Nxt Light Sensor support

libs/core/dal.d.ts

@@ -309,6 +309,8 @@ declare const enum DAL {
     DEVICE_TYPE_NXT_LIGHT = 2,
     DEVICE_TYPE_NXT_SOUND = 3,
     DEVICE_TYPE_NXT_COLOR = 4,
+    DEVICE_TYPE_NXT_ULTRASONIC = 5,
+    DEVICE_TYPE_NXT_TEMPERATURE = 6,
     DEVICE_TYPE_TACHO = 7,
     DEVICE_TYPE_MINITACHO = 8,
     DEVICE_TYPE_NEWTACHO = 9,

libs/core/ev3const.h

@@ -11,6 +11,8 @@
 #define DEVICE_TYPE_NXT_LIGHT 2
 #define DEVICE_TYPE_NXT_SOUND 3
 #define DEVICE_TYPE_NXT_COLOR 4
+#define DEVICE_TYPE_NXT_ULTRASONIC 5
+#define DEVICE_TYPE_NXT_TEMPERATURE 6
 #define DEVICE_TYPE_TACHO 7
 #define DEVICE_TYPE_MINITACHO 8
 #define DEVICE_TYPE_NEWTACHO 9

libs/core/input.ts

@@ -235,10 +235,11 @@ namespace sensors.internal {
 
     function detectDevices() {
         control.dmesg(`DETECT DEVICES (hash ${hashDevices()})`);
-        const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS);
+        const inDcm = analogMM.slice(AnalogOff.InDcm, DAL.NUM_INPUTS);
+        const inConn = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS);
 
         for (const sensorInfo of sensorInfos) {
-            const newConn = conns[sensorInfo.port];
+            const newConn = inConn[sensorInfo.port];
             if (newConn == sensorInfo.connType && sensorInfo.sensor && sensorInfo.sensor.isActive()) {
                 continue;
             }
@@ -252,9 +253,13 @@ namespace sensors.internal {
                 sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN;
                 sensorInfo.iicid = readIICID(sensorInfo.port);
                 control.dmesg(`new IIC connection at port ${sensorInfo.port} with ID ${sensorInfo.iicid.length}`);
+            } else if (newConn == DAL.CONN_NXT_DUMB) {
+                sensorInfo.devType = inDcm[sensorInfo.port];
+                control.dmesg(`new NXT DUMB connection at port ${sensorInfo.port} dev type ${sensorInfo.devType}`);
             } else if (newConn == DAL.CONN_INPUT_DUMB) {
-                control.dmesg(`new DUMB connection at port ${sensorInfo.port}`);
-                sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH; // TODO? for now assume touch sensor
+                //sensorInfo.devType = inDcm[sensorInfo.port]; // We get the result DEVICE_TYPE_UNKNOWN
+                sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH; // TODO? for now assume touch
+                control.dmesg(`new DUMB connection at ${sensorInfo.port} dev type ${sensorInfo.devType}`);
             } else if (newConn == DAL.CONN_NONE || newConn == 0) {
                 control.dmesg(`disconnect at port ${sensorInfo.port}`);
             } else {
@@ -351,13 +356,44 @@ namespace sensors.internal {
     }
 
     export class AnalogSensor extends Sensor {
+
+        protected mode: number; // the mode user asked for
+        protected realmode: number;
+
         constructor(port: number) {
-            super(port)
+            super(port);
+            this.mode = 0;
+            this.realmode = 0;
+        }
+
+        _activated() {
+            this.realmode = 0;
+            this._setMode(this.mode);
+        }
+
+        protected _setMode(m: number) {
+            let v = m | 0;
+            this.mode = v;
+            if (!this.isActive()) return;
+            if (this.realmode != this.mode) {
+                control.dmesg(`_setMode p=${this._port} m: ${this.realmode} -> ${v}`);
+                this.realmode = v;
+                setAnalogMode(this._port, this._deviceType(), this.mode);
+            }
+        }
+
+        _readPin1() {
+            if (!this.isActive()) return 0;
+            return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin1 + 2 * this._port);
         }
 
         _readPin6() {
-            if (!this.isActive()) return 0
-            return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this._port)
+            if (!this.isActive()) return 0;
+            return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this._port);
+        }
+
+        _deviceType() {
+            return DAL.DEVICE_TYPE_UNKNOWN;
         }
     }
 
@@ -366,28 +402,29 @@ namespace sensors.internal {
         protected realmode: number // the mode the hardware is in
 
         constructor(port: number) {
-            super(port)
-            this.mode = 0
-            this.realmode = 0
+            super(port);
+            this.mode = 0;
+            this.realmode = 0;
         }
 
