mirror of
https://github.com/ocogeclub/ocoge.git
synced 2024-11-25 00:49:48 +00:00
472 lines
11 KiB
JavaScript
472 lines
11 KiB
JavaScript
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"use strict";
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const pig = require('@ocogeclub/pigpio');
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const sleep = sec =>
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new Promise(r => setTimeout(r, sec * 1000));
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const GES_REACTION_TIME = .100; // default:0.5 // You can adjust the reaction time according to the actual circumstance.
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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).
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const GES_QUIT_TIME = 1.000;
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const BANK0 = 0;
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const BANK1 = 1;
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const PAJ7620_ADDR_BASE = 0x00;
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//REGISTER BANK SELECT
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const PAJ7620_REGITER_BANK_SEL = (PAJ7620_ADDR_BASE + 0xEF); //W
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//DEVICE ID
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// const PAJ7620_ID = 0x73;
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//REGISTER BANK 0
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const PAJ7620_ADDR_SUSPEND_CMD = (PAJ7620_ADDR_BASE + 0x3); //W
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const PAJ7620_ADDR_GES_PS_DET_MASK_0 = (PAJ7620_ADDR_BASE + 0x41); //RW
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const PAJ7620_ADDR_GES_PS_DET_MASK_1 = (PAJ7620_ADDR_BASE + 0x42); //RW
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const PAJ7620_ADDR_GES_PS_DET_FLAG_0 = (PAJ7620_ADDR_BASE + 0x43); //R
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const PAJ7620_ADDR_GES_PS_DET_FLAG_1 = (PAJ7620_ADDR_BASE + 0x44); //R
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const PAJ7620_ADDR_STATE_INDICATOR = (PAJ7620_ADDR_BASE + 0x45); //R
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const PAJ7620_ADDR_PS_HIGH_THRESHOLD = (PAJ7620_ADDR_BASE + 0x69); //RW
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const PAJ7620_ADDR_PS_LOW_THRESHOLD = (PAJ7620_ADDR_BASE + 0x6A); //RW
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const PAJ7620_ADDR_PS_APPROACH_STATE = (PAJ7620_ADDR_BASE + 0x6B); //R
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const PAJ7620_ADDR_PS_RAW_DATA = (PAJ7620_ADDR_BASE + 0x6C); //R
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//REGISTER BANK 1
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const PAJ7620_ADDR_PS_GAIN = (PAJ7620_ADDR_BASE + 0x44); //RW
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const PAJ7620_ADDR_IDLE_S1_STEP_0 = (PAJ7620_ADDR_BASE + 0x67); //RW
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const PAJ7620_ADDR_IDLE_S1_STEP_1 = (PAJ7620_ADDR_BASE + 0x68); //RW
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const PAJ7620_ADDR_IDLE_S2_STEP_0 = (PAJ7620_ADDR_BASE + 0x69); //RW
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const PAJ7620_ADDR_IDLE_S2_STEP_1 = (PAJ7620_ADDR_BASE + 0x6A); //RW
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const PAJ7620_ADDR_OP_TO_S1_STEP_0 = (PAJ7620_ADDR_BASE + 0x6B); //RW
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const PAJ7620_ADDR_OP_TO_S1_STEP_1 = (PAJ7620_ADDR_BASE + 0x6C); //RW
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const PAJ7620_ADDR_OP_TO_S2_STEP_0 = (PAJ7620_ADDR_BASE + 0x6D); //RW
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const PAJ7620_ADDR_OP_TO_S2_STEP_1 = (PAJ7620_ADDR_BASE + 0x6E); //RW
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const PAJ7620_ADDR_OPERATION_ENABLE = (PAJ7620_ADDR_BASE + 0x72); //RW
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//PAJ7620_REGITER_BANK_SEL
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const PAJ7620_BANK0 = 0;
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const PAJ7620_BANK1 = 1;
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//PAJ7620_ADDR_SUSPEND_CMD
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const PAJ7620_I2C_WAKEUP = 1;
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const PAJ7620_I2C_SUSPEND = 0;
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//PAJ7620_ADDR_OPERATION_ENABLE
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const PAJ7620_ENABLE = 1;
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const PAJ7620_DISABLE = 0;
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//ADC, delete
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const REG_ADDR_RESULT = 0x00;
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const REG_ADDR_ALERT = 0x01;
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const REG_ADDR_CONFIG = 0x02;
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const REG_ADDR_LIMITL = 0x03;
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const REG_ADDR_LIMITH = 0x04;
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const REG_ADDR_HYST = 0x05;
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const REG_ADDR_CONVL = 0x06;
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const REG_ADDR_CONVH = 0x07;
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const GES_RIGHT_FLAG = 1 << 0;
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const GES_LEFT_FLAG = 1 << 1;
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const GES_UP_FLAG = 1 << 2;
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const GES_DOWN_FLAG = 1 << 3;
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const GES_FORWARD_FLAG = 1 << 4;
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const GES_BACKWARD_FLAG = 1 << 5;
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const GES_CLOCKWISE_FLAG = 1 << 6;
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const GES_COUNT_CLOCKWISE_FLAG = 1 << 7;
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const GES_WAVE_FLAG = 1 << 0;
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//Gesture output
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exports.FORWARD = 1;
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exports.BACKWARD = 2;
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exports.RIGHT = 3;
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exports.LEFT = 4;
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exports.UP = 5;
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exports.DOWN = 6;
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exports.CLOCKWISE = 7;
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exports.ANTI_CLOCKWISE = 8;
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exports.WAVE = 9;
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//Initial register state
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const initRegisterArray = [
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[0xEF, 0x00],
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[0x32, 0x29],
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[0x33, 0x01],
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[0x34, 0x00],
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[0x35, 0x01],
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[0x36, 0x00],
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[0x37, 0x07],
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[0x38, 0x17],
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[0x39, 0x06],
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[0x3A, 0x12],
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[0x3F, 0x00],
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[0x40, 0x02],
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[0x41, 0xFF],
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[0x42, 0x01],
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[0x46, 0x2D],
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[0x47, 0x0F],
