feat(apds9960): 防中断导致假死。

main/apds_9960.c

@@ -128,6 +128,8 @@
 
 static xQueueHandle apds_9960_int_evt_queue = NULL;
 
+static int64_t last_apds_9960_int_time = 0;
+
 esp_err_t apds_9960_write_empty(uint8_t command) {
   i2c_cmd_handle_t cmd = i2c_cmd_link_create();
   i2c_master_start(cmd);
@@ -231,6 +233,12 @@ esp_err_t apds_9960_read_bytes_len(uint8_t command, uint8_t* data,
   return error;
 }
 
+void apds_9960_clear_all_int(void) {
+  ESP_LOGI(APDS_9960_TAG, "apds_9960_clear_all_int");
+  ESP_ERROR_CHECK_WITHOUT_ABORT(apds_9960_write_empty(APDS_9960_REG_AICLEAR));
+  ESP_ERROR_CHECK_WITHOUT_ABORT(apds_9960_write(APDS_9960_REG_GCONF4, 0x06));
+}
+
 void apds_9960_fetch(void* arg) {
   ESP_LOGI(APDS_9960_TAG, "apds_9960_fetch");
   esp_err_t error;
@@ -241,40 +249,48 @@ void apds_9960_fetch(void* arg) {
   uint8_t byte_buffer;
   uint8_t gesture_status_raw;
   uint8_t status_raw;
-  char red_str[10];
+  char red_str[20];
-  char green_str[10];
+  char green_str[20];
-  char blue_str[10];
+  char blue_str[20];
-  char clear_str[10];
+  char clear_str[20];
-  char status_str[10];
+  char status_str[20];
   uint8_t interrupt = 0;
   display_fill_rect(0, 2, 128, 8, 0x00);
   for (;;) {
+    if (last_apds_9960_int_time + 1000000 < esp_timer_get_time()) {
+      interrupt = gpio_get_level(APDS_9960_INT_GPIO);
+      if (interrupt == 1 ||
+          last_apds_9960_int_time + 10000000 < esp_timer_get_time()) {
+        apds_9960_clear_all_int();
+      }
+    }
+
     // display_fill_rect(0, 0, 128, 8, 0x00);
 
-    interrupt = gpio_get_level(APDS_9960_INT_GPIO);
+    // interrupt = gpio_get_level(APDS_9960_INT_GPIO);
 
-    // Status
+    // // Status
-    error = apds_9960_read_byte(APDS_9960_REG_STATUS, &status_raw);
+    // error = apds_9960_read_byte(APDS_9960_REG_STATUS, &status_raw);
-    if (error != ESP_OK) {
+    // if (error != ESP_OK) {
-      ESP_LOGW(APDS_9960_TAG, "read status failed. %x", error);
+    //   ESP_LOGW(APDS_9960_TAG, "read status failed. %x", error);
-    } else {
+    // } else {
-      sprintf(status_str, "%d :%d%d%d%d %d%d%d%d", interrupt,
+    //   sprintf(status_str, "%d :%d%d%d%d %d%d%d%d", interrupt,
-              (status_raw >> 7) & 1, (status_raw >> 6) & 1,
+    //           (status_raw >> 7) & 1, (status_raw >> 6) & 1,
-              (status_raw >> 5) & 1, (status_raw >> 4) & 1,
+    //           (status_raw >> 5) & 1, (status_raw >> 4) & 1,
-              (status_raw >> 3) & 1, (status_raw >> 2) & 1,
+    //           (status_raw >> 3) & 1, (status_raw >> 2) & 1,
-              (status_raw >> 1) & 1, status_raw & 1);
+    //           (status_raw >> 1) & 1, status_raw & 1);
-      display_print8_str(0, 0, status_str);
+    //   display_print8_str(0, 0, status_str);
-      ESP_LOGD(APDS_9960_TAG, "Status: %2x", status_raw);
+    //   ESP_LOGD(APDS_9960_TAG, "Status: %2x", status_raw);
-    }
+    // }
 
-    error = apds_9960_read_byte(APDS_9960_REG_GFLVL, &byte_buffer);
+    // error = apds_9960_read_byte(APDS_9960_REG_GFLVL, &byte_buffer);
-    if (error != ESP_OK) {
+    // if (error != ESP_OK) {
-      ESP_LOGW(APDS_9960_TAG, "read APDS_9960_REG_GFLVL failed. %d", error);
+    //   ESP_LOGW(APDS_9960_TAG, "read APDS_9960_REG_GFLVL failed. %d", error);
-    }
+    // }
-    if (byte_buffer == 0) {
+    // if (byte_buffer == 0) {
-      sprintf(status_str, "LVL: %4d", byte_buffer);
+    //   sprintf(status_str, "LVL: %4d", byte_buffer);
-      display_print8_str(0, 4, status_str);
+    //   display_print8_str(0, 4, status_str);
-    }
+    // }
 