         _activated() {
-            this.realmode = 0
-            this._setMode(this.mode)
+            this.realmode = 0;
+            this._setMode(this.mode);
         }
 
         getStatus() {
             return getUartStatus(this._port);
         }
 
         protected _setMode(m: number) {
-            //control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`)
-            let v = m | 0
-            this.mode = v
-            if (!this.isActive()) return
+            //control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`);
+            let v = m | 0;
+            this.mode = v;
+            if (!this.isActive()) return;
             if (this.realmode != this.mode) {
-                this.realmode = v
-                setUartMode(this._port, v)
+                control.dmesg(`_setMode p=${this._port} m: ${this.realmode} -> ${v}`);
+                this.realmode = v;
+                setUartMode(this._port, v);
             }
         }
 
@@ -575,19 +612,29 @@ namespace sensors.internal {
             DAL.MAX_DEVICE_DATALENGTH)
     }
 
-    function getUartNumber(fmt: NumberFormat, off: number, port: number) {
+    function getUartNumber(fmt: NumberFormat, off: number, port: number): number {
         if (port < 0) return 0
-        let index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
+        const index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
         return uartMM.getNumber(fmt,
             UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index + off)
     }
 
+    function setAnalogMode(port: number, type: number, mode: number) {
+        if (port < 0) return;
+        control.dmesg(`analog set type ${type} mode ${mode} at port ${port}`);
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_DUMB);
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type);
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode);
+        analogMM.ioctl(0, devcon);
+    }
+
     export function setIICMode(port: number, type: number, mode: number) {
         if (port < 0) return;
-        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
-        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
-        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
-        IICMM.ioctl(IO.IIC_SET_CONN, devcon)
+        control.dmesg(`iic set type ${type} mode ${mode} at port ${port}`);
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC);
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type);
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode);
+        IICMM.ioctl(IO.IIC_SET_CONN, devcon);
     }
 
     export function transactionIIC(port: number, deviceAddress: number, writeBuf: number[], readLen: number) {

libs/ev3/console.ts

@@ -19,8 +19,8 @@ namespace console._screen {
         if (!lines) {
             lines = [];
             console.addListener(log);
-            brick.buttonUp.onEvent(ButtonEvent.Bumped, () => scroll(-3))
-            brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))
+            brick.buttonUp.onEvent(ButtonEvent.Bumped, () => scroll(-3));
+            brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3));
         }
     }
 

libs/ev3/ns.ts

@@ -6,7 +6,7 @@ namespace brick {
 
 //% color="#C8509B" weight=95 icon="\uf10f"
 //% labelLineWidth=100
-//% groups='["Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Gyro Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Calibration"]'
+//% groups='["Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Gyro Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Calibration", "Light Sensor"]'
 //% subcategories='["NXT", "HiTechnic"]'
 namespace sensors {
 }

libs/nxt-light-sensor/README.md

@@ -0,0 +1,3 @@
+# NXT Light sensor
+
+The library to interact with the NXT Light Sensor.

libs/nxt-light-sensor/docs/reference/sensors/nxt-light-sensor.md

@@ -0,0 +1,10 @@
+# NXT light sensor
+
+```cards
+sensors.nxtLight1.light(NXTLightIntensityMode.Reflected)
+sensors.nxtLight1.light(NXTLightIntensityMode.ReflectedRaw)
+```
+
+## See slso
+
+[light](/reference/sensors/nxt-light-sensor/light)

libs/nxt-light-sensor/docs/reference/sensors/nxt-light-sensor/light.md

@@ -0,0 +1,31 @@
+# light
+
+Get the amount of ambient or reflected light measured by the sensor.
+
+```sig
+sensors.nxtLight1.light(NXTLightIntensityMode.Reflected)
+```
+
+The light sensor adjusts itself to more accurately measure light depending on the source of the light. You decide if you want to measure _ambient_ light (light all around or direct light) or if you want to know how much light is reflected from a surface. The amount of light measured is in the range of `0` (darkest) to `100` (brightest).
+
+## Parameters
+
+* **mode**: the type of measurement for light. This is either ``ambient`` or ``reflected`` light.
+
+## Returns
+
+* a number that is the amount of light measured. No light (darkness) is `0` and the brightest light is `100`.
+
+## Example
+
+Make the status light show ``green`` if the ambient light is greater than `20`.
+
+```blocks
+forever(function () {
+    if (sensors.nxtLight1.light(NXTLightIntensityMode.Reflected) > 20) {
+        brick.setStatusLight(StatusLight.Green)
+    } else {
+        brick.setStatusLight(StatusLight.Orange)
+    }
+})
+```