hitechnic-colour-v2.h

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/*!@addtogroup HiTechnic
 * @{
 * @defgroup htcs2 Color Sensor V2
 * HiTechnic Color Sensor V2
 * @{
 */

/*
 * $Id: hitechnic-colour-v2.h 133 2013-03-10 15:15:38Z xander $
 */

#ifndef __HTCS2_H__
#define __HTCS2_H__
/** \file hitechnic-colour-v2.h
 * \brief HiTechnic Color Sensor V2 driver
 *
 * HTCS22-driver.h provides an API for the HiTechnic Color Sensor driver.
 *
 * Changelog:
 * - 0.1: Initial release
 * - 0.2: Use new calls in common.h that don't require SPORT/MPORT macros
 *        Removed usage of ubyteToInt();
 * - 0.3: Replaced array structs with typedefs
 * - 0.4: Added HTCSreadHSV(), thanks Mike Henning, Max Bareiss
 *
 * Credits:
 * - Big thanks to HiTechnic for providing me with the hardware necessary to write and test this.
 *
 * License: You may use this code as you wish, provided you give credit where its due.
 *
 * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. 

 * \author Xander Soldaat (xander_at_botbench.com)
 * \date 27 April 2011
 * \version 0.4
 * \example hitechnic-colour-v2-test1.c
 * \example hitechnic-colour-v2-test2.c
 * \example hitechnic-colour-v2-SMUX-test1.c
 */

#pragma systemFile

#ifndef __COMMON_H__
#include "common.h"
#endif

#ifndef __LIGHT_COMMON_H__
#include "common-light.h"
#endif

#define HTCS2_I2C_ADDR        0x02      /*!< HTCS2 I2C device address */
#define HTCS2_CMD_REG         0x41      /*!< Command register */
#define HTCS2_OFFSET          0x42      /*!< Offset for data registers */

// Values contained by registers in active mode
#define HTCS2_COLNUM_REG      0x00      /*!< Color number */
#define HTCS2_RED_REG         0x01      /*!< Red reading */
#define HTCS2_GREEN_REG       0x02      /*!< Green reading */
#define HTCS2_BLUE_REG        0x03      /*!< Blue reading */
#define HTCS2_WHITE_REG       0x04      /*!< White channel reading */
#define HTCS2_COL_INDEX_REG   0x05      /*!< Color index number */
#define HTCS2_RED_NORM_REG    0x06      /*!< Normalised red reading */
#define HTCS2_GREEN_NORM_REG  0x07      /*!< Normalised green reading */
#define HTCS2_BLUE_NORM_REG   0x08      /*!< Normalised blue reading */

// Values contained by registers in passive and raw mode
#define HTCS2_RED_MSB         0x00      /*!< Raw red reading - MSB */
#define HTCS2_RED_LSB         0x00      /*!< Raw red reading - LSB */
#define HTCS2_GREEN_MSB       0x00      /*!< Raw green reading - MSB */
#define HTCS2_GREEN_LSB       0x00      /*!< Raw green reading - LSB */
#define HTCS2_BLUE_MSB        0x00      /*!< Raw blue reading - MSB */
#define HTCS2_BLUE_LSB        0x00      /*!< Raw blue reading - LSB */
#define HTCS2_WHITE_MSB       0x00      /*!< Raw white channel reading - MSB */
#define HTCS2_WHITE_LSB       0x00      /*!< Raw white channel reading - LSB */

// Different modes
#define HTCS2_MODE_ACTIVE     0x00      /*!< Use ambient light cancellation */
#define HTCS2_MODE_PASSIVE    0x01      /*!< Disable ambient light cancellation */
#define HTCS2_MODE_RAW        0x03      /*!< Raw data from light sensor */
#define HTCS2_MODE_50HZ       0x35      /*!< Set sensor to 50Hz cancellation mode */
#define HTCS2_MODE_60HZ       0x36      /*!< Set sensor to 60Hz cancellation mode */


