目次
はじめに
「手をかざすと反応する」──そんな未来感のある仕組みを、たった1つの小さなモジュールで実現できるのが APDS-9960 です。
しかもこのモジュール、ジェスチャー検出だけではありません。周囲の明るさや対象物の色（R/G/B）まで読み取れる多機能センサー。工作に組み込めば、ちょっとした未来デバイスに早変わりします。
リンク
APDS-9960とは何か？センサーの機能と原理
APDS-9960は様々なことができます。
- RGB＋クリアフォトダイオードで「色」を拾う
- 赤外LED＋受光部で「距離（近接）」を測る
- 受光部を上下左右に分けて「手の動き」を読み取る
これだけが指先サイズの基板に収まっているのだから驚きです。
ジェスチャー検出
センサーの前を手が通り過ぎたときに「どの方向から光が遮られたか」を見ています。たとえばスマホで通話中に顔を近づけると画面が消えるのは、近接センサーが「赤外線の反射が強くなった＝顔が近い」と判断しているから。それと同じ仕組みで、APDS-9960は手の動きを上下左右に判別しています。
色検出
色検出は少しカメラに似ています。R（赤）G（緑）B（青）それぞれのフォトダイオードが光を受け、その強さを「積分時間」と呼ばれる一定時間のあいだ溜め込みます。光が強ければ多くの電荷が溜まり、弱ければ少ししか溜まりません。その結果をAD変換して数値として出してくれるので、マイコンからは「赤が12000、緑が13500、青が11000」といった具合に読み取れるわけです。
色検出の弱点
環境光（蛍光灯や日光）が強すぎると、センサーが拾う色が埋もれてしまいます。
対策としては、白色LEDで対象を照らし、遮光フードで余計な光を遮ると、検出精度が上がります。
日常での使われ方
スマートフォンの近接センサー
通話中に顔が近づいたことを検知し、タッチパネルを無効化する。
ディスプレイの自動輝度調整
周囲の明るさを検出して画面を見やすく制御。
ジェスチャ入力
手をかざして左右にスワイプするだけで操作ができる。
組込みIoT機器
簡易的な色判定（赤いカードと青いカードの識別など）や、近接をトリガーとした操作パネル。
Raspberry Pi Picoとの接続方法と配線
| Raspberry Pi Pico | APDS-9960 |
| VSYS(39番) | Vcc |
| GND(38番) | GND |
| GP0(1番) | SDA |
| GP1(2番) | SLC |
MicroPythonで動かしてみよう
ライブラリが必要です。以下のconst.py、device.py、exceptions.pyをapds9960というフォルダに格納して使ってください。有志の方がgithubで公開していただいているものになります。
const.py
# APDS9960 i2c address
APDS9960_I2C_ADDR = 0x39
# APDS9960 gesture parameters
APDS9960_GESTURE_THRESHOLD_OUT = 10
APDS9960_GESTURE_SENSITIVITY_1 = 50
APDS9960_GESTURE_SENSITIVITY_2 = 20
# APDS9960 device IDs
APDS9960_DEV_ID = [0xab, 0x9c, 0xa8, -0x55]
# APDS9960 times
APDS9960_TIME_FIFO_PAUSE = 0.03
# APDS9960 register addresses
APDS9960_REG_ENABLE = 0x80
APDS9960_REG_ATIME = 0x81
APDS9960_REG_WTIME = 0x83
APDS9960_REG_AILTL = 0x84
APDS9960_REG_AILTH = 0x85
APDS9960_REG_AIHTL = 0x86
APDS9960_REG_AIHTH = 0x87
APDS9960_REG_PILT = 0x89
APDS9960_REG_PIHT = 0x8b
APDS9960_REG_PERS = 0x8c
APDS9960_REG_CONFIG1 = 0x8d
APDS9960_REG_PPULSE = 0x8e
APDS9960_REG_CONTROL = 0x8f
APDS9960_REG_CONFIG2 = 0x90
APDS9960_REG_ID = 0x92
APDS9960_REG_STATUS = 0x93
APDS9960_REG_CDATAL = 0x94
APDS9960_REG_CDATAH = 0x95
APDS9960_REG_RDATAL = 0x96
APDS9960_REG_RDATAH = 0x97
APDS9960_REG_GDATAL = 0x98
APDS9960_REG_GDATAH = 0x99
APDS9960_REG_BDATAL = 0x9a
APDS9960_REG_BDATAH = 0x9b
APDS9960_REG_PDATA = 0x9c
APDS9960_REG_POFFSET_UR = 0x9d
APDS9960_REG_POFFSET_DL = 0x9e
APDS9960_REG_CONFIG3 = 0x9f
APDS9960_REG_GPENTH = 0xa0
APDS9960_REG_GEXTH = 0xa1
APDS9960_REG_GCONF1 = 0xa2
APDS9960_REG_GCONF2 = 0xa3
APDS9960_REG_GOFFSET_U = 0xa4
APDS9960_REG_GOFFSET_D = 0xa5
APDS9960_REG_GOFFSET_L = 0xa7
APDS9960_REG_GOFFSET_R = 0xa9
APDS9960_REG_GPULSE = 0xa6
APDS9960_REG_GCONF3 = 0xaA
APDS9960_REG_GCONF4 = 0xaB
APDS9960_REG_GFLVL = 0xae
APDS9960_REG_GSTATUS = 0xaf
APDS9960_REG_IFORCE = 0xe4
APDS9960_REG_PICLEAR = 0xe5
APDS9960_REG_CICLEAR = 0xe6
APDS9960_REG_AICLEAR = 0xe7
APDS9960_REG_GFIFO_U = 0xfc
APDS9960_REG_GFIFO_D = 0xfd
APDS9960_REG_GFIFO_L = 0xfe
APDS9960_REG_GFIFO_R = 0xff
# APDS9960 bit fields
APDS9960_BIT_PON = 0b00000001
APDS9960_BIT_AEN = 0b00000010
APDS9960_BIT_PEN = 0b00000100
APDS9960_BIT_WEN = 0b00001000
APSD9960_BIT_AIEN =0b00010000
APDS9960_BIT_PIEN = 0b00100000
APDS9960_BIT_GEN = 0b01000000
APDS9960_BIT_GVALID = 0b00000001
APDS9960_BIT_AVALID = 0b00000001
APDS9960_BIT_PVALID = 0b00000010
APDS9960_BIT_GINT = 0b00000100
APDS9960_BIT_AINT = 0b00010000
APDS9960_BIT_PINT = 0b00100000
APDS9960_BIT_PGSAT = 0b01000000
APDS9960_BIT_CPSAT = 0b10000000
# APDS9960 modes
APDS9960_MODE_POWER = 0
APDS9960_MODE_AMBIENT_LIGHT = 1
APDS9960_MODE_PROXIMITY = 2
APDS9960_MODE_WAIT = 3
APDS9960_MODE_AMBIENT_LIGHT_INT = 4
APDS9960_MODE_PROXIMITY_INT = 5
APDS9960_MODE_GESTURE = 6
APDS9960_MODE_ALL = 7
# LED Drive values
APDS9960_LED_DRIVE_100MA = 0
APDS9960_LED_DRIVE_50MA = 1
APDS9960_LED_DRIVE_25MA = 2
APDS9960_LED_DRIVE_12_5MA = 3
# Proximity Gain (PGAIN) values
APDS9960_PGAIN_1X = 0
APDS9960_PGAIN_2X = 1
APDS9960_PGAIN_4X = 2
APDS9960_PGAIN_8X = 3
# ALS Gain (AGAIN) values
APDS9960_AGAIN_1X = 0
APDS9960_AGAIN_4X = 1
