board/main/apds_9960.c

#include <stdio.h>
#include <stdlib.h>

#include "common.h"
#include "driver/i2c.h"
#include "embedded_display.c"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "i2c.c"

#define APDS_9960_INT_GPIO CONFIG_APDS_9960_INT_GPIO

// ===============================================
// Register addresses
// ===============================================
// 0x80 ENABLE R/W Enable states and interrupts 0x00
// 0x81 ATIME R/W ADC integration time 0xFF
// 0x83 WTIME R/W Wait time (non-gesture) 0xFF
// 0x84 AILTL R/W ALS interrupt low threshold low byte --
// 0x85 AILTH R/W ALS interrupt low threshold high byte --
// 0x86 AIHTL R/W ALS interrupt high threshold low byte 0x00
// 0x87 AIHTH R/W ALS interrupt high threshold high byte 0x00
// 0x89 PILT R/W Proximity interrupt low threshold 0x00
// 0x8B PIHT R/W Proximity interrupt high threshold 0x00
// 0x8C PERS R/W Interrupt persistence filters (non-gesture) 0x00
// 0x8D CONFIG1 R/W Configuration register one 0x60
// 0x8E PPULSE R/W Proximity pulse count and length 0x40
// 0x8F CONTROL R/W Gain control 0x00
// 0x90 CONFIG2 R/W Configuration register two 0x01
// 0x92 ID R Device ID ID
// 0x93 STATUS R Device status 0x00
// 0x94 CDATAL R Low byte of clear channel data 0x00
// 0x95 CDATAH R High byte of clear channel data 0x00
// 0x96 RDATAL R Low byte of red channel data 0x00
// 0x97 RDATAH R High byte of red channel data 0x00
// 0x98 GDATAL R Low byte of green channel data 0x00
// 0x99 GDATAH R High byte of green channel data 0x00
// 0x9A BDATAL R Low byte of blue channel data 0x00
// 0x9B BDATAH R High byte of blue channel data 0x00
// 0x9C PDATA R Proximity data 0x00
// 0x9D POFFSET_UR R/W Proximity offset for UP and RIGHT photodiodes 0x00
// 0x9E POFFSET_DL R/W Proximity offset for DOWN and LEFT photodiodes 0x00
// 0x9F CONFIG3 R/W Configuration register three 0x00
// 0xA0 GPENTH R/W Gesture proximity enter threshold 0x00
// 0xA1 GEXTH R/W Gesture exit threshold 0x00
// 0xA2 GCONF1 R/W Gesture configuration one 0x00
// 0xA3 GCONF2 R/W Gesture configuration two 0x00
// 0xA4 GOFFSET_U R/W Gesture UP offset register 0x00
// 0xA5 GOFFSET_D R/W Gesture DOWN offset register 0x00
// 0xA7 GOFFSET_L R/W Gesture LEFT offset register 0x00
// 0xA9 GOFFSET_R R/W Gesture RIGHT offset register 0x00
// 0xA6 GPULSE R/W Gesture pulse count and length 0x40
// 0xAA GCONF3 R/W Gesture configuration three 0x00
// 0xAB GCONF4 R/W Gesture configuration four 0x00
// 0xAE GFLVL R Gesture FIFO level 0x00
// 0xAF GSTATUS R Gesture status 0x00
// 0xE4 (1) IFORCE W Force interrupt 0x00
// 0xE5 (1) PICLEAR W Proximity interrupt clear 0x00
// 0xE6 (1) CICLEAR W ALS clear channel interrupt clear 0x00
// 0xE7 (1) AICLEAR W All non-gesture interrupts clear 0x00
// 0xFC GFIFO_U R Gesture FIFO UP value 0x00
// 0xFD GFIFO_D R Gesture FIFO DOWN value 0x00
// 0xFE GFIFO_L R Gesture FIFO LEFT value 0x00
// 0xFF GFIFO_R R Gesture FIFO RIGHT value 0x00
// -----------------------------------     描述                    默认值
#define APDS_9960_REG_ENABLE 0x80  // 状态和中断的启用              0x00
#define APDS_9960_REG_ATIME 0x81   // ADC 积分时间                 0xff
