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Add SCD40 sensor support #1746

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18 changes: 18 additions & 0 deletions OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/Scd40Sensor.java
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@@ -0,0 +1,18 @@
package de.fhg.iais.roberta.syntax.sensor.generic;

import de.fhg.iais.roberta.syntax.sensor.ExternalSensor;
import de.fhg.iais.roberta.transformer.forClass.F2M;
import de.fhg.iais.roberta.transformer.forClass.NepoExpr;
import de.fhg.iais.roberta.util.ast.BlocklyProperties;
import de.fhg.iais.roberta.util.ast.ExternalSensorBean;

@NepoExpr(name = "SCD40_SENSING", category = "SENSOR", blocklyNames = {"robSensors_scd40_getSample"},
sampleValues = {@F2M(field = "SCD40_CO2", mode = "CO2"), @F2M(field = "SCD40_TEMPERATURE", mode = "TEMPERATURE"), @F2M(field = "SCD40_HUMIDITY", mode = "HUMIDITY")})
public final class Scd40Sensor extends ExternalSensor {

public Scd40Sensor(BlocklyProperties properties, ExternalSensorBean externalSensorBean) {
super(properties, externalSensorBean);
setReadOnly();
}

}
4 changes: 2 additions & 2 deletions OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/ast/AstFactory.java
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Expand Up @@ -53,7 +53,7 @@ public class AstFactory {
* the list of all legal modes used in the blockly frontend
*/
private static final String[] allLegalModesArray = {
"ALTITUDE", "AMBIENTLIGHT", "ANALOG", "ANGLE", "BACKWARD", "BALL", "CALIBRATE", "CALIBRATION", "CLOSING", "CO2EQUIVALENT", "COLOUR", "COMPASS",
"ALTITUDE", "AMBIENTLIGHT", "ANALOG", "ANGLE", "BACKWARD", "BALL", "CALIBRATE", "CALIBRATION", "CLOSING", "CO2", "CO2EQUIVALENT", "COLOUR", "COMPASS",
"DATE", "DEFAULT", "DEGREE", "DIGITAL", "DISTANCE", "DOWN", "EDISON_CODE", "FACE_DOWN", "FACE_UP", "FOREWARD", "FREEFALL",
"G3", "G6", "G8", "HUMIDITY", "IAQ", "IDALL", "IDONE", "LATITUDE", "LEFT", "LIGHT", "LIGHT_VALUE", "LINE", "LONGITUDE", "MODULATED", "MOTION",
"NAMEALL", "NAMEONE", "NONE", "OBSTACLE", "OFF", "OPENING", "NUMBERLINES", "PM10", "PM25", "PRESENCE", "PRESSED", "PRESSURE", "PULSEHIGH", "PULSELOW", "RATE",
Expand Down Expand Up @@ -247,4 +247,4 @@ private static void addToSampleValues(F2M[] fieldToModeArray, BlockDescriptor bl
getSensorSampleMap.put(f2M.field(), blockDescriptor);
}
}
}
}
2 changes: 2 additions & 0 deletions OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/syntax/SC.java
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Expand Up @@ -21,6 +21,7 @@ public interface SC {
String ULTRASONIC = "ULTRASONIC";
String SOUND = "SOUND";
String DISTANCE = "DISTANCE";
String CO2 = "CO2";
String RESET = "RESET";
String ROTATION = "ROTATION";
String DEGREE = "DEGREE";
Expand Down Expand Up @@ -128,6 +129,7 @@ public interface SC {
String MUSIC = "MUSIC";
String ENVIRONMENTAL = "ENVIRONMENTAL";
String COLOURTCS3472 = "COLOURTCS3472";
String SCD40 = "SCD40";
String LED_BUILTIN = "LED_BUILTIN";
String GREEN = "GREEN";
String BLUE = "BLUE";
Expand Down
5 changes: 5 additions & 0 deletions OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/TransformerVisitor.java
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Expand Up @@ -139,6 +139,7 @@
import de.fhg.iais.roberta.syntax.sensor.generic.PinTouchSensor;
import de.fhg.iais.roberta.syntax.sensor.generic.PulseSensor;
import de.fhg.iais.roberta.syntax.sensor.generic.RfidSensor;
import de.fhg.iais.roberta.syntax.sensor.generic.Scd40Sensor;
import de.fhg.iais.roberta.syntax.sensor.generic.SoundSensor;
import de.fhg.iais.roberta.syntax.sensor.generic.TemperatureSensor;
import de.fhg.iais.roberta.syntax.sensor.generic.TimerReset;
Expand Down Expand Up @@ -767,6 +768,10 @@ public Phrase visitHumiditySensor(HumiditySensor humiditySensor) {
return new HumiditySensor(humiditySensor.getProperty(), new ExternalSensorBean(humiditySensor.getUserDefinedPort(), humiditySensor.getMode(), humiditySensor.getSlot(), humiditySensor.getMutation()));
}