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);

#ifdef __HTSMUX_SUPPORT__
int HTCS2readColor(tMUXSensor muxsensor);
bool HTCS2readRGB(tMUXSensor muxsensor, int &red, int &green, int &blue);

tConfigParams HTCS2_config = {HTSMUX_CHAN_I2C, 4, 0x02, 0x42};  /*!< Array to hold SMUX config data for sensor */
#endif // __HTSMUX_SUPPORT__

tByteArray HTCS2_I2CRequest;           /*!< Array to hold I2C command data */
tByteArray HTCS2_I2CReply;             /*!< Array to hold I2C reply data */

/*!< Array to hold sensor modes */
signed byte active_mode[4] = {-1, -1, -1, -1};


/**
 * Return the color number currently detected.
 * @param link the HTCS2 port number
 * @return color index number or -1 if an error occurred.
 */
int HTCS2readColor(tSensors link) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  if (active_mode[link] != HTCS2_MODE_ACTIVE)
    _HTCSsendCommand(link, HTCS2_MODE_ACTIVE);

  HTCS2_I2CRequest[0] = 2;                                // Message size
  HTCS2_I2CRequest[1] = HTCS2_I2C_ADDR;                   // I2C Address
  HTCS2_I2CRequest[2] = HTCS2_OFFSET + HTCS2_COLNUM_REG;  // Start colour number register

  if (!writeI2C(link, HTCS2_I2CRequest, HTCS2_I2CReply, 1))
    return -1;

  return HTCS2_I2CReply[0];
}


/**
 * Return the color number currently detected.
 * @param muxsensor the SMUX sensor port number
 * @return color index number or -1 if an error occurred.
 */
#ifdef __HTSMUX_SUPPORT__
int HTCS2readColor(tMUXSensor muxsensor) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  if (HTSMUXSensorTypes[muxsensor] != HTSMUXSensorCustom)
    HTSMUXconfigChannel(muxsensor, HTCS2_config);

  if (!HTSMUXreadPort(muxsensor, HTCS2_I2CReply, 1, HTCS2_COLNUM_REG)) {
    return -1;
  }

  return HTCS2_I2CReply[0];
}
#endif // __HTSMUX_SUPPORT__


/**
 * Get the detection levels for the three color components.
 * @param link the HTCS2 port number
 * @param red the red value
 * @param green the green value
 * @param blue the blue value
 * @return true if no error occured, false if it did
 */
bool HTCS2readRGB(tSensors link, int &red, int &green, int &blue) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  if (active_mode[link] != HTCS2_MODE_ACTIVE)
    _HTCSsendCommand(link, HTCS2_MODE_ACTIVE);

  HTCS2_I2CRequest[0] = 2;                           // Message size
  HTCS2_I2CRequest[1] = HTCS2_I2C_ADDR;               // I2C Address
  HTCS2_I2CRequest[2] = HTCS2_OFFSET + HTCS2_RED_REG;  // Start red sensor value

  if (!writeI2C(link, HTCS2_I2CRequest, HTCS2_I2CReply, 3))
    return false;

  red = HTCS2_I2CReply[0];
  green = HTCS2_I2CReply[1];
  blue = HTCS2_I2CReply[2];

  return true;
}


/**
 * Get the detection levels for the three color components.
 * @param muxsensor the SMUX sensor port number
 * @param red the red value
 * @param green the green value
 * @param blue the blue value
 * @return true if no error occured, false if it did
 */
#ifdef __HTSMUX_SUPPORT__
bool HTCS2readRGB(tMUXSensor muxsensor, int &red, int &green, int &blue) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  if (HTSMUXSensorTypes[muxsensor] != HTSMUXSensorCustom)
    HTSMUXconfigChannel(muxsensor, HTCS2_config);

  if (!HTSMUXreadPort(muxsensor, HTCS2_I2CReply, 3, HTCS2_RED_REG)) {
    return false;
  }

