -1 and self.gesture_lr_count_ == 0: + self.gesture_motion_ = APDS9960_DIR_UP + elif self.gesture_ud_count_ == 1 and self.gesture_lr_count_ == 0: + self.gesture_motion_ = APDS9960_DIR_DOWN + elif self.gesture_ud_count_ == 0 and self.gesture_lr_count_ == 1: + self.gesture_motion_ = APDS9960_DIR_RIGHT + elif self.gesture_ud_count_ == 0 and self.gesture_lr_count_ == -1: + self.gesture_motion_ = APDS9960_DIR_LEFT + elif self.gesture_ud_count_ == -1 and self.gesture_lr_count_ == 1: + if abs(self.gesture_ud_delta_) > abs(self.gesture_lr_delta_): + self.gesture_motion_ = APDS9960_DIR_UP + else: + self.gesture_motion_ = APDS9960_DIR_DOWN + elif self.gesture_ud_count_ == 1 and self.gesture_lr_count_ == -1: + if abs(self.gesture_ud_delta_) > abs(self.gesture_lr_delta_): + self.gesture_motion_ = APDS9960_DIR_DOWN + else: + self.gesture_motion_ = APDS9960_DIR_LEFT + elif self.gesture_ud_count_ == -1 and self.gesture_lr_count_ == -1: + if abs(self.gesture_ud_delta_) > abs(self.gesture_lr_delta_): + self.gesture_motion_ = APDS9960_DIR_UP + else: + self.gesture_motion_ = APDS9960_DIR_LEFT + elif self.gesture_ud_count_ == 1 and self.gesture_lr_count_ == 1: + if abs(self.gesture_ud_delta_) > abs(self.gesture_lr_delta_): + self.gesture_motion_ = APDS9960_DIR_DOWN + else: + self.gesture_motion_ = APDS9960_DIR_RIGHT + else: + return False + + return True + + + # ******************************************************************************* + # Getters and setters for register values + # ******************************************************************************* + + def getProxIntLowThresh(self): + """Returns the lower threshold for proximity detection + """ + return self._read_byte_data(APDS9960_REG_PILT) + + def setProxIntLowThresh(self, threshold): + """Sets the lower threshold for proximity detection. + """ + self._write_byte_data(APDS9960_REG_PILT, threshold) + + + def getProxIntHighThresh(self): + """Returns the high threshold for proximity detection. + """ + return self._read_byte_data(APDS9960_REG_PIHT) + + def setProxIntHighThresh(self, threshold): + """Sets the high threshold for proximity detection. + """ + self._write_byte_data(APDS9960_REG_PIHT, threshold) + + + def getLEDDrive(self): + """Returns LED drive strength for proximity and ALS. + + Value LED Current + 0 100 mA + 1 50 mA + 2 25 mA + 3 12.5 mA + + Returns: + int: the value of the LED drive strength + """ + val = self._read_byte_data(APDS9960_REG_CONTROL) + + # shift and mask out LED drive bits + return (val >> 6) & 0b00000011 + + def setLEDDrive(self, drive): + """Sets LED drive strength for proximity and ALS. + + Value LED Current + 0 100 mA + 1 50 mA + 2 25 mA + 3 12.5 mA + + Args: + drive (int): value for the LED drive strength + """ + val = self._read_byte_data(APDS9960_REG_CONTROL) + + # set bits in register to given value + drive &= 0b00000011 + drive = drive << 6 + val &= 0b00111111 + val |= drive + + self._write_byte_data(APDS9960_REG_CONTROL, val) + + + def getProximityGain(self): + """Returns receiver gain for proximity detection. + + Value Gain + 0 1x + 1 2x + 2 4x + 3 8x + + Returns: + int: the value of the proximity gain + """ + val = self._read_byte_data(APDS9960_REG_CONTROL) + + # shift and mask out PDRIVE bits + return (val >> 2) & 0b00000011 + + def setProximityGain(self, drive): + """Returns receiver gain for proximity detection. + + Value Gain + 0 1x + 1 2x + 2 4x + 3 8x + + Args: + drive (int): value for the proximity gain + """ + val = self._read_byte_data(APDS9960_REG_CONTROL) + + # set bits in register to given value + drive &= 0b00000011 + drive = drive << 2 + val &= 