public Phrase visitScd40Sensor(Scd40Sensor scd40Sensor) {
return new Scd40Sensor(scd40Sensor.getProperty(), new ExternalSensorBean(scd40Sensor.getUserDefinedPort(), scd40Sensor.getMode(), scd40Sensor.getSlot(), scd40Sensor.getMutation()));
}

public Phrase visitMotionSensor(MotionSensor motionSensor) {
return new MotionSensor(motionSensor.getProperty(), new ExternalSensorBean(motionSensor.getUserDefinedPort(), motionSensor.getMode(), motionSensor.getSlot(), motionSensor.getMutation()));
}
Expand Down
3 changes: 3 additions & 0 deletions ...ces/crossCompilerTests/_expected/robotSpecific/astGenerated/calliope2016/sensor_scd40.ast
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SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, CO2, - EMPTY_SLOT -]]]
SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, TEMPERATURE, - EMPTY_SLOT -]]]
SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, HUMIDITY, - EMPTY_SLOT -]]]
3 changes: 3 additions & 0 deletions ...ces/crossCompilerTests/_expected/robotSpecific/astGenerated/calliope2017/sensor_scd40.ast
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SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, CO2, - EMPTY_SLOT -]]]
SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, TEMPERATURE, - EMPTY_SLOT -]]]
SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, HUMIDITY, - EMPTY_SLOT -]]]
3 changes: 3 additions & 0 deletions ...ossCompilerTests/_expected/robotSpecific/astGenerated/calliope2017NoBlue/sensor_scd40.ast
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SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, CO2, - EMPTY_SLOT -]]]
SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, TEMPERATURE, - EMPTY_SLOT -]]]
SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, HUMIDITY, - EMPTY_SLOT -]]]
3 changes: 3 additions & 0 deletions ...urces/crossCompilerTests/_expected/robotSpecific/astGenerated/calliopev3/sensor_scd40.ast
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SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, CO2, - EMPTY_SLOT -]]]
SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, TEMPERATURE, - EMPTY_SLOT -]]]
SerialWriteAction[value: SensorExpr [Scd40Sensor [SCD, HUMIDITY, - EMPTY_SLOT -]]]
6 changes: 6 additions & 0 deletions ...crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2016/sensor_scd40.txt
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Sensors:
[UsedSensor [SCD, SCD40, CO2], UsedSensor [SCD, SCD40, TEMPERATURE], UsedSensor [SCD, SCD40, HUMIDITY]]
Actors:
[]
Methods:
[SCD40_GET_SAMPLE]
6 changes: 6 additions & 0 deletions ...crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2017/sensor_scd40.txt
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Sensors:
[UsedSensor [SCD, SCD40, CO2], UsedSensor [SCD, SCD40, TEMPERATURE], UsedSensor [SCD, SCD40, HUMIDITY]]
Actors:
[]
Methods:
[SCD40_GET_SAMPLE]
6 changes: 6 additions & 0 deletions ...ompilerTests/_expected/robotSpecific/collectorResults/calliope2017NoBlue/sensor_scd40.txt
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Sensors:
[UsedSensor [SCD, SCD40, CO2], UsedSensor [SCD, SCD40, TEMPERATURE], UsedSensor [SCD, SCD40, HUMIDITY]]
Actors:
[]
Methods:
[SCD40_GET_SAMPLE]
6 changes: 6 additions & 0 deletions ...s/crossCompilerTests/_expected/robotSpecific/collectorResults/calliopev3/sensor_scd40.txt
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Sensors:
[UsedSensor [SCD, SCD40, CO2], UsedSensor [SCD, SCD40, TEMPERATURE], UsedSensor [SCD, SCD40, HUMIDITY]]
Actors:
[]
Methods:
[SCD40_GET_SAMPLE]
74 changes: 74 additions & 0 deletions ...s/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2016/sensor_scd40.cpp
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#define _GNU_SOURCE