APDS9960_AGAIN_16X = 2
APDS9960_AGAIN_64X = 3
# Gesture Gain (GGAIN) values
APDS9960_GGAIN_1X = 0
APDS9960_GGAIN_2X = 1
APDS9960_GGAIN_4X = 2
APDS9960_GGAIN_8X = 3
# LED Boost values
APDS9960_LED_BOOST_100 = 0
APDS9960_LED_BOOST_150 = 1
APDS9960_LED_BOOST_200 = 2
APDS9960_LED_BOOST_300 = 3
# Gesture wait time values
APDS9960_GWTIME_0MS = 0
APDS9960_GWTIME_2_8MS = 1
APDS9960_GWTIME_5_6MS = 2
APDS9960_GWTIME_8_4MS = 3
APDS9960_GWTIME_14_0MS = 4
APDS9960_GWTIME_22_4MS = 5
APDS9960_GWTIME_30_8MS = 6
APDS9960_GWTIME_39_2MS = 7
# Default values
APDS9960_DEFAULT_ATIME = 219 # 103ms
APDS9960_DEFAULT_WTIME = 246 # 27ms
APDS9960_DEFAULT_PROX_PPULSE = 0x87 # 16us, 8 pulses
APDS9960_DEFAULT_GESTURE_PPULSE = 0x89 # 16us, 10 pulses
APDS9960_DEFAULT_POFFSET_UR = 0 # 0 offset
APDS9960_DEFAULT_POFFSET_DL = 0 # 0 offset
APDS9960_DEFAULT_CONFIG1 = 0x60 # No 12x wait (WTIME) factor
APDS9960_DEFAULT_LDRIVE = APDS9960_LED_DRIVE_100MA
APDS9960_DEFAULT_PGAIN = APDS9960_PGAIN_4X
APDS9960_DEFAULT_AGAIN = APDS9960_AGAIN_4X
APDS9960_DEFAULT_PILT = 0 # Low proximity threshold
APDS9960_DEFAULT_PIHT = 50 # High proximity threshold
APDS9960_DEFAULT_AILT = 0xffff # Force interrupt for calibration
APDS9960_DEFAULT_AIHT = 0
APDS9960_DEFAULT_PERS = 0x11 # 2 consecutive prox or ALS for int.
APDS9960_DEFAULT_CONFIG2 = 0x01 # No saturation interrupts or LED boost
APDS9960_DEFAULT_CONFIG3 = 0 # Enable all photodiodes, no SAI
APDS9960_DEFAULT_GPENTH = 40 # Threshold for entering gesture mode
APDS9960_DEFAULT_GEXTH = 30 # Threshold for exiting gesture mode
APDS9960_DEFAULT_GCONF1 = 0x40 # 4 gesture events for int., 1 for exit
APDS9960_DEFAULT_GGAIN = APDS9960_GGAIN_4X
APDS9960_DEFAULT_GLDRIVE = APDS9960_LED_DRIVE_100MA
APDS9960_DEFAULT_GWTIME = APDS9960_GWTIME_2_8MS
APDS9960_DEFAULT_GOFFSET = 0 # No offset scaling for gesture mode
APDS9960_DEFAULT_GPULSE = 0xc9 # 32us, 10 pulses
APDS9960_DEFAULT_GCONF3 = 0 # All photodiodes active during gesture
APDS9960_DEFAULT_GIEN = 0 # Disable gesture interrupts
# gesture directions
APDS9960_DIR_NONE = 0
APDS9960_DIR_LEFT = 1
APDS9960_DIR_RIGHT = 2
APDS9960_DIR_UP = 3
APDS9960_DIR_DOWN = 4
APDS9960_DIR_NEAR = 5
APDS9960_DIR_FAR = 6
APDS9960_DIR_ALL = 7
# state definitions
APDS9960_STATE_NA = 0
APDS9960_STATE_NEAR = 1
APDS9960_STATE_FAR = 2
APDS9960_STATE_ALL = 3device.py
from apds9960.const import *
from apds9960.exceptions import *
from time import sleep
class APDS9960:
class GestureData:
def __init__(self):
self.u_data = [0] * 32
self.d_data = [0] * 32
self.l_data = [0] * 32
self.r_data = [0] * 32
self.index = 0
self.total_gestures = 0
self.in_threshold = 0
self.out_threshold = 0
def __init__(self, bus, address=APDS9960_I2C_ADDR, valid_id=APDS9960_DEV_ID):
# I2C stuff
self.address = address
self.bus = bus
# instance variables for gesture detection
self.gesture_ud_delta_ = 0
self.gesture_lr_delta_ = 0
self.gesture_ud_count_ = 0
self.gesture_lr_count_ = 0
self.gesture_near_count_ = 0
self.gesture_far_count_ = 0
self.gesture_state_ = 0
self.gesture_motion_ = APDS9960_DIR_NONE
self.gesture_data_ = APDS9960.GestureData()
# check device id
self.dev_id = self._read_byte_data(APDS9960_REG_ID)
if not self.dev_id in valid_id:
raise ADPS9960InvalidDevId(self.dev_id, valid_id)
# disable all features
self.setMode(APDS9960_MODE_ALL, False)
# set default values for ambient light and proximity registers
self._write_byte_data(APDS9960_REG_ATIME, APDS9960_DEFAULT_ATIME)
self._write_byte_data(APDS9960_REG_WTIME, APDS9960_DEFAULT_WTIME)
self._write_byte_data(APDS9960_REG_PPULSE, APDS9960_DEFAULT_PROX_PPULSE)
self._write_byte_data(APDS9960_REG_POFFSET_UR, APDS9960_DEFAULT_POFFSET_UR)
self._write_byte_data(APDS9960_REG_POFFSET_DL, APDS9960_DEFAULT_POFFSET_DL)
self._write_byte_data(APDS9960_REG_CONFIG1, APDS9960_DEFAULT_CONFIG1)
self.setLEDDrive(APDS9960_DEFAULT_LDRIVE)
self.setProximityGain(APDS9960_DEFAULT_PGAIN)
self.setAmbientLightGain(APDS9960_DEFAULT_AGAIN)
