BOOST Color and Distance Sensor info

[dlech]

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)

40  MESSAGE_CMD + LENGTH_1 + CMD_TYPE
25  Type = 37; BOOST Color and Distance Sensor
9a  checksum; 0xff ^ 0x40 ^ 0x25
51  MESSAGE_CMD + LENGTH_4 + CMD_MODES (similar to EV3 CMD_MODES with 2 extra bytes)
07  7 + 1; Modes = 8 (value used on EV3)
07  7 + 1; Views = 8 (value used on EV3)
0a  10 + 1; Modes = 11 (value used on Powered Up)
07  7 + 1; Views = 8 (value used on Powered Up)
a3  checksum; 0xff ^ 0x51 ^ 0x07  ^ 0x07 ^ 0x0a ^ 0x07
52  MESSAGE_CMD + LENGTH_4 + CMD_SPEED
00  LSB
c2  ..
01  ..
00  MSB; BitRate = 115200
6e  checksum; 0xff ^ 0x52 ^ 0x00 ^ 0xc2 ^ 0x01 ^ 0x00
5f  MESSAGE_CMD + LENGTH_8 + CMD_UNK1 (new PF2 command)
00  LSB
00  ..
00  ..
10  MSB; ??? = 0x10000000
00  LSB
00  ..
00  ..
10  MSB; ??? = 0x10000000
a0  checksum; 0xff ^ 0x5f ^ 0x00 ^ 0x00 ^ 0x10 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0x10
9a  MESSAGE_INFO + LENGTH_8 + MODE_2; really mode 10
20  MODE_PLUS_8 + INFO_NAME
43  'C'
41  'A'
4c  'L'
49  'I'
42  'B'
00  ''
00  ''
00  ''; Name = "CALIB"
00  checksum; 0xff ^ 0x9a ^ 0x20 ^ 0x43 ^ 0x41 ^ 0x4c ^ 0x49 ^ 0x42 ^ 0x00 ^ 0x00 ^ 0x00
9a  MESSAGE_INFO + LENGTH_8 + MODE_2; really mode 10
21  MODE_PLUS_8 + INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
ff  ..
7f  ..
47  MSB; RawMax = 65535.0
83  checksum; 0xff ^ 0x9a ^ 0x21 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0xff ^ 0x7f ^ 0x47
9a  MESSAGE_INFO + LENGTH_8 + MODE_2; really mode 10
22  MODE_PLUS_8 + INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
cd  checksum; 0xff ^ 0x9a ^ 0x22 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0xc8 ^ 0x42
9a  MESSAGE_INFO + LENGTH_8 + MODE_2; really mode 10
23  MODE_PLUS_8 + INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
ff  ..
7f  ..
47  MSB; SiMax = 65535.0
81  checksum; 0xff ^ 0x9a ^ 0x23 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0x00 ^ 0xff ^ 0x7f ^ 0x47
92  MESSAGE_INFO + LENGTH_4 + MODE_2; really mode 10
24  MODE_PLUS_8 + INFO_SYMBOL
4e  'N'
2f  '/'
41  'A'
00  ''; Symbol = "N/A"
69  checksum; 0xff ^ 0x92 ^ 0x24 ^ 0x4e ^ 0x2f ^ 0x41 ^ 0x00
8a  MESSAGE_INFO + LENGTH_2 + MODE_2; really mode 10
25  MODE_PLUS_8 + INFO_UNK1 (new PF2 info)
10  ???
00  ???
40  checksum; 0xff ^ 0x8a ^ 0x25 ^ 0x10 ^ 0x00
92  MESSAGE_INFO + LENGTH_4 + MODE_2; really mode 10
a0  MODE_PLUS_8 + INFO_FORMAT
08  DataSets = 8
01  Format = DATA16
05  Figures = 5
00  Decimals = 0
c1  checksum; 0xff ^ 0x92 ^ 0xa0 ^ 0x08 ^ 0x01 ^ 0x05 ^ 0x00
99  MESSAGE_INFO + LENGTH_8 + MODE_1; really mode 9
20  MODE_PLUS_8 + INFO_NAME
44  'D'
45  'E'
42  'B'
55  'U'
47  'G'
00  ''
00  ''
00  ''; Name = "DEBUG"
17  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1; really mode 9
21  MODE_PLUS_8 + INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
c0  ..
7f  ..
44  MSB; RawMax = 1023.0
bc  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1; really mode 9
22  MODE_PLUS_8 + INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
ce  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1; really mode 9
23  MODE_PLUS_8 + INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
00  ..
20  ..
41  MSB; SiMax = 10.0
24  checksum
91  MESSAGE_INFO + LENGTH_4 + MODE_1; really mode 9
24  MODE_PLUS_8 + INFO_SYMBOL
4e  'N'
2f  '/'
41  'A'
00  ''; Symbol = "N/A"
6a  checksum
89  MESSAGE_INFO + LENGTH_2 + MODE_1; really mode 9
25  MODE_PLUS_8 + INFO_UNK1 (new PF2 info)
10  ???
00  ???
43  checksum
91  MESSAGE_INFO + LENGTH_4 + MODE_1; really mode 9
a0  MODE_PLUS_8 + INFO_FORMAT
02  DataSets = 2
01  Format = DATA16
05  Figures = 5
00  Decimals = 0
c8  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0; really mode 8
20  MODE_PLUS_8 + INFO_NAME
53  'S'
50  'P'
45  'E'
43  'C'
20  ' '
31  '1'
00  ''
00  ''; "SPEC 1"
53  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0; really mode 8
21  MODE_PLUS_8 + INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
