【RA4M2设计挑战赛】基于PAJ7620U2手势识别网关设计

*附件：Gesture_Gateway - 2023.03.05.zip

1.简介

基于瑞萨R7FA4M2AD3CFP进行设计,对接PAJ7620U2手势识别模块实现一款手势识别网关。

2.实现功能

1.在瑞萨R7FA4M2AD3CFP开发板上适配PAJ7620U2手势识别传感器
2.实现一键配网功能（ESP8266EX模组）并将手势识别状态通过MQTT上报服务器
PS：整体上实现了，但是还有很大优化空间。

3.硬件说明

主要包含三个部分R7FA4M2AD3CFP开发板、手势识别传感器PAJ7620U2模块、ESP8266模组，接线照片如下：
硬件2.jpg

3.1.手势识别传感器PAJ7620U2接线

手势识别传感器和R7FA4M2AD3CFP开发板通过I2C通讯，手势识别传感器PAJ7620U2的VCC、GND、SCL、SDA、INT分别接R7FA4M2AD3CFP主板上的5V、GND、P301、P302、GND

3.2.联网模组ESP8266接线

ESP8266模组和R7FA4M2AD3CFP开发板通过串口通讯，ESP8266模组的VCC、GND、TXD、RXD分别接R7FA4M2AD3CFP主板上PM0D2接口的PIN12、PIN10、PIN5、PIN3（模组固件烧录MQTT（1112）ESP8266-4M.bin）

4.FSP Configuration说明

4.1 手势识别传感器PAJ7620U2配置

PIN 配置如下图：

Stacks配置如下图：

4.2 联网模组ESP8266配置

PIN 配置如下图：

Stacks配置如下图：

4.3 串口打印配置

PIN 配置如下图：

Stacks配置如下图：

Clock配置如下图：

heap配置

5软件模块说明

代码目录结构如下：

代码目录结构.png

5.1 手势识别传感器PAJ7620U2相关代码

实现了9种手势的识别，主要代码如下，详细参考附件：

#include "paj7620u2/paj7620u2.h"
#include "stdio.h"

#define DEBUG 0
// When you want to recognize the Forward/Backward gestures, your gestures' reaction time must less than 0.8s.
#define GES_ENTRY_TIME          300
#define GES_QUIT_TIME           600

static unsigned short  Gesture_Data = 0;
static uint16_t  timeout_ms           = 1000;
static i2c_master_event_t i2c_event = I2C_MASTER_EVENT_ABORTED;

void PAJ7620U2_i2c_master_callback(i2c_master_callback_args_t *p_args)
{
    i2c_event = p_args->event;
    if (I2C_MASTER_EVENT_ABORTED == p_args->event)
    {
        printf("\nGesture Sensor PAJ7620U2_i2c_master_callback =%d\n",p_args->event);
    }
}

uint8_t PAJ7620U2_I2C_readByte(uint8_t  addr)
{
    fsp_err_t err=0;
    uint8_t r_buf;
    err = R_SCI_I2C_Write(&PAJ7620U2_i2c_ctrl,&addr,1,0);
    assert(FSP_SUCCESS == err);
    /* Since there is nothing else to do, block until Callback triggers*/
    while ((I2C_MASTER_EVENT_TX_COMPLETE != i2c_event) && timeout_ms>0)
    {
        R_BSP_SoftwareDelay(1U, BSP_DELAY_UNITS_MILLISECONDS);
        timeout_ms--;
    }
    i2c_event = I2C_MASTER_EVENT_ABORTED;
    timeout_ms           = 1000;
   /* Read data back from the I2C slave */

    err = R_SCI_I2C_Read(&PAJ7620U2_i2c_ctrl,&r_buf,1,1);
    assert(FSP_SUCCESS == err);
    /* Since there is nothing else to do, block until Callback triggers*/
    while ((I2C_MASTER_EVENT_RX_COMPLETE != i2c_event) && timeout_ms>0)
    {
        R_BSP_SoftwareDelay(1U, BSP_DELAY_UNITS_MILLISECONDS);
        timeout_ms--;
    }
    i2c_event = I2C_MASTER_EVENT_ABORTED;
    timeout_ms           = 1000;
   /* Read data back from the I2C slave */

    if (err == FSP_SUCCESS) {
#if DEBUG
        printf("PAJ7620U2_I2C_readByte 0x%X\n", r_buf);
#endif
        return r_buf;
    }