self.setProxIntLowThresh(APDS9960_DEFAULT_PILT)
self.setProxIntHighThresh(APDS9960_DEFAULT_PIHT)
self.setLightIntLowThreshold(APDS9960_DEFAULT_AILT)
self.setLightIntHighThreshold(APDS9960_DEFAULT_AIHT)
self._write_byte_data(APDS9960_REG_PERS, APDS9960_DEFAULT_PERS)
self._write_byte_data(APDS9960_REG_CONFIG2, APDS9960_DEFAULT_CONFIG2)
self._write_byte_data(APDS9960_REG_CONFIG3, APDS9960_DEFAULT_CONFIG3)
# set default values for gesture sense registers
self.setGestureEnterThresh(APDS9960_DEFAULT_GPENTH)
self.setGestureExitThresh(APDS9960_DEFAULT_GEXTH)
self._write_byte_data(APDS9960_REG_GCONF1, APDS9960_DEFAULT_GCONF1)
self.setGestureGain(APDS9960_DEFAULT_GGAIN)
self.setGestureLEDDrive(APDS9960_DEFAULT_GLDRIVE)
self.setGestureWaitTime(APDS9960_DEFAULT_GWTIME)
self._write_byte_data(APDS9960_REG_GOFFSET_U, APDS9960_DEFAULT_GOFFSET)
self._write_byte_data(APDS9960_REG_GOFFSET_D, APDS9960_DEFAULT_GOFFSET)
self._write_byte_data(APDS9960_REG_GOFFSET_L, APDS9960_DEFAULT_GOFFSET)
self._write_byte_data(APDS9960_REG_GOFFSET_R, APDS9960_DEFAULT_GOFFSET)
self._write_byte_data(APDS9960_REG_GPULSE, APDS9960_DEFAULT_GPULSE)
self._write_byte_data(APDS9960_REG_GCONF3, APDS9960_DEFAULT_GCONF3)
self.setGestureIntEnable(APDS9960_DEFAULT_GIEN)
def getMode(self):
return self._read_byte_data(APDS9960_REG_ENABLE)
def setMode(self, mode, enable=True):
# read ENABLE register
reg_val = self.getMode()
if mode < 0 or mode > APDS9960_MODE_ALL:
raise ADPS9960InvalidMode(mode)
# change bit(s) in ENABLE register */
if mode == APDS9960_MODE_ALL:
if enable:
reg_val = 0x7f
else:
reg_val = 0x00
else:
if enable:
reg_val |= (1 << mode)
else:
reg_val &= ~(1 << mode)
# write value to ENABLE register
self._write_byte_data(APDS9960_REG_ENABLE, reg_val)
# start the light (R/G/B/Ambient) sensor
def enableLightSensor(self, interrupts=True):
self.setAmbientLightGain(APDS9960_DEFAULT_AGAIN)
self.setAmbientLightIntEnable(interrupts)
self.enablePower()
self.setMode(APDS9960_MODE_AMBIENT_LIGHT, True)
# stop the light sensor
def disableLightSensor(self):
self.setAmbientLightIntEnable(False)
self.setMode(APDS9960_MODE_AMBIENT_LIGHT, False)
# start the proximity sensor
def enableProximitySensor(self, interrupts=True):
self.setProximityGain(APDS9960_DEFAULT_PGAIN)
self.setLEDDrive(APDS9960_DEFAULT_LDRIVE)
self.setProximityIntEnable(interrupts)
self.enablePower()
self.setMode(APDS9960_MODE_PROXIMITY, True)
# stop the proximity sensor
def disableProximitySensor(self):
self.setProximityIntEnable(False)
self.setMode(APDS9960_MODE_PROXIMITY, False)
# start the gesture recognition engine
def enableGestureSensor(self, interrupts=True):
self.resetGestureParameters()
self._write_byte_data(APDS9960_REG_WTIME, 0xff)
self._write_byte_data(APDS9960_REG_PPULSE, APDS9960_DEFAULT_GESTURE_PPULSE)
self.setLEDBoost(APDS9960_LED_BOOST_300)
self.setGestureIntEnable(interrupts)
self.setGestureMode(True)
self.enablePower()
self.setMode(APDS9960_MODE_WAIT, True)
self.setMode(APDS9960_MODE_PROXIMITY, True)
self.setMode(APDS9960_MODE_GESTURE, True)
# stop the gesture recognition engine
def disableGestureSensor(self):
self.resetGestureParameters()
self.setGestureIntEnable(False)
self.setGestureMode(False)
self.setMode(APDS9960_MODE_GESTURE, False)
# check if there is a gesture available
def isGestureAvailable(self):
val = self._read_byte_data(APDS9960_REG_GSTATUS)
# shift and mask out GVALID bit
val &= APDS9960_BIT_GVALID
return (val == APDS9960_BIT_GVALID)
# processes a gesture event and returns best guessed gesture
def readGesture(self):
fifo_level = 0
bytes_read = 0
fifo_data = []
# make sure that power and gesture is on and data is valid
if not (self.getMode() & 0b01000001) or not self.isGestureAvailable():
return APDS9960_DIR_NONE
# keep looping as long as gesture data is valid
while(self.isGestureAvailable()):
# read the current FIFO level
fifo_level = self._read_byte_data(APDS9960_REG_GFLVL)