  red = HTCS2_I2CReply[0];
  green = HTCS2_I2CReply[1];
  blue = HTCS2_I2CReply[2];

  return true;
}
#endif // __HTSMUX_SUPPORT__


/**
 * Get the detection levels for the hue, saturation, value components.
 * @param link the HTCS port number
 * @param hue the hue output value (from 0 to 365, or -1 if n/a)
 * @param saturation the saruration output value (from 0 to 100, or -1 if n/a)
 * @param value the value output value (from 0 to 100)
 * @return true if no error occured, false if it did

 */
bool HTCS2readHSV(tSensors link, float &hue, float &saturation, float &value) {
  int red,green,blue;

  bool ret = HTCS2readRGB(link, red, green, blue);
  RGBtoHSV(red,green,blue, hue, saturation, value);

  return ret;
}


/**
 * Get the detection levels for the hue, saturation, value components.
 * @param muxsensor the SMUX sensor port number
 * @param hue the hue output value (from 0 to 365, or -1 if n/a)
 * @param saturation the saruration output value (from 0 to 100, or -1 if n/a)
 * @param value the value output value (from 0 to 100)
 * @return true if no error occured, false if it did
 */
#ifdef __HTSMUX_SUPPORT__
bool HTCS2readHSV(tMUXSensor muxsensor, float &hue, float &saturation, float &value) {
  int red,green,blue;

  bool ret = HTCS2readRGB(muxsensor, red, green, blue);
  RGBtoHSV(red,green,blue, hue, saturation, value);

  return ret;
}
#endif // __HTSMUX_SUPPORT__


/**
 * Get the detection level for the white channel.
 * @param link the HTCS2 port number
 * @param white the white channel value
 * @return true if no error occured, false if it did
 */
bool HTCS2readWhite(tSensors link, int &white) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  if (active_mode[link] != HTCS2_MODE_ACTIVE)
    _HTCSsendCommand(link, HTCS2_MODE_ACTIVE);

  HTCS2_I2CRequest[0] = 2;                           // Message size
  HTCS2_I2CRequest[1] = HTCS2_I2C_ADDR;               // I2C Address
  HTCS2_I2CRequest[2] = HTCS2_OFFSET + HTCS2_RED_REG;  // Start red sensor value

  if (!writeI2C(link, HTCS2_I2CRequest, HTCS2_I2CReply, 1))
    return false;

  white = HTCS2_I2CReply[0];

  return true;
}


/**
 * 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.
 * @param link the HTCS2 port number
 * @param red the red value
 * @param green the green value
 * @param blue the blue value
 * @return true if no error occured, false if it did
 */
bool HTCS2readNormRGB(tSensors link, int &red, int &green, int &blue) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  HTCS2_I2CRequest[0] = 2;                               // Message size
  HTCS2_I2CRequest[1] = HTCS2_I2C_ADDR;                   // I2C Address
  HTCS2_I2CRequest[2] = HTCS2_OFFSET + HTCS2_RED_NORM_REG; // Start red normalised sensor values

  if (!writeI2C(link, HTCS2_I2CRequest, HTCS2_I2CReply, 3))
    return false;

  red = HTCS2_I2CReply[0];
  green = HTCS2_I2CReply[1];
  blue = HTCS2_I2CReply[2];

  return true;
}


/**
 * Get the raw RGB readings, these are unsigned 16 bit values.
 * These values will only fit in a long
 * @param link the HTCS2 port number
 * @param passive when set to true, it will not use the builtin white LED and use ambient light instead
 * @param red the red value
 * @param green the green value
 * @param blue the blue value
 * @return true if no error occured, false if it did
 */
bool HTCS2readRawRGB(tSensors link, bool passive, long &red, long &green, long &blue) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  if (passive && (active_mode[link] != HTCS2_MODE_PASSIVE))
    _HTCSsendCommand(link, HTCS2_MODE_PASSIVE);
  else if (!passive && (active_mode[link] != HTCS2_MODE_RAW))
    _HTCSsendCommand(link, HTCS2_MODE_RAW);

