/** * Makecode package for the TCS34725 Color sensor. * * More details here: https://ams.com/documents/20143/36005/TCS3472_DS000390_2-00.pdf/6e452176-2407-faaf-a590-d526c78c7432 */ namespace sensors { const TCS34725_I2C_ADDRESS = 0x29 //I2C address of the TCS34725 (Page 34) /* TCS34725 register addresses (Page 20)*/ const TCS34725_REGISTER_COMMAND = 0x80 // Specifies register address const TCS34725_REGISTER_ENABLE = 0x00 // Enables states and interrupts const TCS34725_REGISTER_AIEN_ENABLE = 0x10 // RGBC interrupt enable. When asserted, permits RGBC interrupts to be generated. const TCS34725_REGISTER_WEN_ENABLE = 0x08 // Wait enable. This bit activates the wait feature. Writing a 1 activates the wait timer. Writing a 0 disables the wait timer. const TCS34725_REGISTER_AEN_ENABLE = 0x02 // RGBC enable. This bit actives the two-channel ADC. Writing a 1 activates the RGBC. Writing a 0 disables the RGBC. const TCS34725_REGISTER_PON_ENABLE = 0x01 // Power ON. This bit activates the internal oscillator to permit the timers and ADC channels to operate. Writing a 1 activates the oscillator. Writing a 0 disables the oscillator const TCS34725_REGISTER_ATIME = 0x01 // The RGBC timing register controls the internal integration time of the RGBC clear and IR channel ADCs in 2.4-ms increments. const TCS34725_REGISTER_WTIME = 0x03 // Wait time is set 2.4 ms increments unless the WLONG bit is asserted, in which case the wait times are 12× longer. WTIME is programmed as a 2’s complement number. const TCS34725_REGISTER_AILTL = 0x04 // Clear interrupt low threshold low byte const TCS34725_REGISTER_AILTH = 0x05 // Clear interrupt low threshold high byte const TCS34725_REGISTER_AIHTL = 0x06 // Clear interrupt high threshold low byte const TCS34725_REGISTER_AIHTH = 0x07 // Clear interrupt high threshold high byte const TCS34725_REGISTER_PERS = 0x0C // The persistence register controls the filtering interrupt capabilities of the device. const TCS34725_REGISTER_CONFIG = 0x0D // The configuration register sets the wait long time. const TCS34725_REGISTER_CONFIG_WLONG = 0x02 // Configuration: Wait Long. When asserted, the wait cycles are increased by a factor 12× from that programmed in the WTIME register const TCS34725_REGISTER_CONTROL = 0x0F // The Control register provides eight bits of miscellaneous control to the analog block. These bits typically control functions such as gain settings and/or diode selection const TCS34725_REGISTER_ID = 0x12 // The ID Register provides the value for the part number. The ID register is a read-only register. const TCS34725_REGISTER_STATUS = 0x13 // The Status Register provides the internal status of the device. This register is read only. const TCS34725_REGISTER_STATUS_AINT = 0x10 // Device status: RGBC clear channel Interrupt const TCS34725_REGISTER_STATUS_AVALID = 0x01 // Device status: RGBC Valid. Indicates that the RGBC channels have completed an integration cycle const TCS34725_REGISTER_CDATAL = 0x14 // Clear data low byte const TCS34725_REGISTER_CDATAH = 0x15 // Clear data high byte const TCS34725_REGISTER_RDATAL = 0x16 // Red data low byte const TCS34725_REGISTER_RDATAH = 0x17 // Red data high byte const TCS34725_REGISTER_GDATAL = 0x18 // Green data low byte const TCS34725_REGISTER_GDATAH = 0x19 // Green data high byte const TCS34725_REGISTER_BDATAL = 0x1A // Blue data low byte const TCS34725_REGISTER_BDATAH = 0x1B // Blue data high byte /* #region Enums for Modes, etc */ // Parameters for setting the internal integration time of the RGBC clear and IR channel. export enum TCS34725_ATIME { ATIME_2_4_MS = 0xFF, // 1 2.4 ms 1024 ATIME_24_MS = 0xF6, // 10 24 ms 10240 ATIME_100_MS = 0xD5, // 42 101 ms 43008 ATIME_154_MS = 0xC0, // 64 154 ms 65535 ATIME_700_MS = 0x00 // 256 700 ms 65535 } // Parameters for setting the wait time register. enum TCS34725_WTIME { WTIME_2_4_MS = 0xFF, // 1 2.4 ms 0.029 sec WTIME_204_MS = 0xAB, // 85 204 ms 2.45 sec WTIME_614_MS = 0x00 // 256 614 ms 7.4 sec } // Parameters for setting the persistence register. The persistence register controls the filtering interrupt capabilities of the device. enum TCS34725_APERS { APERS_0_CLEAR = 0b0000, // Every RGBC cycle generates an interrupt APERS_1_CLEAR = 0b0001, // 1 clear channel value outside of threshold range APERS_2_CLEAR = 0b0010, // 2 clear channel consecutive values out of range APERS_3_CLEAR = 0b0011, // 3 clear channel consecutive values out of range APERS_5_CLEAR = 0b0100, // 5 clear channel consecutive values out of range APERS_10_CLEAR = 0b0101, // 10 clear channel consecutive values out of range APERS_15_CLEAR = 0b0110, // 15 clear channel consecutive values out of range APERS_20_CLEAR = 0b0111, // 20 clear channel consecutive values out of range APERS_25_CLEAR = 0b1000, // 25 clear channel consecutive values out of range APERS_30_CLEAR = 0b1001, // 30 clear channel consecutive values out of range APERS_35_CLEAR = 0b1010, // 35 clear channel consecutive values out of range APERS_40_CLEAR = 0b1011, // 40 clear channel consecutive values out of range APERS_45_CLEAR = 0b1100, // 45 clear channel consecutive values out of range APERS_50_CLEAR = 0b1101, // 50 clear channel consecutive values out of range APERS_55_CLEAR = 0b1110, // 55 clear channel consecutive values out of range APERS_60_CLEAR = 