Go - Color Bricklet 2.0

This is the description of the Go API bindings for the Color Bricklet 2.0. General information and technical specifications for the Color Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Go API bindings is part of their general description. Additional documentation can be found on godoc.org.

Examples

The example code below is Public Domain (CC0 1.0).

Simple

Download (example_simple.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/color_v2_bricklet"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Color Bricklet 2.0.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    c, _ := color_v2_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    // Get current color.
    r, g, b, c_, _ := c.GetColor()

    fmt.Printf("Color [R]: \n", r)
    fmt.Printf("Color [G]: \n", g)
    fmt.Printf("Color [B]: \n", b)
    fmt.Printf("Color [C]: \n", c_)

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

Callback

Download (example_callback.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/color_v2_bricklet"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Color Bricklet 2.0.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    c, _ := color_v2_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    c.RegisterColorCallback(func(r uint16, g uint16, b uint16, c uint16) {
        fmt.Printf("Color [R]: %d\n", r)
        fmt.Printf("Color [G]: %d\n", g)
        fmt.Printf("Color [B]: %d\n", b)
        fmt.Printf("Color [C]: %d\n", c)
        fmt.Println()
    })

    // Set period for color callback to 0.1s (100ms).
    c.SetColorCallbackConfiguration(100, false)

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

API

The Color Bricklet 2.0 API is defined in the package github.com/Tinkerforge/go-api-bindings/color_v2_bricklet

Nearly every function of the Go bindings can return an DeviceError, implementing the error interface. The error can have one of the following values:

  • DeviceErrorSuccess = 0
  • DeviceErrorInvalidParameter = 1
  • DeviceErrorFunctionNotSupported = 2
  • DeviceErrorUnknownError = 3

which correspond to the values returned from Bricks and Bricklets.

All functions listed below are thread-safe.

Basic Functions

func color_v2_bricklet.New(uid string, ipcon *IPConnection) (device ColorV2Bricklet, err error)

Creates a new ColorV2Bricklet object with the unique device ID uid and adds it to the IPConnection ipcon:

device, err := color_v2_bricklet.New("YOUR_DEVICE_UID", &ipcon)

This device object can be used after the IPConnection has been connected (see examples above).

func (*ColorV2Bricklet) GetColor() (r uint16, g uint16, b uint16, c uint16, err error)

Returns the measured color of the sensor. The values have a range of 0 to 65535.

The red (r), green (g), blue (b) and clear (c) colors are measured with four different photodiodes that are responsive at different wavelengths:

Chart Responsivity / Wavelength

If you want to get the color periodically, it is recommended to use the RegisterColorCallback callback and set the period with SetColorCallbackConfiguration().

func (*ColorV2Bricklet) GetIlluminance() (illuminance uint32, err error)

Returns the illuminance affected by the gain and integration time as set by SetConfiguration(). To get the illuminance in Lux apply this formula:

lux = illuminance * 700 / gain / integration_time

To get a correct illuminance measurement make sure that the color values themselves are not saturated. The color value (R, G or B) is saturated if it is equal to the maximum value of 65535. In that case you have to reduce the gain, see SetConfiguration().

If you want to get the value periodically, it is recommended to use the RegisterIlluminanceCallback callback. You can set the callback configuration with SetIlluminanceCallbackConfiguration().

func (*ColorV2Bricklet) GetColorTemperature() (colorTemperature uint16, err error)

Returns the color temperature in Kelvin.

To get a correct color temperature measurement make sure that the color values themselves are not saturated. The color value (R, G or B) is saturated if it is equal to the maximum value of 65535. In that case you have to reduce the gain, see SetConfiguration().

If you want to get the value periodically, it is recommended to use the RegisterColorTemperatureCallback callback. You can set the callback configuration with SetColorTemperatureCallbackConfiguration().

func (*ColorV2Bricklet) SetLight(enable bool) (err error)

Turns the white LED on the Bricklet on/off.

func (*ColorV2Bricklet) GetLight() (enable bool, err error)

Returns the value as set by SetLight().

func (*ColorV2Bricklet) SetConfiguration(gain Gain, integrationTime IntegrationTime) (err error)

Sets the configuration of the sensor. Gain and integration time can be configured this way.

