dlech
commented
6 years ago - This should provide some insight to the "mystery modes" in ColorDistanceSensor.md, For example "IR Tx" mode sounds rather interesting.
- It would be nice to do this for other devices. I don't have WeDo 2.0 sensors, so the Interactive Motor is the only other one I could do. This is a rather time consuming processes, so if someone else wants to pitch in, that would be awesome.
- There are some new message types in Powered Up devices that aren't present in EV3 sensors, so if anyone has any theories on what these might be, I would love to hear your ideas.
Cheat-sheet for interpreting messages
// FIRST BYTE // bits 7-6 #define MESSAGE_SYS 0x00 // System message 0b00 << 6 #define MESSAGE_CMD 0x40 // Command message 0b01 << 6 #define MESSAGE_INFO 0x80 // Info message 0b10 << 6 #define MESSAGE_DATA 0xC0 // Data message 0b11 << 6 // bits 5-3 #define LENGTH_1 0x00 // 1 byte 0b000 << 3 #define LENGTH_2 0x08 // 2 bytes 0b001 << 3 #define LENGTH_4 0x10 // 4 bytes 0b010 << 3 #define LENGTH_8 0x18 // 8 bytes 0b011 << 3 #define LENGTH_16 0x20 // 16 bytes 0b100 << 3 #define LENGTH_32 0x28 // 32 bytes 0b101 << 3 // MESSAGE_SYS bits 2-0 #define BYTE_SYNC 0x00 // Synchronization byte #define BYTE_ACK 0x04 // Acknowledge byte #define BYTE_NACK 0x02 // Not acknowledge byte (keep alive) // MESSAGE_CMD bits 2-0 #define CMD_TYPE 0x00 // CMD command - TYPE (device type for VM reference) #define CMD_MODES 0x01 // CMD command - MODES (number of supported modes 0=1) #define CMD_SPEED 0x02 // CMD command - SPEED (maximum communication speed) #define CMD_SELECT 0x03 // CMD command - SELECT (select mode) #define CMD_WRITE 0x04 // CMD command - WRITE (write to device) #define CMD_UNK1 0x07 // CMD command - UNK1 (unknown Powered Up device info) // MESSAGE_INFO and MESSAGE_DATA bits 2-0 #define MODE_0 0x00 // MODE 0 (or 8 if INFO_MODE_PLUS_8 bit is set) #define MODE_1 0x01 // MODE 1 (or 9 if INFO_MODE_PLUS_8 bit is set) #define MODE_2 0x02 // MODE 2 (or 10 if INFO_MODE_PLUS_8 bit is set) #define MODE_3 0x03 // MODE 3 (or 11 if INFO_MODE_PLUS_8 bit is set) #define MODE_4 0x04 // MODE 4 (or 12 if INFO_MODE_PLUS_8 bit is set) #define MODE_5 0x05 // MODE 5 (or 13 if INFO_MODE_PLUS_8 bit is set) #define MODE_6 0x06 // MODE 6 (or 14 if INFO_MODE_PLUS_8 bit is set) #define MODE_7 0x07 // MODE 7 (or 15 if INFO_MODE_PLUS_8 bit is set) // SECOND INFO BYTE #define INFO_NAME 0x00 // INFO command - NAME (device name) #define INFO_RAW 0x01 // INFO command - RAW (device RAW value span) #define INFO_PCT 0x02 // INFO command - PCT (device PCT value span) #define INFO_SI 0x03 // INFO command - SI (device SI value span) #define INFO_SYMBOL 0x04 // INFO command - SYMBOL (device SI unit symbol) #define INFO_UNK1 0x05 // INFO command - UNK1 (unknown powered up-only info 1) #define INFO_UNK2 0x06 // INFO command - UNK2 (unknown powered up-only info 2) #define INFO_MODE_PLUS_8 0x20 // Bit flag used in powered up devices to indicate that the mode is 8 + the mode specified in the first byte #define INFO_FORMAT 0x80 // INFO command - FORMAT (device data sets and format) // INFO_FORMAT formats #define DATA8 0x00 // 8-bit signed integer #define DATA16 0x01 // 16-bit little-endian signed integer #define DATA32 0x02 // 32-bit little-endian signed integer #define DATAF 0x03 // 32-bit little-endian IEEE 754 floating point
cpseager
JorgePe
GianCann
dracode
mw75
ahmedjouirou
ysard
joehui
I've been spying on my BOOST Color and Distance sensor
Like EV3 UART sensors, Powered Up UART devices (can't say "sensors" anymore since BOOST Interactive Motor is also UART) send data about the device at 2400 baud until the brick syncs with the device.
Here is the data that I captured and the interpretation according to lms2012.h and d_uart_mod.c.
Recorded bytes and interpretation (click to expand)