00  ..
7f  ..
43  MSB; RawMax = 255.0
7a  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0; really mode 8
22  MODE_PLUS_8 + INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
cf  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0; really mode 8
23  MODE_PLUS_8 + INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
00  ..
7f  ..
43  MSB; SiMax = 255.0
78  checksum
90  MESSAGE_INFO + LENGTH_4 + MODE_0; really mode 8
24  MODE_PLUS_8 + INFO_SYMBOL
4e  'N'
2f  '/'
41  'A'
00  ''; Symbol = "N/A"
6b  checksum
88  MESSAGE_INFO + LENGTH_2 + MODE_0; really mode 8
25  MODE_PLUS_8 + INFO_UNK1 (new PF2 info)
00  ???
00  ???
52  checksum
90  MESSAGE_INFO + LENGTH_4 + MODE_0; really mode 8
a0  MODE_PLUS_8 + INFO_FORMAT
04  DataSets = 4
00  Format = DATA8
03  Figures = 3
00  Decimals = 1
c8  checksum
9f  MESSAGE_INFO + LENGTH_8 + MODE_7
00  INFO_NAME
49  'I'
52  'R'
20  ' '
54  'T'
78  'x'
00  ''
00  ''
00  ''; "IR Tx"
77  checksum
9f  MESSAGE_INFO + LENGTH_8 + MODE_7
01  INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
ff  ..
7f  ..
47  MSB; RawMax = 65535.0
a6  checksum
9f  MESSAGE_INFO + LENGTH_8 + MODE_7
02  INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
e8  checksum
9f  MESSAGE_INFO + LENGTH_8 + MODE_7
03  INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
ff  ..
7f  ..
47  SiMax = 65535.0
a4  checksum
97  MESSAGE_INFO + LENGTH_4 + MODE_7
04  INFO_NAME
4e  'N'
2f  '/'
41  'A'
00  ''; Symbol = "N/A"
4c  checksum
8f  MESSAGE_INFO + LENGTH_2 + MODE_7
05  INFO_UNK1
00  ???
04  ???
71  checksum
97  MESSAGE_INFO + LENGTH_4 + MODE_7
80  INFO_FORMAT
01  DataSets = 1
01  Format = DATA16
05  Figures = 5
00  Decimals = 0
ed  checksum
9e  MESSAGE_INFO + LENGTH_8 + MODE_6
00  INFO_NAME
52  'R'
47  'G'
42  'B'
20  ' '
49  'I'
00  ''
00  ''
00  ''; Name = "RGB I"
5f  checksum
9e  MESSAGE_INFO + LENGTH_8 + MODE_6
01  INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
c0  ..
7f  ..
44  MSB; RawMax = 1023.0
9b  checksum
9e  MESSAGE_INFO + LENGTH_8 + MODE_6
02  INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
e9  checksum
9e  MESSAGE_INFO + LENGTH_8 + MODE_6
03  INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
c0  ..
7f  ..
44  MSB = 1023.0
99  checksum
96  MESSAGE_INFO + LENGTH_4 + MODE_6
04  INFO_SYMBOL
52  'R'
41  'A'
57  'W'
00  ''; Symbol = "RAW"
29  checksum
8e  MESSAGE_INFO + LENGTH_2 + MODE_6
05  INFO_UNK1
10  ???
00  ???
64  checksum
96  MESSAGE_INFO + LENGTH_4 + MODE_6
80  INFO_FORMAT
03  DataSets = 3
01  Format = DATA16
05  Figures = 5
00  Decimals = 0
ee  checksum
9d  MESSAGE_INFO + LENGTH_8 + MODE_5
00  INFO_NAME
43  'C'
4f  'O'
4c  'L'
20  ' '
4f  'O'
00  ''
00  ''
00  ''; Name = "COL O"
4d  checksum
9d  MESSAGE_INFO + LENGTH_8 + MODE_5
01  INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
00  ..
20  ..
41  MSB; RawMax = 10.0
02  checksum
9d  MESSAGE_INFO + LENGTH_8 + MODE_5
02  INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
ea  checksum
9d  MESSAGE_INFO + LENGTH_8 + MODE_5
03  INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
00  ..
20  ..
41  MSB; SiMax = 10.0
00  checksum
95  MESSAGE_INFO + LENGTH_4 + MODE_5
04  INFO_SYMBOL
49  'I'
44  'D'
58  'X'
00  ''; Symbol = "IDX"
3b  checksum
8d  MESSAGE_INFO + LENGTH_2 + MODE_5
05  INFO_UNK1
00  ???
04  ???
73  checksum
95  MESSAGE_INFO + LENGTH_4 + MODE_5
80  INFO_FORMAT
01  DataSets = 1
00  Format = DATA8
03  Figures = 3
00  Decimals = 0
e8  checksum
94  MESSAGE_INFO + LENGTH_4 + MODE_4
00  INFO_NAME
41  'A'
4d  'M'
42  'B'
49  'I'; Name = 'AMBI'
6c  checksum
9c  MESSAGE_INFO + LENGTH_8 + MODE_4
01  INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; RawMax = 100.0
e8
9c  MESSAGE_INFO + LENGTH_8 + MODE_4
02  INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
eb  checksum
9c  MESSAGE_INFO + LENGTH_8 + MODE_4
03  INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; SiMax = 100.0
ea  checksum
94  MESSAGE_INFO + LENGTH_4 + MODE_4
