✨ Adds gesture controls

app/src/routes/peripherals/i2c/i2c.svelte

@@ -16,6 +16,7 @@
       part_number: 'MPU6050',
       name: 'Six-Axis (Gyro + Accelerometer) MEMS MotionTracking™ Devices'
     },
+    { address: 115, part_number: 'PAJ7620U2', name: 'Gesture sensor' },
     { address: 119, part_number: 'BMP085', name: 'Temp/Barometric' }
   ]
 

esp32/features.ini

@@ -20,3 +20,4 @@ build_flags =
   -D USE_BNO055=0
   -D USE_USS=0
   -D USE_PCA9685=1
+  -D USE_PAJ7620U2=0

esp32/include/motion.h

@@ -105,7 +105,23 @@ class MotionService {
         _servoController->setAngles(angles);
     }
 
+    void handleGestures() {
+        const gesture_t ges = _peripherals->getGesture();
+        if (ges != gesture_t::eGestureNone) {
+            ESP_LOGI("Motion", "Gesture: %d", ges);
+            switch (ges) {
+                case gesture_t::eGestureDown: setState(&restState); break;
+                case gesture_t::eGestureUp: setState(&standState); break;
+                case gesture_t::eGestureLeft:
+                case gesture_t::eGestureRight: setState(&walkState); break;
+
+                default: break;
+            }
+        }
+    }
+
     bool updateMotion() {
+        handleGestures();
         if (!state) return false;
         unsigned long now = millis();
         float dt = (now - lastUpdate) / 1000.0f;

