サンプルプログラムを眺める

Arduinoのスケッチがあるので載せておきます。

//AKIZUKI AE-APDS9960 GESTURE SENSOR SAMPLE PROGRAM 
//APDS9960 SCL = A5
//APDS9960 SDA = A4
//APDS9960 GND = GND
//APDS9960 VDD = 3.3V
//APDS9960 LED = 3.3V(47uF REQUIRE)
//USE 3.3V PWR or USE LEVEL SHIFTER
//NO INTERRUPT USE (THIS PROGRAM FORMED "DIRECT REGISTER ACCESS") #include  <Wire.h>
 #define  APDS9960_ADR  0x39 #define  APDS9960_ID   0xAB

String        SERIAL_STRING;
unsigned char DATA_U,DATA_D,DATA_L,DATA_R;
unsigned char OLD_U,OLD_D,OLD_L,OLD_R;
unsigned char work;
unsigned char U_PEAK_END_FLAG,D_PEAK_END_FLAG,L_PEAK_END_FLAG,R_PEAK_END_FLAG;
unsigned char STATUS_UD,STATUS_LR;
unsigned char OLD_STATUS_UD,OLD_STATUS_LR;
unsigned char DISP_FLAG;
unsigned char NOISE_LEVEL = 2;
unsigned char DECIDE_FLAG;
unsigned int  PHASE_COUNTER;
unsigned int  U_PEAK,D_PEAK,L_PEAK,R_PEAK;

//***************************************************
unsigned char I2C_READ(unsigned char REG_ADR)
{
 Wire.beginTransmission(APDS9960_ADR);
 Wire.write(REG_ADR);
 Wire.endTransmission(false);
 Wire.requestFrom(APDS9960_ADR,1);
 return  Wire.read();
}