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[0x48, 0x3C],
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[0x49, 0x00],
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[0x4A, 0x1E],
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[0x4B, 0x00],
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[0x4C, 0x20],
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[0x4D, 0x00],
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[0x4E, 0x1A],
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[0x4F, 0x14],
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[0x50, 0x00],
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[0x51, 0x10],
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[0x52, 0x00],
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[0x5C, 0x02],
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[0x5D, 0x00],
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[0x5E, 0x10],
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[0x5F, 0x3F],
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[0x60, 0x27],
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[0x61, 0x28],
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[0x62, 0x00],
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[0x63, 0x03],
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[0x64, 0xF7],
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[0x65, 0x03],
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[0x66, 0xD9],
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[0x67, 0x03],
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[0x68, 0x01],
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[0x69, 0xC8],
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[0x6A, 0x40],
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[0x6D, 0x04],
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[0x6E, 0x00],
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[0x6F, 0x00],
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[0x70, 0x80],
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[0x71, 0x00],
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[0x72, 0x00],
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[0x73, 0x00],
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[0x74, 0xF0],
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[0x75, 0x00],
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[0x80, 0x42],
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[0x81, 0x44],
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[0x82, 0x04],
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[0x83, 0x20],
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[0x84, 0x20],
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[0x85, 0x00],
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[0x86, 0x10],
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[0x87, 0x00],
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[0x88, 0x05],
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[0x89, 0x18],
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[0x8A, 0x10],
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[0x8B, 0x01],
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[0x8C, 0x37],
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[0x8D, 0x00],
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[0x8E, 0xF0],
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[0x8F, 0x81],
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[0x90, 0x06],
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[0x91, 0x06],
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[0x92, 0x1E],
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[0x93, 0x0D],
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[0x94, 0x0A],
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[0x95, 0x0A],
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[0x96, 0x0C],
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[0x97, 0x05],
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[0x98, 0x0A],
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[0x99, 0x41],
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[0x9A, 0x14],
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[0x9B, 0x0A],
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[0x9C, 0x3F],
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[0x9D, 0x33],
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[0x9E, 0xAE],
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[0x9F, 0xF9],
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[0xA0, 0x48],
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[0xA1, 0x13],
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[0xA2, 0x10],
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[0xA3, 0x08],
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[0xA4, 0x30],
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[0xA5, 0x19],
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[0xA6, 0x10],
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[0xA7, 0x08],
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[0xA8, 0x24],
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[0xA9, 0x04],
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[0xAA, 0x1E],
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[0xAB, 0x1E],
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[0xCC, 0x19],
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[0xCD, 0x0B],
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[0xCE, 0x13],
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[0xCF, 0x64],
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[0xD0, 0x21],
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[0xD1, 0x0F],
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[0xD2, 0x88],
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[0xE0, 0x01],
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[0xE1, 0x04],
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[0xE2, 0x41],
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[0xE3, 0xD6],
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[0xE4, 0x00],
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[0xE5, 0x0C],
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[0xE6, 0x0A],
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[0xE7, 0x00],
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[0xE8, 0x00],
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[0xE9, 0x00],
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[0xEE, 0x07],
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[0xEF, 0x01],
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[0x00, 0x1E],
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[0x01, 0x1E],
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[0x02, 0x0F],
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[0x03, 0x10],
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[0x04, 0x02],
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[0x05, 0x00],
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[0x06, 0xB0],
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[0x07, 0x04],
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[0x08, 0x0D],
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[0x09, 0x0E],
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[0x0A, 0x9C],
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[0x0B, 0x04],
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[0x0C, 0x05],
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[0x0D, 0x0F],
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[0x0E, 0x02],
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[0x0F, 0x12],
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[0x10, 0x02],
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[0x11, 0x02],
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[0x12, 0x00],
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[0x13, 0x01],
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[0x14, 0x05],
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[0x15, 0x07],
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[0x16, 0x05],
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[0x17, 0x07],