#define APDS_9960_REG_WTIME 0x83   // 等待时间（非手势）           0xff
#define APDS_9960_REG_AILTL 0x84   // ALS 中断低阈值低字节         --
#define APDS_9960_REG_AILTH 0x85   // ALS 中断低阈值高字节         --
#define APDS_9960_REG_AIHTL 0x86   // ALS 中断高阈值低字节         0x00
#define APDS_9960_REG_AIHTH 0x87   // ALS 中断高阈值高字节         0x00
#define APDS_9960_REG_PILT 0x89    // 接近中断低阈值               0x00
#define APDS_9960_REG_PIHT 0x8B    // 接近中断高阈值               0x00
#define APDS_9960_REG_PERS 0x8C  // 中断持续性过滤器（非手势）   0x00
#define APDS_9960_REG_CONFIG1 0x8D  // 配置寄存器一                 0x60
#define APDS_9960_REG_PPULSE 0x8E  // 接近脉冲计数和长度           0x40
#define APDS_9960_REG_CONTROL 0x8F  // 增益控制                     0x00
#define APDS_9960_REG_CONFIG2 0x90  // 配置寄存器二                 0x01
#define APDS_9960_REG_ID 0x92       // 设备 ID                      ID
#define APDS_9960_REG_STATUS 0x93   // 设备状态                     0x00
#define APDS_9960_REG_CDATAL 0x94  // 清除通道数据低字节           0x00
#define APDS_9960_REG_CDATAH 0x95  // 清除通道数据高字节           0x00
#define APDS_9960_REG_RDATAL 0x96  // 红色通道数据低字节           0x00
#define APDS_9960_REG_RDATAH 0x97  // 红色通道数据高字节           0x00
#define APDS_9960_REG_GDATAL 0x98  // 绿色通道数据低字节           0x00
#define APDS_9960_REG_GDATAH 0x99  // 绿色通道数据高字节           0x00
#define APDS_9960_REG_BDATAL 0x9A  // 蓝色通道数据低字节           0x00
#define APDS_9960_REG_BDATAH 0x9B  // 蓝色通道数据高字节           0x00
#define APDS_9960_REG_PDATA 0x9C   // 接近数据                     0x00
#define APDS_9960_REG_POFFSET_UR 0x9D  // 接近偏移量上和右             0x00
#define APDS_9960_REG_POFFSET_DL 0x9E  // 接近偏移量下和左             0x00
#define APDS_9960_REG_CONFIG3 0x9F  // 配置寄存器三                 0x00
#define APDS_9960_REG_GPENTH 0xA0   // 手势进入阈值                 0x28
#define APDS_9960_REG_GEXTH 0xA1    // 手势退出阈值                 0x1E
#define APDS_9960_REG_GCONF1 0xA2   // 手势配置寄存器一             0x40
#define APDS_9960_REG_GCONF2 0xA3   // 手势配置寄存器二             0x66
#define APDS_9960_REG_GOFFSET_U 0xA4  // 手势偏移量上                 0x00
#define APDS_9960_REG_GOFFSET_D 0xA5  // 手势偏移量下                 0x00
#define APDS_9960_REG_GOFFSET_L 0xA7  // 手势偏移量左                 0x00
#define APDS_9960_REG_GOFFSET_R 0xA9  // 手势偏移量右                 0x00
#define APDS_9960_REG_GPULSE 0xA6  // 手势脉冲计数和长度           0xC5
#define APDS_9960_REG_GCONF3 0xAA  // 手势配置寄存器三             0x00
#define APDS_9960_REG_GCONF4 0xAB  // 手势配置寄存器四             0x00
#define APDS_9960_REG_GFLVL 0xAE   // 手势 FIFO 级别               0x00
#define APDS_9960_REG_GSTATUS 0xAF  // 手势状态                     0x00
#define APDS_9960_REG_IFORCE 0xE4   // 强制中断                     0x00
#define APDS_9960_REG_PICLEAR 0xE5  // 清除接近中断                 0x00
#define APDS_9960_REG_CICLEAR 0xE6  // 清除 ALS 中断                0x00
#define APDS_9960_REG_AICLEAR 0xE7  // 清除手势中断                 0x00
#define APDS_9960_REG_GFIFO_U 0xFC  // 手势 FIFO 数据上             0x00
#define APDS_9960_REG_GFIFO_D 0xFD  // 手势 FIFO 数据下             0x00
#define APDS_9960_REG_GFIFO_L 0xFE  // 手势 FIFO 数据左             0x00
#define APDS_9960_REG_GFIFO_R 0xFF  // 手势 FIFO 数据右             0x00