0b11110011 + val |= drive + + self._write_byte_data(APDS9960_REG_CONTROL, val) + + + def getAmbientLightGain(self): + """Returns receiver gain for the ambient light sensor (ALS). + + Value Gain + 0 1x + 1 4x + 2 16x + 3 64x + + Returns: + int: the value of the ALS gain + """ + val = self._read_byte_data(APDS9960_REG_CONTROL) + + # shift and mask out ADRIVE bits + return (val & 0b00000011) + + def setAmbientLightGain(self, drive): + """Sets the receiver gain for the ambient light sensor (ALS). + + Value Gain + 0 1x + 1 4x + 2 16x + 3 64x + + Args: + drive (int): value for the ALS gain + """ + val = self._read_byte_data(APDS9960_REG_CONTROL) + + # set bits in register to given value + drive &= 0b00000011 + val &= 0b11111100 + val |= drive + + self._write_byte_data(APDS9960_REG_CONTROL, val) + + + def getLEDBoost(self): + """Get the current LED boost value. + + Value Gain + 0 100% + 1 150% + 2 200% + 3 300% + + Returns: + int: the LED boost value + """ + val = self._read_byte_data(APDS9960_REG_CONFIG2) + + # shift and mask out LED_BOOST bits + return (val >> 4) & 0b00000011 + + def setLEDBoost(self, boost): + """Sets the LED current boost value. + + Value Gain + 0 100% + 1 150% + 2 200% + 3 300% + + Args: + boost (int): value for the LED boost + """ + val = self._read_byte_data(APDS9960_REG_CONFIG2) + + # set bits in register to given value + boost &= 0b00000011 + boost = boost << 4 + val &= 0b11001111 + val |= boost + + self._write_byte_data(APDS9960_REG_CONFIG2, val) + + + def getProxGainCompEnable(self): + """Gets proximity gain compensation enable. + + Returns: + bool: True if compensation is enabled, False if not + """ + val = self._read_byte_data(APDS9960_REG_CONFIG3) + + # Shift and mask out PCMP bits + val = (val >> 5) & 0b00000001 + return val == 1 + + def setProxGainCompEnable(self, enable): + """Sets the proximity gain compensation enable. + + Args: + enable (bool): True to enable compensation, False to disable + """ + val = self._read_byte_data(APDS9960_REG_CONFIG3) + + # set bits in register to given value + val &= 0b11011111 + if enable: + val |= 0b00100000 + + self._write_byte_data(APDS9960_REG_CONFIG3, val) + + + def getProxPhotoMask(self): + """Gets the current mask for enabled/disabled proximity photodiodes. + + Bit Photodiode + 3 UP + 2 DOWN + 1 LEFT + 0 RIGHT + + 1 = disabled, 0 = enabled + + Returns: + int: Current proximity mask for photodiodes. + """ + val = self._read_byte_data(APDS9960_REG_CONFIG3) + + # mask out photodiode enable mask bits + return val & 0b00001111 + + def setProxPhotoMask(self, mask): + """Sets the mask for enabling/disabling proximity photodiodes. + + Bit Photodiode + 3 UP + 2 DOWN + 1 LEFT + 0 RIGHT + + 1 = disabled, 0 = enabled + + Args: + mask (int): 4-bit mask value + """ + val = self._read_byte_data(APDS9960_REG_CONFIG3) + + # set bits in register to given value + mask &= 0b00001111 + val &= 0b11110000 + val |= mask + + self._write_byte_data(APDS9960_REG_CONFIG3, val) + + + def getGestureEnterThresh(self): + """Gets the entry proximity threshold for gesture sensing. + + Returns: + int: current entry proximity threshold + """ + return self._read_byte_data(APDS9960_REG_GPENTH) + + def setGestureEnterThresh(self, threshold): + """Sets the entry proximity threshold for gesture sensing. + + Args: + threshold (int): threshold proximity value needed to start gesture mode + """ + self._write_byte_data(APDS9960_REG_GPENTH, threshold) + + + def getGestureExitThresh(self): + """Gets the exit proximity threshold for gesture sensing. + + Returns: + int: current exit proximity threshold + """ + return