ColorSensorV3.h

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/*
 * Copyright (c) 2020-2024 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once
 
#include <frc/I2C.h>
#include <frc/util/Color.h>
#include <hal/SimDevice.h>
 
#include "CIEColor.h"
 
namespace rev {
 
class ColorSensorV3 {
public:
    enum class GainFactor { k1x = 0, k3x = 1, k6x = 2, k9x = 3, k18x = 4 };
 
    enum class LEDPulseFrequency {
        k60kHz = 0x18,
        k70kHz = 0x40,
        k80kHz = 0x28,
        k90kHz = 0x30,
        k100kHz = 0x38,
    };
 
    enum class LEDCurrent {
        kPulse2mA = 0,
        kPulse5mA = 1,
        kPulse10mA = 2,
        kPulse25mA = 3,
        kPulse50mA = 4,
        kPulse75mA = 5,
        kPulse100mA = 6,
        kPulse125mA = 7,
    };
 
    enum class ProximityResolution {
        k8bit = 0x00,
        k9bit = 0x08,
        k10bit = 0x10,
        k11bit = 0x18,
    };
 
    enum class ProximityMeasurementRate {
        k6ms = 1,
        k12ms = 2,
        k25ms = 3,
        k50ms = 4,
        k100ms = 5,
        k200ms = 6,
        k400ms = 7,
    };
 
    enum class ColorResolution {
        k20bit = 0x00,
        k19bit = 0x10,
        k18bit = 0x20,
        k17bit = 0x30,
        k16bit = 0x40,
        k13bit = 0x50,
    };
 
    enum class ColorMeasurementRate {
        k25ms = 0,
        k50ms = 1,
        k100ms = 2,
        k200ms = 3,
        k500ms = 4,
        k1000ms = 5,
        k2000ms = 7,
    };
 
    struct RawColor {
        uint32_t red;
        uint32_t green;
        uint32_t blue;
        uint32_t ir;
        RawColor(uint32_t r, uint32_t g, uint32_t b, uint32_t _ir)
            : red(r), green(g), blue(b), ir(_ir) {}
    };
 
    explicit ColorSensorV3(frc::I2C::Port port);
 
    ColorSensorV3(ColorSensorV3&&) = default;
    ColorSensorV3& operator=(ColorSensorV3&&) = default;
 
    frc::Color GetColor();
 
    RawColor GetRawColor();
 
    CIEColor GetCIEColor();
 
    double GetIR();
 
    uint32_t GetProximity();
 
    void SetGain(GainFactor gain);
 
    void ConfigureProximitySensorLED(LEDPulseFrequency freq, LEDCurrent current,
                                     uint8_t pulses);
 
    void ConfigureProximitySensor(ProximityResolution res,
                                  ProximityMeasurementRate rate);
 
    void ConfigureColorSensor(ColorResolution res, ColorMeasurementRate rate);
 
    bool HasReset();
 
    bool IsConnected();
 
private:
    enum class Register {
        kMainCtrl = 0x00,
        kProximitySensorLED = 0x01,
        kProximitySensorPulses = 0x02,
        kProximitySensorRate = 0x03,
        kLightSensorMeasurementRate = 0x04,
        kLightSensorGain = 0x05,
        kPartID = 0x06,
        kMainStatus = 0x07,
        kProximityData = 0x08,
        kDataInfrared = 0x0A,
        kDataGreen = 0x0D,
        kDataBlue = 0x10,
        kDataRed = 0x13
    };
 
    enum class MainCtrlFields {
        kProximitySensorEnable = 0x01,
        kLightSensorEnable = 0x02,
        kRGBMode = 0x04
    };
 
    struct MainStatus {
        uint8_t PSDataStatus : 1;
        uint8_t PSInterruptStatus : 1;
        uint8_t PSLogicStatus : 1;
        uint8_t LSDataStatus : 1;
        uint8_t LSInterruptStatus : 1;
        uint8_t PowerOnStatus : 1;
        uint8_t : 2;
    };
 
    bool Write(Register reg, uint8_t data) {
        return m_i2c.Write(static_cast<uint8_t>(reg), data);
    }
 
    bool Read(Register reg, int count, uint8_t* data) {
        return m_i2c.Read(static_cast<uint8_t>(reg), count, data);
    }
 
    uint32_t To20Bit(uint8_t* val) {
        return (static_cast<uint32_t>(val[0]) |
                (static_cast<uint32_t>(val[1]) << 8) |
                (static_cast<uint32_t>(val[2]) << 16)) &
               0x03FFFF;
    }
 
    uint16_t To11Bit(uint8_t* val) {
        return (static_cast<uint16_t>(val[0]) |
                (static_cast<uint16_t>(val[1]) << 8)) &
               0x7FF;
    }
 
    uint32_t Read20BitRegister(Register reg);
    uint16_t Read11BitRegister(Register reg);
 
    bool CheckDeviceID(bool reportErrors);
    void InitializeDevice();
    MainStatus GetStatus();
 
    static const double Cmatrix[9];
 
    frc::I2C m_i2c;
 
    hal::SimDevice m_simDevice;
    hal::SimDouble m_simR, m_simG, m_simB, m_simIR, m_simProx;
};
 
}  // namespace rev