# if there's stuff in the FIFO, read it into our data block
if fifo_level > 0:
fifo_data = []
for i in range(0, fifo_level):
fifo_data += self._read_i2c_block_data(APDS9960_REG_GFIFO_U, 4)
# if at least 1 set of data, sort the data into U/D/L/R
if len(fifo_data) >= 4:
for i in range(0, len(fifo_data), 4):
self.gesture_data_.u_data[self.gesture_data_.index] = fifo_data[i + 0]
self.gesture_data_.d_data[self.gesture_data_.index] = fifo_data[i + 1]
self.gesture_data_.l_data[self.gesture_data_.index] = fifo_data[i + 2]
self.gesture_data_.r_data[self.gesture_data_.index] = fifo_data[i + 3]
self.gesture_data_.index += 1
self.gesture_data_.total_gestures += 1
# filter and process gesture data, decode near/far state
if self.processGestureData():
if self.decodeGesture():
#***TODO: U-Turn Gestures
pass
# reset data
self.gesture_data_.index = 0
self.gesture_data_.total_gestures = 0
# wait some time to collect next batch of FIFO data
sleep(APDS9960_TIME_FIFO_PAUSE)
# determine best guessed gesture and clean up
sleep(APDS9960_TIME_FIFO_PAUSE)
self.decodeGesture()
motion = self.gesture_motion_
self.resetGestureParameters()
return motion
# turn the APDS-9960 on
def enablePower(self):
self.setMode(APDS9960_MODE_POWER, True)
def disablePower(self):
# turn the APDS-9960 off
self.setMode(APDS9960_MODE_POWER, False)
# *******************************************************************************
# ambient light and color sensor controls
# *******************************************************************************
# check if there is new light data available
def isLightAvailable(self):
val = self._read_byte_data(APDS9960_REG_STATUS)
# shift and mask out AVALID bit
val &= APDS9960_BIT_AVALID
return (val == APDS9960_BIT_AVALID)
# reads the ambient (clear) light level as a 16-bit value
def readAmbientLight(self):
# read value from clear channel, low byte register
l = self._read_byte_data(APDS9960_REG_CDATAL)
# read value from clear channel, high byte register
h = self._read_byte_data(APDS9960_REG_CDATAH)
return l + (h << 8)
# reads the red light level as a 16-bit value
def readRedLight(self):
# read value from red channel, low byte register
l = self._read_byte_data(APDS9960_REG_RDATAL)
# read value from red channel, high byte register
h = self._read_byte_data(APDS9960_REG_RDATAH)
return l + (h << 8)
# reads the green light level as a 16-bit value
def readGreenLight(self):
# read value from green channel, low byte register
l = self._read_byte_data(APDS9960_REG_GDATAL)
# read value from green channel, high byte register
h = self._read_byte_data(APDS9960_REG_GDATAH)
return l + (h << 8)
# reads the blue light level as a 16-bit value
def readBlueLight(self):
# read value from blue channel, low byte register
l = self._read_byte_data(APDS9960_REG_BDATAL)
# read value from blue channel, high byte register
h = self._read_byte_data(APDS9960_REG_BDATAH)
return l + (h << 8)
# *******************************************************************************
# Proximity sensor controls
# *******************************************************************************
# reads the proximity level as an 8-bit value
def readProximity(self):
return self._read_byte_data(APDS9960_REG_PDATA)
# *******************************************************************************
# High-level gesture controls
# *******************************************************************************
# resets all the parameters in the gesture data member
def resetGestureParameters(self):
self.gesture_data_.index = 0
self.gesture_data_.total_gestures = 0
self.gesture_ud_delta_ = 0
self.gesture_lr_delta_ = 0
self.gesture_ud_count_ = 0
self.gesture_lr_count_ = 0
self.gesture_near_count_ = 0
self.gesture_far_count_ = 0
self.gesture_state_ = 0
self.gesture_motion_ = APDS9960_DIR_NONE
def processGestureData(self):
"""Processes the raw gesture data to determine swipe direction
Returns:
bool: True if near or far state seen, False otherwise.
