add: hw_revision in getVersion

Author: gbr1

src/Arduino_AlvikCarrier.cpp

@@ -153,14 +153,24 @@ int Arduino_AlvikCarrier::begin(){
 
     beginBehaviours();
 
+    // hw revision check
+    if (color_sensor_used == APDS9960_VERSION){
+        hw_revision = HW_REVISION_1_3;
+    }
+    else{
+        hw_revision = HW_REVISION_1_6;
+    }
 
     return 0;
 }
 
-void Arduino_AlvikCarrier::getVersion(uint8_t &high_byte, uint8_t &mid_byte, uint8_t &low_byte){
+void Arduino_AlvikCarrier::getVersion(uint8_t &high_byte, uint8_t &mid_byte, uint8_t &low_byte, const bool hw_revision_on_version){
     high_byte = version_high;
     mid_byte = version_mid;
     low_byte = version_low;
+    if (hw_revision_on_version){
+        high_byte = high_byte & 0x0F | (hw_revision<<4);
+    }
 }
 
 

src/Arduino_AlvikCarrier.h

@@ -82,6 +82,7 @@ class Arduino_AlvikCarrier{
         uint8_t version_high;
         uint8_t version_mid;
         uint8_t version_low;
+        uint8_t hw_revision;
 
 
         uint8_t kinematics_movement;
@@ -128,7 +129,8 @@ class Arduino_AlvikCarrier{
         int begin();                                                                    // initialize the robot
 
 
-        void getVersion(uint8_t &high_byte, uint8_t &mid_byte, uint8_t &low_byte);      // get firmware version
+        void getVersion(uint8_t &high_byte, uint8_t &mid_byte, uint8_t &low_byte,
+                                        const bool hw_revision_on_version = true);      // get firmware version
 
 
         // Color sensor, APDS9960

src/definitions/robot_definitions.h

@@ -95,10 +95,12 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 #define VERSION_BYTE_MID 1
 #define VERSION_BYTE_LOW 1
 
+#define HW_REVISION_1_3  0       // apds9960 1.3 - 1.5
+#define HW_REVISION_1_6  1       // apds9999 1.6
+
 // Battery stats
 #define BATTERY_ALERT_MINIMUM_CHARGE 20.0
 #define BATTERY_ALERT_STOP_CHARGE 10.0
 
 
-
 #endif