【8-13】手势传感器PAJ7620U2测试 实现手势控制无人机

手势传感器PAJ7620U2

最近买了个手势传感器,可以直接通过GPIO口连接树莓派,测试了下用手势识别控制无人机。
视频见:https://www.bilibili.com/video/BV1hT4y1j7Wz

【无人机】手势传感器控制无人机飞行

识别手势:上、下、左、右、前、后、顺时针、逆时针、摇摆
识别距离:5-15cm
微雪资料

1.软件下载

程序

示例程序
BCM2835程序

文档

用户手册
原理图

调试程序

Arduino IDE
串口调试助手

2.准备工作

2.1 硬件

打开I2C接口
连线

2.2 软件库

sudo apt-get install python-pip 
sudo pip install RPi.GPIO
sudo pip install spidev
sudo apt-get install python-pil
sudo apt-get install python-smbus
sudo apt-get install python-serial

3.Python例程

#!/usr/bin/python
# -*- coding:utf-8 -*-
import time
import smbus

#i2c address
PAJ7620U2_I2C_ADDRESS   = 0x73
#Register Bank select
PAJ_BANK_SELECT			= 0xf0			#Bank0== 0x00,Bank1== 0x01
#Register Bank 0
PAJ_SUSPEND				= 0x03		#I2C suspend command (Write = 0x01 to enter suspend state). I2C wake-up command is slave ID wake-up. Refer to topic “I2C Bus Timing Characteristics and Protocol”
PAJ_INT_FLAG1_MASK		= 0x41		#Gesture detection interrupt flag mask
PAJ_INT_FLAG2_MASK		= 0x42		#Gesture/PS detection interrupt flag mask
PAJ_INT_FLAG1		    = 0x43		#Gesture detection interrupt flag
PAJ_INT_FLAG2			= 0x44		#Gesture/PS detection interrupt flag
PAJ_STATE				= 0x45		#State indicator for gesture detection (Only functional at gesture detection mode)
PAJ_PS_HIGH_THRESHOLD	= 0x69		#PS hysteresis high threshold (Only functional at proximity detection mode)		
PAJ_PS_LOW_THRESHOLD	= 0x6A		#PS hysteresis low threshold (Only functional at proximity detection mode)
PAJ_PS_APPROACH_STATE	= 0x6B		#PS approach state,  Approach = 1 , (8 bits PS data >= PS high threshold),  Not Approach = 0 , (8 bits PS data <= PS low threshold)(Only functional at proximity detection mode)
PAJ_PS_DATA				= 0x6C		#PS 8 bit data(Only functional at gesture detection mode)
PAJ_OBJ_BRIGHTNESS		= 0xB0		#Object Brightness (Max. 255)
PAJ_OBJ_SIZE_L			= 0xB1		#Object Size(Low 8 bit)		
PAJ_OBJ_SIZE_H			= 0xB2		#Object Size(High 8 bit)	
#Register Bank 1
PAJ_PS_GAIN				= 0x44	    #PS gain setting (Only functional at proximity detection mode)
PAJ_IDLE_S1_STEP_L		= 0x67		#IDLE S1 Step, for setting the S1, Response Factor(Low 8 bit)
PAJ_IDLE_S1_STEP_H		= 0x68		#IDLE S1 Step, for setting the S1, Response Factor(High 8 bit)	
PAJ_IDLE_S2_STEP_L		= 0x69		#IDLE S2 Step, for setting the S2, Response Factor(Low 8 bit)
PAJ_IDLE_S2_STEP_H		= 0x6A		#IDLE S2 Step, for setting the S2, Response Factor(High 8 bit)
PAJ_OPTOS1_TIME_L		= 0x6B		#OPtoS1 Step, for setting the OPtoS1 time of operation state to standby 1 state(Low 8 bit)	
PAJ_OPTOS2_TIME_H		= 0x6C		#OPtoS1 Step, for setting the OPtoS1 time of operation state to standby 1 stateHigh 8 bit)	
PAJ_S1TOS2_TIME_L		= 0x6D		#S1toS2 Step, for setting the S1toS2 time of standby 1 state to standby 2 state(Low 8 bit)	
PAJ_S1TOS2_TIME_H		= 0x6E		#S1toS2 Step, for setting the S1toS2 time of standby 1 state to standby 2 stateHigh 8 bit)	
PAJ_EN					= 0x72		#Enable/Disable PAJ7620U2
#Gesture detection interrupt flag
PAJ_UP				    = 0x01 
PAJ_DOWN			    = 0x02
PAJ_LEFT			    = 0x04 
PAJ_RIGHT			    = 0x08
PAJ_FORWARD		    	= 0x10 
PAJ_BACKWARD		    = 0x20
PAJ_CLOCKWISE			= 0x40
PAJ_COUNT_CLOCKWISE		= 0x80
PAJ_WAVE				= 0x100
#Power up initialize array
Init_Register_Array = (
	(0xEF,0x00),
	(0x37,0x07),
	(0x38,0x17),
	(0x39,0x06),
	(0x41,0x00),
	(0x42,0x00),
	(0x46,0x2D),
	(0x47,0x0F),
	(0x48,0x3C),
	(0x49,0x00),
	(0x4A,0x1E),
	(0x4C,0x20),
	(0x51,0x10),
	(0x5E,0x10),
	(0x60,0x27),
	(0x80,0x42),
	(0x81,0x44),
	(0x82,0x04),
	(0x8B,0x01),
	(0x90,0x06),
	(0x95,0x0A),
	(0x96,0x0C),
	(0x97,0x05),
	(0x9A,0x14),
	(0x9C,0x3F),
	(0xA5,0x19),
	(0xCC,0x19),
	(0xCD,0x0B),
	(0xCE,0x13),
	(0xCF,0x64),
	(0xD0,0x21),
	(0xEF,0x01),
	(0x02,0x0F),
	(0x03,0x10),
	(0x04,0x02),
	(0x25,0x01),
	(0x27,0x39),
	(0x28,0x7F),
	(0x29,0x08),
	(0x3E,0xFF),
	(0x5E,0x3D),
	(0x65,0x96),
	(0x67,0x97),
	(0x69,0xCD),
	(0x6A,0x01),
	(0x6D,0x2C),
	(0x6E,0x01),
	(0x72,0x01),
	(0x73,0x35),
	(0x74,0x00),
	(0x77,0x01),
)
#Approaches register initialization array
Init_PS_Array = (
	(0xEF,0x00),
	(0x41,0x00),
	(0x42,0x00),
	(0x48,0x3C),
	(0x49,0x00),
	(0x51,0x13),
	(0x83,0x20),
	(0x84,0x20),
	(0x85,0x00),
	(0x86,0x10),
	(0x87,0x00),
	(0x88,0x05),
	(0x89,0x18),
	(0x8A,0x10),
	(0x9f,0xf8),
	(0x69,0x96),
	(0x6A,0x02),
	(0xEF,0x01),
	(0x01,0x1E),
	(0x02,0x0F),
	(0x03,0x10),
	(0x04,0x02),
	(0x41,0x50),
	(0x43,0x34),
	(0x65,0xCE),
	(0x66,0x0B),
	(0x67,0xCE),
	(0x68,0x0B),
	(0x69,0xE9),
	(0x6A,0x05),
	(0x6B,0x50),
	(0x6C,0xC3),
	(0x6D,0x50),
	(0x6E,0xC3),
	(0x74,0x05),
)
#Gesture register initializes array
Init_Gesture_Array = (
	(0xEF,0x00),
	(0x41,0x00),
	(0x42,0x00),
	(0xEF,0x00),
	(0x48,0x3C),
	(0x49,0x00),
	(0x51,0x10),
	(0x83,0x20),
	(0x9F,0xF9),
	(0xEF,0x01),
	(0x01,0x1E),
	(0x02,0x0F),
	(0x03,0x10),
	(0x04,0x02),
	(0x41,0x40),
	(0x43,0x30),
	(0x65,0x96),
	(0x66,0x00),
	(0x67,0x97),
	(0x68,0x01),
	(0x69,0xCD),
	(0x6A,0x01),
	(0x6B,0xB0),
	(0x6C,0x04),
	(0x6D,0x2C),
	(0x6E,0x01),
	(0x74,0x00),
	(0xEF,0x00),
	(0x41,0xFF),
	(0x42,0x01),
)
class PAJ7620U2(object):
	def __init__(self,address=PAJ7620U2_I2C_ADDRESS):
		self._address = address
		self._bus = smbus.SMBus(1)
		time.sleep(0.5)
		if self._read_byte(0x00) == 0x20:
			print("\nGesture Sensor OK\n")
			for num in range(len(Init_Register_Array)):
				self._write_byte(Init_Register_Array[num][0],Init_Register_Array[num][1])
		else:
			print("\nGesture Sensor Error\n")
		self._write_byte(PAJ_BANK_SELECT, 0)
		for num in range(len(Init_Gesture_Array)):
				self._write_byte(Init_Gesture_Array[num][0],Init_Gesture_Array[num][1])
	def _read_byte(self,cmd):
		return self._bus.read_byte_data(self._address,cmd)
	