"""
u_first = 0
d_first = 0
l_first = 0
r_first = 0
u_last = 0
d_last = 0
l_last = 0
r_last = 0
# if we have less than 4 total gestures, that's not enough
if self.gesture_data_.total_gestures <= 4:
return False
# check to make sure our data isn't out of bounds
if self.gesture_data_.total_gestures <= 32 and self.gesture_data_.total_gestures > 0:
# find the first value in U/D/L/R above the threshold
for i in range(0, self.gesture_data_.total_gestures):
if self.gesture_data_.u_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \
self.gesture_data_.d_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \
self.gesture_data_.l_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \
self.gesture_data_.r_data[i] > APDS9960_GESTURE_THRESHOLD_OUT:
u_first = self.gesture_data_.u_data[i]
d_first = self.gesture_data_.d_data[i]
l_first = self.gesture_data_.l_data[i]
r_first = self.gesture_data_.r_data[i]
break
# if one of the _first values is 0, then there is no good data
if u_first == 0 or d_first == 0 or l_first == 0 or r_first == 0:
return False
# find the last value in U/D/L/R above the threshold
for i in reversed(range(0, self.gesture_data_.total_gestures)):
if self.gesture_data_.u_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \
self.gesture_data_.d_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \
self.gesture_data_.l_data[i] > APDS9960_GESTURE_THRESHOLD_OUT and \
self.gesture_data_.r_data[i] > APDS9960_GESTURE_THRESHOLD_OUT:
u_last = self.gesture_data_.u_data[i]
d_last = self.gesture_data_.d_data[i]
l_last = self.gesture_data_.l_data[i]
r_last = self.gesture_data_.r_data[i]
break
# calculate the first vs. last ratio of up/down and left/right
ud_ratio_first = ((u_first - d_first) * 100) / (u_first + d_first)
lr_ratio_first = ((l_first - r_first) * 100) / (l_first + r_first)
ud_ratio_last = ((u_last - d_last) * 100) / (u_last + d_last)
lr_ratio_last = ((l_last - r_last) * 100) / (l_last + r_last)
# determine the difference between the first and last ratios
ud_delta = ud_ratio_last - ud_ratio_first
lr_delta = lr_ratio_last - lr_ratio_first
# accumulate the UD and LR delta values
self.gesture_ud_delta_ += ud_delta
self.gesture_lr_delta_ += lr_delta
# determine U/D gesture
if self.gesture_ud_delta_ >= APDS9960_GESTURE_SENSITIVITY_1:
self.gesture_ud_count_ = 1
elif self.gesture_ud_delta_ <= -APDS9960_GESTURE_SENSITIVITY_1:
self.gesture_ud_count_ = -1
else:
self.gesture_ud_count_ = 0
# determine L/R gesture
if self.gesture_lr_delta_ >= APDS9960_GESTURE_SENSITIVITY_1:
self.gesture_lr_count_ = 1
elif self.gesture_lr_delta_ <= -APDS9960_GESTURE_SENSITIVITY_1:
self.gesture_lr_count_ = -1
else:
self.gesture_lr_count_ = 0
# determine Near/Far gesture
if self.gesture_ud_count_ == 0 and self.gesture_lr_count_ == 0:
if abs(ud_delta) < APDS9960_GESTURE_SENSITIVITY_2 and \
abs(lr_delta) < APDS9960_GESTURE_SENSITIVITY_2:
if ud_delta == 0 and lr_delta == 0:
self.gesture_near_count_ += 1
elif ud_delta != 0 or lr_delta != 0:
self.gesture_far_count_ += 1
if self.gesture_near_count_ >= 10 and self.gesture_far_count_ >= 2:
if ud_delta == 0 and lr_delta == 0:
self.gesture_state_ = APDS9960_STATE_NEAR
elif ud_delta != 0 and lr_delta != 0:
self.gesture_state_ = APDS9960_STATE_FAR
return True
else:
if abs(ud_delta) < APDS9960_GESTURE_SENSITIVITY_2 and \
abs(lr_delta) < APDS9960_GESTURE_SENSITIVITY_2:
if ud_delta == 0 and lr_delta == 0:
self.gesture_near_count_ += 1
if self.gesture_near_count_ >= 10:
self.gesture_ud_count_ = 0
self.gesture_lr_count_ = 0
self.gesture_ud_delta_ = 0
self.gesture_lr_delta_ = 0
return False
def decodeGesture(self):
"""Determines swipe direction or near/far state.
"""
# return if near or far event is detected
if self.gesture_state_ == APDS9960_STATE_NEAR:
self.gesture_motion_ = APDS9960_DIR_NEAR
return True
if self.gesture_state_ == APDS9960_STATE_FAR:
self.gesture_motion_ = APDS9960_DIR_FAR
return True
# determine swipe direction
if self.gesture_ud_count_ == -1 and self.gesture_lr_count_ == 0:
self.gesture_motion_ = APDS9960_DIR_UP
elif self.gesture_ud_count_ == 1 and self.gesture_lr_count_ == 0:
self.gesture_motion_ = APDS9960_DIR_DOWN
elif self.gesture_ud_count_ == 0 and self.gesture_lr_count_ == 1:
self.gesture_motion_ = APDS9960_DIR_RIGHT
elif self.gesture_ud_count_ == 0 and self.gesture_lr_count_ == -1:
self.gesture_motion_ = APDS9960_DIR_LEFT
elif self.gesture_ud_count_ == -1 and self.gesture_lr_count_ == 1:
if abs(self.gesture_ud_delta_) > abs(self.gesture_lr_delta_):
self.gesture_motion_ = APDS9960_DIR_UP
else:
self.gesture_motion_ = APDS9960_DIR_DOWN
elif self.gesture_ud_count_ == 1 and self.gesture_lr_count_ == -1:
if abs(self.gesture_ud_delta_) > abs(self.gesture_lr_delta_):
self.gesture_motion_ = APDS9960_DIR_DOWN
else:
self.gesture_motion_ = APDS9960_DIR_LEFT
elif self.gesture_ud_count_ == -1 and self.gesture_lr_count_ == -1:
if abs(self.gesture_ud_delta_) > abs(self.gesture_lr_delta_):
self.gesture_motion_ = APDS9960_DIR_UP
else:
self.gesture_motion_ = APDS9960_DIR_LEFT
elif self.gesture_ud_count_ == 1 and self.gesture_lr_count_ == 1:
if abs(self.gesture_ud_delta_) > abs(self.gesture_lr_delta_):
self.gesture_motion_ = APDS9960_DIR_DOWN
else:
self.gesture_motion_ = APDS9960_DIR_RIGHT
else:
return False
return True
# *******************************************************************************
# Getters and setters for register values
# *******************************************************************************
def getProxIntLowThresh(self):
"""Returns the lower threshold for proximity detection
"""
return self._read_byte_data(APDS9960_REG_PILT)
def setProxIntLowThresh(self, threshold):
"""Sets the lower threshold for proximity detection.
"""
self._write_byte_data(APDS9960_REG_PILT, threshold)
def getProxIntHighThresh(self):
"""Returns the high threshold for proximity detection.
"""
return self._read_byte_data(APDS9960_REG_PIHT)
def setProxIntHighThresh(self, threshold):
"""Sets the high threshold for proximity detection.
"""
self._write_byte_data(APDS9960_REG_PIHT, threshold)
def getLEDDrive(self):
"""Returns LED drive strength for proximity and ALS.
