RevEng_PAJ7620.h

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#ifndef __PAJ7620_H__
#define __PAJ7620_H__
 
#include <Arduino.h>
#include <Wire.h>
 
/* Changed to JayCar-Electronics PROGMEM approach from <a href="https://github.com/Jaycar-Electronics">their fork</a>.
 * This is used for the various initialization and mode register arrays.
 * Saves about 5% of SRAM on an Arduino Uno - Around 100 bytes for the init array.
 */
#if defined(__AVR__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32)
#define PROGMEM_COMPATIBLE
#endif
 
 
enum Gesture {
  GES_NONE = 0,      
  GES_UP,            
  GES_DOWN,          
  GES_LEFT,          
  GES_RIGHT,         
  GES_FORWARD,       
  GES_BACKWARD,      
  GES_CLOCKWISE,     
  GES_ANTICLOCKWISE, 
  GES_WAVE           
};
 
 
typedef enum {
  BANK0 = 0,            
  BANK1,                
} Bank_e;
 
 
typedef enum {
  CORNER_NONE = 0,      
  CORNER_NE = 1,        
  CORNER_NW = 2,        
  CORNER_SW = 3,        
  CORNER_SE = 4,        
  CORNER_MIDDLE = 5,    
  QUADRANT_NONE = 0,    
  QUADRANT_I = 1,       
  QUADRANT_II = 2,      
  QUADRANT_III = 3,     
  QUADRANT_IV = 4,      
} Corner;
 
 
#define PAJ7620_I2C_BUS_ADDR              0x73
 
#define PAJ7620_ADDR_BASE                 0x00
 
#define PAJ7620_REGISTER_BANK_SEL         (PAJ7620_ADDR_BASE + 0xEF)  // W
#define PAJ7620_PART_ID_LSB               0x20
#define PAJ7620_PART_ID_MSB               0x76
#define PAJ7620_ADDR_PART_ID_0            (PAJ7620_ADDR_BASE + 0x00)  // R
#define PAJ7620_ADDR_PART_ID_1            (PAJ7620_ADDR_BASE + 0x01)  // R
#define PAJ7620_ADDR_SUSPEND_CMD          (PAJ7620_ADDR_BASE + 0x03)  // W
#define PAJ7620_ADDR_GES_PS_DET_MASK_0    (PAJ7620_ADDR_BASE + 0x41)  // RW
#define PAJ7620_ADDR_GES_PS_DET_MASK_1    (PAJ7620_ADDR_BASE + 0x42)  // RW
#define PAJ7620_ADDR_GES_PS_DET_FLAG_0    (PAJ7620_ADDR_BASE + 0x43)  // R
#define PAJ7620_ADDR_GES_PS_DET_FLAG_1    (PAJ7620_ADDR_BASE + 0x44)  // R
#define PAJ7620_ADDR_STATE_INDICATOR      (PAJ7620_ADDR_BASE + 0x45)  // R
#define PAJ7620_ADDR_PS_HIGH_THRESHOLD    (PAJ7620_ADDR_BASE + 0x69)  // RW
#define PAJ7620_ADDR_PS_LOW_THRESHOLD     (PAJ7620_ADDR_BASE + 0x6A)  // RW
#define PAJ7620_ADDR_PS_APPROACH_STATE    (PAJ7620_ADDR_BASE + 0x6B)  // R
#define PAJ7620_ADDR_PS_RAW_DATA          (PAJ7620_ADDR_BASE + 0x6C)  // R
#define PAJ7620_ADDR_OBJECT_CENTER_X_LSB  (PAJ7620_ADDR_BASE + 0xAC)  // R
#define PAJ7620_ADDR_OBJECT_CENTER_X_MSB  (PAJ7620_ADDR_BASE + 0xAD)  // R
#define PAJ7620_ADDR_OBJECT_CENTER_Y_LSB  (PAJ7620_ADDR_BASE + 0xAE)  // R
#define PAJ7620_ADDR_OBJECT_CENTER_Y_MSB  (PAJ7620_ADDR_BASE + 0xAF)  // R
#define PAJ7620_ADDR_OBJECT_BRIGHTNESS    (PAJ7620_ADDR_BASE + 0xB0)  // R
#define PAJ7620_ADDR_OBJECT_SIZE_LSB      (PAJ7620_ADDR_BASE + 0xB1)  // R
#define PAJ7620_ADDR_OBJECT_SIZE_MSB      (PAJ7620_ADDR_BASE + 0xB2)  // R
#define PAJ7620_ADDR_WAVE_COUNT           (PAJ7620_ADDR_BASE + 0xB7)  // R
#define PAJ7620_ADDR_NO_OBJECT_COUNT      (PAJ7620_ADDR_BASE + 0xB8)  // R
#define PAJ7620_ADDR_NO_MOTION_COUNT      (PAJ7620_ADDR_BASE + 0xB9)  // R
#define PAJ7620_ADDR_OBJECT_VEL_X_LSB     (PAJ7620_ADDR_BASE + 0xC3)  // R
#define PAJ7620_ADDR_OBJECT_VEL_X_MSB     (PAJ7620_ADDR_BASE + 0xC4)  // R
#define PAJ7620_ADDR_OBJECT_VEL_Y_LSB     (PAJ7620_ADDR_BASE + 0xC5)  // R
#define PAJ7620_ADDR_OBJECT_VEL_Y_MSB     (PAJ7620_ADDR_BASE + 0xC6)  // R
#define PAJ7620_ADDR_GES_RESULT_0         (PAJ7620_ADDR_BASE + 0x43)  // R
#define PAJ7620_ADDR_GES_RESULT_1         (PAJ7620_ADDR_BASE + 0x44)  // R
 