04  INFO_SYMBOL
50  'P'
43  'C'
54  'T'
00  ''; Symbol = 'PCT'
28  checksum
8c  MESSAGE_INFO + LENGTH_2 + MODE_4
05  INFO_UNK1
10  ???
00  ???
66  checksum
94  MESSAGE_INFO + LENGTH_4 + MODE_4
80  INFO_FORMAT
01  DataSets = 1
00  Format = DATA8
03  Figures = 3
00  Decimals = 0
e9  checksum
9b  MESSAGE_INFO + LENGTH_8 + MODE_3
00  INFO_NAME
52  'R'
45  'E'
45  'F'
4c  'L'
54  'T'
00  ''
00  ''
00  ''; Name = "REFLT"
2d  checksum
9b  MESSAGE_INFO + LENGTH_8 + MODE_3
01  INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; RawMax = 100.0
ef  checksum
9b  MESSAGE_INFO + LENGTH_8 + MODE_3
02  INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
ec  checksum
9b  MESSAGE_INFO + LENGTH_8 + MODE_3
03  INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; SiMax = 100.0
ed  checksum
93  MESSAGE_INFO + LENGTH_4 + MODE_3
04  INFO_SYMBOL
50  'P'
43  'C'
54  'T'
00  ''; Symbol = "PCT"
2f  checksum
8b  MESSAGE_INFO + LENGTH_2 + MODE_3
05  INFO_UNK1
10  ???
00  ???
61  checksum
93  MESSAGE_INFO + LENGTH_4 + MODE_3
80  INFO_FORMAT
01  DataSets = 1
00  Format = DATA8
03  Figures = 3
00  Decimals = 0
ee  checksum
9a  MESSAGE_INFO + LENGTH_8 + MODE_2
00  INFO_NAME
43  'C'
4f  'O'
55  'U'
4e  'N'
54  'T'
00  ''
00  ''
00  ''; Name = "COUNT"
26  checksum
9a  MESSAGE_INFO + LENGTH_8 + MODE_2
01  INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; RawMax = 100.0
ee  checksum
9a  MESSAGE_INFO + LENGTH_8 + MODE_2
02  INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
ed  checksum
9a  MESSAGE_INFO + LENGTH_8 + MODE_2
03  INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; SiMax = 100.0
ec  checksum
92  MESSAGE_INFO + LENGTH_4 + MODE_2
04  INFO_SYMBOL
43  'C'
4e  'N'
54  'T'
00  ''; Symbol = "CNT"
30  checksum
8a  MESSAGE_INFO + LENGTH_2 + MODE_2
05  INFO_UNK1
08  ???
00  ???
78  checksum
92  MESSAGE_INFO + LENGTH_4 + MODE_2
80  INFO_FORMAT
01  DataSets = 1
02  Format = DATA32
04  Figures = 4
00  Decimals = 0
ea  checksum
91  MESSAGE_INFO + LENGTH_4 + MODE_1
00  INFO_NAME
50  'P'
52  'R'
4f  'O'
58  'X'; Name = "PROX"
7b  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1
01  INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
00  ..
20  ..
41  MSB; RawMax = 10.0
06  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1
02  INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
ee  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1
03  INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
00  ..
20  ..
41  MSB; SiMax = 10.0
04  checksum
91  MESSAGE_INFO + LENGTH_4 + MODE_1
04  INFO_SYMBOL
44  'D'
49  'I'
53  'S'
00  ''; Symbol = "DIS"
34  checksum
89  MESSAGE_INFO + LENGTH_2 + MODE_1
05  INFO_UNK1
50  ???
00  ???
23  checksum
91  MESSAGE_INFO + LENGTH_4 + MODE_1
80  INFO_FORMAT
01  DataSets = 1
00  Format = DATA8
03  Figures = 3
00  Decimals = 0
ec  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0
00  INFO_NAME
43  'C'
4f  'O'
4c  'L'
4f  'O'
52  'R'
00  ''
00  ''
00  ''; Name = "COLOR"
3a  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0
01  INFO_RAW
00  LSB
00  ..
00  ..
00  MSB; RawMin = 0.0
00  LSB
00  ..
20  ..
41  MSB; RawMax = 10.0
07  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0
02  INFO_PCT
00  LSB
00  ..
00  ..
00  MSB; PctMin = 0.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
ef
98  MESSAGE_INFO + LENGTH_8 + MODE_0
03  INFO_SI
00  LSB
00  ..
00  ..
00  MSB; SiMin = 0.0
00  LSB
00  ..
20  ..
41  MSB; SiMax = 10.0
05  checksum
90  MESSAGE_INFO + LENGTH_4 + MODE_0
04  INFO_SYMBOL
49  'I'
44  'D'
58  'X'
00  ''; Symbol = "IDX"
3e  checksum
88  MESSAGE_INFO + LENGTH_2 + MODE_0
05  INFO_UNK1
c4  ???
00  ???
b6  checksum
90  MESSAGE_INFO + LENGTH_4 + MODE_0
80  INFO_FORMAT
01  DataSets = 1
00  Format = DATA8
03  Figures = 3
00  Decimals = 0
ed  checksum
88  MESSAGE_INFO + LENGTH_2 + MODE_0
06  INFO_UNK2 (second new PF2 info - others are 05)
4f  ???
00  ???
3e  checksum
04  MESSAGE_SYS + BYTE_ACK
00  MESSAGE_SYS + BYTE_SYNC