self._read_byte_data(APDS9960_REG_GEXTH) + + def setGestureExitThresh(self, threshold): + """Sets the exit proximity threshold for gesture sensing. + + Args: + threshold (int): threshold proximity value needed to end gesture mode + """ + self._write_byte_data(APDS9960_REG_GEXTH, threshold) + + + def getGestureGain(self): + """Gets the gain of the photodiode during gesture mode. + + Value Gain + 0 1x + 1 2x + 2 4x + 3 8x + + Returns: + int: the current photodiode gain + """ + val = self._read_byte_data(APDS9960_REG_GCONF2) + + # shift and mask out PDRIVE bits + return (val >> 5) & 0b00000011 + + def setGestureGain(self, gain): + """Sets the gain of the photodiode during gesture mode. + + Value Gain + 0 1x + 1 2x + 2 4x + 3 8x + + Args: + gain (int): the value for the photodiode gain + """ + val = self._read_byte_data(APDS9960_REG_GCONF2) + + # set bits in register to given value + gain &= 0b00000011 + gain = gain << 5 + val &= 0b10011111 + val |= gain + + self._write_byte_data(APDS9960_REG_GCONF2, val) + + + def getGestureLEDDrive(self): + """Gets the drive current of the LED during gesture mode. + + Value LED Current + 0 100 mA + 1 50 mA + 2 25 mA + 3 12.5 mA + + Returns: + int: the LED drive current value + """ + val = self._read_byte_data(APDS9960_REG_GCONF2) + + # shift and mask out LED drive bits + return (val >> 3) & 0b00000011 + + def setGestureLEDDrive(self, drive): + """Sets LED drive strength for proximity and ALS. + + Value LED Current + 0 100 mA + 1 50 mA + 2 25 mA + 3 12.5 mA + + Args: + drive (int): value for the LED drive current + """ + val = self._read_byte_data(APDS9960_REG_GCONF2) + + # set bits in register to given value + drive &= 0b00000011; + drive = drive << 3; + val &= 0b11100111; + val |= drive; + + self._write_byte_data(APDS9960_REG_GCONF2, val) + + + def getGestureWaitTime(self): + """Gets 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 + + Returns: + int: the current wait time between gestures + """ + val = self._read_byte_data(APDS9960_REG_GCONF2) + + # shift and mask out LED drive bits + return val & 0b00000111 + + def setGestureWaitTime(self, time): + """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 + + Args: + time (int): value for the wait time + """ + val = self._read_byte_data(APDS9960_REG_GCONF2) + + # set bits in register to given value + time &= 0b00000111 + val &= 0b11111000 + val |= time + + self._write_byte_data(APDS9960_REG_GCONF2, val) + + + def getLightIntLowThreshold(self): + """Gets the low threshold for ambient light interrupts. + + Returns: + int: threshold current low threshold stored on the APDS9960 + """ + return self._read_byte_data(APDS9960_REG_AILTL) | (self._read_byte_data(APDS9960_REG_AILTH) << 8) + + def setLightIntLowThreshold(self, threshold): + """Sets the low threshold for ambient light interrupts. + + Args: + threshold (int): low threshold value for interrupt to trigger + """ + # break 16-bit threshold into 2 8-bit values + self._write_byte_data(APDS9960_REG_AILTL, threshold & 0x00ff) + self._write_byte_data(APDS9960_REG_AILTH, (threshold & 0xff00) >> 8) + + + def getLightIntHighThreshold(self): + """Gets the high threshold for ambient light interrupts. + + Returns: + int: threshold current low threshold stored on the APDS9960 + """ + return self._read_byte_data(APDS9960_REG_AIHTL) | (self._read_byte_data(APDS9960_REG_AIHTH) << 8) + + def setLightIntHighThreshold(self, threshold): + """Sets the high threshold for ambient light interrupts. + + Args: + threshold (int): high threshold value for interrupt to trigger + """ + # break 16-bit threshold into 2 8-bit values + self._write_byte_data(APDS9960_REG_AIHTL, threshold & 0x00ff) + self._write_byte_data(APDS9960_REG_AIHTH, (threshold & 0xff00) >> 8) + + + def getProximityIntLowThreshold(self): + """Gets the low threshold for proximity interrupts. + + Returns: + int: threshold current low threshold stored on the APDS9960 + """ + return self._read_byte_data(APDS9960_REG_PILT) + + def setProximityIntLowThreshold(self, threshold): + """Sets the low threshold for proximity interrupts. + + Args: + threshold (int): low threshold value for interrupt to trigger + """ + self._write_byte_data(APDS9960_REG_PILT, threshold) + + + def getProximityIntHighThreshold(self): + """Gets the high threshold for proximity interrupts. + + Returns: + int: threshold current high threshold stored on the APDS9960 + """ + return self._read_byte_data(APDS9960_REG_PIHT) + + def setProximityIntHighThreshold(self, threshold): + """Sets the high threshold for proximity interrupts. + + Args: + threshold (int): high threshold value for interrupt to trigger + """ + self._write_byte_data(APDS9960_REG_PIHT, threshold) + + + def getAmbientLightIntEnable(self): + """Gets if ambient light interrupts are enabled or not. + + Returns: + bool: True if interrupts are enabled, False if not + """ + val = self._read_byte_data(APDS9960_REG_ENABLE) + return (val >> 4) & 0b00000001 == 1 + + def setAmbientLightIntEnable(self, enable): + """Turns ambient light interrupts on or off. + + Args: + enable (bool): True to enable interrupts, False to turn them off + """ + val = self._read_byte_data(APDS9960_REG_ENABLE) + + # set bits in register to given value + val &= 0b11101111; + if enable: + val |= 0b00010000 + + self._write_byte_data(APDS9960_REG_ENABLE, val) + + + def getProximityIntEnable(self): + """Gets if proximity interrupts are enabled or not. + + Returns: + bool: True if interrupts are enabled, False if not + """ + val = self._read_byte_data(APDS9960_REG_ENABLE) + return (val >> 5) & 0b00000001 == 1 + + def setProximityIntEnable(self, enable): + """Turns proximity interrupts on or off. + + Args: + enable (bool): True to enable interrupts, False to turn them off + """ + val = self._read_byte_data(APDS9960_REG_ENABLE) + + # set bits in register to given value + val &= 0b11011111; + if enable: + val |= 0b00100000 + + self._write_byte_data(APDS9960_REG_ENABLE, val) + + + def getGestureIntEnable(self): + """Gets if gesture interrupts are enabled or not. + + Returns: + bool: True if interrupts are enabled, False if not + """ + val = self._read_byte_data(APDS9960_REG_GCONF4) + return (val >> 1) & 0b00000001 == 1 + + def setGestureIntEnable(self, enable): + """Turns gesture-related interrupts on or off. + + Args: + enable (bool): True to enable interrupts, False to turn them off + """ + val = self._read_byte_data(APDS9960_REG_GCONF4) + + # set bits in register to given value + val &= 0b11111101 + if enable: + val |= 0b00000010 + + self._write_byte_data(APDS9960_REG_GCONF4, val) + + + def clearAmbientLightInt(self): + """Clears the ambient light interrupt. + """ + self._read_byte_data(APDS9960_REG_AICLEAR) + + + def clearProximityInt(self): + """Clears the proximity interrupt. + """ + self._read_byte_data(APDS9960_REG_PICLEAR) + + + def getGestureMode(self): + """Tells if the gesture state machine is currently running. + + Returns: + bool: True if gesture state machine is running, False if not + """ + val = self._read_byte_data(APDS9960_REG_GCONF4) + return val & 0b00000001 == 1 + + def setGestureMode(self, enable): + """Turns gesture-related interrupts on or off. + + Args: + enable (bool): True to enter gesture state machine, False to