esp32/include/peripherals/gesture.h

@@ -0,0 +1,151 @@
+#pragma once
+
+#include <Wire.h>
+#include <ArduinoJson.h>
+
+enum gesture_t : uint16_t {
+    eGestureNone = 0x0000,
+    eGestureRight = 0x0001,
+    eGestureLeft = 0x0002,
+    eGestureUp = 0x0004,
+    eGestureDown = 0x0008,
+    eGestureForward = 0x0010,
+    eGestureBackward = 0x0020,
+    eGestureClockwise = 0x0040,
+    eGestureAntiClockwise = 0x0080,
+    eGestureWave = 0x0100
+};
+
+struct GestureMsg {
+    gesture_t gesture {eGestureNone};
+    bool success {false};
+    friend void toJson(JsonVariant v, GestureMsg const& a) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(static_cast<uint16_t>(a.gesture));
+        arr.add(a.success);
+    }
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        gesture = static_cast<gesture_t>(arr[0].as<uint16_t>());
+        success = arr[1].as<bool>();
+    }
+};
+
+class PAJ7620U2 {
+  public:
+    PAJ7620U2(TwoWire* w = &Wire, uint8_t addr = 0x73) : wire(w), dev(addr) {}
+    int begin() {
+        uint16_t id = 0;
+        wire->begin();
+        selectBank(0x00);
+        if (readReg(0x00, &id, 2) != 2) return -1;
+        if (id != 0x7620) return -2;
+        for (size_t i = 0; i < sizeof(initReg) / 2; i++) writeReg(initReg[i][0], &initReg[i][1], 1);
+        selectBank(0x00);
+        return 0;
+    }
+
+    void setGestureHighRate(bool b) { highRate = b; }
+
+    gesture_t getGesture() {
+        uint8_t f1 = 0, f0 = 0, t0 = 0;
+        if (readReg(0x44, &f1, 1) != 1) return eGestureNone;
+        if (f1) {
+            delay(highRate ? 200 : 1000);
+            return eGestureWave;
+        }
+        if (readReg(0x43, &f0, 1) != 1) return eGestureNone;
+        if (!highRate) {
+            delay(800);
+            if (readReg(0x43, &t0, 1) == 1) f0 |= t0;
+        }
+        if (f0 & 0x01) return eGestureRight;
+        if (f0 & 0x02) return eGestureLeft;
+        if (f0 & 0x04) return eGestureUp;
+        if (f0 & 0x08) return eGestureDown;
+        if (f0 & 0x10) return eGestureForward;
+        if (f0 & 0x20) return eGestureBackward;
+        if (f0 & 0x40) return eGestureClockwise;
+        if (f0 & 0x80) return eGestureAntiClockwise;
+        return eGestureNone;
+    }
+
+  private:
+    void selectBank(uint8_t b) { writeReg(0xEF, &b, 1); }
+
+    void writeReg(uint8_t reg, const void* p, size_t n) {
+        if (!p || !n) return;
+        const uint8_t* d = static_cast<const uint8_t*>(p);
+        wire->beginTransmission(dev);
+        wire->write(reg);
+        for (size_t i = 0; i < n; i++) wire->write(d[i]);
+        wire->endTransmission();
+    }
+
+    uint8_t readReg(uint8_t reg, void* p, size_t n) {
+        if (!p || !n) return 0;
+        uint8_t* d = static_cast<uint8_t*>(p);
+        wire->beginTransmission(dev);
+        wire->write(reg);
+        if (wire->endTransmission(false) != 0) return 0;
+        uint8_t r = wire->requestFrom(dev, static_cast<uint8_t>(n));
+        for (uint8_t i = 0; i < r; i++) d[i] = wire->read();
+        return r;
+    }
+
+    TwoWire* wire;
+    uint8_t dev;
+    bool highRate = false;
+
+    static inline const uint8_t initReg[219][2] = {
+        {0xEF, 0x00}, {0x32, 0x29}, {0x33, 0x01}, {0x34, 0x00}, {0x35, 0x01}, {0x36, 0x00}, {0x37, 0x07}, {0x38, 0x17},
+        {0x39, 0x06}, {0x3A, 0x12}, {0x3F, 0x00}, {0x40, 0x02}, {0x41, 0xFF}, {0x42, 0x01}, {0x46, 0x2D}, {0x47, 0x0F},
+        {0x48, 0x3C}, {0x49, 0x00}, {0x4A, 0x1E}, {0x4B, 0x00}, {0x4C, 0x20}, {0x4D, 0x00}, {0x4E, 0x1A}, {0x4F, 0x14},
+        {0x50, 0x00}, {0x51, 0x10}, {0x52, 0x00}, {0x5C, 0x02}, {0x5D, 0x00}, {0x5E, 0x10}, {0x5F, 0x3F}, {0x60, 0x27},
+        {0x61, 0x28}, {0x62, 0x00}, {0x63, 0x03}, {0x64, 0xF7}, {0x65, 0x03}, {0x66, 0xD9}, {0x67, 0x03}, {0x68, 0x01},
+        {0x69, 0xC8}, {0x6A, 0x40}, {0x6D, 0x04}, {0x6E, 0x00}, {0x6F, 0x00}, {0x70, 0x80}, {0x71, 0x00}, {0x72, 0x00},
+        {0x73, 0x00}, {0x74, 0xF0}, {0x75, 0x00}, {0x80, 0x42}, {0x81, 0x44}, {0x82, 0x04}, {0x83, 0x20}, {0x84, 0x20},
+        {0x85, 0x00}, {0x86, 0x10}, {0x87, 0x00}, {0x88, 0x05}, {0x89, 0x18}, {0x8A, 0x10}, {0x8B, 0x01}, {0x8C, 0x37},
+        {0x8D, 0x00}, {0x8E, 0xF0}, {0x8F, 0x81}, {0x90, 0x06}, {0x91, 0x06}, {0x92, 0x1E}, {0x93, 0x0D}, {0x94, 0x0A},
+        {0x95, 0x0A}, {0x96, 0x0C}, {0x97, 0x05}, {0x98, 0x0A}, {0x99, 0x41}, {0x9A, 0x14}, {0x9B, 0x0A}, {0x9C, 0x3F},
+        {0x9D, 0x33}, {0x9E, 0xAE}, {0x9F, 0xF9}, {0xA0, 0x48}, {0xA1, 0x13}, {0xA2, 0x10}, {0xA3, 0x08}, {0xA4, 0x30},
+        {0xA5, 0x19}, {0xA6, 0x10}, {0xA7, 0x08}, {0xA8, 0x24}, {0xA9, 0x04}, {0xAA, 0x1E}, {0xAB, 0x1E}, {0xCC, 0x19},
+        {0xCD, 0x0B}, {0xCE, 0x13}, {0xCF, 0x64}, {0xD0, 0x21}, {0xD1, 0x0F}, {0xD2, 0x88}, {0xE0, 0x01}, {0xE1, 0x04},
+        {0xE2, 0x41}, {0xE3, 0xD6}, {0xE4, 0x00}, {0xE5, 0x0C}, {0xE6, 0x0A}, {0xE7, 0x00}, {0xE8, 0x00}, {0xE9, 0x00},
+        {0xEE, 0x07}, {0xEF, 0x01}, {0x00, 0x1E}, {0x01, 0x1E}, {0x02, 0x0F}, {0x03, 0x10}, {0x04, 0x02}, {0x05, 0x00},
+        {0x06, 0xB0}, {0x07, 0x04}, {0x08, 0x0D}, {0x09, 0x0E}, {0x0A, 0x9C}, {0x0B, 0x04}, {0x0C, 0x05}, {0x0D, 0x0F},
+        {0x0E, 0x02}, {0x0F, 0x12}, {0x10, 0x02}, {0x11, 0x02}, {0x12, 0x00}, {0x13, 0x01}, {0x14, 0x05}, {0x15, 0x07},
+        {0x16, 0x05}, {0x17, 0x07}, {0x18, 0x01}, {0x19, 0x04}, {0x1A, 0x05}, {0x1B, 0x0C}, {0x1C, 0x2A}, {0x1D, 0x01},
+        {0x1E, 0x00}, {0x21, 0x00}, {0x22, 0x00}, {0x23, 0x00}, {0x25, 0x01}, {0x26, 0x00}, {0x27, 0x39}, {0x28, 0x7F},
+        {0x29, 0x08}, {0x30, 0x03}, {0x31, 0x00}, {0x32, 0x1A}, {0x33, 0x1A}, {0x34, 0x07}, {0x35, 0x07}, {0x36, 0x01},
+        {0x37, 0xFF}, {0x38, 0x36}, {0x39, 0x07}, {0x3A, 0x00}, {0x3E, 0xFF}, {0x3F, 0x00}, {0x40, 0x77}, {0x41, 0x40},
+        {0x42, 0x00}, {0x43, 0x30}, {0x44, 0xA0}, {0x45, 0x5C}, {0x46, 0x00}, {0x47, 0x00}, {0x48, 0x58}, {0x4A, 0x1E},
+        {0x4B, 0x1E}, {0x4C, 0x00}, {0x4D, 0x00}, {0x4E, 0xA0}, {0x4F, 0x80}, {0x50, 0x00}, {0x51, 0x00}, {0x52, 0x00},
+        {0x53, 0x00}, {0x54, 0x00}, {0x57, 0x80}, {0x59, 0x10}, {0x5A, 0x08}, {0x5B, 0x94}, {0x5C, 0xE8}, {0x5D, 0x08},
+        {0x5E, 0x3D}, {0x5F, 0x99}, {0x60, 0x45}, {0x61, 0x40}, {0x63, 0x2D}, {0x64, 0x02}, {0x65, 0x96}, {0x66, 0x00},
+        {0x67, 0x97}, {0x68, 0x01}, {0x69, 0xCD}, {0x6A, 0x01}, {0x6B, 0xB0}, {0x6C, 0x04}, {0x6D, 0x2C}, {0x6E, 0x01},
+        {0x6F, 0x32}, {0x71, 0x00}, {0x72, 0x01}, {0x73, 0x35}, {0x74, 0x00}, {0x75, 0x33}, {0x76, 0x31}, {0x77, 0x01},
+        {0x7C, 0x84}, {0x7D, 0x03}, {0x7E, 0x01}};
+};
+
+class GestureSensor {
+  public:
+    GestureSensor() {}
+    bool initialize() {
+        msg.success = paj.begin() == 0;
+        if (msg.success) paj.setGestureHighRate(true);
+        return msg.success;
+    }
+    bool readGesture() {
+        if (!msg.success) return false;
+        msg.gesture = paj.getGesture();
+        return msg.gesture != eGestureNone;
+    }
+    gesture_t getGesture() { return msg.gesture; }
+    GestureMsg getGestureMsg() { return msg; }
+    bool isActive() { return msg.success; }
+
+  private:
+    PAJ7620U2 paj;
+    GestureMsg msg;
+};