[dlech]

1. This should provide some insight to the "mystery modes" in ColorDistanceSensor.md, For example "IR Tx" mode sounds rather interesting.
2. 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.
3. 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

[dlech]

DIY sniffer: https://ofalcao.pt/blog/2018/powered-up-interception-cable

[dlech]

Here is the results in table form:

Field	Value
Type ID	37
Modes (on EV3)	11 (8)
Views (on EV3)	8 (8)
BitRate	115200
FwVersion	1.0.00.0000
HwVersion	1.0.00.0000
Unknown3	0x4f (79)
Unknown4	0x00 (0)

Mode	Name	RawMin...Max	PctMin...Max	SiMin...Max	Symbol	Unknown	DataSets	Format	Figures	Decimals
0	COLOR	0.0...10.0	0.0...100.0	0.0...10.0	IDX	0xc4, 0x00 (196, 0)	1	DATA8	3	0
1	PROX	0.0...10.0	0.0...100.0	0.0...10.0	DIS	0x50, 0x00 (80, 0)	1	DATA8	3	0
2	COUNT	0.0...100.0	0.0...100.0	0.0...100.0	CNT	0x08, 0x00 (8, 0)	1	DATA32	4	0
3	REFLT	0.0...100.0	0.0...100.0	0.0...100.0	PCT	0x10, 0x00 (16, 0)	1	DATA8	3	0
4	AMBI	0.0...100.0	0.0...100.0	0.0...100.0	PCT	0x10, 0x00 (16, 0)	1	DATA8	3	0
5	COL O	0.0...10.0	0.0...100.0	0.0...10.0	IDX	0x00, 0x04 (0, 4)	1	DATA8	3	0
6	RGB I	0.0...1023.0	0.0...100.0	0.0...1023.0	RAW	0x10, 0x00 (16, 0)	3	DATA16	5	0
7	IR Tx	0.0...65535.0	0.0...100.0	0.0...65535.0	N/A	0x00, 0x04 (0, 4)	1	DATA16	5	0
8	SPEC 1	0.0...255.0	0.0...100.0	0.0...255.0	N/A	0x00, 0x00 (0, 0)	4	DATA8	3	0
9	DEBUG	0.0...1023.0	0.0...100.0	0.0...1023.0	N/A	0x10, 0x00 (16, 0)	2	DATA16	5	0
10	CALIB	0.0...65535.0	0.0...100.0	0.0...65535.0	N/A	0x10, 0x00 (16, 0)	8	DATA16	5	0

Feel free to copy and paste this somewhere in the repo.

[dlech]

One pattern I noticed with the unknown values is that the output modes (COL O and IR Tx) seem to have the second value as non-zero while the other (input) modes seem to have the first value as non-zero.

