ocoge/local_modules/@ocogeclub/paj7620/PAJ7620.js

"use strict";

const pig = require('@ocogeclub/pigpio');

const sleep = sec =>
    new Promise(r => setTimeout(r, sec * 1000));

const GES_REACTION_TIME = .100;				// default:0.5 // You can adjust the reaction time according to the actual circumstance.
const GES_ENTRY_TIME = .050;				// default:0.8 // When you want to recognize the Forward/Backward gestures, your gestures' reaction time must less than GES_ENTRY_TIME(0.8s).
const GES_QUIT_TIME = 1.000;

const BANK0 = 0;
const BANK1 = 1;

const PAJ7620_ADDR_BASE = 0x00;

//REGISTER BANK SELECT
const PAJ7620_REGITER_BANK_SEL = (PAJ7620_ADDR_BASE + 0xEF);	//W

//DEVICE ID
// const PAJ7620_ID = 0x73;

//REGISTER BANK 0
const PAJ7620_ADDR_SUSPEND_CMD = (PAJ7620_ADDR_BASE + 0x3);	//W
const PAJ7620_ADDR_GES_PS_DET_MASK_0 = (PAJ7620_ADDR_BASE + 0x41);	//RW
const PAJ7620_ADDR_GES_PS_DET_MASK_1 = (PAJ7620_ADDR_BASE + 0x42);	//RW
const PAJ7620_ADDR_GES_PS_DET_FLAG_0 = (PAJ7620_ADDR_BASE + 0x43);	//R
const PAJ7620_ADDR_GES_PS_DET_FLAG_1 = (PAJ7620_ADDR_BASE + 0x44);	//R
const PAJ7620_ADDR_STATE_INDICATOR = (PAJ7620_ADDR_BASE + 0x45);	//R
const PAJ7620_ADDR_PS_HIGH_THRESHOLD = (PAJ7620_ADDR_BASE + 0x69);	//RW
const PAJ7620_ADDR_PS_LOW_THRESHOLD = (PAJ7620_ADDR_BASE + 0x6A);	//RW
const PAJ7620_ADDR_PS_APPROACH_STATE = (PAJ7620_ADDR_BASE + 0x6B);	//R
const PAJ7620_ADDR_PS_RAW_DATA = (PAJ7620_ADDR_BASE + 0x6C);	//R

//REGISTER BANK 1
const PAJ7620_ADDR_PS_GAIN = (PAJ7620_ADDR_BASE + 0x44);	//RW
const PAJ7620_ADDR_IDLE_S1_STEP_0 = (PAJ7620_ADDR_BASE + 0x67);	//RW
const PAJ7620_ADDR_IDLE_S1_STEP_1 = (PAJ7620_ADDR_BASE + 0x68);	//RW
const PAJ7620_ADDR_IDLE_S2_STEP_0 = (PAJ7620_ADDR_BASE + 0x69);	//RW
const PAJ7620_ADDR_IDLE_S2_STEP_1 = (PAJ7620_ADDR_BASE + 0x6A);	//RW
const PAJ7620_ADDR_OP_TO_S1_STEP_0 = (PAJ7620_ADDR_BASE + 0x6B);	//RW
const PAJ7620_ADDR_OP_TO_S1_STEP_1 = (PAJ7620_ADDR_BASE + 0x6C);	//RW
const PAJ7620_ADDR_OP_TO_S2_STEP_0 = (PAJ7620_ADDR_BASE + 0x6D);	//RW
const PAJ7620_ADDR_OP_TO_S2_STEP_1 = (PAJ7620_ADDR_BASE + 0x6E);	//RW
const PAJ7620_ADDR_OPERATION_ENABLE = (PAJ7620_ADDR_BASE + 0x72);	//RW

//PAJ7620_REGITER_BANK_SEL
const PAJ7620_BANK0 = 0;
const PAJ7620_BANK1 = 1;

//PAJ7620_ADDR_SUSPEND_CMD
const PAJ7620_I2C_WAKEUP = 1;
const PAJ7620_I2C_SUSPEND = 0;

//PAJ7620_ADDR_OPERATION_ENABLE
const PAJ7620_ENABLE = 1;
const PAJ7620_DISABLE = 0;

//ADC, delete
const REG_ADDR_RESULT = 0x00;
const REG_ADDR_ALERT = 0x01;
const REG_ADDR_CONFIG = 0x02;
const REG_ADDR_LIMITL = 0x03;
const REG_ADDR_LIMITH = 0x04;
const REG_ADDR_HYST = 0x05;
const REG_ADDR_CONVL = 0x06;
const REG_ADDR_CONVH = 0x07;

const GES_RIGHT_FLAG = 1 << 0;
const GES_LEFT_FLAG = 1 << 1;
const GES_UP_FLAG = 1 << 2;
const GES_DOWN_FLAG = 1 << 3;
const GES_FORWARD_FLAG = 1 << 4;
const GES_BACKWARD_FLAG = 1 << 5;
const GES_CLOCKWISE_FLAG = 1 << 6;
const GES_COUNT_CLOCKWISE_FLAG = 1 << 7;
const GES_WAVE_FLAG = 1 << 0;

//Gesture output
exports.FORWARD = 1;
exports.BACKWARD = 2;
exports.RIGHT = 3;
exports.LEFT = 4;
exports.UP = 5;
exports.DOWN = 6;
exports.CLOCKWISE = 7;
exports.ANTI_CLOCKWISE = 8;
exports.WAVE = 9;

