initial commit

2026-09-25 10:48:51 +10:00
commit b90beea8ae
1020 changed files with 131665 additions and 0 deletions
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+// ColorSensor Library for Studuino
+//
+#include "ColorSensor.h"
+#include <Wire.h>
+#include <Arduino.h>
+
+COLOR::COLOR() {
+}
+
+bool COLOR::testConnection() {
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.write(REG_ID);
+  Wire.endTransmission();  
+
+  Wire.requestFrom(COLOR_SENSOR_ADDR, 1);
+  if(Wire.available()) {
+    byte msg = Wire.read();
+    // ID register contains PARTNO(upper 4bits) and REVNO(lower 4bits).
+    // TCS3410 and TCS341x's Part No. are 0000 and 0001, respectively.
+    return ((msg & 0xf0) >> 4 == 0x01);   
+  }
+  return false;
+}
+
+void COLOR::initialize() {
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.write(REG_TIMING);
+  Wire.write(INTEG_MODE_FREE);
+  Wire.endTransmission();  
+
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.write(REG_INT_SOURCE);
+  Wire.write(INT_SOURCE_GREEN);
+  Wire.endTransmission();  
+
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.write(REG_INT);
+  Wire.write(INTR_LEVEL|INTR_PERSIST_EVERY);
+  Wire.endTransmission();  
+
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.write(REG_GAIN);
+  Wire.write(GAIN_1|PRESCALER_4);
+  Wire.endTransmission();
+}
+
+void COLOR::update() {
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.write(REG_CTL);
+  Wire.write(CTL_DAT_INIITIATE);
+  Wire.endTransmission();  
+
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.write(REG_BLOCK_READ);
+  Wire.endTransmission();
+
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.requestFrom(COLOR_SENSOR_ADDR,8);
+  if(8<= Wire.available())  { 
+    for(byte i = 0; i < 8; i++)
+    {
+      readingdata[i]=Wire.read();
+      //Serial.println(readingdata[i],BIN);
+    }
+  }
+  green = readingdata[1] * 256 + readingdata[0];
+  red = readingdata[3] * 256 + readingdata[2];
+  blue = readingdata[5] * 256 + readingdata[4];
+  clr = readingdata[7] * 256 + readingdata[6];
+
+  X = (-0.14282) * red + (1.54924) * green + (-0.95641) * blue;
+  Y = (-0.32466) * red + (1.57837) * green + (-0.73191) * blue;
+  Z = (-0.68202) * red + (0.77073) * green + (0.56332) * blue;
+  x = X / (X + Y + Z);
+  y = Y / (X + Y + Z);
+
+  Wire.beginTransmission(COLOR_SENSOR_ADDR);
+  Wire.write(CLR_INT);
+  Wire.endTransmission();
+}
+
+// Getting the color code corresponding to Studuino ICON Programming.
+int COLOR::getColorCode() {
+  byte val = COLOR_UNDEF;
+
+  if (red > MIN_R_WHITE && red < MAX_R_WHITE && green > MIN_G_WHITE && green < MAX_G_WHITE &&
+      blue > MIN_B_WHITE && blue < MAX_B_WHITE && clr > MIN_C_WHITE && clr < MAX_C_WHITE) { // White
+    val = COLOR_WHITE;
+  } else if (red > MIN_R_BLACK && red < MAX_R_BLACK && green > MIN_G_BLACK && green < MAX_G_BLACK &&
+             blue > MIN_B_BLACK && blue < MAX_B_BLACK && clr > MIN_C_BLACK && clr < MAX_C_BLACK) { // Black
+    val = COLOR_BLACK;
+  } else if (red > MIN_R_YELLOW && red < MAX_R_YELLOW && green > MIN_G_YELLOW && green < MAX_G_YELLOW &&
+             blue > MIN_B_YELLOW && blue < MAX_B_YELLOW && clr > MIN_C_YELLOW && clr < MAX_C_YELLOW) { // Yellow
+    val = COLOR_YELLOW;
