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crates.io maintenance

smartoris-gestures

Gestures recognition library for Drone OS. Based on APDS-9960 digital proximity, ambient light, RGB and gesture sensor.

Usage

Add the crate to your Cargo.toml dependencies:

[dependencies]
smartoris-apds9960 = { version = "0.1.0" }
smartoris-gestures = { version = "0.1.0" }

Add or extend std feature as follows:

[features]
std = ["smartoris-apds9960/std", "smartoris-gestures/std"]

The library can be used with any EXTI implementation. Here is an example of integration with smartoris-exti crate.

use crate::thr::Thrs;
use drone_cortexm::reg::prelude::*;
use drone_stm32_map::periph::{
    dma::ch::{Dma1Ch5, Dma1Ch6, DmaChMap},
    exti::{periph_exti4, Exti4},
    gpio::pin::{GpioB4, GpioC13, GpioPinPeriph},
    i2c::{I2CMap, I2C1},
};
use futures::prelude::*;
use smartoris_apds9960::Apds9960Drv;
use smartoris_exti::{ExtiDrv, ExtiSetup};
use smartoris_gestures::{
    engines::{SimpleGesture, SimpleGestureEngine},
    Gain, Gestures, GesturesSetup, LedDriveCurrent, LedPulseLength,
};
use smartoris_i2c::I2CDrv;

// Suppose APDS-9960 I²C pins connected to I2C1 peripheral, APDS-9960 INT
// pin connected to B4 pin, and some LED connected to C13 pin.

async fn handler(
    reg: Regs,
    thr: Thrs,
    mut i2c1: I2CDrv<
        I2C1,
        thr::I2C1Ev,
        thr::I2C1Er,
        Dma1Ch6,
        thr::Dma1Ch6,
        Dma1Ch5,
        thr::Dma1Ch5,
    >,
    gpio_b4: drone_stm32_map::periph::gpio::pin::GpioPinPeriph<GpioB4>,
    gpio_c13: drone_stm32_map::periph::gpio::pin::GpioPinPeriph<GpioC13>,
) {
    // APDS-9960 interrupt events stream read from B4 pin.
    let exti4 = ExtiDrv::init(ExtiSetup {
        exti: periph_exti4!(reg),
        exti_int: thr.exti4,
        config: 0b0001, // PB4 pin
        falling: true,  // trigger the interrupt on a falling edge
        rising: false,  // don't trigger the interrupt on a rising edge
    });

    let mut exti4_stream = exti4.create_saturating_stream();
    let mut apds9960 = Apds9960Drv::init();
    let mut gestures = Gestures::init(&mut apds9960, &mut i2c1, GesturesSetup {
        engine: SimpleGestureEngine::default(),
        goffset_up: 0x4,
        goffset_down: 0,
        goffset_left: 0,
        goffset_right: 0x4,
        poffset_ur: 0,
        poffset_dl: 0,
        led_drive: LedDriveCurrent::D300, // 300 mA
        led_pulse: LedPulseLength::P32,   // 32 µs
        gain: Gain::X1,                   // 1×
        entry_threshold: 0x1A,
        exit_threshold: 0x1A,
    })
    .await
    .into_ok();
    // Wait for a falling edge trigger on PB4.
    while exti4_stream.next().await.is_some() {
        // Repeat until PB4 is back to high level.
        while !gpio_b4.gpio_idr_idr.read_bit() {
            // Read APDS-9960 FIFO buffer.
            match gestures.advance(&mut apds9960, &mut i2c1).await.into_ok() {
                // Turn on some LED.
                Some(SimpleGesture::Up) => gpio_c13.gpio_bsrr_br.set_bit(),
                // Turn off some LED.
                Some(SimpleGesture::Down) => gpio_c13.gpio_bsrr_bs.set_bit(),
                _ => {}
            }
        }
    }
}

License

Licensed under either of

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.