Schoumi
/
microbit-dal
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

microbit: further formatting corrections 

Corrected trailing whitespace, and tabulated lines with no content for:

* MicroBitCompass.h (.cpp)
* MicroBitDisplay.h (.cpp)
* MicroBitMessageBus.h (.cpp)
master
James Devine 2016-01-13 16:16:18 +00:00
parent d8240cfb74
commit 1cc814da60
6 changed files with 320 additions and 324 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

90
inc/MicroBitCompass.h
View File

@ -48,7 +48,7 @@ struct MAG3110SampleRateConfig
extern const MAG3110SampleRateConfig MAG3110SampleRate[];
#define MAG3110_SAMPLE_RATES 11
#define MAG3110_SAMPLE_RATES 11
/*
* Compass events
@ -66,7 +66,7 @@ extern const MAG3110SampleRateConfig MAG3110SampleRate[];
*/
#define MICROBIT_COMPASS_STATUS_CALIBRATED 1
#define MICROBIT_COMPASS_STATUS_CALIBRATING 2
/*
* Term to convert sample data into SI units
*/
@ -83,19 +83,19 @@ struct CompassSample
int x;
int y;
int z;
CompassSample()
{
this->x = 0;
this->y = 0;
this->z = 0;
this->z = 0;
}
CompassSample(int x, int y, int z)
{
this->x = x;
this->y = y;
this->z = z;
this->z = z;
}
};
@ -108,11 +108,11 @@ struct CompassSample
class MicroBitCompass : public MicroBitComponent
{
/**
* Unique, enumerated ID for this component.
* Unique, enumerated ID for this component.
* Used to track asynchronous events in the event bus.
*/
uint16_t address; // I2C address of the magnetmometer.
uint16_t address; // I2C address of the magnetmometer.
uint16_t samplePeriod; // The time between samples, in millseconds.
CompassSample average; // Centre point of sample data.
@ -120,9 +120,9 @@ class MicroBitCompass : public MicroBitComponent
DigitalIn int1; // Data ready interrupt.
public:
/**
* Constructor.
* Constructor.
* Create a compass representation with the given ID.
* @param id the event ID of the compass object.
* @param address the default address for the compass register
@ -140,7 +140,7 @@ class MicroBitCompass : public MicroBitComponent
* @endcode
*/
MicroBitCompass(uint16_t id, uint16_t address);
/**
* Configures the compass for the sample rate defined
* in this object. The nearest values are chosen to those defined
@ -160,7 +160,7 @@ class MicroBitCompass : public MicroBitComponent
int setPeriod(int period);
/**
* Reads the currently configured sample rate of the compass.
* Reads the currently configured sample rate of the compass.
* @return The time between samples, in milliseconds.
*/
int getPeriod();
@ -169,10 +169,10 @@ class MicroBitCompass : public MicroBitComponent
* Gets the current heading of the device, relative to magnetic north.
* If the compass is not calibrated, it will raise the MICROBIT_COMPASS_EVT_CALIBRATE event.
* Users wishing to implement their own calibration algorithms should listen for this event,
* using MESSAGE_BUS_LISTENER_IMMEDIATE model. This ensures that calibration is complete before
* the user program continues.
*
* @return the current heading, in degrees. Or MICROBIT_CALIBRATION_IN_PROGRESS if the compass is calibrating.
* using MESSAGE_BUS_LISTENER_IMMEDIATE model. This ensures that calibration is complete before
* the user program continues.
*
* @return the current heading, in degrees. Or MICROBIT_CALIBRATION_IN_PROGRESS if the compass is calibrating.
*
* Example:
* @code
@ -182,7 +182,7 @@ class MicroBitCompass : public MicroBitComponent
int heading();
/**
* Attempts to determine the 8 bit ID from the magnetometer.
* Attempts to determine the 8 bit ID from the magnetometer.
* @return the id of the compass (magnetometer), or MICROBIT_I2C_ERROR if the magnetometer could not be updated.
*
* Example:
@ -202,7 +202,7 @@ class MicroBitCompass : public MicroBitComponent
* @endcode
*/
int getX(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
/**
* Reads the Y axis value of the latest update from the compass.
* @return The magnetic force measured in the Y axis, in nano teslas.