#define APDS_9960_GVALID 0b00000001  // GVALID
#define APDS_9960_GFOV 0b00000010    // GFOV
#define APDS_9960_PINT 0x20          // PINT
#define APDS_9960_AINT 0x10          // AINT
#define APDS_9960_GINT 0x04          // GINT

// 50 mA LED, Reserved, 2x PGAIN, 4x ALS/Cain GAIN
#define APDS_9960_CONTROL_VALUE 0b00001010
// Enable Gesture, Proximity, ALS, Power
#define APDS_9960_ENABLE_VALUE 0b01000111

#define APDS_9960_TAG "APDS-9960"

static xQueueHandle apds_9960_int_evt_queue = NULL;

esp_err_t apds_9960_write_empty(uint8_t command) {
  i2c_cmd_handle_t cmd = i2c_cmd_link_create();
  i2c_master_start(cmd);
  i2c_master_write_byte(cmd, APDS_9960_ADDRESS << 1 | I2C_MASTER_WRITE,
                        ACK_CHECK_EN);
  i2c_master_write_byte(cmd, command, ACK_CHECK_DIS);
  i2c_master_stop(cmd);
  esp_err_t error =
      i2c_master_cmd_begin(I2C_MASTER_NUM, cmd, 10 / portTICK_PERIOD_MS);
  i2c_cmd_link_delete(cmd);
  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "write failed. %d", error);
  }
  return error;
}

esp_err_t apds_9960_write(uint8_t command, uint8_t data) {
  i2c_cmd_handle_t cmd = i2c_cmd_link_create();
  i2c_master_start(cmd);
  i2c_master_write_byte(cmd, APDS_9960_ADDRESS << 1 | I2C_MASTER_WRITE,
                        ACK_CHECK_EN);
  i2c_master_write_byte(cmd, command, ACK_CHECK_EN);
  i2c_master_write_byte(cmd, data, ACK_CHECK_EN);
  i2c_master_stop(cmd);
  esp_err_t error =
      i2c_master_cmd_begin(I2C_MASTER_NUM, cmd, 10 / portTICK_PERIOD_MS);
  i2c_cmd_link_delete(cmd);
  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "write failed. %d", error);
  }
  return error;
}

esp_err_t apds_9960_read_byte(uint8_t command, uint8_t* data) {
  i2c_cmd_handle_t cmd = i2c_cmd_link_create();
  i2c_master_start(cmd);
  i2c_master_write_byte(cmd, APDS_9960_ADDRESS << 1 | I2C_MASTER_WRITE,
                        ACK_CHECK_EN);
  i2c_master_write_byte(cmd, command, ACK_CHECK_EN);
  i2c_master_start(cmd);
  i2c_master_write_byte(cmd, APDS_9960_ADDRESS << 1 | I2C_MASTER_READ,
                        ACK_CHECK_EN);
  i2c_master_read_byte(cmd, data, NACK_VAL);
  i2c_master_stop(cmd);
  esp_err_t error =
      i2c_master_cmd_begin(I2C_MASTER_NUM, cmd, 10 / portTICK_PERIOD_MS);
  i2c_cmd_link_delete(cmd);
  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "read failed. %d", error);
  }
  return error;
}

// read word
esp_err_t apds_9960_read_word(uint8_t command, uint16_t* data) {
  i2c_cmd_handle_t cmd = i2c_cmd_link_create();
  i2c_master_start(cmd);
  i2c_master_write_byte(cmd, APDS_9960_ADDRESS << 1 | I2C_MASTER_WRITE,
                        ACK_CHECK_EN);
  i2c_master_write_byte(cmd, command, ACK_CHECK_EN);
  i2c_master_start(cmd);
  i2c_master_write_byte(cmd, APDS_9960_ADDRESS << 1 | I2C_MASTER_READ,
                        ACK_CHECK_EN);
  i2c_master_read_byte(cmd, (uint8_t*)data, ACK_VAL);
  i2c_master_read_byte(cmd, (uint8_t*)data + 1, NACK_VAL);
  i2c_master_stop(cmd);
  esp_err_t error =
      i2c_master_cmd_begin(I2C_MASTER_NUM, cmd, 10 / portTICK_PERIOD_MS);
  i2c_cmd_link_delete(cmd);
  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "read failed. %d", error);
  }
  return error;
}