// Cursor Registers - Bank 0
#define PAJ7620_ADDR_CURSOR_X_LOW         (PAJ7620_ADDR_BASE + 0x3B)  // R
#define PAJ7620_ADDR_CURSOR_X_HIGH        (PAJ7620_ADDR_BASE + 0x3C)  // R
#define PAJ7620_ADDR_CURSOR_Y_LOW         (PAJ7620_ADDR_BASE + 0x3D)  // R
#define PAJ7620_ADDR_CURSOR_Y_HIGH        (PAJ7620_ADDR_BASE + 0x3E)  // R
#define PAJ7620_ADDR_CURSOR_INT           (PAJ7620_ADDR_BASE + 0x44)  // R
// Proximity Registers - Bank 0
//  Documentation best in v0.8 datasheet
//  Only available in Proximity Detection (PS) mode
#define PAJ7620_ADDR_PS_APPROACH_STATE    (PAJ7620_ADDR_BASE + 0x6B)  // R
#define PAJ7620_ADDR_S_AVE_Y_BRIGHTNESS   (PAJ7620_ADDR_BASE + 0x6C)  // R
 
 
// REGISTER BANK 1
#define PAJ7620_ADDR_PS_GAIN              (PAJ7620_ADDR_BASE + 0x44)  // RW
#define PAJ7620_ADDR_R_IDLE_TIME_0        (PAJ7620_ADDR_BASE + 0x65)  // RW
#define PAJ7620_ADDR_R_IDLE_TIME_1        (PAJ7620_ADDR_BASE + 0x66)  // RW
#define PAJ7620_ADDR_IDLE_S1_STEP_0       (PAJ7620_ADDR_BASE + 0x67)  // RW
#define PAJ7620_ADDR_IDLE_S1_STEP_1       (PAJ7620_ADDR_BASE + 0x68)  // RW
#define PAJ7620_ADDR_IDLE_S2_STEP_0       (PAJ7620_ADDR_BASE + 0x69)  // RW
#define PAJ7620_ADDR_IDLE_S2_STEP_1       (PAJ7620_ADDR_BASE + 0x6A)  // RW
#define PAJ7620_ADDR_OP_TO_S1_STEP_0      (PAJ7620_ADDR_BASE + 0x6B)  // RW
#define PAJ7620_ADDR_OP_TO_S1_STEP_1      (PAJ7620_ADDR_BASE + 0x6C)  // RW
#define PAJ7620_ADDR_OP_TO_S2_STEP_0      (PAJ7620_ADDR_BASE + 0x6D)  // RW
#define PAJ7620_ADDR_OP_TO_S2_STEP_1      (PAJ7620_ADDR_BASE + 0x6E)  // RW
#define PAJ7620_ADDR_OPERATION_ENABLE     (PAJ7620_ADDR_BASE + 0x72)  // RW
 