esp32/include/peripherals/peripherals.h

@@ -19,6 +19,7 @@
 #include <peripherals/imu.h>
 #include <peripherals/magnetometer.h>
 #include <peripherals/barometer.h>
+#include <peripherals/gesture.h>
 
 #define EVENT_CONFIGURATION_SETTINGS "peripheralSettings"
 
@@ -69,6 +70,9 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 #if FT_ENABLED(USE_BMP180)
         if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed");
 #endif
+#if FT_ENABLED(USE_PAJ7620U2)
+        if (!_gesture.initialize()) ESP_LOGE("IMUService", "Gesture initialize failed");
+#endif
 #if FT_ENABLED(USE_USS)
         _left_sonar = std::make_unique<NewPing>(USS_LEFT_PIN, USS_LEFT_PIN, MAX_DISTANCE);
         _right_sonar = std::make_unique<NewPing>(USS_RIGHT_PIN, USS_RIGHT_PIN, MAX_DISTANCE);
@@ -155,6 +159,16 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
         return updated;
     }
 
+    bool readGesture() {
+        bool updated = false;
+#if FT_ENABLED(USE_PAJ7620U2)
+        beginTransaction();
+        updated = _gesture.readGesture();
+        endTransaction();
+#endif
+        return updated;
+    }
+
     void readSonar() {
 #if FT_ENABLED(USE_USS)
         _left_distance = _left_sonar->ping_cm();
@@ -183,6 +197,15 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     // float angleZ() { return _imu.getAngleZ(); }
 
+    gesture_t getGesture() {
+        return
+#if FT_ENABLED(USE_PAJ7620U2)
+            _gesture.getGesture();
+#else
+            gesture_t::eGestureNone;
+#endif
+    }
+
     float leftDistance() { return _left_distance; }
     float rightDistance() { return _right_distance; }
 
@@ -236,6 +259,9 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 #if FT_ENABLED(USE_BMP180)
     Barometer _bmp;
 #endif
+#if FT_ENABLED(USE_PAJ7620U2)
+    GestureSensor _gesture;
+#endif
 #if FT_ENABLED(USE_USS)
     std::unique_ptr<NewPing> _left_sonar;
     std::unique_ptr<NewPing> _right_sonar;

esp32/include/spot.h

@@ -49,6 +49,7 @@ class Spot {
         _peripherals.readIMU();
         _peripherals.readMag();
         _peripherals.readBMP();
+        EXECUTE_EVERY_N_MS(100, { _peripherals.readGesture(); });
     }
 
     // plan