For configuring the gain:

  • 0: 1x Gain
  • 1: 4x Gain
  • 2: 16x Gain
  • 3: 60x Gain

For configuring the integration time:

  • 0: 2.4ms
  • 1: 24ms
  • 2: 101ms
  • 3: 154ms
  • 4: 700ms

Increasing the gain enables the sensor to detect a color from a higher distance.

The integration time provides a trade-off between conversion time and accuracy. With a longer integration time the values read will be more accurate but it will take longer to get the conversion results.

The default values are 60x gain and 154ms integration time.

The following constants are available for this function:

  • color_v2_bricklet.Gain1x = 0
  • color_v2_bricklet.Gain4x = 1
  • color_v2_bricklet.Gain16x = 2
  • color_v2_bricklet.Gain60x = 3
  • color_v2_bricklet.IntegrationTime2ms = 0
  • color_v2_bricklet.IntegrationTime24ms = 1
  • color_v2_bricklet.IntegrationTime101ms = 2
  • color_v2_bricklet.IntegrationTime154ms = 3
  • color_v2_bricklet.IntegrationTime700ms = 4
func (*ColorV2Bricklet) GetConfiguration() (gain Gain, integrationTime IntegrationTime, err error)

Returns the configuration as set by SetConfiguration().

The following constants are available for this function:

  • color_v2_bricklet.Gain1x = 0
  • color_v2_bricklet.Gain4x = 1
  • color_v2_bricklet.Gain16x = 2
  • color_v2_bricklet.Gain60x = 3
  • color_v2_bricklet.IntegrationTime2ms = 0
  • color_v2_bricklet.IntegrationTime24ms = 1
  • color_v2_bricklet.IntegrationTime101ms = 2
  • color_v2_bricklet.IntegrationTime154ms = 3
  • color_v2_bricklet.IntegrationTime700ms = 4

Advanced Functions

func (*ColorV2Bricklet) GetAPIVersion() (apiVersion [3]uint8, err error)

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

func (*ColorV2Bricklet) GetResponseExpected(functionId Function) (responseExpected bool, err error)

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

  • color_v2_bricklet.FunctionSetColorCallbackConfiguration = 2
  • color_v2_bricklet.FunctionSetIlluminanceCallbackConfiguration = 6
  • color_v2_bricklet.FunctionSetColorTemperatureCallbackConfiguration = 10
  • color_v2_bricklet.FunctionSetLight = 13
  • color_v2_bricklet.FunctionSetConfiguration = 15
  • color_v2_bricklet.FunctionSetWriteFirmwarePointer = 237
  • color_v2_bricklet.FunctionSetStatusLEDConfig = 239
  • color_v2_bricklet.FunctionReset = 243
  • color_v2_bricklet.FunctionWriteUID = 248
func (*ColorV2Bricklet) SetResponseExpected(functionId Function, responseExpected bool) (err error)

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

  • color_v2_bricklet.FunctionSetColorCallbackConfiguration = 2
  • color_v2_bricklet.FunctionSetIlluminanceCallbackConfiguration = 6
  • color_v2_bricklet.FunctionSetColorTemperatureCallbackConfiguration = 10
  • color_v2_bricklet.FunctionSetLight = 13
  • color_v2_bricklet.FunctionSetConfiguration = 15
  • color_v2_bricklet.FunctionSetWriteFirmwarePointer = 237
  • color_v2_bricklet.FunctionSetStatusLEDConfig = 239
  • color_v2_bricklet.FunctionReset = 243
  • color_v2_bricklet.FunctionWriteUID = 248
func (*ColorV2Bricklet) SetResponseExpectedAll(responseExpected bool) (err error)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

func (*ColorV2Bricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

  • ACK checksum errors,
  • message checksum errors,
  • framing errors and
  • overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