// read bytes by length
esp_err_t apds_9960_read_bytes_len(uint8_t command, uint8_t* data,
                                   uint8_t len) {
  i2c_cmd_handle_t cmd = i2c_cmd_link_create();
  i2c_master_start(cmd);
  i2c_master_write_byte(cmd, APDS_9960_ADDRESS << 1 | I2C_MASTER_WRITE,
                        ACK_CHECK_EN);
  i2c_master_write_byte(cmd, command, ACK_CHECK_EN);
  i2c_master_start(cmd);
  i2c_master_write_byte(cmd, APDS_9960_ADDRESS << 1 | I2C_MASTER_READ,
                        ACK_CHECK_EN);
  for (int i = 0; i < len; i++) {
    if (i == len - 1) {
      i2c_master_read_byte(cmd, (uint8_t*)data + i, NACK_VAL);
    } else {
      i2c_master_read_byte(cmd, (uint8_t*)data + i, ACK_VAL);
    }
  }
  i2c_master_stop(cmd);
  esp_err_t error =
      i2c_master_cmd_begin(I2C_MASTER_NUM, cmd, 100 / portTICK_PERIOD_MS);
  i2c_cmd_link_delete(cmd);
  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "read failed. %d", error);
  }
  return error;
}

void apds_9960_fetch(void* arg) {
  ESP_LOGI(APDS_9960_TAG, "apds_9960_fetch");
  esp_err_t error;
  uint16_t red_raw;
  uint16_t green_raw;
  uint16_t blue_raw;
  uint16_t clear_raw;
  uint8_t byte_buffer;
  uint8_t gesture_status_raw;
  uint8_t status_raw;
  char red_str[20];
  char green_str[20];
  char blue_str[20];
  char clear_str[20];
  char status_str[20];
  uint8_t interrupt = 0;
  display_fill_rect(0, 2, 128, 8, 0x00);
  for (;;) {
    // display_fill_rect(0, 0, 128, 8, 0x00);

    // interrupt = gpio_get_level(APDS_9960_INT_GPIO);

    // // Status
    // error = apds_9960_read_byte(APDS_9960_REG_STATUS, &status_raw);
    // if (error != ESP_OK) {
    //   ESP_LOGW(APDS_9960_TAG, "read status failed. %x", error);
    // } else {
    //   sprintf(status_str, "%d :%d%d%d%d %d%d%d%d", interrupt,
    //           (status_raw >> 7) & 1, (status_raw >> 6) & 1,
    //           (status_raw >> 5) & 1, (status_raw >> 4) & 1,
    //           (status_raw >> 3) & 1, (status_raw >> 2) & 1,
    //           (status_raw >> 1) & 1, status_raw & 1);
    //   display_print8_str(0, 0, status_str);
    //   ESP_LOGD(APDS_9960_TAG, "Status: %2x", status_raw);
    // }

    // error = apds_9960_read_byte(APDS_9960_REG_GFLVL, &byte_buffer);
    // if (error != ESP_OK) {
    //   ESP_LOGW(APDS_9960_TAG, "read APDS_9960_REG_GFLVL failed. %d", error);
    // }
    // if (byte_buffer == 0) {
    //   sprintf(status_str, "LVL: %4d", byte_buffer);
    //   display_print8_str(0, 4, status_str);
    // }

    // // clear
    // error = apds_9960_read_word(APDS_9960_REG_CDATAL, &clear_raw);
    // if (error != ESP_OK) {
    //   ESP_LOGW(APDS_9960_TAG, "read failed. %d", error);
    // } else {
    //   sprintf(clear_str, "C:% 5d", clear_raw);
    //   display_print8_str(64, 6, clear_str);
    //   ESP_LOGD(APDS_9960_TAG, "Clear: %d", clear_raw);
    // }
    // // red
    // error = apds_9960_read_word(APDS_9960_REG_RDATAL, &red_raw);
    // if (error != ESP_OK) {
    //   ESP_LOGW(APDS_9960_TAG, "read failed. %d", error);
    // } else {
    //   sprintf(red_str, "R:% 5d", red_raw);
    //   display_print8_str(0, 4, red_str);
    //   ESP_LOGD(APDS_9960_TAG, "Red: %d", red_raw);
    // }
    // // green
    // error = apds_9960_read_word(APDS_9960_REG_GDATAL, &green_raw);
    // if (error != ESP_OK) {
    //   ESP_LOGW(APDS_9960_TAG, "read failed. %d", error);
    // } else {
    //   sprintf(green_str, "G:% 5d", green_raw);
    //   display_print8_str(64, 4, green_str);
    //   ESP_LOGD(APDS_9960_TAG, "Green: %d", green_raw);
    // }
    // // blue
    // error = apds_9960_read_word(APDS_9960_REG_BDATAL, &blue_raw);
    // if (error != ESP_OK) {
    //   ESP_LOGW(APDS_9960_TAG, "read failed. %d", error);
    // } else {
    //   sprintf(blue_str, "B:% 5d", blue_raw);
    //   display_print8_str(0, 6, blue_str);
    //   ESP_LOGD(APDS_9960_TAG, "Blue: %d", blue_raw);
    // }