Value LED Current
0 100 mA
1 50 mA
2 25 mA
3 12.5 mA
Returns:
int: the value of the LED drive strength
"""
val = self._read_byte_data(APDS9960_REG_CONTROL)
# shift and mask out LED drive bits
return (val >> 6) & 0b00000011
def setLEDDrive(self, drive):
"""Sets LED drive strength for proximity and ALS.
Value LED Current
0 100 mA
1 50 mA
2 25 mA
3 12.5 mA
Args:
drive (int): value for the LED drive strength
"""
val = self._read_byte_data(APDS9960_REG_CONTROL)
# set bits in register to given value
drive &= 0b00000011
drive = drive << 6
val &= 0b00111111
val |= drive
self._write_byte_data(APDS9960_REG_CONTROL, val)
def getProximityGain(self):
"""Returns receiver gain for proximity detection.
Value Gain
0 1x
1 2x
2 4x
3 8x
Returns:
int: the value of the proximity gain
"""
val = self._read_byte_data(APDS9960_REG_CONTROL)
# shift and mask out PDRIVE bits
return (val >> 2) & 0b00000011
def setProximityGain(self, drive):
"""Returns receiver gain for proximity detection.
Value Gain
0 1x
1 2x
2 4x
3 8x
Args:
drive (int): value for the proximity gain
"""
val = self._read_byte_data(APDS9960_REG_CONTROL)
# set bits in register to given value
drive &= 0b00000011
drive = drive << 2
val &= 0b11110011
val |= drive
self._write_byte_data(APDS9960_REG_CONTROL, val)
def getAmbientLightGain(self):
"""Returns receiver gain for the ambient light sensor (ALS).
Value Gain
0 1x
1 4x
2 16x
3 64x
Returns:
int: the value of the ALS gain
"""
val = self._read_byte_data(APDS9960_REG_CONTROL)
# shift and mask out ADRIVE bits
return (val & 0b00000011)
def setAmbientLightGain(self, drive):
"""Sets the receiver gain for the ambient light sensor (ALS).
Value Gain
0 1x
1 4x
2 16x
3 64x
Args:
drive (int): value for the ALS gain
"""
val = self._read_byte_data(APDS9960_REG_CONTROL)
# set bits in register to given value
drive &= 0b00000011
val &= 0b11111100
val |= drive
self._write_byte_data(APDS9960_REG_CONTROL, val)
def getLEDBoost(self):
"""Get the current LED boost value.
Value Gain
0 100%
1 150%
2 200%
3 300%
Returns:
int: the LED boost value
"""
val = self._read_byte_data(APDS9960_REG_CONFIG2)
# shift and mask out LED_BOOST bits
return (val >> 4) & 0b00000011
def setLEDBoost(self, boost):
"""Sets the LED current boost value.
Value Gain
0 100%
1 150%
2 200%
3 300%
Args:
boost (int): value for the LED boost
"""
val = self._read_byte_data(APDS9960_REG_CONFIG2)
# set bits in register to given value
boost &= 0b00000011
boost = boost << 4
val &= 0b11001111
val |= boost
self._write_byte_data(APDS9960_REG_CONFIG2, val)
def getProxGainCompEnable(self):
"""Gets proximity gain compensation enable.
Returns:
bool: True if compensation is enabled, False if not
"""
val = self._read_byte_data(APDS9960_REG_CONFIG3)
# Shift and mask out PCMP bits
val = (val >> 5) & 0b00000001
return val == 1
def setProxGainCompEnable(self, enable):
"""Sets the proximity gain compensation enable.
Args:
enable (bool): True to enable compensation, False to disable
"""
val = self._read_byte_data(APDS9960_REG_CONFIG3)
# set bits in register to given value
val &= 0b11011111
if enable:
val |= 0b00100000
self._write_byte_data(APDS9960_REG_CONFIG3, val)
def getProxPhotoMask(self):
"""Gets the current mask for enabled/disabled proximity photodiodes.
Bit Photodiode
3 UP
2 DOWN
1 LEFT
0 RIGHT
1 = disabled, 0 = enabled
Returns:
int: Current proximity mask for photodiodes.
"""
val = self._read_byte_data(APDS9960_REG_CONFIG3)
# mask out photodiode enable mask bits
return val & 0b00001111
def setProxPhotoMask(self, mask):
"""Sets the mask for enabling/disabling proximity photodiodes.
Bit Photodiode
3 UP
2 DOWN
1 LEFT
0 RIGHT
1 = disabled, 0 = enabled
Args:
mask (int): 4-bit mask value
"""
val = self._read_byte_data(APDS9960_REG_CONFIG3)
# set bits in register to given value
mask &= 0b00001111
val &= 0b11110000
val |= mask
self._write_byte_data(APDS9960_REG_CONFIG3, val)
def getGestureEnterThresh(self):
"""Gets the entry proximity threshold for gesture sensing.
Returns:
int: current entry proximity threshold
"""
return self._read_byte_data(APDS9960_REG_GPENTH)
def setGestureEnterThresh(self, threshold):
"""Sets the entry proximity threshold for gesture sensing.
Args:
threshold (int): threshold proximity value needed to start gesture mode
"""
self._write_byte_data(APDS9960_REG_GPENTH, threshold)
def getGestureExitThresh(self):
"""Gets the exit proximity threshold for gesture sensing.
Returns:
int: current exit proximity threshold
"""
return self._read_byte_data(APDS9960_REG_GEXTH)
def setGestureExitThresh(self, threshold):
"""Sets the exit proximity threshold for gesture sensing.
Args:
threshold (int): threshold proximity value needed to end gesture mode
"""
self._write_byte_data(APDS9960_REG_GEXTH, threshold)
def getGestureGain(self):
"""Gets the gain of the photodiode during gesture mode.
Value Gain
0 1x
1 2x
2 4x
3 8x
Returns:
int: the current photodiode gain
"""
val = self._read_byte_data(APDS9960_REG_GCONF2)
# shift and mask out PDRIVE bits
return (val >> 5) & 0b00000011
def setGestureGain(self, gain):
"""Sets the gain of the photodiode during gesture mode.
