Darkages/SpotMicroESP32-Leika
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SpotMicroESP32-Leika/esp32/include/peripherals/gesture.h
T
Rune Harlyk dbc74d6f88 ⚡ Replace third party libs with i2c bus drivers
2026-01-30 12:57:51 +01:00

185 lines
8.2 KiB
C++
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#pragma once
#include <peripherals/i2c_bus.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
};
enum orient_t : uint8_t { kRot0 = 0, kRot90, kRot180, kRot270 };
struct GestureMsg {
gesture_t gesture {eGestureNone};
bool success {false};
};
class PAJ7620U2 {
public:
PAJ7620U2(uint8_t addr = 0x73) : dev(addr) {}
int begin() {
uint16_t id = 0;
selectBank(0x00);
if (readReg(REG_PART_ID, &id, 2) != 2) return ERR_BUS;
if (id != PART_ID) return ERR_IC;
for (size_t i = 0; i < (sizeof(initReg) / sizeof(initReg[0])); i++) writeReg(initReg[i][0], &initReg[i][1], 1);
selectBank(0x00);
return ERR_OK;
}
void setGestureHighRate(bool b) { highRate = b; }
gesture_t getGesture() {
uint8_t f1 = 0, f0 = 0, t0 = 0;
if (readReg(REG_GES_FLAG_1, &f1, 1) != 1) return eGestureNone;
if (f1) {
vTaskDelay(highRate ? QUIT_MS / 5 : QUIT_MS / portTICK_PERIOD_MS);
return mapGesture(eGestureWave);
}
if (readReg(REG_GES_FLAG_0, &f0, 1) != 1) return eGestureNone;
if (!highRate) {
vTaskDelay(ENTRY_MS / portTICK_PERIOD_MS);
if (readReg(REG_GES_FLAG_0, &t0, 1) == 1) f0 |= t0;
}
if (f0 & 0x01) return mapGesture(eGestureRight);
if (f0 & 0x02) return mapGesture(eGestureLeft);
if (f0 & 0x04) return mapGesture(eGestureUp);
if (f0 & 0x08) return mapGesture(eGestureDown);
if (f0 & 0x10) return mapGesture(eGestureForward);
if (f0 & 0x20) return mapGesture(eGestureBackward);
if (f0 & 0x40) return mapGesture(eGestureClockwise);
if (f0 & 0x80) return mapGesture(eGestureAntiClockwise);
return eGestureNone;
}
private:
static constexpr uint8_t REG_BANK_SEL = 0xEF;
static constexpr uint8_t REG_GES_FLAG_0 = 0x43;
static constexpr uint8_t REG_GES_FLAG_1 = 0x44;
static constexpr uint8_t REG_PART_ID = 0x00;
static constexpr uint16_t PART_ID = 0x7620;
static constexpr uint16_t ENTRY_MS = 800;
static constexpr uint16_t QUIT_MS = 1000;
static constexpr int ERR_OK = 0;
static constexpr int ERR_BUS = -1;
static constexpr int ERR_IC = -2;
void selectBank(uint8_t b) { writeReg(REG_BANK_SEL, &b, 1); }
void writeReg(uint8_t reg, const void* p, size_t n) {
if (!p || !n) return;
I2CBus::instance().writeReg(dev, reg, static_cast<const uint8_t*>(p), n);
}
uint8_t readReg(uint8_t reg, void* p, size_t n) {
if (!p || !n) return 0;
esp_err_t err = I2CBus::instance().readReg(dev, reg, static_cast<uint8_t*>(p), n);
return (err == ESP_OK) ? n : 0;
}
gesture_t mapGesture(gesture_t g) const {
if (g == eGestureForward || g == eGestureBackward || g == eGestureWave) return g;
if (g == eGestureClockwise || g == eGestureAntiClockwise) return g;
switch (orient) {
case kRot0: return g;
case kRot90:
if (g == eGestureRight) return eGestureDown;
if (g == eGestureLeft) return eGestureUp;
if (g == eGestureUp) return eGestureRight;
if (g == eGestureDown) return eGestureLeft;
return g;
case kRot180:
if (g == eGestureRight) return eGestureLeft;
if (g == eGestureLeft) return eGestureRight;
if (g == eGestureUp) return eGestureDown;
if (g == eGestureDown) return eGestureUp;
return g;
case kRot270:
if (g == eGestureRight) return eGestureUp;
if (g == eGestureLeft) return eGestureDown;
if (g == eGestureUp) return eGestureLeft;
if (g == eGestureDown) return eGestureRight;
return g;
}
return g;
}
uint8_t dev;
bool highRate = false;
orient_t orient = kRot180;
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;
const gesture_t g = paj.getGesture();
if (g == eGestureNone) {
msg.gesture = eGestureNone;
return false;
}
if (g != msg.gesture) {
msg.gesture = g;
return true;
}
return false;
}
gesture_t getGesture() { return msg.gesture; }
gesture_t takeGesture() {
const auto g = msg.gesture;
msg.gesture = eGestureNone;
return g;
}
GestureMsg getGestureMsg() { return msg; }
bool isActive() { return msg.success; }
private:
PAJ7620U2 paj;
GestureMsg msg;
};
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