    vTaskDelay(pdMS_TO_TICKS(10));
  }
  display_fill_rect(0, 2, 128, 8, 0x00);
}

void apds_9960_auto_fetch() {
  if (is_apds_9960_online == 0) {
    return;
  }
  xTaskCreate(apds_9960_fetch, "APDS-9960-fetch", 2048, NULL, 10, NULL);
}

void apds_9960_read_gesture() {
  ESP_LOGI(APDS_9960_TAG, "apes_9960_gesture_fetch");
  uint8_t byte_buffer;
  esp_err_t error;
  uint32_t gesture_values_raw_arr[32];
  char gesture_values_str_arr[20];

  error = apds_9960_read_byte(APDS_9960_REG_GSTATUS, &byte_buffer);
  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "read APDS_9960_REG_GSTATUS failed. %d", error);
    return;
  }
  ESP_LOGD(APDS_9960_TAG, "APDS-9960 interrupt. status: %x", byte_buffer);
  if (!(byte_buffer & APDS_9960_GVALID)) {
    ESP_LOGI(APDS_9960_TAG, "Gesture no valid");
    return;
  }

  ESP_LOGD(APDS_9960_TAG, "Gesture interrupt");
  error = apds_9960_read_byte(APDS_9960_REG_GFLVL, &byte_buffer);
  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "read APDS_9960_REG_GFLVL failed. %d", error);
    apds_9960_write(APDS_9960_REG_GCONF4, 0x06);
    return;
  }
  if (byte_buffer < 4) {
    ESP_LOGD(APDS_9960_TAG, "Gesture FIFO level too low: %d", byte_buffer);
    apds_9960_write(APDS_9960_REG_GCONF4, 0x06);
    return;
  }
  ESP_LOGD(APDS_9960_TAG, "Gesture FIFO Level: %d", byte_buffer);

  error = apds_9960_read_bytes_len(
      APDS_9960_REG_GFIFO_U, (uint8_t*)gesture_values_raw_arr, byte_buffer * 4);
  apds_9960_write(APDS_9960_REG_GCONF4, 0x06);

  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "read APDS_9960_REG_GFIFO(len: %d) failed. % d",
             byte_buffer * 4, error);
  } else {
    int16_t before_ud = 0, before_lr = 0, after_ud = 0, after_lr = 0;
    int16_t u = 0, d = 0, l = 0, r = 0;

    uint8_t last_2_index = byte_buffer - 2;

    for (int i = 0; i < byte_buffer; i++) {
      if (i < 2) {
        u = gesture_values_raw_arr[i] & 0xff;
        d = gesture_values_raw_arr[i] >> 8 & 0xff;
        l = gesture_values_raw_arr[i] >> 16 & 0xff;
        r = gesture_values_raw_arr[i] >> 24 & 0xff;
        before_ud += (u - d) * 100 / u + d;
        before_lr += (l - r) * 100 / l + r;
        printf("Gesture %08x %03d %03d %03d %03d\n", gesture_values_raw_arr[i],
               u, d, l, r);
      } else if (i >= last_2_index) {
        u = gesture_values_raw_arr[i] & 0xff;
        d = gesture_values_raw_arr[i] >> 8 & 0xff;
        l = gesture_values_raw_arr[i] >> 16 & 0xff;
        r = gesture_values_raw_arr[i] >> 24 & 0xff;
        after_ud += (u - d) * 100 / u + d;
        after_lr += (l - r) * 100 / l + r;
        printf("Gesture %08x %03d %03d %03d %03d\n", gesture_values_raw_arr[i],
               u, d, l, r);
      }
    }
    printf("Δud: %d, Δlr: %d \n", after_ud - before_ud, after_lr - before_lr);
    display_fill_rect(0, 4, 128, 8, 0x00);
    if (after_ud - before_ud < -80) {
      display_print8_str(0, 4, "Gesture: up");
    } else if (after_ud - before_ud > 80) {
      display_print8_str(0, 4, "Gesture: down");
    }

    if (after_lr - before_lr < -80) {
      display_print8_str(0, 6, "Gesture: left");
    } else if (after_lr - before_lr > 80) {
      display_print8_str(0, 6, "Gesture: right");
    }
    // display_print8_str(0, 0, gesture_str);
  }
}

void apds_9960_read_proximity() {
  uint8_t proximity_raw;
  char proximity_str[20];
  esp_err_t error;