	def _read_u16(self,cmd):
		LSB = self._bus.read_byte_data(self._address,cmd)
		MSB = self._bus.read_byte_data(self._address,cmd+1)
		return (MSB	<< 8) + LSB
	def _write_byte(self,cmd,val):
		self._bus.write_byte_data(self._address,cmd,val)
	def check_gesture(self):
		Gesture_Data=self._read_u16(PAJ_INT_FLAG1)
		if Gesture_Data == PAJ_UP:
			print("Up\r\n")
		elif Gesture_Data == PAJ_DOWN:
			print("Down\r\n")
		elif Gesture_Data == PAJ_LEFT:
			print("Left\r\n")	
		elif Gesture_Data == PAJ_RIGHT:
			print("Right\r\n")	
		elif Gesture_Data == PAJ_FORWARD:
			print("Forward\r\n")	
		elif Gesture_Data == PAJ_BACKWARD:
			print("Backward\r\n")
		elif Gesture_Data == PAJ_CLOCKWISE:
			print("Clockwise\r\n")	
		elif Gesture_Data == PAJ_COUNT_CLOCKWISE:
			print("AntiClockwise\r\n")	
		elif Gesture_Data == PAJ_WAVE:
			print("Wave\r\n")	
		return Gesture_Data

if __name__ == '__main__':
	
	import time

	print("\nGesture Sensor Test Program ...\n")
	paj7620u2=PAJ7620U2()

	while True:
		time.sleep(0.05)
		paj7620u2.check_gesture()
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