[dlech]

Here is the BOOST Interactive motor dump:

click to expand

40  MESSAGE_CMD + LENGTH_1 + CMD_TYPE
26  Type = 38; BOOST Interactive Motor
99  checksum
49  MESSAGE_CMD + LENGTH_2 + CMD_MODES
03  3 + 1; Modes = 4
02  2 + 1; Views = 3
b7  checksum
52  MESSAGE_CMD + LENGTH_4 + CMD_SPEED
00  LSB
c2  ..
01  ..
00  MSB; BitRate = 115200
6e  checksum
5f  MESSAGE_CMD + LENGTH_8 + CMD_UNK1 (new PF2 command)
00  LSB
00  ..
00  ..
10  MSB; ??? = 0x10000000
00  LSB
00  ..
00  ..
10  MSB; ??? = 0x10000000
a0  checksum
93  MESSAGE_INFO + LENGTH_4 + MODE_3;
00  INFO_NAME
54  'T'
45  'E'
53  'S'
54  'T'; Name = "TEST"
7a  checksum
9b  MESSAGE_INFO + LENGTH_8 + MODE_3;
01  INFO_RAW
00  LSB
00  ..
c8  ..
c2  MSB; RawMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; RawMax = 100.0
e5  checksum
9b  MESSAGE_INFO + LENGTH_8 + MODE_3;
02  INFO_PCT
00  LSB
00  ..
c8  ..
c2  MSB; PctMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
e6  checksum
9b  MESSAGE_INFO + LENGTH_8 + MODE_3;
03  INFO_SI
00  LSB
00  ..
c8  ..
c2  MSB; SiMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; SiMax = 100.0
e7  checsum
93  MESSAGE_INFO + LENGTH_4 + MODE_3;
04  INFO_SYMBOL
54  'T'
53  'S'
54  'T'
00  ''; Symbol = "TST"
3b  checksum
8b  MESSAGE_INFO + LENGTH_2 + MODE_3;
05  INFO_UNK1
00  ???
00  ???
71  checksum
93  MESSAGE_INFO + LENGTH_4 + MODE_3;
80  INFO_FORMAT
05  DataSets = 5
01  Format = DATA16
06  Digits = 6
00  Decimals = 0
ee  checksum
92  MESSAGE_INFO + LENGTH_4 + MODE_2
00  INFO_NAME
50  'P'
4f  'O'
53  'S'
00  ''; Name = "POS"
21  checksum
9a  MESSAGE_INFO + LENGTH_8 + MODE_2
01  INFO_RAW
00  LSB
00  ..
b4  ..
c3  MSB; RawMin = -360.0
00  LSB
00  ..
b4  ..
43  MSB; RawMax = 360.0
e4  checksum
9a  MESSAGE_INFO + LENGTH_8 + MODE_2
02  INFO_PCT
00  LSB
00  ..
c8  ..
c2  MSB; PctMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
e7  checksum
9a  MESSAGE_INFO + LENGTH_8 + MODE_2
03  INFO_SI
00  LSB
00  ..
b4  ..
c3  MSB; SiMin = -360.0
00  LSB
00  ..
b4  ..
43  MSB; SiMax = 360.0
e6  checksum
92  MESSAGE_INFO + LENGTH_4 + MODE_2
04  INFO_SYMBOL
44  'D'
45  'E'
47  'G'
00  ''; Symbol = "DEG"
2f  checksum
8a  MESSAGE_INFO + LENGTH_2 + MODE_2
05  INFO_UNK1
08  ???
00  ???
78  checksum
92  MESSAGE_INFO + LENGTH_4 + MODE_2
80  INFO_FORMAT
01  DataSets = 1
02  Format = DATA32
06  Figures = 6
00  Decimals = 0
e8  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1
00  INFO_NAME
53  'S'
50  'P'
45  'E'
45  'E'
44  'D'
00  ''
00  ''
00  ''; Name = "SPEED"
21  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1
01  INFO_RAW
00  LSB
00  ..
c8  ..
c2  MSB; RawMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; RawMax = 100.0
e7  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1
02  INFO_PCT
00  LSB
00  ..
c8  ..
c2  MSB; PctMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
e4  checksum
99  MESSAGE_INFO + LENGTH_8 + MODE_1
03  INFO_SI
00  LSB
00  ..
c8  ..
c2  MSB; SiMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; SiMax = 100.0
e5  checksum
91  MESSAGE_INFO + LENGTH_4 + MODE_1
04  INFO_SYMBOL
50  'P'
43  'C'
54  'T'
00  ''; Symbol = "PCT"
2d  checksum
89  MESSAGE_INFO + LENGTH_2 + MODE_1
05  INFO_UNK1
10  ???
00  ???
63  checksum
91  MESSAGE_INFO + LENGTH_4 + MODE_1
80  INFO_FORMAT
01  DataSets = 1
00  Format = DATA8
04  Figures = 4
00  Decimals = 0
eb  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0
00  INFO_NAME
50  'P'
4f  'O'
57  'W'
45  'E'
52  'R'
00  ''
00  ''
00  ''; Name = "POWER"
38  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0
01  INFO_RAW
00  LSB
00  ..
c8  ..
c2  MSB; RawMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; RawMax = 100.0
e6  checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0
02  INFO_PCT
00  LSB
00  ..
c8  ..
c2  MSB; PctMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; PctMax = 100.0
e5 checksum
98  MESSAGE_INFO + LENGTH_8 + MODE_0
03  INFO_SI
00  LSB
00  ..
c8  ..
c2  MSB; SiMin = -100.0
00  LSB
00  ..
c8  ..
42  MSB; SiMax = 100.0
e4  checksum
90  MESSAGE_INFO + LENGTH_4 + MODE_0
04  INFO_SYMBOL
50  'P'
43  'C'
54  'T'
00  ''; Symbol = "PCT"
2c  checksum
88  MESSAGE_INFO + LENGTH_2 + MODE_0
05  INFO_UNK1
00  ???
50  ???
22  checksum
90  MESSAGE_INFO + LENGTH_4 + MODE_0
80  INFO_FORMAT
01  DataSets = 1
00  Format = DATA8
04  Figures = 4
00  Decimals = 0
ea  checksum
88  MESSAGE_INFO + LENGTH_2 + MODE_0
06  INFO_UNK2 (second new PF2 info - others are 05)
06  ???
00  ???
77  checksum
04  MESSAGE_SYS + BYTE_ACK
00  MESSAGE_SYS + BYTE_SYNC

