Files
file	hitechnic-colour-v2.h
	HiTechnic Color Sensor V2 driver.
Defines
#define	HTCS2_I2C_ADDR 0x02
#define	HTCS2_CMD_REG 0x41
#define	HTCS2_OFFSET 0x42
#define	HTCS2_COLNUM_REG 0x00
#define	HTCS2_RED_REG 0x01
#define	HTCS2_GREEN_REG 0x02
#define	HTCS2_BLUE_REG 0x03
#define	HTCS2_WHITE_REG 0x04
#define	HTCS2_COL_INDEX_REG 0x05
#define	HTCS2_RED_NORM_REG 0x06
#define	HTCS2_GREEN_NORM_REG 0x07
#define	HTCS2_BLUE_NORM_REG 0x08
#define	HTCS2_RED_MSB 0x00
#define	HTCS2_RED_LSB 0x00
#define	HTCS2_GREEN_MSB 0x00
#define	HTCS2_GREEN_LSB 0x00
#define	HTCS2_BLUE_MSB 0x00
#define	HTCS2_BLUE_LSB 0x00
#define	HTCS2_WHITE_MSB 0x00
#define	HTCS2_WHITE_LSB 0x00
#define	HTCS2_MODE_ACTIVE 0x00
#define	HTCS2_MODE_PASSIVE 0x01
#define	HTCS2_MODE_RAW 0x03
#define	HTCS2_MODE_50HZ 0x35
#define	HTCS2_MODE_60HZ 0x36
Functions
int	HTCS2readColor (tSensors link)
bool	HTCS2readRGB (tSensors link, int &red, int &green, int &blue)
bool	HTCS2readHSV (tSensors link, float &hue, float &saturation, float &value)
bool	HTCS2readWhite (tSensors link, int &white)
bool	HTCS2readNormRGB (tSensors link, int &red, int &green, int &blue)
bool	HTCS2readRawRGB (tSensors link, bool passive, long &red, long &green, long &blue)
bool	HTCS2readRawWhite (tSensors link, bool passive, long &white)
bool	_HTCSsendCommand (tSensors link, byte command)
int	HTCS2readColor (tMUXSensor muxsensor)
bool	HTCS2readRGB (tMUXSensor muxsensor, int &red, int &green, int &blue)
bool	HTCS2readHSV (tMUXSensor muxsensor, float &hue, float &saturation, float &value)
int	HTCS2readColorIndex (tSensors link)
Variables
tConfigParams	HTCS2_config = {HTSMUX_CHAN_I2C, 4, 0x02, 0x42}
tByteArray	HTCS2_I2CRequest
tByteArray	HTCS2_I2CReply
signed byte	active_mode [4] = {-1, -1, -1, -1}

Detailed Description

HiTechnic Color Sensor V2

Define Documentation

#define HTCS2_BLUE_LSB 0x00

Raw blue reading - LSB

Definition at line 72 of file hitechnic-colour-v2.h.

#define HTCS2_BLUE_MSB 0x00

Raw blue reading - MSB

Definition at line 71 of file hitechnic-colour-v2.h.

#define HTCS2_BLUE_NORM_REG 0x08

Normalised blue reading

Definition at line 64 of file hitechnic-colour-v2.h.

#define HTCS2_BLUE_REG 0x03

Blue reading

Definition at line 59 of file hitechnic-colour-v2.h.

#define HTCS2_CMD_REG 0x41

Command register

Definition at line 52 of file hitechnic-colour-v2.h.

#define HTCS2_COL_INDEX_REG 0x05

Color index number

Definition at line 61 of file hitechnic-colour-v2.h.

#define HTCS2_COLNUM_REG 0x00

Color number

Definition at line 56 of file hitechnic-colour-v2.h.

#define HTCS2_GREEN_LSB 0x00

Raw green reading - LSB

Definition at line 70 of file hitechnic-colour-v2.h.

#define HTCS2_GREEN_MSB 0x00

Raw green reading - MSB

Definition at line 69 of file hitechnic-colour-v2.h.