// Cursor Registers - Bank 1
#define PAJ7620_ADDR_LENS_ORIENTATION     (PAJ7620_ADDR_BASE + 0x04)  // RW
#define PAJ7620_BANK0                     0x00
#define PAJ7620_BANK1                     0x01
#define PAJ7620_I2C_WAKEUP                0x01
#define PAJ7620_I2C_SUSPEND               0x00
#define PAJ7620_ENABLE                    0x01
#define PAJ7620_DISABLE                   0x00
#define PAJ7620_NORMAL_SPEED              0xAC
#define PAJ7620_GAME_SPEED                0x30
#define GES_UP_FLAG                       0x01
#define GES_DOWN_FLAG                     0x02
#define GES_LEFT_FLAG                     0x04
#define GES_RIGHT_FLAG                    0x08
#define GES_FORWARD_FLAG                  0x10
#define GES_BACKWARD_FLAG                 0x20
#define GES_CLOCKWISE_FLAG                0x40
#define GES_ANTI_CLOCKWISE_FLAG           0x80
#define GES_WAVE_FLAG                     0x01      // Read from Bank0 - 0x44
// Return values for cursor interrupt/status for cursor mode
//  Read from Bank 0, reg 0x44
#define CUR_HAS_OBJECT                    0x04      // Bit 2 - 0000 0100
#define CUR_NO_OBJECT                     0x80      // Bit 7 - 1000 0000
 
 
// Values for Corners mode
#define GESTURE_RANGE_MAX                 3712      // Gesture range max value (experimental)
#define GESTURE_RANGE_MIN                    0      // Gesture range min value
#define GESTURE_RANGE_MID     ((GESTURE_RANGE_MAX - GESTURE_RANGE_MIN) / 2)
#define CORNERS_BUFFER_WIDTH_PCT          0.20      // 20% of range is "buffer"/"middle"
#define CORNERS_BUFFER_WIDTH  (int)((GESTURE_RANGE_MAX - GESTURE_RANGE_MIN) * CORNERS_BUFFER_WIDTH_PCT)
#define CORNERS_BUFFER_LOWER  (int)(GESTURE_RANGE_MID - (CORNERS_BUFFER_WIDTH / 2))
#define CORNERS_BUFFER_UPPER  (int)(GESTURE_RANGE_MID + (CORNERS_BUFFER_WIDTH / 2))
 
 
#define INIT_REG_ARRAY_SIZE (sizeof(initRegisterArray)/sizeof(initRegisterArray[0]))
 
