2015-08-12 10:53:41 +00:00
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#include "MicroBit.h"
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char MICROBIT_BLE_DEVICE_NAME[] = "BBC MicroBit [xxxxx]";
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2015-08-31 22:25:10 +00:00
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#if defined (MICROBIT_BLE_ENABLED) && defined (MICROBIT_BLE_DEVICE_INFORMATION_SERVICE)
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2015-08-12 10:53:41 +00:00
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const char MICROBIT_BLE_MANUFACTURER[] = "The Cast of W1A";
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const char MICROBIT_BLE_MODEL[] = "Microbit SB2";
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const char MICROBIT_BLE_SERIAL[] = "SN1";
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const char MICROBIT_BLE_HARDWARE_VERSION[] = "0.2";
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const char MICROBIT_BLE_FIRMWARE_VERSION[] = "1.1";
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const char MICROBIT_BLE_SOFTWARE_VERSION[] = "1.0";
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2015-08-31 22:25:10 +00:00
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#endif
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2015-08-12 10:53:41 +00:00
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/**
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* custom function for panic for malloc & new due to scoping issue.
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*/
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void panic(int statusCode)
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{
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uBit.panic(statusCode);
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}
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/**
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* Callback when a BLE GATT disconnect occurs.
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*/
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void bleDisconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
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{
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2015-08-31 22:25:10 +00:00
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uBit.ble->startAdvertising();
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2015-08-12 10:53:41 +00:00
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}
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/**
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* Constructor.
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* Create a representation of a MicroBit device as a global singleton.
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* @param messageBus callback function to receive MicroBitMessageBus events.
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*
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* Exposed objects:
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* @code
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* uBit.systemTicker; //the Ticker callback that performs routines like updating the display.
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* uBit.MessageBus; //The message bus where events are fired.
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* uBit.display; //The display object for the LED matrix.
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* uBit.buttonA; //The buttonA object for button a.
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* uBit.buttonB; //The buttonB object for button b.
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* uBit.buttonAB; //The buttonAB object for button a+b multi press.
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* uBit.resetButton; //The resetButton used for soft resets.
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* uBit.accelerometer; //The object that represents the inbuilt accelerometer
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* uBit.compass; //The object that represents the inbuilt compass(magnetometer)
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* uBit.io.P*; //Where P* is P0 to P16, P19 & P20 on the edge connector
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* @endcode
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*/
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MicroBit::MicroBit() :
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flags(0x00),
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i2c(MICROBIT_PIN_SDA, MICROBIT_PIN_SCL),
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2015-08-31 22:25:10 +00:00
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#ifndef MICROBIT_DBG
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2015-08-12 10:53:41 +00:00
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serial(USBTX, USBRX),
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2015-08-31 22:25:10 +00:00
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#endif
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2015-08-12 10:53:41 +00:00
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MessageBus(),
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display(MICROBIT_ID_DISPLAY, MICROBIT_DISPLAY_WIDTH, MICROBIT_DISPLAY_HEIGHT),
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buttonA(MICROBIT_ID_BUTTON_A,MICROBIT_PIN_BUTTON_A),
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buttonB(MICROBIT_ID_BUTTON_B,MICROBIT_PIN_BUTTON_B),
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buttonAB(MICROBIT_ID_BUTTON_AB,MICROBIT_ID_BUTTON_A,MICROBIT_ID_BUTTON_B),
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accelerometer(MICROBIT_ID_ACCELEROMETER, MMA8653_DEFAULT_ADDR),
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compass(MICROBIT_ID_COMPASS, MAG3110_DEFAULT_ADDR),
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io(MICROBIT_ID_IO_P0,MICROBIT_ID_IO_P1,MICROBIT_ID_IO_P2,
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MICROBIT_ID_IO_P3,MICROBIT_ID_IO_P4,MICROBIT_ID_IO_P5,
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MICROBIT_ID_IO_P6,MICROBIT_ID_IO_P7,MICROBIT_ID_IO_P8,
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MICROBIT_ID_IO_P9,MICROBIT_ID_IO_P10,MICROBIT_ID_IO_P11,
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MICROBIT_ID_IO_P12,MICROBIT_ID_IO_P13,MICROBIT_ID_IO_P14,
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MICROBIT_ID_IO_P15,MICROBIT_ID_IO_P16,MICROBIT_ID_IO_P19,
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MICROBIT_ID_IO_P20)
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{
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}
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/**
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* Post constructor initialisation method.