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[0x18, 0x01],
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[0x19, 0x04],
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[0x1A, 0x05],
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[0x1B, 0x0C],
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[0x1C, 0x2A],
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[0x1D, 0x01],
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[0x1E, 0x00],
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[0x21, 0x00],
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[0x22, 0x00],
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[0x23, 0x00],
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[0x25, 0x01],
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[0x26, 0x00],
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[0x27, 0x39],
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[0x28, 0x7F],
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[0x29, 0x08],
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[0x30, 0x03],
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[0x31, 0x00],
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[0x32, 0x1A],
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[0x33, 0x1A],
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[0x34, 0x07],
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[0x35, 0x07],
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[0x36, 0x01],
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[0x37, 0xFF],
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[0x38, 0x36],
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[0x39, 0x07],
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[0x3A, 0x00],
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[0x3E, 0xFF],
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[0x3F, 0x00],
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[0x40, 0x77],
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[0x41, 0x40],
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[0x42, 0x00],
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[0x43, 0x30],
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[0x44, 0xA0],
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[0x45, 0x5C],
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[0x46, 0x00],
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[0x47, 0x00],
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[0x48, 0x58],
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[0x4A, 0x1E],
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[0x4B, 0x1E],
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[0x4C, 0x00],
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[0x4D, 0x00],
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[0x4E, 0xA0],
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[0x4F, 0x80],
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[0x50, 0x00],
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[0x51, 0x00],
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[0x52, 0x00],
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[0x53, 0x00],
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[0x54, 0x00],
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[0x57, 0x80],
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[0x59, 0x10],
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[0x5A, 0x08],
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[0x5B, 0x94],
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[0x5C, 0xE8],
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[0x5D, 0x08],
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[0x5E, 0x3D],
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[0x5F, 0x99],
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[0x60, 0x45],
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[0x61, 0x40],
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[0x63, 0x2D],
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[0x64, 0x02],
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[0x65, 0x96],
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[0x66, 0x00],
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[0x67, 0x97],
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[0x68, 0x01],
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[0x69, 0xCD],
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[0x6A, 0x01],
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[0x6B, 0xB0],
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[0x6C, 0x04],
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[0x6D, 0x2C],
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[0x6E, 0x01],
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[0x6F, 0x32],
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[0x71, 0x00],
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[0x72, 0x01],
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[0x73, 0x35],
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[0x74, 0x00],
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[0x75, 0x33],
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[0x76, 0x31],
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[0x77, 0x01],
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[0x7C, 0x84],
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[0x7D, 0x03],
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[0x7E, 0x01]
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];
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//Enable debug message
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const debug = 0;
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let pi = -1;
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let i2c_hand = -1;
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//Initialize the sensors
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exports.init = async (i2c_bus, i2c_addr) => {
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if (pi < 0) pi = pig._pigpio_start('', '');
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if (i2c_hand < 0) pig._i2c_close(pi, i2c_hand);
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i2c_hand = pig._i2c_open(pi, i2c_bus, i2c_addr);
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await sleep(.001);
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paj7620SelectBank(BANK0);
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paj7620SelectBank(BANK0);
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let data0 = paj7620ReadReg(0, 1)[0];
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let data1 = paj7620ReadReg(1, 1)[0];
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||
|
|
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)
|
||
|
|
paj7620WriteReg(initRegisterArray[i][0], initRegisterArray[i][1]);
|
||
|
|
|
||
|
|
paj7620SelectBank(BANK0);
|
||
|
|
|
||
|
|
console.log("Paj7620 initialize register finished.");
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
// Write a byte to a register on the Gesture sensor
|
||
|
|
const paj7620WriteReg = (addr, cmd) =>
|
||
|
|
pig._i2c_write_word_data(pi, i2c_hand, addr, cmd);
|
||
|
|
|
||
|
|
//Select a register bank on the Gesture Sensor
|
||
|
|
const paj7620SelectBank = bank => {
|
||
|
|
if (bank == BANK0)
|
||
|
|
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 = (addr, qty) => {
|
||
|
|
return 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 = paj7620ReadReg(0x43, 1)[0];
|
||
|
|
if (data == GES_RIGHT_FLAG) {
|
||
|
|
await sleep(GES_ENTRY_TIME);
|
||
|
|
data = 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 = 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 = 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 = 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 = paj7620ReadReg(0x44, 1)[0];
|
||
|
|
if (data1 == GES_WAVE_FLAG)
|
||
|
|
return 9;
|
||
|
|
}
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
exports.stop = () => {
|
||
|
|
if (i2c_hand >= 0) {
|
||
|
|
pig._i2c_close(pi, i2c_hand);
|
||
|
|
i2c_hand = -1;
|
||
|
|
}
|
||
|
|
if (pi >= 0) {
|
||
|
|
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
|
||
|
|
*/
|