0b1111, // 60 clear channel consecutive values out of range } // Parameters for setting the gain of the sensor. enum TCS34725_AGAIN { AGAIN_1X = 0x0, // 1x gain AGAIN_4X = 0x1, // 4x gain AGAIN_16X = 0x2, // 16x gain AGAIN_60X = 0x3 // 60x gain } export class TCS34725 implements sensors.ColorSensor { isConnected: boolean; atimeIntegrationValue: TCS34725_ATIME; gainSensorValue: TCS34725_AGAIN; constructor() { this.isConnected = false; this.atimeIntegrationValue = 0; this.gainSensorValue = 0; this.start(TCS34725_ATIME.ATIME_2_4_MS, TCS34725_AGAIN.AGAIN_1X); } private connect() { let retry = 0; while (!this.isConnected && retry < 5) { //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER READ: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_ID (0x12) const device_id = pins.i2cReadRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_ID) //Check that device Identification has one of 2 i2c addresses if ((device_id == 0x44) || (device_id == 0x10)) this.isConnected = true; retry++; } } private turnSensorOn() { //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER VALUE: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_ENABLE (0x00) //REGISTER WRITE: TCS34725_REGISTER_PON_ENABLE (0x01) pins.i2cWriteRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_ENABLE, TCS34725_REGISTER_PON_ENABLE); basic.pause(300); //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER VALUE: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_ENABLE (0x00) //REGISTER WRITE: TCS34725_REGISTER_PON_ENABLE (0x01) | TCS34725_REGISTER_AEN_ENABLE (0x02) pins.i2cWriteRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_ENABLE, TCS34725_REGISTER_PON_ENABLE | TCS34725_REGISTER_AEN_ENABLE); this.pauseSensorForIntegrationTime(); } private pauseSensorForIntegrationTime() { switch (this.atimeIntegrationValue) { case TCS34725_ATIME.ATIME_2_4_MS: { basic.pause(2.4); break; } case TCS34725_ATIME.ATIME_24_MS: { basic.pause(24); break; } case TCS34725_ATIME.ATIME_100_MS: { basic.pause(100); break; } case TCS34725_ATIME.ATIME_154_MS: { basic.pause(154); break; } case TCS34725_ATIME.ATIME_700_MS: { basic.pause(700); break; } } } private turnOff() { //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER READ: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_ID (0x12) let sensorReg = pins.i2cReadNumber(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_ENABLE); //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER VALUE: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_ENABLE (0x00) //REGISTER WRITE: sensorReg & ~(TCS34725_REGISTER_PON_ENABLE (0x01) | TCS34725_REGISTER_AEN_ENABLE (0x02)) pins.i2cWriteRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_ENABLE, sensorReg & ~(TCS34725_REGISTER_PON_ENABLE | TCS34725_REGISTER_AEN_ENABLE)); } setATIMEintegration(atime: TCS34725_ATIME) { //Always make sure the color sensor is connected. Useful for cases when this block is used but the sensor wasn't set randomly. this.connect(); //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER VALUE: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_ATIME (0x01) //REGISTER WRITE: atime pins.i2cWriteRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_ATIME, atime) this.atimeIntegrationValue = atime; } setGAINsensor(gain: TCS34725_AGAIN) { //Always make sure the color sensor is connected. Useful for cases when this block is used but the sensor wasn't set randomly. this.connect(); //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER VALUE: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_CONTROL (0x0F) //REGISTER WRITE: gain pins.i2cWriteRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_CONTROL, gain) this.gainSensorValue = gain; } private start(atime: TCS34725_ATIME, gain: TCS34725_AGAIN) { this.connect(); this.setATIMEintegration(atime); this.setGAINsensor(gain); this.turnSensorOn(); } color(): number { //Always check that sensor is/was turned on this.connect(); if (!this.isConnected) return 0; //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER READ: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_RDATAL (0x16) const redColorValue = pins.i2cReadRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_RDATAL, NumberFormat.UInt16LE); //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER READ: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_GDATAL (0x18) const greenColorValue = pins.i2cReadRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_GDATAL, NumberFormat.UInt16LE); //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER READ: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_BDATAL (0x1A) const blueColorValue = pins.i2cReadRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_BDATAL, NumberFormat.UInt16LE); //REGISTER FORMAT: CMD | TRANSACTION | ADDRESS //REGISTER READ: TCS34725_REGISTER_COMMAND (0x80) | TCS34725_REGISTER_CDATAL (0x14) const clearColorValue = pins.i2cReadRegister(TCS34725_I2C_ADDRESS, TCS34725_REGISTER_COMMAND | TCS34725_REGISTER_CDATAL, NumberFormat.UInt16LE); this.pauseSensorForIntegrationTime(); if (clearColorValue == 0) return 0; else { const sum = clearColorValue; const r = ((redColorValue / sum) * 255) & 0xff; const g = ((greenColorValue / sum) * 255) & 0xff; const b = ((blueColorValue / sum) * 255) & 0xff; return (r << 16) | (g << 8) | b; } } } }