#define HTCS2_GREEN_NORM_REG 0x07

Normalised green reading

Definition at line 63 of file hitechnic-colour-v2.h.

#define HTCS2_GREEN_REG 0x02

Green reading

Definition at line 58 of file hitechnic-colour-v2.h.

#define HTCS2_I2C_ADDR 0x02

HTCS2 I2C device address

Definition at line 51 of file hitechnic-colour-v2.h.

#define HTCS2_MODE_50HZ 0x35

Set sensor to 50Hz cancellation mode

Definition at line 80 of file hitechnic-colour-v2.h.

#define HTCS2_MODE_60HZ 0x36

Set sensor to 60Hz cancellation mode

Definition at line 81 of file hitechnic-colour-v2.h.

#define HTCS2_MODE_ACTIVE 0x00

Use ambient light cancellation

Definition at line 77 of file hitechnic-colour-v2.h.

#define HTCS2_MODE_PASSIVE 0x01

Disable ambient light cancellation

Definition at line 78 of file hitechnic-colour-v2.h.

#define HTCS2_MODE_RAW 0x03

Raw data from light sensor

Definition at line 79 of file hitechnic-colour-v2.h.

#define HTCS2_OFFSET 0x42

Offset for data registers

Definition at line 53 of file hitechnic-colour-v2.h.

#define HTCS2_RED_LSB 0x00

Raw red reading - LSB

Definition at line 68 of file hitechnic-colour-v2.h.

#define HTCS2_RED_MSB 0x00

Raw red reading - MSB

Definition at line 67 of file hitechnic-colour-v2.h.

#define HTCS2_RED_NORM_REG 0x06

Normalised red reading

Definition at line 62 of file hitechnic-colour-v2.h.

#define HTCS2_RED_REG 0x01

Red reading

Definition at line 57 of file hitechnic-colour-v2.h.

#define HTCS2_WHITE_LSB 0x00

Raw white channel reading - LSB

Definition at line 74 of file hitechnic-colour-v2.h.

#define HTCS2_WHITE_MSB 0x00

Raw white channel reading - MSB

Definition at line 73 of file hitechnic-colour-v2.h.

#define HTCS2_WHITE_REG 0x04

White channel reading

Definition at line 60 of file hitechnic-colour-v2.h.

Function Documentation

bool _HTCSsendCommand	(	tSensors	link,
		byte	command
	)

Send a command to the sensor to change its mode.

Parameters:

link	the HTCS2 port number
command	the command to be sent

Returns:: true if no error occured, false if it did

Definition at line 392 of file hitechnic-colour-v2.h.

int HTCS2readColor ( tSensors link )

Return the color number currently detected.

Parameters:

link	the HTCS2 port number

Returns:: color index number or -1 if an error occurred.

Examples:: hitechnic-colour-v2-SMUX-test1.c, and hitechnic-colour-v2-test1.c.

Definition at line 112 of file hitechnic-colour-v2.h.

int HTCS2readColor ( tMUXSensor muxsensor )

Return the color number currently detected.

Parameters:

muxsensor the SMUX sensor port number

Returns:: color index number or -1 if an error occurred.

Definition at line 135 of file hitechnic-colour-v2.h.

int HTCS2readColorIndex ( tSensors link )

Return the color index number currently detected. This is a single 6 bit number color index. Bits 5 and 4 encode the red signal level, bits 3 and 2 encode the green signal level and bits 1 and 0 encode the blue signal levels.

Parameters:

link	the HTCS2 port number

Returns:: color index number or -1 if an error occurred.

Definition at line 369 of file hitechnic-colour-v2.h.

bool HTCS2readHSV	(	tMUXSensor	muxsensor,
		float &	hue,
		float &	saturation,
		float &	value
	)

Get the detection levels for the hue, saturation, value components.