void I2C_WRITE(unsigned char REG_ADR, unsigned char DATA)
{
 Wire.beginTransmission(APDS9960_ADR);
 Wire.write(REG_ADR);
 Wire.write(DATA);
 Wire.endTransmission(false);
}
//************************************************************
void setup()
{
 Wire.begin();                 //I2C BEGIN
 Serial.begin(9600);          //SET BAUD RATE 9600
 work = I2C_READ(0x92);        //READ REGISTER 0x92 (ADPS9960's ID)
 if(work == APDS9960_ID) 
 {
   Serial.println("Found APDS-9960 : ID = 0xAB on Resister Address 0x92");
   Serial.println("GESTURE SENSOR START");
 }
 else Serial.println("APDS-9960 NOT FOUND");
 //
 I2C_WRITE(0x80,B01000101); //POWER ON<0>, GESTURE ENABLE<6>, PROXIMITY DETECT ENALBE<2>,AEN=0
 I2C_WRITE(0x90,B00110000); //Gesture LED Drive Strength 300%(max)
 I2C_WRITE(0xA3,B01100100); //Reserve0, Gain x8(11), LED Drive 100mA(00), Wait Time see under number
                            //111=39.2mS 110=30.8mS 101=22.4mS 100=14.0mS 011=8.4mS 010=5.6mS 001=2.8ms 000=0mS
 I2C_WRITE(0xA4,70);        //U MINUS OFFSET
 I2C_WRITE(0xA5,0);         //D MINUS OFFSET
 I2C_WRITE(0xA7,10);        //L MINUS OFFSET
 I2C_WRITE(0xA9,34);        //R MINUS OFFSET
 I2C_WRITE(0xAB,B00000001); //GIEN off<1>(INTERRUPT DISABLE), GMODE ON<0>
 RESET_VARIABLE();
}
//---------------------------------------------------------------------
void loop()
{
 work = I2C_READ(0xAE);  //READ GESTUR FIFO LEVEL REGISTER
 if(work != 0)           //IF FIFO HAS SOME DATA
 {
   DATA_U = I2C_READ(0xFC);
   DATA_D = I2C_READ(0xFD);
   DATA_L = I2C_READ(0xFE);
   DATA_R = I2C_READ(0xFF);
   if((DATA_U > NOISE_LEVEL) && (DATA_D > NOISE_LEVEL)&& (DATA_L> NOISE_LEVEL) && (DATA_R > NOISE_LEVEL)) //NOISE CANCEL
   {
     DATA_SYORI();       // 
     PHASE_COUNTER++;    //
     DISP_FLAG = 1;      //
   }
   else 
   {
     if(DISP_FLAG)
     {
       DISP_FLAG = 0;
       DISP_DIR();
     }
     RESET_VARIABLE();
   }
 }
}
//***************************************************
void RESET_VARIABLE(void)
{
 PHASE_COUNTER = 0;
 U_PEAK=0;
 D_PEAK=0;
 L_PEAK=0;
 R_PEAK=0;
 OLD_U = 0;
 OLD_D = 0;
 OLD_L = 0;
 OLD_R = 0;
 U_PEAK_END_FLAG = 0;
 D_PEAK_END_FLAG = 0;
 L_PEAK_END_FLAG = 0;
 R_PEAK_END_FLAG = 0;
 STATUS_UD = 0;
 STATUS_LR = 0;
 OLD_STATUS_UD = 0;
 OLD_STATUS_LR = 0;
 SERIAL_STRING = "";
 DISP_FLAG = 0;
 DECIDE_FLAG = 0;
}
//----------------------------------------------------------------------
void DISP_DIR(void)
{
 if(!(SERIAL_STRING == "")) Serial.println(SERIAL_STRING);
}
//---------------------------------------------------------------------------------------
void DATA_SYORI(void)
{
 if (DATA_U > OLD_U)                //IF NEW_DATA > OLD_DATA_BUFFER(APROACH TO PEAK)
 {
   OLD_U = DATA_U;                  //SAVE NEW_DATA TO OLD_DATA_BUFFER
   U_PEAK = PHASE_COUNTER;          //PEAK_PHASE RENEWAL
   U_PEAK_END_FLAG = 0;             //STILL PEAK or APROACH TO PEAK
 }
 else
 {
   U_PEAK_END_FLAG = 1;             //PEAK WAS GONE
 }
 //**************************
 if (DATA_D > OLD_D)
 {
   OLD_D = DATA_D;
   D_PEAK = PHASE_COUNTER;
   D_PEAK_END_FLAG = 0;
 }
 else
 {
   D_PEAK_END_FLAG = 1;
 }
 //**************************
 if (DATA_L > OLD_L)
 {
   OLD_L = DATA_L;
   L_PEAK = PHASE_COUNTER;
   L_PEAK_END_FLAG = 0;
 }
 else
 {
   L_PEAK_END_FLAG = 1;
 }
 //*************************
 if (DATA_R > OLD_R)
 {
   OLD_R = DATA_R;
   R_PEAK = PHASE_COUNTER;
   R_PEAK_END_FLAG = 0;
 }
 else
 {
   R_PEAK_END_FLAG = 1;
 }
 //**************************
 if(U_PEAK_END_FLAG && D_PEAK_END_FLAG && L_PEAK_END_FLAG && R_PEAK_END_FLAG) //IF ALL PEAK WAS GONE
 {
   DECIDE_FLAG = 0;
   if ((U_PEAK > D_PEAK) & (U_PEAK >= L_PEAK) & (U_PEAK >= R_PEAK))           //U_PEAK WAS LAST
   {
     SERIAL_STRING = "DOWN";
     DECIDE_FLAG = 1;
   }
   if ((D_PEAK > U_PEAK) & (D_PEAK >= L_PEAK) & (D_PEAK >= R_PEAK))           //D_PEAK WAS LAST
   {
     SERIAL_STRING = "UP";
     DECIDE_FLAG = 1;
   }
   if ((L_PEAK >= U_PEAK) & (L_PEAK >= D_PEAK) & (L_PEAK > R_PEAK))           //L_PEAK WAS LAST
   {
     SERIAL_STRING = "RIGHT";
     DECIDE_FLAG =1;
   }
   if ((R_PEAK >= U_PEAK) & (R_PEAK >= D_PEAK) & (R_PEAK > L_PEAK))           //R_PEAK WAS LAST
   {
     SERIAL_STRING = "LEFT";
     DECIDE_FLAG = 1;
   }
   if (!DECIDE_FLAG)SERIAL_STRING = "NONE";                                   //CAN'T DECIDE
}
}

//END

I2C_WRITE, I2C_READはそのまま置き換えるとして、

void RESET_VARIABLE(void)
void DISP_DIR(void)
void DATA_SYORI(void)

の３つの関数を理解して書かないといけないようです。

こういう組み込み装置のプログラムを書く際に気をつけないといけないのは、センサーから正しく値が読めているか、と、その処理プログラムが正しく書けているか、を確認してデバッグする方法を、プログラムを書く前に一緒に考えておく必要があるということです。

次回はデバッグ方法を含めてプログラムを書き進めてみます。

ここまで