turn them off + """ + val = self._read_byte_data(APDS9960_REG_GCONF4) + + # set bits in register to given value + val &= 0b11111110 + if enable: + val |= 0b00000001 + + self._write_byte_data(APDS9960_REG_GCONF4, val) + + + # ******************************************************************************* + # Raw I2C Reads and Writes + # ******************************************************************************* + + def _read_byte_data(self, cmd): + return self.bus.read_byte_data(self.address, cmd) + + def _write_byte_data(self, cmd, val): + return self.bus.write_byte_data(self.address, cmd, val) + + + def _read_i2c_block_data(self, cmd, num): + return self.bus.read_i2c_block_data(self.address, cmd, num) + + + +class uAPDS9960(APDS9960): + """ + APDS9960 for MicroPython + + sensor = uAPDS9960(bus=I2C_instance, + address=APDS9960_I2C_ADDR, valid_id=APDS9960_DEV_ID) + """ + def _read_byte_data(self, cmd): + return self.bus.readfrom_mem(self.address, cmd, 1)[0] + + def _write_byte_data(self, cmd, val): + self.bus.writeto_mem(self.address, cmd, bytes([val])) + + def _read_i2c_block_data(self, cmd, num): + return self.bus.readfrom_mem(self.address, cmd, num) diff --git a/scripts/libraries/apds9960/apds9960/exceptions.py b/scripts/libraries/apds9960/apds9960/exceptions.py new file mode 100644 index 000000000..909098283 --- /dev/null +++ b/scripts/libraries/apds9960/apds9960/exceptions.py @@ -0,0 +1,7 @@ +class ADPS9960InvalidDevId(ValueError): + def __init__(self, id, valid_ids): + Exception.__init__(self, "Device id 0x{} is not a valied one (valid: {})!".format(format(id, '02x'), ', '.join(["0x{}".format(format(i, '02x')) for i in valid_ids]))) + +class ADPS9960InvalidMode(ValueError): + def __init__(self, mode): + Exception.__init__(self, "Feature mode {} is invalid!".format(mode)) diff --git a/scripts/libraries/lps22h.py b/scripts/libraries/lps22h.py new file mode 100644 index 000000000..9b0db8996 --- /dev/null +++ b/scripts/libraries/lps22h.py @@ -0,0 +1,87 @@ +# LPS22HB/HH pressure seneor micropython drive +# ver: 2.0 +# License: MIT +# Author: shaoziyang (shaoziyang@micropython.org.cn) +# v1.0 2016.4 +# v2.0 2019.7 + +class LPS22H(): + LPS22_CTRL_REG1 = const(0x10) + LPS22_CTRL_REG2 = const(0x11) + LPS22_STATUS = const(0x27) + LPS22_TEMP_OUT_L = const(0x2B) + LPS22_PRESS_OUT_XL = const(0x28) + LPS22_PRESS_OUT_L = const(0x29) + + def __init__(self, i2c, addr = 0x5C): + self.i2c = i2c + self.addr = addr + self.tb = bytearray(1) + self.rb = bytearray(1) + self.oneshot = False + self.irq_v = [0, 0] + # ODR=1 EN_LPFP=1 BDU=1 + self.setreg(LPS22_CTRL_REG1, 0x1A) + self.oneshot_mode(False) + + def oneshot_mode(self, oneshot=None): + if oneshot is None: + return self.oneshot + else: + self.getreg(LPS22_CTRL_REG1) + self.oneshot = oneshot + if oneshot: self.rb[0] &= 0x0F + else: self.rb[0] |= 0x10 + self.setreg(LPS22_CTRL_REG1, self.rb[0]) + + def int16(self, d): + return d if d < 0x8000 else d - 0x10000 + + def setreg(self, reg, dat): + self.tb[0] = dat + self.i2c.writeto_mem(self.addr, reg, self.tb) + + def getreg(self, reg): + self.i2c.readfrom_mem_into(self.addr, reg, self.rb) + return self.rb[0] + + def get2reg(self, reg): + return self.getreg(reg) + self.getreg(reg+1) * 256 + + def ONE_SHOT(self, b): + if self.oneshot: + self.setreg(LPS22_CTRL_REG2, self.getreg(LPS22_CTRL_REG2) | 0x01) + self.getreg(0x28 + b*2) + while 1: + if self.getreg(LPS22_STATUS) & b: + return + + def temperature(self): + self.ONE_SHOT(2) + try: + return self.int16(self.get2reg(LPS22_TEMP_OUT_L))/100 + except MemoryError: + return self.temperature_irq() + + def