Parameters:

muxsensor	the SMUX sensor port number
hue	the hue output value (from 0 to 365, or -1 if n/a)
saturation	the saruration output value (from 0 to 100, or -1 if n/a)
value	the value output value (from 0 to 100)

Returns:: true if no error occured, false if it did

Definition at line 235 of file hitechnic-colour-v2.h.

bool HTCS2readHSV	(	tSensors	link,
		float &	hue,
		float &	saturation,
		float &	value
	)

Get the detection levels for the hue, saturation, value components.

Parameters:

link	the HTCS port number
hue	the hue output value (from 0 to 365, or -1 if n/a)
saturation	the saruration output value (from 0 to 100, or -1 if n/a)
value	the value output value (from 0 to 100)

Returns:: true if no error occured, false if it did

Definition at line 216 of file hitechnic-colour-v2.h.

bool HTCS2readNormRGB	(	tSensors	link,
		int &	red,
		int &	green,
		int &	blue
	)

Get the normalised RGB readings. The normalization sets the highest value of the three Red, Green and Blue reading to 255 and adjusts the other two proportionately.

Parameters:

link	the HTCS2 port number
red	the red value
green	the green value
blue	the blue value

Returns:: true if no error occured, false if it did

Definition at line 281 of file hitechnic-colour-v2.h.

bool HTCS2readRawRGB	(	tSensors	link,
		bool	passive,
		long &	red,
		long &	green,
		long &	blue
	)

Get the raw RGB readings, these are unsigned 16 bit values. These values will only fit in a long

Parameters:

link	the HTCS2 port number
passive	when set to true, it will not use the builtin white LED and use ambient light instead
red	the red value
green	the green value
blue	the blue value

Returns:: true if no error occured, false if it did

Examples:: hitechnic-colour-v2-test2.c.

Definition at line 309 of file hitechnic-colour-v2.h.

bool HTCS2readRawWhite	(	tSensors	link,
		bool	passive,
		long &	white
	)

Get the raw white channel reading, is and unsigned 16 bit value. This value will only fit in a long

Parameters:

link	the HTCS2 port number
passive	when set to true, it will not use the builtin white LED and use ambient light instead
white	the white value

Returns:: true if no error occured, false if it did

Definition at line 340 of file hitechnic-colour-v2.h.

bool HTCS2readRGB	(	tMUXSensor	muxsensor,
		int &	red,
		int &	green,
		int &	blue
	)

Get the detection levels for the three color components.

Parameters:

muxsensor	the SMUX sensor port number
red	the red value
green	the green value
blue	the blue value

Returns:: true if no error occured, false if it did

Definition at line 188 of file hitechnic-colour-v2.h.

bool HTCS2readRGB	(	tSensors	link,
		int &	red,
		int &	green,
		int &	blue
	)

Get the detection levels for the three color components.

Parameters:

link	the HTCS2 port number
red	the red value
green	the green value
blue	the blue value

Returns:: true if no error occured, false if it did

Examples:: hitechnic-colour-v2-SMUX-test1.c, and hitechnic-colour-v2-test1.c.

Definition at line 158 of file hitechnic-colour-v2.h.

bool HTCS2readWhite	(	tSensors	link,
		int &	white
	)

Get the detection level for the white channel.

Parameters:

link	the HTCS2 port number
white	the white channel value

Returns:: true if no error occured, false if it did

Definition at line 252 of file hitechnic-colour-v2.h.

Variable Documentation

signed byte active_mode[4] = {-1, -1, -1, -1}

Definition at line 104 of file hitechnic-colour-v2.h.

tConfigParams HTCS2_config = {HTSMUX_CHAN_I2C, 4, 0x02, 0x42}

Array to hold SMUX config data for sensor

Definition at line 97 of file hitechnic-colour-v2.h.

tByteArray HTCS2_I2CReply

Array to hold I2C reply data Array to hold sensor modes

Definition at line 101 of file hitechnic-colour-v2.h.

tByteArray HTCS2_I2CRequest

Array to hold I2C command data

Definition at line 100 of file hitechnic-colour-v2.h.

Color Sensor V2 [HiTechnic]

Files

Defines

Functions

Variables

Detailed Description

Define Documentation

Function Documentation

Variable Documentation

Color Sensor V2
[HiTechnic]