Rust APDS9151 Digital Proximity and RGB Color I2C Sensor

This is a platform agnostic Rust driver for the APDS9151 Digital Proximity and RGB Color I2C Sensor, based on the embedded-hal traits.

This driver allows you to:

• Initialize the device. See initialize()
• Get color sensor IR channel data. See get_ir()
• Get color sensor red channel data. See get_red()
• Get color sensor blue channel data. See get_blue()
• Get color sensor green channel data. See get_green()
• Get proximity sensor data. See get_proximity()
• Configure proximity sensor LED fequency, current, and number of pulses. See config_proximity_led()
• Configure proximity sensor measurement rate and resolution. See config_proximity()
• Configure color sensor measurement rate and resolution. See config_color()
• Configre color sensor gain. See set_gain()

The device

This device offers both RGB+IR color sensing controlled via I2C.

An example of the APDS9151 used in a product is the Rev Robotics v3 color sensor. link

Datasheet: APDS9151

Usage

To use the driver, import the crate and the embedded_hal i2c interface for your platform.

The below example uses stm32f1xx_hal and gets the colors in a loop.

#![no_main]
#![no_std]

use cortex_m_rt::entry;
use panic_probe as _;
use rtt_target::{rtt_init_print, rprintln};
use stm32f1xx_hal::{
    pac,
    i2c::{BlockingI2c, DutyCycle, Mode},
    prelude::*,
};
use cortex_m::asm::delay;
use apds9151::Apds9151;

#[entry]
fn main() -> ! {
    rtt_init_print!();
    let dp = pac::Peripherals::take().unwrap();
    let mut flash = dp.FLASH.constrain();
    let rcc = dp.RCC.constrain();
    let clocks = rcc.cfgr.use_hse(8.MHz()).freeze(&mut flash.acr);    
    
    let mut afio = dp.AFIO.constrain();
    let mut gpiob = dp.GPIOB.split();

    let scl = gpiob.pb8.into_alternate_open_drain(&mut gpiob.crh);
    let sda = gpiob.pb9.into_alternate_open_drain(&mut gpiob.crh);

    let i2c = BlockingI2c::i2c1(
        dp.I2C1, (scl, sda), 
        &mut afio.mapr, 
        Mode::Fast { 
            frequency: 400_000.Hz(),
            duty_cycle: DutyCycle::Ratio2to1 
        }, 
        clocks, 
        1000, 
        10,
        1000,
        1000,
    );

    let mut color_sensor = Apds9151::new_apda9151(i2c);
    
    color_sensor.initialize().unwrap();

    loop {
        let red = color_sensor.get_red().unwrap();
        let green = color_sensor.get_green().unwrap();
        let blue = color_sensor.get_blue().unwrap();
        rprintln!("R: {:#?}", red);
        rprintln!("G: {:#?}", green);
        rprintln!("B: {:#?}", blue);

        let ir = color_sensor.get_ir().unwrap();
        rprintln!("IR: {:#?}", ir);

        delay(clocks.sysclk().raw() / 100);

    }
    
}

Support

For questions, issues, feature requests, and other changes, please file an issue in the github project.

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contributing

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.