Value Gain
0 1x
1 2x
2 4x
3 8x
Args:
gain (int): the value for the photodiode gain
"""
val = self._read_byte_data(APDS9960_REG_GCONF2)
# set bits in register to given value
gain &= 0b00000011
gain = gain << 5
val &= 0b10011111
val |= gain
self._write_byte_data(APDS9960_REG_GCONF2, val)
def getGestureLEDDrive(self):
"""Gets the drive current of the LED during gesture mode.
Value LED Current
0 100 mA
1 50 mA
2 25 mA
3 12.5 mA
Returns:
int: the LED drive current value
"""
val = self._read_byte_data(APDS9960_REG_GCONF2)
# shift and mask out LED drive bits
return (val >> 3) & 0b00000011
def setGestureLEDDrive(self, drive):
"""Sets LED drive strength for proximity and ALS.
Value LED Current
0 100 mA
1 50 mA
2 25 mA
3 12.5 mA
Args:
drive (int): value for the LED drive current
"""
val = self._read_byte_data(APDS9960_REG_GCONF2)
# set bits in register to given value
drive &= 0b00000011
drive = drive << 3
val &= 0b11100111
val |= drive
self._write_byte_data(APDS9960_REG_GCONF2, val)
def getGestureWaitTime(self):
"""Gets the time in low power mode between gesture detections.
Value Wait time
0 0 ms
1 2.8 ms
2 5.6 ms
3 8.4 ms
4 14.0 ms
5 22.4 ms
6 30.8 ms
7 39.2 ms
Returns:
int: the current wait time between gestures
"""
val = self._read_byte_data(APDS9960_REG_GCONF2)
# shift and mask out LED drive bits
return val & 0b00000111
def setGestureWaitTime(self, time):
"""Sets the time in low power mode between gesture detections.
Value Wait time
0 0 ms
1 2.8 ms
2 5.6 ms
3 8.4 ms
4 14.0 ms
5 22.4 ms
6 30.8 ms
7 39.2 ms
Args:
time (int): value for the wait time
"""
val = self._read_byte_data(APDS9960_REG_GCONF2)
# set bits in register to given value
time &= 0b00000111
val &= 0b11111000
val |= time
self._write_byte_data(APDS9960_REG_GCONF2, val)
def getLightIntLowThreshold(self):
"""Gets the low threshold for ambient light interrupts.
Returns:
int: threshold current low threshold stored on the APDS9960
"""
return self._read_byte_data(APDS9960_REG_AILTL) | (self._read_byte_data(APDS9960_REG_AILTH) << 8)
def setLightIntLowThreshold(self, threshold):
"""Sets the low threshold for ambient light interrupts.
Args:
threshold (int): low threshold value for interrupt to trigger
"""
# break 16-bit threshold into 2 8-bit values
self._write_byte_data(APDS9960_REG_AILTL, threshold & 0x00ff)
self._write_byte_data(APDS9960_REG_AILTH, (threshold & 0xff00) >> 8)
def getLightIntHighThreshold(self):
"""Gets the high threshold for ambient light interrupts.
Returns:
int: threshold current low threshold stored on the APDS9960
"""
return self._read_byte_data(APDS9960_REG_AIHTL) | (self._read_byte_data(APDS9960_REG_AIHTH) << 8)
def setLightIntHighThreshold(self, threshold):
"""Sets the high threshold for ambient light interrupts.
Args:
threshold (int): high threshold value for interrupt to trigger
"""
# break 16-bit threshold into 2 8-bit values
self._write_byte_data(APDS9960_REG_AIHTL, threshold & 0x00ff)
self._write_byte_data(APDS9960_REG_AIHTH, (threshold & 0xff00) >> 8)
def getProximityIntLowThreshold(self):
"""Gets the low threshold for proximity interrupts.
Returns:
int: threshold current low threshold stored on the APDS9960
"""
return self._read_byte_data(APDS9960_REG_PILT)
def setProximityIntLowThreshold(self, threshold):
"""Sets the low threshold for proximity interrupts.
Args:
threshold (int): low threshold value for interrupt to trigger
"""
self._write_byte_data(APDS9960_REG_PILT, threshold)
def getProximityIntHighThreshold(self):
"""Gets the high threshold for proximity interrupts.
Returns:
int: threshold current high threshold stored on the APDS9960
"""
return self._read_byte_data(APDS9960_REG_PIHT)
def setProximityIntHighThreshold(self, threshold):
"""Sets the high threshold for proximity interrupts.
Args:
threshold (int): high threshold value for interrupt to trigger
"""
self._write_byte_data(APDS9960_REG_PIHT, threshold)
def getAmbientLightIntEnable(self):
"""Gets if ambient light interrupts are enabled or not.
Returns:
bool: True if interrupts are enabled, False if not
"""
val = self._read_byte_data(APDS9960_REG_ENABLE)
return (val >> 4) & 0b00000001 == 1
def setAmbientLightIntEnable(self, enable):
"""Turns ambient light interrupts on or off.
Args:
enable (bool): True to enable interrupts, False to turn them off
"""
val = self._read_byte_data(APDS9960_REG_ENABLE)
# set bits in register to given value
val &= 0b11101111
if enable:
val |= 0b00010000
self._write_byte_data(APDS9960_REG_ENABLE, val)
def getProximityIntEnable(self):
"""Gets if proximity interrupts are enabled or not.
Returns:
bool: True if interrupts are enabled, False if not
"""
val = self._read_byte_data(APDS9960_REG_ENABLE)
return (val >> 5) & 0b00000001 == 1
def setProximityIntEnable(self, enable):
"""Turns proximity interrupts on or off.
Args:
enable (bool): True to enable interrupts, False to turn them off
"""
val = self._read_byte_data(APDS9960_REG_ENABLE)
# set bits in register to given value
val &= 0b11011111
if enable:
val |= 0b00100000
self._write_byte_data(APDS9960_REG_ENABLE, val)
def getGestureIntEnable(self):
"""Gets if gesture interrupts are enabled or not.
Returns:
bool: True if interrupts are enabled, False if not
"""
val = self._read_byte_data(APDS9960_REG_GCONF4)
return (val >> 1) & 0b00000001 == 1
def setGestureIntEnable(self, enable):
"""Turns gesture-related interrupts on or off.