     // // clear
     // error = apds_9960_read_word(APDS_9960_REG_CDATAL, &clear_raw);
@@ -313,7 +329,7 @@ void apds_9960_fetch(void* arg) {
     //   ESP_LOGD(APDS_9960_TAG, "Blue: %d", blue_raw);
     // }
 
-    vTaskDelay(pdMS_TO_TICKS(10));
+    vTaskDelay(pdMS_TO_TICKS(100));
   }
   display_fill_rect(0, 2, 128, 8, 0x00);
 }
@@ -330,43 +346,82 @@ void apds_9960_read_gesture() {
   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_LOGI(APDS_9960_TAG, "APDS-9960 interrupt. status: %x", byte_buffer);
+  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_LOGI(APDS_9960_TAG, "Gesture interrupt");
+  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 == 0) {
+  if (byte_buffer < 4) {
-    ESP_LOGI(APDS_9960_TAG, "Gesture FIFO empty");
+    ESP_LOGD(APDS_9960_TAG, "Gesture FIFO level too low: %d", byte_buffer);
+    apds_9960_write(APDS_9960_REG_GCONF4, 0x06);
     return;
   }
-  ESP_LOGI(APDS_9960_TAG, "Gesture FIFO Level: %d", byte_buffer);
+  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++) {
-      printf("Gesture %2d: %02x %02x %02x %02x\n", i,
+      if (i < 2) {
-             gesture_values_raw_arr[i] & 0xff,
+        u = gesture_values_raw_arr[i] & 0xff;
-             gesture_values_raw_arr[i] >> 8 & 0xff,
+        d = gesture_values_raw_arr[i] >> 8 & 0xff;
-             gesture_values_raw_arr[i] >> 16 & 0xff,
+        l = gesture_values_raw_arr[i] >> 16 & 0xff;
-             gesture_values_raw_arr[i] >> 24 & 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 (abs(after_ud - before_ud) * 2 > abs(after_lr - before_lr)) {
+      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");
+      }
+    } else {
+      if (after_lr - before_lr < -120) {
+        display_print8_str(0, 4, "Gesture: left");
+      } else if (after_lr - before_lr > 120) {
+        display_print8_str(0, 4, "Gesture: right");
+      }
     }
     // display_print8_str(0, 0, gesture_str);
   }
@@ -374,7 +429,7 @@ void apds_9960_read_gesture() {
 
 void apds_9960_read_proximity() {
   uint8_t proximity_raw;
-  char proximity_str[10];
+  char proximity_str[20];
   esp_err_t error;
 
   // Proximity
@@ -382,15 +437,9 @@ void apds_9960_read_proximity() {
   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);
-    ESP_LOGI(APDS_9960_TAG, "Prox: %d", proximity_raw);
-  }
-
-  // Clear Proximity Interrupt
-  error = apds_9960_write_empty(APDS_9960_REG_PICLEAR);
-  if (error != ESP_OK) {
-    ESP_LOGW(APDS_9960_TAG, "write clear failed. %x", error);
   }
 }
 
@@ -403,16 +452,15 @@ void apds_9960_int_evt_handler() {
     return;
   }
 
-  ESP_ERROR_CHECK(apds_9960_write_empty(APDS_9960_REG_AICLEAR));
+  apds_9960_clear_all_int();
-  // 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)) {
+    last_apds_9960_int_time = esp_timer_get_time();
     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_LOGI(
+    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,
@@ -423,7 +471,8 @@ void apds_9960_int_evt_handler() {
     if (status_raw & APDS_9960_GINT) {
       apds_9960_read_gesture();
     }
-    vTaskDelay(100 / portTICK_PERIOD_MS);
+
+    vTaskDelay(10 / portTICK_PERIOD_MS);
   }
 }
 
@@ -457,14 +506,14 @@ void apds_9960_init() {
   // 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, 20));
+  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GPENTH, 3));
   // Gesture Exit Threshold
-  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GEXTH, 10));
+  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GEXTH, 3));
   // Gesture Drive Strength
-  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GCONF2, 0x40));
+  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_GCONF2, 0b0110000));
 
-  // set wait time
+  // // set wait time
-  ESP_ERROR_CHECK(apds_9960_write(APDS_9960_REG_WTIME, 171));
+  // 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));