//Initial register state
const initRegisterArray = [
    [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]
];

//Enable debug message
const debug = 0;

let pi = -1;
let i2c_hand = -1;
//Initialize the sensors
exports.init = async (i2c_bus, i2c_addr) => {
    if (pi < 0) pi = await pig._pigpio_start('', '');
    if (i2c_hand < 0) await pig._i2c_close(pi, i2c_hand);
    i2c_hand = await pig._i2c_open(pi, i2c_bus, i2c_addr);
    if (debug)
        console.log("pi" + pi + "i2c_hand" + i2c_hand);

    await sleep(.001);
    await paj7620SelectBank(BANK0);
    await paj7620SelectBank(BANK0);

    let data0 = (await paj7620ReadReg(0, 1))[0];
    let data1 = (await paj7620ReadReg(1, 1))[0];
    if (debug)
        console.log("data0:" + data0 + ", data1:" + data1);
    if (data0 != 0x20)  //or data1 <> 0x76
        console.log("Error with sensor");
    //return 0xff
    if (data0 == 0x20)
        console.log("wake-up finish.");

    for (let i = 0; i < initRegisterArray.length; i += 1)
        await paj7620WriteReg(initRegisterArray[i][0], initRegisterArray[i][1]);

    await paj7620SelectBank(BANK0);

    console.log("Paj7620 initialize register finished.");

}

// Write a byte to a register on the Gesture sensor
const paj7620WriteReg = async (addr, cmd) =>
    await pig._i2c_write_word_data(pi, i2c_hand, addr, cmd);

//Select a register bank on the Gesture Sensor
const paj7620SelectBank = async bank => {
    if (bank == BANK0)
        await paj7620WriteReg(PAJ7620_REGITER_BANK_SEL, PAJ7620_BANK0);
}

//Read a block of bytes of length "qty" starting at address "addr" from the Gesture sensor
const paj7620ReadReg = async (addr, qty) => {
    return await pig._i2c_read_i2c_block_data(pi, i2c_hand, addr, qty);
}

//Return a vlaue from the gestire sensor which can be used in a program
// 	0:nothing
// 	1:Forward
// 	2:Backward
// 	3:Right
// 	4:Left
// 	5:Up
// 	6:Down
// 	7:Clockwise
// 	8:anti-clockwise
// 	9:wave
exports.return_gesture = async () => {

    let data = (await paj7620ReadReg(0x43, 1))[0];
    if (data == GES_RIGHT_FLAG) {
        await sleep(GES_ENTRY_TIME);
        data = (await paj7620ReadReg(0x43, 1))[0];
        if (data == GES_FORWARD_FLAG) {
            return 1;
            // await sleep(GES_QUIT_TIME);
        }
        else if (data == GES_BACKWARD_FLAG) {
            return 2;
            // await sleep(GES_QUIT_TIME);
        }
        else
            return 3;
    }

    else if (data == GES_LEFT_FLAG) {
        await sleep(GES_ENTRY_TIME);
        data = (await paj7620ReadReg(0x43, 1))[0];
        if (data == GES_FORWARD_FLAG) {
            return 1;
            // await sleep(GES_QUIT_TIME);
        }
        else if (data == GES_BACKWARD_FLAG) {
            return 2;
            // await sleep(GES_QUIT_TIME);
        }
        else
            return 4;
    }

    else if (data == GES_UP_FLAG) {
        await sleep(GES_ENTRY_TIME);
        data = (await paj7620ReadReg(0x43, 1))[0];
        if (data == GES_FORWARD_FLAG) {
            return 1;
            // await sleep(GES_QUIT_TIME);
        }
        else if (data == GES_BACKWARD_FLAG) {
            return 2;
            // await sleep(GES_QUIT_TIME);
        }
        else
            return 5;
    }

    else if (data == GES_DOWN_FLAG) {
        await sleep(GES_ENTRY_TIME);
        data = (await paj7620ReadReg(0x43, 1))[0];
        if (data == GES_FORWARD_FLAG) {
            return 1;
            // await sleep(GES_QUIT_TIME);
        }
        else if (data == GES_BACKWARD_FLAG) {
            return 2;
            // await sleep(GES_QUIT_TIME);
        }
        else
            return 6;
    }
    else if (data == GES_FORWARD_FLAG) {
        return 1;
        // await sleep(GES_QUIT_TIME);
    }

    else if (data == GES_BACKWARD_FLAG) {
        return 2;
        // await sleep(GES_QUIT_TIME);
    }

    else if (data == GES_CLOCKWISE_FLAG)
        return 7;

    else if (data == GES_COUNT_CLOCKWISE_FLAG)
        return 8;

    else {
        let data1 = (await paj7620ReadReg(0x44, 1))[0];
        if (data1 == GES_WAVE_FLAG)
            return 9;
    }
    return 0;
}

exports.stop = async () => {
    if (i2c_hand >= 0) {
        await pig._i2c_close(pi, i2c_hand);
        i2c_hand = -1;
    }
    if (pi >= 0) {
        await pig._pigpio_stop(pi);
        pi = -1;
    }
}

/*
 * This code was ported from "Grove - Gesture Sensor v1.0 Python library and examples": https://github.com/DexterInd/GrovePi/tree/master/Software/Python/grove_gesture_sensor
 */