#ifdef PROGMEM_COMPATIBLE
const unsigned short initRegisterArray[] PROGMEM = {
#else
const unsigned short initRegisterArray[] = {
#endif
    0xEF00,       // Bank 0
    0x4100,       // Disable interrupts for first 8 gestures
    0x4200,       // Disable wave (and other modes') interrupt(s)
    0x3707,
    0x3817,
    0x3906,
    0x4201,
    0x462D,
    0x470F,
    0x483C,
    0x4900,
    0x4A1E,
    0x4C22,
    0x5110,
    0x5E10,
    0x6027,
    0x8042,
    0x8144,
    0x8204,
    0x8B01,
    0x9006,
    0x950A,
    0x960C,
    0x9705,
    0x9A14,
    0x9C3F,
    0xA519,
    0xCC19,
    0xCD0B,
    0xCE13,
    0xCF64,
    0xD021,
    0xEF01,       // Bank 1
    0x020F,
    0x0310,
    0x0402,
    0x2501,
    0x2739,
    0x287F,
    0x2908,
    0x3EFF,
    0x5E3D,
    0x6596,       // R_IDLE_TIME LSB - Set sensor speed to 'normal speed' - 120 fps
    0x6797,
    0x69CD,
    0x6A01,
    0x6D2C,
    0x6E01,
    0x7201,
    0x7335,
    0x7400,       // Set to gesture mode
    0x7701,
    0xEF00,       // Bank 0
    0x41FF,       // Re-enable interrupts for first 8 gestures
    0x4201        // Re-enable interrupts for wave gesture
};
 
 
#define SET_GES_MODE_REG_ARRAY_SIZE (sizeof(setGestureModeRegisterArray)/sizeof(setGestureModeRegisterArray[0]))
 
#ifdef PROGMEM_COMPATIBLE
const unsigned short setGestureModeRegisterArray[] PROGMEM = {
#else
const unsigned short setGestureModeRegisterArray[] = {
#endif
    0xEF00,       // Bank 0
    0x4100,       // Disable interrupts for first 8 gestures
    0x4200,       // Disable wave (and other mode's) interrupt(s)
    0x483C,
    0x4900,
    0x5110,
    0x8320,
    0x9ff9,
    0xEF01,       // Bank 1
    0x011E,
    0x020F,
    0x0310,
    0x0402,
    0x4140,
    0x4330,
    0x6596,       // R_IDLE_TIME  - Normal mode LSB "120 fps" (supposedly)
    0x6600,
    0x6797,
    0x6801,
    0x69CD,
    0x6A01,
    0x6bb0,
    0x6c04,
    0x6D2C,
    0x6E01,
    0x7400,       // Set gesture mode
    0xEF00,       // Bank 0
    0x41FF,       // Re-enable interrupts for first 8 gestures
    0x4201        // Re-enable interrupts for wave gesture
};
 
 
#define SET_CURSOR_MODE_REG_ARRAY_SIZE (sizeof(setCursorModeRegisterArray)/sizeof(setCursorModeRegisterArray[0]))
 
#ifdef PROGMEM_COMPATIBLE
const unsigned short setCursorModeRegisterArray[] PROGMEM = {
#else
const unsigned short setCursorModeRegisterArray[] = {
#endif
    0xEF00,   // Set Bank 0
    0x3229,   // Default  29  [0] Cursor use top - def 1
              //              [1] Cursor Use BG Model - def 0
              //              [2] Cursor Invert Y - def 0       -- Not sure, doesn't seem to work
              //              [3] Cursor Invert X - def 1
              //              [5:4] Cursor top Ratio - def 0x2
    0x3301,   // Default  01  R_PositionFilterStartSizeTh [7:0]
    0x3400,   // Default  00  R_PositionFilterStartSizeTh [8]
    0x3501,   // Default  01  R_ProcessFilterStartSizeTh [7:0]
    0x3600,   // Default  00  R_ProcessFilterStartSizeTh [8]
    0x3703,   // Default  09  R_CursorClampLeft [4:0]
    0x381B,   // Default  15  R_CursorClampRight [4:0]
    0x3903,   // Default  0A  R_CursorClampUp [4:0]
    0x3A1B,   // Default  12  R_CursorClampDown [4:0]
    0x4100,   // Interrupt enable mask - Should be 00 (disable gestures)
              //              All gesture flags [7:0]
    0x4284,   // Interrupt enable mask - Should be 84 (0b 1000 0100)
              //              bit 0: Wave, wave mode use only
              //              bit 1: Proximity, proximity mode use only
              //              bit 2: Has Object, cursor mode use only
              //              bit 3: Wake up trigger, trigger mode use only
              //              bit 4: Confirm, confirm mode use only
              //              bit 5: Abort, confirm mode use only
              //              bit 6: N/A
              //              bit 7:No Object, cursor mode use only
    0x8B01,   // Default  10  R_Cursor_ObjectSizeTh [7:0]
    0x8C07,   // Default  07  R_PositionResolution [2:0]
    0xEF01,   // Set Bank 1
    0x0403,   // Invert X&Y Axes in lens for GUI coordinates 
              //  Where (0,0) is in upper left, positive down (Y) and right (X)
    0x7403,   // Enable cursor mode 0 - gesture, 3 - cursor, 5 - proximity
    0xEF00    // Set Bank 0 (parking it)
};
 