[dlech]

Field	Value
Type ID	38
Modes	4
Views	3
BitRate	115200
FwVersion	1.0.00.0000
HwVersion	1.0.00.0000
Unknown3	0x06 (6)
Unknown4	0x00 (0)

Mode	Name	RawMin...Max	PctMin...Max	SiMin...Max	Symbol	Unknown	DataSets	Format	Figures	Decimals
0	POWER	-100.0...100.0	-100.0...100.0	-100.0...100.0	PCT	0x00, 0x50 (0, 80)	1	DATA8	4	0
1	SPEED	-100.0...100.0	-100.0...100.0	-100.0...100.0	PCT	0x10, 0x00 (16, 0)	1	DATA8	4	0
2	POS	-360.0...360.0	-100.0...100.0	-360.0...360.0	DEG	0x08, 0x00 (8, 0)	1	DATA32	6	0
3	TEST	-100.0...100.0	-100.0...100.0	-100.0...100.0	TST	0x00, 0x00 (0, 0)	5	DATA16	6	0

[cpseager]

Following this with interest! Not sure if you have already looked at the UART hardware circuit but I looked at the wedo2 and sensors a couple of years back and noticed the TX circuit was completely identical to EV3 circuit with one exception, the BAT54 diodes were not put on the board (even though the empty pcb pads were there for them!). The buffer used is type 74HC2G125 but it is the same circuit.

However the RX circuit is different to EV3, in fact it is exactly the same circuit as the TX circuit with the buffer simply pointing the other way. This is a bit simpler than the EV3 RX circuit because it does not need to be able to support the old RCX sensors.

So basically the options are

1. turn buffer off, use both pins as ADC inputs (e.g. to identify motors/lights)
2. turn buffer off, use both pins as i/o for i2c (probably not used?)
3. turn buffer on, use as UART

I also took a tilt sensor apart and noticed that the 3-axis accelerometer chip was connected across the power rails directly. As this is a 3V device any voltage above 3V would permanently damage it. Therefore I assume that no higher voltage (e.g. 5V) will ever be put out of the V+ pin?

The serial interface in the tilt sensor is 100% identical to the serial EV3 sensors (e.g. gyro) too. A lot of circuit designs being reused!

Let me know if you want to borrow tilt/motion sensors for testing.

[dlech]

Thanks for the insights. 😄

Part of my reason for doing this is too see how compatible Powered Up is with EV3. I was thinking it might be possible to use Powered Up sensors on EV3. But, it looks like the EV3 firmware will have to be modified to ignore the new message types. And as you pointed out, if 5V on pin 4 is a problem, then connecting Powered Up devices to EV3 is bad idea (it has 4V on pin 4). And since there is nothing connected to pins 1 and 2 on the tilt sensor schematic above, that tells me LEGO didn't plan on this anyway.

However, connecting EV3 sensors to Powered Up devices still seems like a possibility (assuming the Powered Up firmwares don't require any of the new UART messages).

FWIW, it looks like they did include the Schottky diodes in BOOST.

[cpseager]

Maybe the reel ran out when they were building my wedo!

[cpseager]

And since there is nothing connected to pins 1 and 2 on the tilt sensor schematic above,

Actually that is the serial circuit borrowed from the gyro schematic in the EV3 hardware developer pack, I didn't bother redrawing it accurately as it is much the same. In reality the tilt sensor has a capacitor to ground on each of the motor pins (1 and 2).