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* After *MUCH* pain, it's noted that the BLE stack can't be brought up in a
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* static context, so we bring it up here rather than in the constructor.
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* n.b. This method *must* be called in main() or later, not before.
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*
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* Example:
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* @code
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* uBit.init();
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* @endcode
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*/
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void MicroBit::init()
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{
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//add the display to the systemComponent array
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addSystemComponent(&uBit.display);
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//add the compass and accelerometer to the idle array
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addIdleComponent(&uBit.accelerometer);
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addIdleComponent(&uBit.compass);
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2015-08-19 22:35:45 +00:00
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addIdleComponent(&uBit.MessageBus);
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2015-08-12 10:53:41 +00:00
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// Seed our random number generator
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seedRandom();
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2015-08-31 22:25:10 +00:00
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#ifdef MICROBIT_BLE_ENABLED
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2015-08-12 10:53:41 +00:00
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// Start the BLE stack.
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2015-08-31 22:25:10 +00:00
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ble = new BLEDevice();
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2015-08-12 10:53:41 +00:00
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ble->init();
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ble->onDisconnection(bleDisconnectionCallback);
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2015-08-31 22:25:10 +00:00
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// Bring up any configured auxiliary services.
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#ifdef MICROBIT_BLE_DFU_SERVICE
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2015-08-12 10:53:41 +00:00
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ble_firmware_update_service = new MicroBitDFUService(*ble);
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2015-08-31 22:25:10 +00:00
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2015-08-12 10:53:41 +00:00
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// Compute our auto-generated MicroBit device name.
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ble_firmware_update_service->getName(MICROBIT_BLE_DEVICE_NAME+14);
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2015-08-31 22:25:10 +00:00
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#endif
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#ifdef MICROBIT_BLE_DEVICE_INFORMATION_SERVICE
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#ifdef OLD
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ble_device_information_service = new DeviceInformationService(*ble, MICROBIT_BLE_MANUFACTURER, MICROBIT_BLE_MODEL, MICROBIT_BLE_SERIAL, MICROBIT_BLE_HARDWARE_VERSION, MICROBIT_BLE_FIRMWARE_VERSION, MICROBIT_BLE_SOFTWARE_VERSION);
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#endif
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DeviceInformationService ble_device_information_service (*ble, MICROBIT_BLE_MANUFACTURER, MICROBIT_BLE_MODEL, MICROBIT_BLE_SERIAL, MICROBIT_BLE_HARDWARE_VERSION, MICROBIT_BLE_FIRMWARE_VERSION, MICROBIT_BLE_SOFTWARE_VERSION);
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#endif
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#ifdef MICROBIT_BLE_EVENT_SERVICE
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ble_event_service = new MicroBitEventService(*ble);
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#endif
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2015-08-12 10:53:41 +00:00
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// Setup advertising.
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ble->accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
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ble->accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)MICROBIT_BLE_DEVICE_NAME, sizeof(MICROBIT_BLE_DEVICE_NAME));
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ble->setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
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ble->setAdvertisingInterval(Gap::MSEC_TO_ADVERTISEMENT_DURATION_UNITS(1000));
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ble->startAdvertising();
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2015-08-31 22:25:10 +00:00
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#endif
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2015-08-12 10:53:41 +00:00
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// Start refreshing the Matrix Display
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systemTicker.attach(this, &MicroBit::systemTick, MICROBIT_DISPLAY_REFRESH_PERIOD);
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}
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2015-08-14 15:51:45 +00:00
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/**
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* Will reset the micro:bit when called.
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*
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* Example:
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* @code
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* uBit.reset();
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* @endcode
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*/
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void MicroBit::reset()
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{
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reset();
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}
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2015-08-12 10:53:41 +00:00
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/**
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* Delay for the given amount of time.