  return 0;
}
uint16_t PAJ7620U2_I2C_readU16(uint8_t addr)
{
    uint16_t x;
    fsp_err_t err;
    uint8_t read_buf[2];
    err = R_SCI_I2C_Write(&PAJ7620U2_i2c_ctrl,&addr,1,0);
    assert(FSP_SUCCESS == err);
    /* Since there is nothing else to do, block until Callback triggers*/
    while ((I2C_MASTER_EVENT_TX_COMPLETE != i2c_event) && timeout_ms>0)
    {
        R_BSP_SoftwareDelay(1U, BSP_DELAY_UNITS_MILLISECONDS);
        timeout_ms--;
    }
    i2c_event = I2C_MASTER_EVENT_ABORTED;
    timeout_ms           = 1000;
   /* Read data back from the I2C slave */

    err = R_SCI_I2C_Read(&PAJ7620U2_i2c_ctrl,&read_buf[0],2,1);
    assert(FSP_SUCCESS == err);
    /* Since there is nothing else to do, block until Callback triggers*/
    while ((I2C_MASTER_EVENT_RX_COMPLETE != i2c_event) && timeout_ms>0)
    {
        R_BSP_SoftwareDelay(1U, BSP_DELAY_UNITS_MILLISECONDS);
        timeout_ms--;
    }
    i2c_event = I2C_MASTER_EVENT_ABORTED;
    timeout_ms           = 1000;
   /* Read data back from the I2C slave */
    if (err == FSP_SUCCESS) {
#if DEBUG
        printf("PAJ7620U2_I2C_readU16 0x%X,0x%X\n", read_buf[0],read_buf[1]);
#endif
        x = ((uint16_t)((read_buf[1] <<8) + read_buf[0]));

    }
    return x;
}

void PAJ7620U2_I2C_writeByte(uint8_t addr, uint8_t data)
{
    fsp_err_t err;
    uint8_t dataSend[2] = {addr,data};
    err = R_SCI_I2C_Write(&PAJ7620U2_i2c_ctrl,dataSend,2,1);
    assert(FSP_SUCCESS == err);
    /* Since there is nothing else to do, block until Callback triggers*/
    while ((I2C_MASTER_EVENT_TX_COMPLETE != i2c_event) && timeout_ms>0)
    {
        R_BSP_SoftwareDelay(1U, BSP_DELAY_UNITS_MILLISECONDS);
        timeout_ms--;
    }
   /* Read data back from the I2C slave */
   i2c_event = I2C_MASTER_EVENT_ABORTED;
   timeout_ms           = 1000;
}

uint8_t PAJ7620U2_init(void)
{
  uint8_t i,State;
  fsp_err_t err;

  printf("\nGesture Sensor start\n");

  err = R_SCI_I2C_Open(&PAJ7620U2_i2c_ctrl, &PAJ7620U2_i2c_cfg);
  assert(FSP_SUCCESS == err);
  if (err != FSP_SUCCESS) return err;
  printf("\nGesture Sensor Delay start\n");
  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
  State =PAJ7620U2_I2C_readByte(0x00);                       //Read State
  printf("\nGesture Sensor State =%x\n",State);
  if (State != 0x20) return 0xff;                      //Wake up failed
  PAJ7620U2_I2C_writeByte(PAJ_BANK_SELECT, 0);                    //Select Bank 0
  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);

  for (i=0;i< Init_Array;i++)
  {
      PAJ7620U2_I2C_writeByte(Init_Register_Array[i][0], Init_Register_Array[i][1]);//Power up initialize
  }

  printf("\nGesture Register OK\n");

  PAJ7620U2_I2C_writeByte(PAJ_BANK_SELECT, 0);//Select Bank 0
  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);


  for (i = 0; i < Gesture_Array_SIZE; i++)
  {
      PAJ7620U2_I2C_writeByte(Init_Gesture_Array[i][0], Init_Gesture_Array[i][1]);//Gesture register initializes
  }
  printf("\nGesture OK\n");
  return 0;
}

uint16_t PAJ7620U2_Checkstatus_Loop(void)
{

  Gesture_Data = PAJ7620U2_I2C_readU16(PAJ_INT_FLAG1);