func (*ColorV2Bricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

  • color_v2_bricklet.BootloaderModeBootloader = 0
  • color_v2_bricklet.BootloaderModeFirmware = 1
  • color_v2_bricklet.BootloaderModeBootloaderWaitForReboot = 2
  • color_v2_bricklet.BootloaderModeFirmwareWaitForReboot = 3
  • color_v2_bricklet.BootloaderModeFirmwareWaitForEraseAndReboot = 4
  • color_v2_bricklet.BootloaderStatusOK = 0
  • color_v2_bricklet.BootloaderStatusInvalidMode = 1
  • color_v2_bricklet.BootloaderStatusNoChange = 2
  • color_v2_bricklet.BootloaderStatusEntryFunctionNotPresent = 3
  • color_v2_bricklet.BootloaderStatusDeviceIdentifierIncorrect = 4
  • color_v2_bricklet.BootloaderStatusCRCMismatch = 5
func (*ColorV2Bricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode().

The following constants are available for this function:

  • color_v2_bricklet.BootloaderModeBootloader = 0
  • color_v2_bricklet.BootloaderModeFirmware = 1
  • color_v2_bricklet.BootloaderModeBootloaderWaitForReboot = 2
  • color_v2_bricklet.BootloaderModeFirmwareWaitForReboot = 3
  • color_v2_bricklet.BootloaderModeFirmwareWaitForEraseAndReboot = 4
func (*ColorV2Bricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

Sets the firmware pointer for WriteFirmware(). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*ColorV2Bricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer() before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*ColorV2Bricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

  • color_v2_bricklet.StatusLEDConfigOff = 0
  • color_v2_bricklet.StatusLEDConfigOn = 1
  • color_v2_bricklet.StatusLEDConfigShowHeartbeat = 2
  • color_v2_bricklet.StatusLEDConfigShowStatus = 3
func (*ColorV2Bricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig()

The following constants are available for this function:

  • color_v2_bricklet.StatusLEDConfigOff = 0
  • color_v2_bricklet.StatusLEDConfigOn = 1
  • color_v2_bricklet.StatusLEDConfigShowHeartbeat = 2
  • color_v2_bricklet.StatusLEDConfigShowStatus = 3
func (*ColorV2Bricklet) GetChipTemperature() (temperature int16, err error)

Returns the temperature in °C as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

func (*ColorV2Bricklet) Reset() (err error)

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

func (*ColorV2Bricklet) WriteUID(uid uint32) (err error)

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

func (*ColorV2Bricklet) ReadUID() (uid uint32, err error)

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

func (*ColorV2Bricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c' or 'd'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions

func (*ColorV2Bricklet) SetColorCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period in ms is the period with which the RegisterColorCallback callback is triggered periodically. A value of 0 turns the callback off.

If the value has to change-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

The default value is (0, false).

func (*ColorV2Bricklet) GetColorCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetColorCallbackConfiguration().

func (*ColorV2Bricklet) SetIlluminanceCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min uint32, max uint32) (err error)

The period in ms is the period with which the RegisterIlluminanceCallback callback is triggered periodically. A value of 0 turns the callback off.

If the value has to change-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

It is furthermore possible to constrain the callback with thresholds.

The option-parameter together with min/max sets a threshold for the RegisterIlluminanceCallback callback.

The following options are possible:

Option Description
'x' Threshold is turned off
'o' Threshold is triggered when the value is outside the min and max values
'i' Threshold is triggered when the value is inside or equal to the min and max values
'<' Threshold is triggered when the value is smaller than the min value (max is ignored)
'>' Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

The default value is (0, false, 'x', 0, 0).

The following constants are available for this function:

  • color_v2_bricklet.ThresholdOptionOff = 'x'
  • color_v2_bricklet.ThresholdOptionOutside = 'o'
  • color_v2_bricklet.ThresholdOptionInside = 'i'
  • color_v2_bricklet.ThresholdOptionSmaller = '<'
  • color_v2_bricklet.ThresholdOptionGreater = '>'
func (*ColorV2Bricklet) GetIlluminanceCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min uint32, max uint32, err error)

Returns the callback configuration as set by SetIlluminanceCallbackConfiguration().