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* If the scheduler is running, this will deschedule the current fiber and perform
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* a power efficent, concurrent sleep operation.
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* If the scheduler is disabled or we're running in an interrupt context, this
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* will revert to a busy wait.
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*
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* @note Values of 6 and below tend to lose resolution - do you really need to sleep for this short amount of time?
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*
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* @param milliseconds the amount of time, in ms, to wait for. This number cannot be negative.
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*
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* Example:
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* @code
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* uBit.sleep(20); //sleep for 20ms
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* @endcode
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*/
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void MicroBit::sleep(int milliseconds)
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{
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//sanity check, we can't time travel... (yet?)
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if(milliseconds < 0)
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return;
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if (flags & MICROBIT_FLAG_SCHEDULER_RUNNING)
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fiber_sleep(milliseconds);
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else
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wait_ms(milliseconds);
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}
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/**
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* Generate a random number in the given range.
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* We use a simple Galois LFSR random number generator here,
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* as a Galois LFSR is sufficient for our applications, and much more lightweight
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* than the hardware random number generator built int the processor, which takes
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* a long time and uses a lot of energy.
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*
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* KIDS: You shouldn't use this is the real world to generte cryptographic keys though...
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* have a think why not. :-)
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*
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* @param max the upper range to generate a number for. This number cannot be negative
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* @return A random, natural number between 0 and the max-1. Or MICROBIT_INVALID_VALUE (defined in ErrorNo.h) if max is <= 0.
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*
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* Example:
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* @code
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* uBit.random(200); //a number between 0 and 199
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* @endcode
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*/
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int MicroBit::random(int max)
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{
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//return MICROBIT_INVALID_VALUE if max is <= 0...
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if(max <= 0)
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return MICROBIT_INVALID_VALUE;
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// Cycle the LFSR (Linear Feedback Shift Register).
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// We use an optimal sequence with a period of 2^32-1, as defined by Bruce Schneider here (a true legend in the field!),
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// For those interested, it's documented in his paper:
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// "Pseudo-Random Sequence Generator for 32-Bit CPUs: A fast, machine-independent generator for 32-bit Microprocessors"
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randomValue = ((((randomValue >> 31) ^ (randomValue >> 6) ^ (randomValue >> 4) ^ (randomValue >> 2) ^ (randomValue >> 1) ^ randomValue) & 0x0000001) << 31 ) | (randomValue >> 1);
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return randomValue % max;
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}
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/**
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* Seed our a random number generator (RNG).
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* We use the NRF51822 in built cryptographic random number generator to seed a Galois LFSR.
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* We do this as the hardware RNG is relatively high power, and use the the BLE stack internally,
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* with a less than optimal application interface. A Galois LFSR is sufficient for our
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* applications, and much more lightweight.
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*/
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void MicroBit::seedRandom()
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{
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randomValue = 0;
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// Start the Random number generator. No need to leave it running... I hope. :-)
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NRF_RNG->TASKS_START = 1;
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for(int i = 0; i < 4 ;i++)
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{
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// Clear the VALRDY EVENT
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NRF_RNG->EVENTS_VALRDY = 0;
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// Wait for a number ot be generated.
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while ( NRF_RNG->EVENTS_VALRDY == 0);
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randomValue = (randomValue << 8) | ((int) NRF_RNG->VALUE);
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}
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// Disable the generator to save power.
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NRF_RNG->TASKS_STOP = 1;
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}
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/**
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* Periodic callback. Used by MicroBitDisplay, FiberScheduler and buttons.
