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ocoge/blocks/sensors/paj7620/PAJ7620x.js

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JavaScript
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[update] センサーモジュールを内部的に分離、他
2022-03-02 11:25:14 +00:00
"use strict";
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 = 1;
const err_msg = 'AMG8833 is already opened. Please close old connection to use new one.';
let pig = -1;
let pi = -1;
let i2c_hand = -1;
//Initialize the sensors
[update] 軽微な修正
2022-03-03 12:32:00 +00:00
exports.init = async (i2c_bus, i2c_addr, wael = null) => {
if (wael !== null) {
wael('beforeunload', async () => {
[update] センサーモジュールを内部的に分離、他
2022-03-02 11:25:14 +00:00
await exports.stop();
});
}
pig = require('@ocogeclub/pigpio');
if (pi >= 0) { throw new Error(err_msg); return; }
pi = await pig._pigpio_start('', '');
if (i2c_hand >= 0) { throw new Error(err_msg); return; }
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;
}
else if (data == GES_BACKWARD_FLAG) {
return 2;
}
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;
}
else if (data == GES_BACKWARD_FLAG) {
return 2;
}
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;
}
else if (data == GES_BACKWARD_FLAG) {
return 2;
}
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;
}
else if (data == GES_BACKWARD_FLAG) {
return 2;
}
else
return 6;
}
else if (data == GES_FORWARD_FLAG) {
return 1;
}
else if (data == GES_BACKWARD_FLAG) {
return 2;
}
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
*/
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