 
class RevEng_PAJ7620
{
  public:
    uint8_t begin();
    uint8_t begin(TwoWire * chosenWireHandle);    // Ex: begin(&Wire1)
 
    void disable();                 // Suspend interrupts (both pin and registers)
    void enable();                  // Resume interrupts (both pin and registers)
 
    void setGestureMode();          // Put sensor into gesture mode
    void setCursorMode();           // Put sensor into cursor mode
    void invertXAxis();             // Invert (toggle) sensor's X (vertical) axis
    void invertYAxis();             // Invert (toggle) sensors' Y (vertical) axis
 
    void setNormalSpeed();          // Set sensor sampling rate to 120fps
    void setGameSpeed();            // Set sensor sampling rate to 240fps
 
    Gesture readGesture();
    void clearGestureInterrupts();
 
    void setGestureEntryTime(unsigned long newGestureEntryTime);
    void setGestureExitTime(unsigned long newGestureExitTime);
 
    int getWaveCount();             // 0..15 waves
    int getNoObjectCount();         // 0..255 ticks (about 7.2ms each in normal, 4.1ms in game)
    int getNoMotionCount();         // 0..12 ticks
 
    int getObjectBrightness();      // 255 is max
    int getObjectSize();            // 900 is max (30x30 pixel array)
 
    int getObjectCenterX();         // 0..4096 (likey less like cursor mode)
    int getObjectCenterY();         // 0..4096 (likey less like cursor mode)
    bool isObjectInView();          // True if an object is in view
 
    int getObjectVelocityX();       // Velocity of object on X direction
    int getObjectVelocityY();       // Velocity of object on Y direction
    int getObjectVelocityX_raw();   // Velocity of object on X direction - RAW data
    int getObjectVelocityY_raw();   // Velocity of object on Y direction - RAW data
    Corner getCorner();             // Returns which corner the object is in
    bool isCursorInView();          // Cursor object in view
 
    int getCursorX();               // Get cursor's X axis location
    int getCursorY();               // Get cusors's Y axis location
    //int getProximityDistance();     // Read an object's "proximity 255..0"
  private:
    unsigned long gestureEntryTime; // User set gesture entry delay in ms (default: 0)
    unsigned long gestureExitTime;  // User set gesture exit delay in ms (default 200)
 
    TwoWire *wireHandle;            // User selected Wire bus (default: Wire)
 
    uint8_t writeRegister(uint8_t i2cAddress, uint8_t dataByte);
    uint8_t readRegister(uint8_t i2cAddress, uint8_t byteCount, uint8_t data[]);
 
    void selectRegisterBank(Bank_e bank);
 
    uint8_t getGesturesReg0(uint8_t data[]);
    uint8_t getGesturesReg1(uint8_t data[]);
 
    Gesture forwardBackwardGestureCheck(Gesture initialGesture);
 
    bool isPAJ7620UDevice();
    void initializeDeviceSettings();
 
    void writeRegisterArray(const unsigned short array[], int arraySize);
};
 
#endif