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*/
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void MicroBit::systemTick()
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{
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// Scheduler callback. We do this here just as a single timer is more efficient. :-)
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if (uBit.flags & MICROBIT_FLAG_SCHEDULER_RUNNING)
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scheduler_tick();
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//work out if any idle components need processing, if so prioritise the idle thread
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for(int i = 0; i < MICROBIT_IDLE_COMPONENTS; i++)
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if(idleThreadComponents[i] != NULL && idleThreadComponents[i]->isIdleCallbackNeeded())
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{
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2015-08-31 22:25:10 +00:00
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fiber_flags |= MICROBIT_FLAG_DATA_READY;
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2015-08-12 10:53:41 +00:00
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break;
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}
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//update any components in the systemComponents array
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for(int i = 0; i < MICROBIT_SYSTEM_COMPONENTS; i++)
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if(systemTickComponents[i] != NULL)
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systemTickComponents[i]->systemTick();
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}
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/**
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* System tasks to be executed by the idle thread when the Micro:Bit isn't busy or when data needs to be read.
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*/
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void MicroBit::systemTasks()
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{
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//call the idleTick member function indiscriminately
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for(int i = 0; i < MICROBIT_IDLE_COMPONENTS; i++)
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if(idleThreadComponents[i] != NULL)
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idleThreadComponents[i]->idleTick();
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2015-08-31 22:25:10 +00:00
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fiber_flags &= ~MICROBIT_FLAG_DATA_READY;
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2015-08-12 10:53:41 +00:00
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}
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/**
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* add a component to the array of components which invocate the systemTick member function during a systemTick
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* @note this will be converted into a dynamic list of components
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*/
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void MicroBit::addSystemComponent(MicroBitComponent *component)
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{
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int i = 0;
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while(systemTickComponents[i] != NULL && i < MICROBIT_SYSTEM_COMPONENTS)
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i++;
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if(i == MICROBIT_SYSTEM_COMPONENTS)
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return;
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systemTickComponents[i] = component;
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}
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/**
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* remove a component from the array of components
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* @note this will be converted into a dynamic list of components
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*/
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void MicroBit::removeSystemComponent(MicroBitComponent *component)
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{
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int i = 0;
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while(systemTickComponents[i] != component && i < MICROBIT_SYSTEM_COMPONENTS)
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i++;
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if(i == MICROBIT_SYSTEM_COMPONENTS)
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return;
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systemTickComponents[i] = NULL;
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}
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/**
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* add a component to the array of components which invocate the systemTick member function during a systemTick
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* @note this will be converted into a dynamic list of components
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*/
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void MicroBit::addIdleComponent(MicroBitComponent *component)
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{
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int i = 0;
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while(idleThreadComponents[i] != NULL && i < MICROBIT_IDLE_COMPONENTS)
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i++;
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if(i == MICROBIT_IDLE_COMPONENTS)
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return;
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idleThreadComponents[i] = component;
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}
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/**
|
|
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|
* remove a component from the array of components
|
|
|
|
* @note this will be converted into a dynamic list of components
|
|
|
|
*/
|
|
|
|
void MicroBit::removeIdleComponent(MicroBitComponent *component)
|
|
|
|
{
|
|
|
|
int i = 0;
|
|
|
|
|
|
|
|
while(idleThreadComponents[i] != component && i < MICROBIT_IDLE_COMPONENTS)
|
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|
|
i++;
|
|
|
|
|
|
|
|
if(i == MICROBIT_IDLE_COMPONENTS)
|
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|
|
return;
|
|
|
|
|
|
|
|
idleThreadComponents[i] = NULL;
|
|
|
|
}
|
|
|
|
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|
|
|
/**
|
|
|
|
* Determine the time since this MicroBit was last reset.
|
|
|
|
*
|
|
|
|
* @return The time since the last reset, in milliseconds. This will result in overflow after 1.6 months.
|
|
|
|
* TODO: handle overflow case.
|
|
|
|
*/
|
|
|
|
unsigned long MicroBit::systemTime()
|
|
|
|
{
|
|
|
|
return ticks;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Triggers a microbit panic where an infinite loop will occur swapping between the panicFace and statusCode if provided.
|
|
|
|
*
|
|
|
|
* @param statusCode the status code of the associated error. Status codes must be in the range 0-255.
|
|
|
|
*/
|
|
|
|
void MicroBit::panic(int statusCode)
|
|
|
|
{
|
|
|
|
//show error and enter infinite while
|
|
|
|
uBit.display.error(statusCode);
|
|
|
|
}
|
|
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|
|