#include "MicroBit.h"
#include "NEPODefs.h"
#include <list>
#include <array>
#include <stdlib.h>
MicroBit _uBit;
MicroBitI2C _i2c(MICROBIT_PIN_P20, MICROBIT_PIN_P19);


double scd40_get_sample(int mode);


int main()
{
_uBit.init();

_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(0))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(0)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(1))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(1)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(2))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(2)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
release_fiber();
}

double scd40_get_sample(int mode) {
static bool started = false;
static double values[3] = { 0, 0, 0 };
const int address = 0x62 << 1;
if ( !started ) {
char startCommand[2] = { 0x21, (char) 0xb1 };
_i2c.write(address, startCommand, 2);
_uBit.sleep(5000);
started = true;
}

char readCommand[2] = { (char) 0xec, 0x05 };
char data[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
_i2c.write(address, readCommand, 2);
_uBit.sleep(1);
if ( _i2c.read(address, data, 9) == 0 ) {
bool crcValid = true;
for ( int word = 0; word < 3; word++ ) {
uint8_t crc = 0xff;
for ( int i = 0; i < 2; i++ ) {
crc ^= (uint8_t) data[word * 3 + i];
for ( int bit = 0; bit < 8; bit++ ) {
if ( crc & 0x80 ) {
crc = (uint8_t) ((crc << 1) ^ 0x31);
} else {
crc = (uint8_t) (crc << 1);
}
}
}
if ( crc != (uint8_t) data[word * 3 + 2] ) {
crcValid = false;
}
}
if ( crcValid ) {
uint16_t co2 = ((uint8_t) data[0] << 8) | (uint8_t) data[1];
uint16_t rawTemperature = ((uint8_t) data[3] << 8) | (uint8_t) data[4];
uint16_t rawHumidity = ((uint8_t) data[6] << 8) | (uint8_t) data[7];
values[0] = co2;
values[1] = -45.0 + 175.0 * rawTemperature / 65535.0;
values[2] = 100.0 * rawHumidity / 65535.0;
}
}
return values[mode];
}
74 changes: 74 additions & 0 deletions ...s/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017/sensor_scd40.cpp
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#define _GNU_SOURCE

#include "MicroBit.h"
#include "NEPODefs.h"
#include <list>
#include <array>
#include <stdlib.h>
MicroBit _uBit;
MicroBitI2C _i2c(MICROBIT_PIN_P20, MICROBIT_PIN_P19);


double scd40_get_sample(int mode);


int main()
{
_uBit.init();