Args:
enable (bool): True to enable interrupts, False to turn them off
"""
val = self._read_byte_data(APDS9960_REG_GCONF4)
# set bits in register to given value
val &= 0b11111101
if enable:
val |= 0b00000010
self._write_byte_data(APDS9960_REG_GCONF4, val)
def clearAmbientLightInt(self):
"""Clears the ambient light interrupt.
"""
self._read_byte_data(APDS9960_REG_AICLEAR)
def clearProximityInt(self):
"""Clears the proximity interrupt.
"""
self._read_byte_data(APDS9960_REG_PICLEAR)
def getGestureMode(self):
"""Tells if the gesture state machine is currently running.
Returns:
bool: True if gesture state machine is running, False if not
"""
val = self._read_byte_data(APDS9960_REG_GCONF4)
return val & 0b00000001 == 1
def setGestureMode(self, enable):
"""Turns gesture-related interrupts on or off.
Args:
enable (bool): True to enter gesture state machine, False to turn them off
"""
val = self._read_byte_data(APDS9960_REG_GCONF4)
# set bits in register to given value
val &= 0b11111110
if enable:
val |= 0b00000001
self._write_byte_data(APDS9960_REG_GCONF4, val)
# *******************************************************************************
# Raw I2C Reads and Writes
# *******************************************************************************
def _read_byte_data(self, cmd):
return self.bus.read_byte_data(self.address, cmd)
def _write_byte_data(self, cmd, val):
return self.bus.write_byte_data(self.address, cmd, val)
def _read_i2c_block_data(self, cmd, num):
return self.bus.read_i2c_block_data(self.address, cmd, num)
class uAPDS9960(APDS9960):
"""
APDS9960 for MicroPython
sensor = uAPDS9960(bus=I2C_instance,
address=APDS9960_I2C_ADDR, valid_id=APDS9960_DEV_ID)
"""
def _read_byte_data(self, cmd):
return self.bus.readfrom_mem(self.address, cmd, 1)[0]
def _write_byte_data(self, cmd, val):
self.bus.writeto_mem(self.address, cmd, bytes([val]))
def _read_i2c_block_data(self, cmd, num):
return self.bus.readfrom_mem(self.address, cmd, num)exceptions.py
class ADPS9960InvalidDevId(ValueError):
def __init__(self, id, valid_ids):
Exception.__init__(self, "Device id 0x{} is not a valied one (valid: {})!".format(format(id, '02x'), ', '.join(["0x{}".format(format(i, '02x')) for i in valid_ids])))
class ADPS9960InvalidMode(ValueError):
def __init__(self, mode):
Exception.__init__(self, "Feature mode {} is invalid!".format(mode))
以下が、モジュールを動かすためのコードです。
gesture.py
from time import sleep
from machine import Pin, I2C
from apds9960.const import *
from apds9960 import uAPDS9960 as APDS9960
bus = I2C(sda=Pin(0), scl=Pin(1))
apds = APDS9960(bus)
dirs = {
APDS9960_DIR_NONE: "none",
APDS9960_DIR_LEFT: "left",
APDS9960_DIR_RIGHT: "right",
APDS9960_DIR_UP: "up",
APDS9960_DIR_DOWN: "down",
APDS9960_DIR_NEAR: "near",
APDS9960_DIR_FAR: "far",
}
apds.setProximityIntLowThreshold(50)
print("Gesture Test")
print("============")
apds.enableGestureSensor()
while True:
sleep(0.5)
if apds.isGestureAvailable():
motion = apds.readGesture()
print("Gesture={}".format(dirs.get(motion, "unknown")))from machine import Pin, I2C
from time import sleep
from apds9960.const import *
from apds9960 import uAPDS9960 as APDS9960
# I2C初期化
i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)
apds = APDS9960(i2c)
apds.enableLightSensor(interrupts=False)
while True:
if apds.isLightAvailable():
c = apds.readAmbientLight()
r = apds.readRedLight()
g = apds.readGreenLight()
b = apds.readBlueLight()
denom = max(c, 1)
rn, gn, bn = r/denom, g/denom, b/denom
print(f"C:{c} R:{r} G:{g} B:{b} norm=({rn:.2f},{gn:.2f},{bn:.2f})")
sleep(0.1)ホワイトバランス補正の工夫
カラーセンサーをそのまま使うと、環境光やセンサーの分光特性のせいで「青をかざしたのに赤っぽく出る」といったことが起きます。
そこでおすすめなのが ホワイトバランス補正。カメラで「白を白く見せる」調整と同じです。
1. 白い紙を基準にする
- センサーの前に真っ白な紙を置く
- R/G/B の値を読み取る（例: R=12000, G=13500, B=11000）
- このとき R=G=B になるのが理想なので、各値に係数を掛けて揃えます
例：
- Gを基準とすると
- R係数 = G/R = 13500/12000 ≈ 1.125
- B係数 = G/B = 13500/11000 ≈ 1.227
- 以後の計測では
- R’ = R × 1.125
- G’ = G
- B’ = B × 1.227
こうすると「白い紙は白」となり、他の色も相対的に自然になります。
以下、プログラムに落とす場合の例です。
# 白紙で取得した補正係数
R_GAIN = 1.125
G_GAIN = 1.0
B_GAIN = 1.227
def read_color():
c = apds.readAmbientLight()
r = apds.readRedLight() * R_GAIN
g = apds.readGreenLight() * G_GAIN
b = apds.readBlueLight() * B_GAIN
return c, r, g, b活用アイデアと実用シーン
- 手をかざして色を変える照明
- 色付きカードで操作するガジェット
- タッチレス入力のインターフェース
- 「赤ボール」「青ボール」を判定するロボット
身近な材料と組み合わせるだけで、ちょっと未来的なおもちゃや便利グッズが作れます。
まとめ
APDS-9960 は ジェスチャー・近接・カラーを全部こなす多機能センサーです。
環境光に弱いというクセはあるものの、LED照明と遮光フードで工夫すればしっかり働いてくれます。
色を判別して別のモジュール(サーボモータなど)を動かすなど様々なことに使えると思います。
是非試してみてください。
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