  HTCS2_I2CRequest[0] = 2;                               // Message size
  HTCS2_I2CRequest[1] = HTCS2_I2C_ADDR;                   // I2C Address
  HTCS2_I2CRequest[2] = HTCS2_OFFSET + HTCS2_RED_MSB;  // Start red raw sensor value

  if (!writeI2C(link, HTCS2_I2CRequest, HTCS2_I2CReply, 8))
    return false;

  red =   (long)HTCS2_I2CReply[0] * 256 + HTCS2_I2CReply[1];
  green = (long)HTCS2_I2CReply[2] * 256 + HTCS2_I2CReply[3];
  blue =  (long)HTCS2_I2CReply[4] * 256 + HTCS2_I2CReply[5];

  return true;
}


/**
 * Get the raw white channel reading, is and unsigned 16 bit value.
 * This value will only fit in a long
 * @param link the HTCS2 port number
 * @param passive when set to true, it will not use the builtin white LED and use ambient light instead
 * @param white the white value
 * @return true if no error occured, false if it did
 */
bool HTCS2readRawWhite(tSensors link, bool passive, long &white) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  if (passive && (active_mode[link] != HTCS2_MODE_PASSIVE))
    _HTCSsendCommand(link, HTCS2_MODE_PASSIVE);
  else if (!passive && (active_mode[link] != HTCS2_MODE_RAW))
    _HTCSsendCommand(link, HTCS2_MODE_RAW);

  HTCS2_I2CRequest[0] = 2;                               // Message size
  HTCS2_I2CRequest[1] = HTCS2_I2C_ADDR;                   // I2C Address
  HTCS2_I2CRequest[2] = HTCS2_OFFSET + HTCS2_WHITE_MSB;  // Start red raw sensor value

  if (!writeI2C(link, HTCS2_I2CRequest, HTCS2_I2CReply, 2))
    return false;

  white = (long)HTCS2_I2CReply[0] * 256 + HTCS2_I2CReply[1];

  return true;
}


/**
 * 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.
 * @param link the HTCS2 port number
 * @return color index number or -1 if an error occurred.
 */
int HTCS2readColorIndex(tSensors link) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  if (active_mode[link] != HTCS2_MODE_ACTIVE)
    _HTCSsendCommand(link, HTCS2_MODE_ACTIVE);

  HTCS2_I2CRequest[0] = 2;                                // Message size
  HTCS2_I2CRequest[1] = HTCS2_I2C_ADDR;                    // I2C Address
  HTCS2_I2CRequest[2] = HTCS2_OFFSET + HTCS2_COL_INDEX_REG; // Start colour index register

  if (!writeI2C(link, HTCS2_I2CRequest, HTCS2_I2CReply, 1))
    return -1;

  return HTCS2_I2CReply[0];
}


/**
 * Send a command to the sensor to change its mode.
 * @param link the HTCS2 port number
 * @param command the command to be sent
 * @return true if no error occured, false if it did
 */
bool _HTCSsendCommand(tSensors link, byte command) {
  memset(HTCS2_I2CRequest, 0, sizeof(tByteArray));

  HTCS2_I2CRequest[0] = 3;                  // Message size
  HTCS2_I2CRequest[1] = HTCS2_I2C_ADDR;     // I2C Address
  HTCS2_I2CRequest[2] = HTCS2_CMD_REG;      // Start colour index register
  HTCS2_I2CRequest[3] = command;

  if (command < 30)
    active_mode[link] = command;

  return writeI2C(link, HTCS2_I2CRequest);
}

#endif // __HTCS2_H__

/*
 * $Id: hitechnic-colour-v2.h 133 2013-03-10 15:15:38Z xander $
 */
/* @} */
/* @} */