pressure(self): + self.ONE_SHOT(1) + try: + return (self.getreg(LPS22_PRESS_OUT_XL) + self.get2reg(LPS22_PRESS_OUT_L) * 256)/4096 + except MemoryError: + return self.pressure_irq() + + def altitude(self): + return (((1013.25 / self.pressure())**(1/5.257)) - 1.0) * (self.temperature() + 273.15) / 0.0065 + + def temperature_irq(self): + self.ONE_SHOT(2) + return self.int16(self.get2reg(LPS22_TEMP_OUT_L))//100 + + def pressure_irq(self): + self.ONE_SHOT(1) + return self.get2reg(LPS22_PRESS_OUT_L) >> 4 + + def get_irq(self): + self.irq_v[0] = self.temperature_irq() + self.irq_v[1] = self.pressure_irq() + return self.irq_v diff --git a/scripts/libraries/lsm9ds1.py b/scripts/libraries/lsm9ds1.py new file mode 100644 index 000000000..35358db99 --- /dev/null +++ b/scripts/libraries/lsm9ds1.py @@ -0,0 +1,182 @@ +""" +The MIT License (MIT) + +Copyright (c) 2013, 2014 Damien P. George + +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. + + +LSM9DS1 - 9DOF inertial sensor of STMicro driver for MicroPython. +The sensor contains an accelerometer / gyroscope / magnetometer +Uses the internal FIFO to store up to 16 gyro/accel data, use the iter_accel_gyro generator to access it. + +Example usage: +import time +import lsm9ds1 +from machine import Pin, I2C +lsm = LSM9DS1(I2C(1, scl=Pin(15), sda=Pin(14))) + +while (True): + #for g,a in lsm.iter_accel_gyro(): print(g,a) # using fifo + print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel())) + print('Magnetometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_magnet())) + print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro())) + print("") + time.sleep_ms(100) +""" +import array + +class LSM9DS1: + WHO_AM_I = const(0xf) + CTRL_REG1_G = const(0x10) + INT_GEN_SRC_G = const(0x14) + OUT_TEMP = const(0x15) + OUT_G = const(0x18) + CTRL_REG4_G = const(0x1e) + STATUS_REG = const(0x27) + OUT_XL = const(0x28) + FIFO_CTRL_REG = const(0x2e) + FIFO_SRC = const(0x2f) + OFFSET_REG_X_M = const(0x05) + CTRL_REG1_M = const(0x20) + OUT_M = const(0x28) + SCALE_GYRO = [(245,0),(500,1),(2000,3)] + SCALE_ACCEL = [(2,0),(4,2),(8,3),(16,1)] + + def __init__(self, i2c, address_gyro=0x6B, address_magnet=0x1E): + self.i2c = i2c + self.address_gyro = address_gyro + self.address_magnet = address_magnet + # check id's of accelerometer/gyro and magnetometer + if (self.read_id_magnet() != b'=') or (self.read_id_gyro() != b'h'): + raise OSError("Invalid LSM9DS1 device, using address {}/{}".format( + address_gyro,address_magnet)) + # allocate scratch buffer for efficient conversions and memread op's + self.scratch = array.array('B',[0,0,0,0,0,0]) + self.scratch_int = array.array('h',[0,0,0]) + self.init_gyro_accel() + self.init_magnetometer() + + def init_gyro_accel(self, sample_rate=6, scale_gyro=0, scale_accel=0): + """ Initalizes Gyro and Accelerator. + sample rate: 0-6 (off, 14.9Hz, 59.5Hz, 119Hz, 238Hz, 476Hz, 952Hz) + scale_gyro: 0-2 (245dps, 500dps, 2000dps ) + scale_accel: 0-3 (+/-2g, +/-4g, +/-8g, +-16g) + """ + assert sample_rate <= 6, "invalid sampling rate: %d" % sample_rate + assert scale_gyro <= 2, "invalid gyro scaling: %d" % scale_gyro + assert scale_accel <= 3, "invalid accelerometer scaling: %d" % scale_accel + + i2c = self.i2c + addr = self.address_gyro + mv = memoryview(self.scratch) + # angular control registers 1-3 / Orientation + mv[0] = ((sample_rate & 0x07) << 5) | ((self.SCALE_GYRO[scale_gyro][1] & 0x3) << 3) + mv[1:4] = b'\x00\x00\x00' + i2c.writeto_mem(addr, CTRL_REG1_G, mv[:5]) + # ctrl4 - enable x,y,z, outputs, no irq latching, no 4D + # ctrl5 - enable all axes, no decimation + # ctrl6 - set scaling and sample