  // Proximity
  error = apds_9960_read_byte(APDS_9960_REG_PDATA, &proximity_raw);
  if (error != ESP_OK) {
    ESP_LOGW(APDS_9960_TAG, "read proximity failed. %x", error);
  } else {
    ESP_LOGD(APDS_9960_TAG, "Prox: % 5d  ", proximity_raw);
    sprintf(proximity_str, "Prox: % 5d  ", proximity_raw);
    display_print8_str(8, 2, proximity_str);
  }
}

void apds_9960_int_handler(void* arg) {
  xQueueSendFromISR(apds_9960_int_evt_queue, &arg, NULL);
}

void apds_9960_int_evt_handler() {
  if (is_apds_9960_online == 0) {
    return;
  }

  ESP_ERROR_CHECK(apds_9960_write_empty(APDS_9960_REG_AICLEAR));
  // enable gesture interrupt
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GCONF4, 0x06));
  esp_err_t error;
  uint8_t status_raw;
  while (xQueueReceive(apds_9960_int_evt_queue, NULL, portMAX_DELAY)) {
    ESP_ERROR_RETRY(apds_9960_read_byte(APDS_9960_REG_STATUS, &status_raw), 10);
    ESP_ERROR_RETRY(apds_9960_write_empty(APDS_9960_REG_AICLEAR), 10);

    ESP_LOGD(
        APDS_9960_TAG, "[apds_9960_int_evt_handler]  status %d%d%d%d %d%d%d%d",
        (status_raw >> 7) & 1, (status_raw >> 6) & 1, (status_raw >> 5) & 1,
        (status_raw >> 4) & 1, (status_raw >> 3) & 1, (status_raw >> 2) & 1,
        (status_raw >> 1) & 1, status_raw & 1);
    if (status_raw & APDS_9960_PINT) {
      apds_9960_read_proximity();
    }
    if (status_raw & APDS_9960_GINT) {
      apds_9960_read_gesture();
    }
    vTaskDelay(10 / portTICK_PERIOD_MS);
  }
}

void apds_9960_init() {
  if (is_apds_9960_online == 0) {
    ESP_LOGI(APDS_9960_TAG, "APDS-9960 is offline");
    return;
  }
  ESP_LOGI(APDS_9960_TAG, "Initializing APDS-9960");
  // esp_log_level_set(APDS_9960_TAG, ESP_LOG_DEBUG);

  gpio_config_t io_conf = {};

  io_conf.mode = GPIO_MODE_INPUT;
  io_conf.pull_up_en = 0;
  io_conf.pull_down_en = 0;
  io_conf.intr_type = GPIO_INTR_NEGEDGE;
  io_conf.pin_bit_mask = 1ULL << APDS_9960_INT_GPIO;
  gpio_config(&io_conf);

  gpio_isr_handler_add(APDS_9960_INT_GPIO, apds_9960_int_handler, NULL);

  // 环境光 ADC 积分时间
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_ATIME, 246));  // 27.8ms
  // 增益
  ESP_ERROR_CHECK(
      apds_9960_write(APDS_9960_REG_CONTROL, APDS_9960_CONTROL_VALUE));

  // enable gesture interrupt
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GCONF4, 0x06));
  // 累积的手势数据达到 4 组时触发中断
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GCONF1, 0x40));
  // Gesture Enter Threshold
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GPENTH, 3));
  // Gesture Exit Threshold
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GEXTH, 3));
  // Gesture Drive Strength
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GCONF2, 0b0110000));

  // // set wait time
  // ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_WTIME, 171));

  // set interrupt persistence
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_PERS, 0x44));
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_PILT, 0x80));
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_PIHT, 0x40));
  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_CONFIG2, 0x80));

  // // enable sleep after interrupt
  // ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_CONFIG3, 0x10));

  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_ENABLE, 0b01101101));

  apds_9960_int_evt_queue = xQueueCreate(10, NULL);
  xTaskCreate(apds_9960_int_evt_handler, "apds_9960_gesture_fetch", 2048, NULL,
              10, NULL);
}