+  } else if (red > MIN_R_RED && red < MAX_R_RED && green > MIN_G_RED && green < MAX_G_RED &&
+             blue > MIN_B_RED && blue < MAX_B_RED && clr > MIN_C_RED && clr < MAX_C_RED && X > MIN_X_RED) { // Red
+    val = COLOR_RED;
+    if (red < 1350 && clr > 3000) { // Brown
+      val = COLOR_BROWN;
+    }
+  } else if (red > MIN_R_BROWN && red < MAX_R_BROWN && green > MIN_G_BROWN && green < MAX_G_BROWN &&
+             blue > MIN_B_BROWN && blue < MAX_B_BROWN && clr > MIN_C_BROWN && clr < MAX_C_BROWN) { // Brown
+    val = COLOR_BROWN;
+  } else if (red > MIN_R_GREEN && red < MAX_R_GREEN && green > MIN_G_GREEN && green < MAX_G_GREEN &&
+             blue > MIN_B_GREEN && blue < MAX_B_GREEN && clr > MIN_C_GREEN && clr < MAX_C_GREEN) { // Green
+    val = COLOR_GREEN;
+  } else if (red > MIN_R_BLUE && red < MAX_R_BLUE && green > MIN_G_BLUE && green < MAX_G_BLUE &&
+             blue > MIN_B_BLUE && blue < MAX_B_BLUE && clr > MIN_C_BLUE && clr < MAX_C_BLUE) { // Blue
+    val = COLOR_BLUE;
+  }
+
+  return val;
+}
+
+// Getting sensor value of each filter;
+unsigned int COLOR::getColorRed() {
+  return red;
+}
+unsigned int COLOR::getColorGreen() {
+  return green;
+}
+unsigned int COLOR::getColorBlue() {
+  return blue;
+}
+unsigned int COLOR::getColorClear() {
+  return clr;
+}
+
+// Getting x value of chromaticity coordinate(x, y).
+double COLOR::getX() {
+  return x;
+}
+
+// Getting y value of chromaticity coordinate(x, y).
+double COLOR::getY() {
+  return y;
+}
+
@@ -0,0 +1,165 @@
+#ifndef _COLORSENSOR_H_
+#define _COLORSENSOR_H_
+
+#define COLOR_SENSOR_ADDR  0x39//the I2C address for the color sensor 
+#define REG_CTL 0x80
+#define REG_TIMING 0x81
+#define REG_INT 0x82
+#define REG_INT_SOURCE 0x83
+#define REG_ID 0x84
+#define REG_GAIN 0x87
+#define REG_LOW_THRESH_LOW_BYTE 0x88
+#define REG_LOW_THRESH_HIGH_BYTE 0x89
+#define REG_HIGH_THRESH_LOW_BYTE 0x8A
+#define REG_HIGH_THRESH_HIGH_BYTE 0x8B
+#define REG_BLOCK_READ 0xCF
+#define REG_GREEN_LOW 0xD0
+#define REG_GREEN_HIGH 0xD1
+#define REG_RED_LOW 0xD2
+#define REG_RED_HIGH 0xD3
+#define REG_BLUE_LOW 0xD4
+#define REG_BLUE_HIGH 0xD5
+#define REG_CLEAR_LOW 0xD6
+#define REG_CLEAR_HIGH 0xD7
+#define CTL_DAT_INIITIATE 0x03
+#define CLR_INT 0xE0
+//Timing Register
+#define SYNC_EDGE 0x40
+#define INTEG_MODE_FREE 0x00
+#define INTEG_MODE_MANUAL 0x10
+#define INTEG_MODE_SYN_SINGLE 0x20
+#define INTEG_MODE_SYN_MULTI 0x30
+ 
+#define INTEG_PARAM_PULSE_COUNT1 0x00
+#define INTEG_PARAM_PULSE_COUNT2 0x01
+#define INTEG_PARAM_PULSE_COUNT4 0x02
+#define INTEG_PARAM_PULSE_COUNT8 0x03
+//Interrupt Control Register 
+#define INTR_STOP 40
+#define INTR_DISABLE 0x00
+#define INTR_LEVEL 0x10
+#define INTR_PERSIST_EVERY 0x00
+#define INTR_PERSIST_SINGLE 0x01
+//Interrupt Souce Register
+#define INT_SOURCE_GREEN 0x00
+#define INT_SOURCE_RED 0x01
+#define INT_SOURCE_BLUE 0x10
+#define INT_SOURCE_CLEAR 0x03
+//Gain Register
+#define GAIN_1 0x00
+#define GAIN_4 0x10
+#define GAIN_16 0x20
+#define GANI_64 0x30
+#define PRESCALER_1 0x00
+#define PRESCALER_2 0x01
+#define PRESCALER_4 0x02
+#define PRESCALER_8 0x03
+#define PRESCALER_16 0x04
+#define PRESCALER_32 0x05
+#define PRESCALER_64 0x06
+
+// Color code corresponding to Studuino ICON Programming.