_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(0))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(0)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(1))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(1)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(2))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(2)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
release_fiber();
}

double scd40_get_sample(int mode) {
static bool started = false;
static double values[3] = { 0, 0, 0 };
const int address = 0x62 << 1;
if ( !started ) {
char startCommand[2] = { 0x21, (char) 0xb1 };
_i2c.write(address, startCommand, 2);
_uBit.sleep(5000);
started = true;
}

char readCommand[2] = { (char) 0xec, 0x05 };
char data[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
_i2c.write(address, readCommand, 2);
_uBit.sleep(1);
if ( _i2c.read(address, data, 9) == 0 ) {
bool crcValid = true;
for ( int word = 0; word < 3; word++ ) {
uint8_t crc = 0xff;
for ( int i = 0; i < 2; i++ ) {
crc ^= (uint8_t) data[word * 3 + i];
for ( int bit = 0; bit < 8; bit++ ) {
if ( crc & 0x80 ) {
crc = (uint8_t) ((crc << 1) ^ 0x31);
} else {
crc = (uint8_t) (crc << 1);
}
}
}
if ( crc != (uint8_t) data[word * 3 + 2] ) {
crcValid = false;
}
}
if ( crcValid ) {
uint16_t co2 = ((uint8_t) data[0] << 8) | (uint8_t) data[1];
uint16_t rawTemperature = ((uint8_t) data[3] << 8) | (uint8_t) data[4];
uint16_t rawHumidity = ((uint8_t) data[6] << 8) | (uint8_t) data[7];
values[0] = co2;
values[1] = -45.0 + 175.0 * rawTemperature / 65535.0;
values[2] = 100.0 * rawHumidity / 65535.0;
}
}
return values[mode];
}
74 changes: 74 additions & 0 deletions ...sCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017NoBlue/sensor_scd40.cpp
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#define _GNU_SOURCE

#include "MicroBit.h"
#include "NEPODefs.h"
#include <list>
#include <array>
#include <stdlib.h>
MicroBit _uBit;
MicroBitI2C _i2c(MICROBIT_PIN_P20, MICROBIT_PIN_P19);


double scd40_get_sample(int mode);


int main()
{
_uBit.init();

_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(0))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(0)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(1))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(1)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
_uBit.serial.setTxBufferSize(ManagedString((scd40_get_sample(2))).length() + 2);
_uBit.serial.send(ManagedString(scd40_get_sample(2)) + "\r\n", MicroBitSerialMode::ASYNC);
_uBit.sleep(_ITERATION_SLEEP_TIMEOUT);
release_fiber();
}

double scd40_get_sample(int mode) {
static bool started = false;
static double values[3] = { 0, 0, 0 };
const int address = 0x62 << 1;
if ( !started ) {
char startCommand[2] = { 0x21, (char) 0xb1 };
_i2c.write(address, startCommand, 2);
_uBit.sleep(5000);
started = true;
}

char readCommand[2] = { (char) 0xec, 0x05 };
char data[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
_i2c.write(address, readCommand, 2);
_uBit.sleep(1);
if ( _i2c.read(address, data, 9) == 0 ) {
bool crcValid = true;
for ( int word = 0; word < 3; word++ ) {
uint8_t crc = 0xff;
for ( int i = 0; i < 2; i++ ) {
crc ^= (uint8_t) data[word * 3 + i];
for ( int bit = 0; bit < 8; bit++ ) {
if ( crc & 0x80 ) {
crc = (uint8_t) ((crc << 1) ^ 0x31);
} else {
crc = (uint8_t) (crc << 1);
}
}
}
if ( crc != (uint8_t) data[word * 3 + 2] ) {
crcValid = false;
}
}
if ( crcValid ) {
uint16_t co2 = ((uint8_t) data[0] << 8) | (uint8_t) data[1];
uint16_t rawTemperature = ((uint8_t) data[3] << 8) | (uint8_t) data[4];
uint16_t rawHumidity = ((uint8_t) data[6] << 8) | (uint8_t) data[7];
values[0] = co2;
values[1] = -45.0 + 175.0 * rawTemperature / 65535.0;
values[2] = 100.0 * rawHumidity / 65535.0;
}
}
return values[mode];
}
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