[JorgePe]

Thanks guys. Lots of new info and much better than what I got on holidays with my cheap analyzer.

[dlech]

I think you can get the same information with your analyzer if you set it to 2400 baud or just use a USB serial adapter set to 2400 baud. I was hoping you might be able to get a dump of the two WeDo 2.0 sensors. (Although I'm sure I will buy some for myself eventually.)

[JorgePe]

I tried 2400 at start but never saw nothing... Not sure why but 300 gave more consistent data than everything else until I tried 115200.
Will have to try again but now that holidays are gone it's tough to get time and room for it.

[GianCann]

I resume this post...
I want to try to impersonate the Color Sensor with a different hardware.

Starting from the data captured by @dlech I have wrote this code:

import utime
import machine
from machine import UART
uart=UART(1,2400)

uart.init(baudrate=2400, bits=8, parity=None, stop=1,tx = 23, rx = 33)
uart.write(b'\x00')
uart.write(b'\x40\x25\x9A')
uart.write(b'\x51\x07\x07\x0a\x07\xA3')
uart.write(b'\x52\x00\xc2\x01\x00\x6E')
uart.write(b'\x5f\x00\x00\x00\x10\x00\x00\x00\x10\xA0')
uart.write(b'\x9a\x20\x43\x41\x4c\x49\x42\x00\x00\x00\x00')
uart.write(b'\x9a\x21\x00\x00\x00\x00\x00\xff\x7f\x47\x83')
uart.write(b'\x9a\x22\x00\x00\x00\x00\x00\x00\xc8\x42\xCD')
uart.write(b'\x9a\x23\x00\x00\x00\x00\x00\xff\x7f\x47\x81')
uart.write(b'\x92\x24\x4e\x2f\x41\x00\x69')
uart.write(b'\x8a\x25\x10\x00\x40')
uart.write(b'\x92\xa0\x08\x01\x05\x00\xC1')
uart.write(b'\x99\x20\x44\x45\x42\x55\x47\x00\x00\x00\x17')
uart.write(b'\x99\x21\x00\x00\x00\x00\x00\xc0\x7f\x44\xBC')
uart.write(b'\x99\x22\x00\x00\x00\x00\x00\x00\xc8\x42\xCE')
uart.write(b'\x99\x23\x00\x00\x00\x00\x00\x00\x20\x41\x24')
uart.write(b'\x91\x24\x4e\x2f\x41\x00\x6A')
uart.write(b'\x89\x25\x10\x00\x43')
uart.write(b'\x91\xa0\x02\x01\x05\x00\xC8')
uart.write(b'\x98\x20\x53\x50\x45\x43\x20\x31\x00\x00\x53')
uart.write(b'\x98\x21\x00\x00\x00\x00\x00\x00\x7f\x43\x7A')
uart.write(b'\x98\x22\x00\x00\x00\x00\x00\x00\xc8\x42\xCF')
uart.write(b'\x98\x23\x00\x00\x00\x00\x00\x00\x7f\x43\x78')
uart.write(b'\x90\x24\x4e\x2f\x41\x00\x6B')
uart.write(b'\x88\x25\x00\x00\x52')
uart.write(b'\x90\xa0\x04\x00\x03\x00\xC8')
uart.write(b'\x9f\x00\x49\x52\x20\x54\x78\x00\x00\x00\x77')
uart.write(b'\x9f\x01\x00\x00\x00\x00\x00\xff\x7f\x47\xA6')
uart.write(b'\x9f\x02\x00\x00\x00\x00\x00\x00\xc8\x42\xE8')
uart.write(b'\x9f\x03\x00\x00\x00\x00\x00\xff\x7f\x47\xA4')
uart.write(b'\x97\x04\x4e\x2f\x41\x00\x4C')
uart.write(b'\x8f\x05\x00\x04\x71')
uart.write(b'\x97\x80\x01\x01\x05\x00\xED')
uart.write(b'\x9e\x00\x52\x47\x42\x20\x49\x00\x00\x00\x5F')
uart.write(b'\x9e\x01\x00\x00\x00\x00\x00\xc0\x7f\x44\x9B')
uart.write(b'\x9e\x02\x00\x00\x00\x00\x00\x00\xc8\x42\xE9')
uart.write(b'\x9e\x03\x00\x00\x00\x00\x00\xc0\x7f\x44\x99')
uart.write(b'\x96\x04\x52\x41\x57\x00\x29')
uart.write(b'\x8e\x05\x10\x00\x64')
uart.write(b'\x96\x80\x03\x01\x05\x00\xEE')
uart.write(b'\x9d\x00\x43\x4f\x4c\x20\x4f\x00\x00\x00\x4D')
uart.write(b'\x9d\x01\x00\x00\x00\x00\x00\x00\x20\x41\x02')
uart.write(b'\x9d\x02\x00\x00\x00\x00\x00\x00\xc8\x42\xEA')