rate of accel + # ctrl7,8 - leave at default values + # ctrl9 - FIFO enabled + mv[0] = mv[1] = 0x38 + mv[2] = ((sample_rate & 7) << 5) | ((self.SCALE_ACCEL[scale_accel][1] & 0x3) << 3) + mv[3] = 0x00 + mv[4] = 0x4 + mv[5] = 0x2 + i2c.writeto_mem(addr, CTRL_REG4_G, mv[:6]) + + # fifo: use continous mode (overwrite old data if overflow) + i2c.writeto_mem(addr, FIFO_CTRL_REG, b'\x00') + i2c.writeto_mem(addr, FIFO_CTRL_REG, b'\xc0') + + self.scale_gyro = 32768 / self.SCALE_GYRO[scale_gyro][0] + self.scale_accel = 32768 / self.SCALE_ACCEL[scale_accel][0] + + def init_magnetometer(self, sample_rate=7, scale_magnet=0): + """ + sample rates = 0-7 (0.625, 1.25, 2.5, 5, 10, 20, 40, 80Hz) + scaling = 0-3 (+/-4, +/-8, +/-12, +/-16 Gauss) + """ + assert sample_rate < 8, "invalid sample rate: %d (0-7)" % sample_rate + assert scale_magnet < 4, "invalid scaling: %d (0-3)" % scale_magnet + i2c = self.i2c + addr = self.address_magnet + mv = memoryview(self.scratch) + mv[0] = 0x40 | (sample_rate << 2) # ctrl1: high performance mode + mv[1] = scale_magnet << 5 # ctrl2: scale, normal mode, no reset + mv[2] = 0x00 # ctrl3: continous conversion, no low power, I2C + mv[3] = 0x08 # ctrl4: high performance z-axis + mv[4] = 0x00 # ctr5: no fast read, no block update + i2c.writeto_mem(addr, CTRL_REG1_M, mv[:5]) + self.scale_factor_magnet = 32768 / ((scale_magnet+1) * 4 ) + + def calibrate_magnet(self, offset): + """ + offset is a magnet vecor that will be substracted by the magnetometer + for each measurement. It is written to the magnetometer's offset register + """ + offset = [int(i*self.scale_factor_magnet) for i in offset] + mv = memoryview(self.scratch) + mv[0] = offset[0] & 0xff + mv[1] = offset[0] >> 8 + mv[2] = offset[1] & 0xff + mv[3] = offset[1] >> 8 + mv[4] = offset[2] & 0xff + mv[5] = offset[2] >> 8 + self.i2c.writeto_mem(self.address_magnet, OFFSET_REG_X_M, mv[:6]) + + def read_id_gyro(self): + return self.i2c.readfrom_mem(self.address_gyro, WHO_AM_I, 1) + + def read_id_magnet(self): + return self.i2c.readfrom_mem(self.address_magnet, WHO_AM_I, 1) + + def read_magnet(self): + """Returns magnetometer vector in gauss. + raw_values: if True, the non-scaled adc values are returned + """ + mv = memoryview(self.scratch_int) + f = self.scale_factor_magnet + self.i2c.readfrom_mem_into(self.address_magnet, OUT_M | 0x80, mv) + return (mv[0]/f, mv[1]/f, mv[2]/f) + + def read_gyro(self): + """Returns gyroscope vector in degrees/sec.""" + mv = memoryview(self.scratch_int) + f = self.scale_gyro + self.i2c.readfrom_mem_into(self.address_gyro, OUT_G | 0x80, mv) + return (mv[0]/f, mv[1]/f, mv[2]/f) + + def read_accel(self): + """Returns acceleration vector in gravity units (9.81m/s^2).""" + mv = memoryview(self.scratch_int) + f = self.scale_accel + self.i2c.readfrom_mem_into(self.address_gyro, OUT_XL | 0x80, mv) + return (mv[0]/f, mv[1]/f, mv[2]/f) + + def iter_accel_gyro(self): + """A generator that returns tuples of (gyro,accelerometer) data from the fifo.""" + while True: + fifo_state = int.from_bytes(self.i2c.readfrom_mem(self.address_gyro, FIFO_SRC, 1),'big') + if fifo_state & 0x3f: + # print("Available samples=%d" % (fifo_state & 0x1f)) + yield self.read_gyro(),self.read_accel() + else: + break diff --git a/src/omv/boards/NANO33/manifest.py b/src/omv/boards/NANO33/manifest.py index d1dd2f542..674838c3a 100644 --- a/src/omv/boards/NANO33/manifest.py +++ b/src/omv/boards/NANO33/manifest.py @@ -1 +1,4 @@ freeze ("$(MPY_LIB_DIR)/", "hts221.py") +freeze ("$(MPY_LIB_DIR)/", "lps22h.py") +freeze ("$(MPY_LIB_DIR)/", "lsm9ds1.py") +freeze ("$(MPY_LIB_DIR)/apds9960/", "apds9960")