+#define COLOR_UNDEF 0
+#define COLOR_RED 1
+#define COLOR_GREEN 2
+#define COLOR_BLUE 3
+#define COLOR_WHITE 4
+#define COLOR_YELLOW 5
+#define COLOR_BROWN 6
+#define COLOR_BLACK 7
+// Color Value Type
+#define VALUE_RED 0
+#define VALUE_GREEN 1
+#define VALUE_BLUE 2
+#define VALUE_CLEAR 3
+
+// Definition of color sensor's red value for each block.
+#define MIN_R_RED 1000
+#define MAX_R_RED 2400
+#define MIN_R_BLUE 200
+#define MAX_R_BLUE 550
+#define MIN_R_GREEN 200
+#define MAX_R_GREEN 800
+#define MIN_R_YELLOW 1500
+#define MAX_R_YELLOW 4400
+#define MIN_R_BROWN 700
+#define MAX_R_BROWN 1900
+#define MIN_R_WHITE 1700
+#define MAX_R_WHITE 4900
+#define MIN_R_BLACK 200
+#define MAX_R_BLACK 300
+
+// Definition of color sensor's green value for each block.
+#define MIN_G_RED 700
+#define MAX_G_RED 1300
+#define MIN_G_BLUE 700
+#define MAX_G_BLUE 1300
+#define MIN_G_GREEN 1200
+#define MAX_G_GREEN 2600
+#define MIN_G_YELLOW 2200
+#define MAX_G_YELLOW 6000
+#define MIN_G_BROWN 1000
+#define MAX_G_BROWN 1900
+#define MIN_G_WHITE 2800
+#define MAX_G_WHITE 7700
+#define MIN_G_BLACK 500
+#define MAX_G_BLACK 800
+
+// Definition of color sensor's blue value for each block.
+#define MIN_B_RED 200
+#define MAX_B_RED 800
+#define MIN_B_BLUE 700
+#define MAX_B_BLUE 1600
+#define MIN_B_GREEN 500
+#define MAX_B_GREEN 1100
+#define MIN_B_YELLOW 700
+#define MAX_B_YELLOW 1300
+#define MIN_B_BROWN 500
+#define MAX_B_BROWN 800
+#define MIN_B_WHITE 1700
+#define MAX_B_WHITE 4700
+#define MIN_B_BLACK 200
+#define MAX_B_BLACK 550
+
+// Definition of color sensor's clear value for each block.
+#define MIN_C_RED 2200
+#define MAX_C_RED 4400
+#define MIN_C_BLUE 2000
+#define MAX_C_BLUE 3650
+#define MIN_C_GREEN 2500
+#define MAX_C_GREEN 4900
+#define MIN_C_YELLOW 4800
+#define MAX_C_YELLOW 12100
+#define MIN_C_BROWN 2200
+#define MAX_C_BROWN 4700
+#define MIN_C_WHITE 6600
+#define MAX_C_WHITE 19000
+#define MIN_C_BLACK 1000
+#define MAX_C_BLACK 1800
+
+#define MIN_X_RED 0.44
+
+
+#include <Arduino.h>
+
+class COLOR {
+  private:
+    int readingdata[8];
+    unsigned int green, red, blue, clr;
+    double X, Y, Z, x, y, z;
+    void updateValue();
+  public:
+    COLOR();
+    bool testConnection();
+    void initialize(void);
+    void update(void);
+    int getColorCode(void);
+    unsigned int getColorRed();
+    unsigned int getColorGreen();
+    unsigned int getColorBlue();
+    unsigned int getColorClear();
+    double getX(void);
+    double getY(void);
+};
+#endif // _COLORSENSOR_H_
+