uart.write(b'\x9d\x03\x00\x00\x00\x00\x00\x00\x20\x41\x00')
uart.write(b'\x95\x04\x49\x44\x58\x00\x3B')
uart.write(b'\x8d\x05\x00\x04\x73')
uart.write(b'\x95\x80\x01\x00\x03\x00\xE8')
uart.write(b'\x94\x00\x41\x4d\x42\x49\x6C')
uart.write(b'\x9c\x01\x00\x00\x00\x00\x00\x00\xc8\x42\xE8')
uart.write(b'\x9c\x02\x00\x00\x00\x00\x00\x00\xc8\x42\xEB')
uart.write(b'\x9c\x03\x00\x00\x00\x00\x00\x00\xc8\x42\xEA')
uart.write(b'\x94\x04\x50\x43\x54\x00\x28')
uart.write(b'\x8c\x05\x10\x00\x66')
uart.write(b'\x94\x80\x01\x00\x03\x00\xE9')
uart.write(b'\x9b\x00\x52\x45\x45\x4c\x54\x00\x00\x00\x2D')
uart.write(b'\x9b\x01\x00\x00\x00\x00\x00\x00\xc8\x42\xEF')
uart.write(b'\x9b\x02\x00\x00\x00\x00\x00\x00\xc8\x42\xEC')
uart.write(b'\x9b\x03\x00\x00\x00\x00\x00\x00\xc8\x42\xED')
uart.write(b'\x93\x04\x50\x43\x54\x00\x2F')
uart.write(b'\x8b\x05\x10\x00\x61')
uart.write(b'\x93\x80\x01\x00\x03\x00\xEE')
uart.write(b'\x9a\x00\x43\x4f\x55\x4e\x54\x00\x00\x00\x26')
uart.write(b'\x9a\x01\x00\x00\x00\x00\x00\x00\xc8\x42\xEE')
uart.write(b'\x9a\x02\x00\x00\x00\x00\x00\x00\xc8\x42\xED')
uart.write(b'\x9a\x03\x00\x00\x00\x00\x00\x00\xc8\x42\xEC')
uart.write(b'\x92\x04\x43\x4e\x54\x00\x30')
uart.write(b'\x8a\x05\x08\x00\x78')
uart.write(b'\x92\x80\x01\x02\x04\x00\xEA')
uart.write(b'\x91\x00\x50\x52\x4f\x58\x7B')
uart.write(b'\x99\x01\x00\x00\x00\x00\x00\x00\x20\x41\x06')
uart.write(b'\x99\x02\x00\x00\x00\x00\x00\x00\xc8\x42\xEE')
uart.write(b'\x99\x03\x00\x00\x00\x00\x00\x00\x20\x41\x04')
uart.write(b'\x91\x04\x44\x49\x53\x00\x34')
uart.write(b'\x89\x05\x50\x00\x23')
uart.write(b'\x91\x80\x01\x00\x03\x00\xEC')
uart.write(b'\x98\x00\x43\x4f\x4c\x4f\x52\x00\x00\x00\x3A')
uart.write(b'\x98\x01\x00\x00\x00\x00\x00\x00\x20\x41\x07')
uart.write(b'\x98\x02\x00\x00\x00\x00\x00\x00\xc8\x42\xEF')
uart.write(b'\x98\x03\x00\x00\x00\x00\x00\x00\x20\x41\x05')
uart.write(b'\x90\x04\x49\x44\x58\x00\x3E')
uart.write(b'\x88\x05\xc4\x00\xB6')
uart.write(b'\x90\x80\x01\x00\x03\x00\xED')
uart.write(b'\x88\x06\x4f\x00\x3E')
utime.sleep_ms(5)
uart.write(b'\x04')
uart.write(b'\x00')
starttime = utime.ticks_ms()
currenttime = starttime
while (currenttime-starttime) < 1000:
     utime.sleep_ms(5)
     data = uart.read(uart.any())
     if data.find(b'\x04') >= 0:
          connected = True
          currenttime = starttime+3000
     else:
          connected = False
          currenttime = utime.ticks_ms()

utime.sleep_ms(5)
if connected == True:
  uart.init(baudrate=115200, bits=8, parity=None, stop=1,tx = 23, rx = 33)
  for a in range(100000):
    print("Send value")
    value = (3 & 0xFF)
    payload = bytes([0xC0, value, 0xFF ^ 0xC0 ^ value])
    size = uart.write(payload)
    utime.sleep_ms(90)
else:
  print("Reset sensor")
  utime.sleep_ms(100)
  machine.reset()

unfortunately, the handshaking is not successful and I don't explain why since the byte stream is identical to that detected by @dlech

[dlech]

Some ideas:

1. The device info section (at 2400 baud) should be repeated until a connection is made
2. The last uart.write(b'\x00') doesn't seem right even though it is in the original data I posted.