  if(Gesture_Data){
#if DEBUG
      printf("\nGesture Sensor Gesture_Data = 0x%x\n",Gesture_Data);
#endif
      switch (Gesture_Data)
      {
          case PAJ_UP:
              R_BSP_SoftwareDelay(GES_ENTRY_TIME,BSP_DELAY_UNITS_MILLISECONDS);
              Gesture_Data = PAJ7620U2_I2C_readByte(PAJ_INT_FLAG1);
#if DEBUG
              printf("\nGesture Sensor after GES_ENTRY_TIME Gesture_Data = 0x%x\n",Gesture_Data);
#endif
              if(Gesture_Data == PAJ_FORWARD)
              {
                  printf("\r\n Forward\r\n");
                  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
                  return PAJ_FORWARD;
              }
              else if(Gesture_Data == PAJ_BACKWARD)
              {
                  printf("\r\n Backward\r\n");
                  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
                  return PAJ_BACKWARD;
              }
              else
              {
                  printf("\r\n Up\r\n");
                  return PAJ_UP;
              }
              break;
          case PAJ_DOWN:
              R_BSP_SoftwareDelay(GES_ENTRY_TIME,BSP_DELAY_UNITS_MILLISECONDS);
              Gesture_Data = PAJ7620U2_I2C_readByte(PAJ_INT_FLAG1);
#if DEBUG
              printf("\nGesture Sensor after GES_ENTRY_TIME Gesture_Data = 0x%x\n",Gesture_Data);
#endif
              if(Gesture_Data == PAJ_FORWARD)
              {
                  printf("\r\n Forward\r\n");
                  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
                  return PAJ_FORWARD;
              }
              else if(Gesture_Data == PAJ_BACKWARD)
              {
                  printf("\r\n Backward\r\n");
                  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
                  return PAJ_BACKWARD;
              }
              else
              {
                  printf("\r\n Down\r\n");
                  return PAJ_DOWN;
              }
              break;
          case PAJ_LEFT:
              R_BSP_SoftwareDelay(GES_ENTRY_TIME,BSP_DELAY_UNITS_MILLISECONDS);
              Gesture_Data = PAJ7620U2_I2C_readByte(PAJ_INT_FLAG1);
#if DEBUG
              printf("\nGesture Sensor after GES_ENTRY_TIME Gesture_Data = 0x%x\n",Gesture_Data);
#endif
              if(Gesture_Data == PAJ_FORWARD)
              {
                  printf("\r\n Forward\r\n");
                  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
                  return PAJ_FORWARD;
              }
              else if(Gesture_Data == PAJ_BACKWARD)
              {
                  printf("\r\n Backward\r\n");
                  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
                  return PAJ_BACKWARD;
              }
              else
              {
                  printf("\r\n Left\r\n");
                  return PAJ_LEFT;
              }
              break;
          case PAJ_RIGHT:
              R_BSP_SoftwareDelay(GES_ENTRY_TIME,BSP_DELAY_UNITS_MILLISECONDS);
              Gesture_Data = PAJ7620U2_I2C_readByte(PAJ_INT_FLAG1);
#if DEBUG
              printf("\nGesture Sensor after GES_ENTRY_TIME Gesture_Data = 0x%x\n",Gesture_Data);
#endif
              if(Gesture_Data == PAJ_FORWARD)
              {
                  printf("\r\n Forward\r\n");
                  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
                  return PAJ_FORWARD;
              }
              else if(Gesture_Data == PAJ_BACKWARD)
              {
                  printf("\r\n Backward\r\n");
                  R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
                  return PAJ_BACKWARD;
              }
              else
              {
                  printf("\r\n Right\r\n");
                  return PAJ_RIGHT;
              }
              break;
          case PAJ_FORWARD:
              printf("\r\n Forward\r\n");
              R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
              return PAJ_FORWARD;
              break;
          case PAJ_BACKWARD:
              printf("\r\n Backward\r\n");
              R_BSP_SoftwareDelay(GES_QUIT_TIME,BSP_DELAY_UNITS_MILLISECONDS);
              return PAJ_BACKWARD;
              break;
          case PAJ_CLOCKWISE:
              printf("\r\n Clockwise\r\n");
              return PAJ_CLOCKWISE;
              break;
          case PAJ_COUNT_CLOCKWISE:
              printf("\r\n AntiClockwise\r\n");
              return PAJ_COUNT_CLOCKWISE;
              break;
          case PAJ_WAVE:
              printf("\r\n wave\r\n");
              return PAJ_WAVE;
              break;
          default:
            break;
      }
  }
  return Gesture_Data;
}