The following constants are available for this function:

  • color_v2_bricklet.ThresholdOptionOff = 'x'
  • color_v2_bricklet.ThresholdOptionOutside = 'o'
  • color_v2_bricklet.ThresholdOptionInside = 'i'
  • color_v2_bricklet.ThresholdOptionSmaller = '<'
  • color_v2_bricklet.ThresholdOptionGreater = '>'
func (*ColorV2Bricklet) SetColorTemperatureCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min uint16, max uint16) (err error)

The period in ms is the period with which the RegisterColorTemperatureCallback callback is triggered periodically. A value of 0 turns the callback off.

If the value has to change-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

It is furthermore possible to constrain the callback with thresholds.

The option-parameter together with min/max sets a threshold for the RegisterColorTemperatureCallback callback.

The following options are possible:

Option Description
'x' Threshold is turned off
'o' Threshold is triggered when the value is outside the min and max values
'i' Threshold is triggered when the value is inside or equal to the min and max values
'<' Threshold is triggered when the value is smaller than the min value (max is ignored)
'>' Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

The default value is (0, false, 'x', 0, 0).

The following constants are available for this function:

  • color_v2_bricklet.ThresholdOptionOff = 'x'
  • color_v2_bricklet.ThresholdOptionOutside = 'o'
  • color_v2_bricklet.ThresholdOptionInside = 'i'
  • color_v2_bricklet.ThresholdOptionSmaller = '<'
  • color_v2_bricklet.ThresholdOptionGreater = '>'
func (*ColorV2Bricklet) GetColorTemperatureCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min uint16, max uint16, err error)

Returns the callback configuration as set by SetColorTemperatureCallbackConfiguration().

The following constants are available for this function:

  • color_v2_bricklet.ThresholdOptionOff = 'x'
  • color_v2_bricklet.ThresholdOptionOutside = 'o'
  • color_v2_bricklet.ThresholdOptionInside = 'i'
  • color_v2_bricklet.ThresholdOptionSmaller = '<'
  • color_v2_bricklet.ThresholdOptionGreater = '>'

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding Register*Callback function, which returns a unique callback ID. This ID can be used to deregister the callback later.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

func (*ColorV2Bricklet) RegisterColorCallback(func(r uint16, g uint16, b uint16, c uint16)) (registrationId uint64)

A callback can be registered for this event with the RegisterColorCallback() function. This function returns the ID of the registered callback. An added callback can be removed with the DeregisterColorCallback(registrationId uint64) function.

This callback is triggered periodically with the period that is set by SetColorCallbackConfiguration(). The callback parameter is the color of the sensor as RGBC.

The RegisterColorCallback callback is only triggered if the color has changed since the last triggering.

func (*ColorV2Bricklet) RegisterIlluminanceCallback(func(illuminance uint32)) (registrationId uint64)

A callback can be registered for this event with the RegisterIlluminanceCallback() function. This function returns the ID of the registered callback. An added callback can be removed with the DeregisterIlluminanceCallback(registrationId uint64) function.

This callback is triggered periodically according to the configuration set by SetIlluminanceCallbackConfiguration().

The callback parameter is the same as GetIlluminance().

func (*ColorV2Bricklet) RegisterColorTemperatureCallback(func(colorTemperature uint16)) (registrationId uint64)

A callback can be registered for this event with the RegisterColorTemperatureCallback() function. This function returns the ID of the registered callback. An added callback can be removed with the DeregisterColorTemperatureCallback(registrationId uint64) function.

This callback is triggered periodically according to the configuration set by SetColorTemperatureCallbackConfiguration().

The callback parameter is the same as GetColorTemperature().

Constants

color_v2_bricklet.DeviceIdentifier

This constant is used to identify a Color Bricklet 2.0.

The GetIdentity() function and the (*IPConnection) RegisterEnumerateCallback callback of the IPConnection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

color_v2_bricklet.DeviceDisplayName

This constant represents the human readable name of a Color Bricklet 2.0.