@ -211,9 +211,9 @@ class MicroBitCompass : public MicroBitComponent
* @code
* uBit.compass.getY();
* @endcode
*/
*/
int getY(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
/**
* Reads the Z axis value of the latest update from the compass.
* @return The magnetic force measured in the Z axis, in nano teslas.
@ -222,8 +222,8 @@ class MicroBitCompass : public MicroBitComponent
* @code
* uBit.compass.getZ();
* @endcode
*/
int getZ(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
*/
int getZ(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
/**
* Determines the overall magnetic field strength based on the latest update from the compass.
@ -233,21 +233,21 @@ class MicroBitCompass : public MicroBitComponent
* @code
* uBit.compass.getFieldStrength();
* @endcode
*/
*/
int getFieldStrength();
/**
* Reads the current die temperature of the compass.
* Reads the current die temperature of the compass.
* @return the temperature in degrees celsius, or MICROBIT_I2C_ERROR if the magnetometer could not be updated.
*/
int readTemperature();
/**
* Perform a calibration of the compass.
*
*
* This method will be called automatically if a user attempts to read a compass value when
* the compass is uncalibrated. It can also be called at any time by the user.
*
*
* Any old calibration data is deleted.
* The method will only return once the compass has been calibrated.
*
@ -265,7 +265,7 @@ class MicroBitCompass : public MicroBitComponent
* @note *** THIS FUNCITON IS NOW DEPRECATED AND WILL BE REMOVED IN THE NEXT MAJOR RELEASE ***
* @note *** PLEASE USE THE calibrate() FUNCTION INSTEAD ***
*/
void calibrateAsync();
void calibrateAsync();
/**
* Perform a calibration of the compass.
@ -274,62 +274,62 @@ class MicroBitCompass : public MicroBitComponent
* @note *** THIS FUNCITON IS NOW DEPRECATED AND WILL BE REMOVED IN THE NEXT MAJOR RELEASE ***
* @note *** PLEASE USE THE calibrate() FUNCTION INSTEAD ***
*/
int calibrateStart();
int calibrateStart();
/**
* Complete the calibration of the compass.
* This will fire MICROBIT_COMPASS_EVT_CAL_END.
*
* @note *** THIS FUNCITON IS NOW DEPRECATED AND WILL BE REMOVED IN THE NEXT MAJOR RELEASE ***
*/
void calibrateEnd();
*/
void calibrateEnd();
/**
* Configure the compass to use the given calibration data.
* Calibration data is comprised of the perceived zero offset of each axis of the compass.
* After calibration this should now take into account trimming errors in the magnetometer,
* After calibration this should now take into account trimming errors in the magnetometer,
* and any "hard iron" offsets on the device.
*
* @param The x, y and z zero offsets to use as calibration data.
*/
*/
void setCalibration(CompassSample calibration);
/**
* Provides the calibration data currently in use by the compass.
* More specifically, the x, y and z zero offsets of the compass.
*
* @return The x, y and z xero offsets of the compass.
*/
* @return The x, y and z xero offsets of the compass.
*/
CompassSample getCalibration();
/**
* Periodic callback from MicroBit idle thread.
* Check if any data is ready for reading by checking the interrupt.
*/
*/
virtual void idleTick();
/**
* Returns 0 or 1. 1 indicates that the compass is calibrated, zero means the compass requires calibration.
*/
int isCalibrated();
/**
* Returns 0 or 1. 1 indicates that the compass is calibrating, zero means the compass is not currently calibrating.
*/
int isCalibrating();
/**
* Clears the calibration held in persistent storage, and sets the calibrated flag to zero.
*/
void clearCalibration();
/**
* Returns 0 or 1. 1 indicates data is waiting to be read, zero means data is not ready to be read.
*/
virtual int isIdleCallbackNeeded();
private:
/**
* Issues a standard, 2 byte I2C command write to the magnetometer.
* Blocks the calling thread until complete.
@ -339,7 +339,7 @@ class MicroBitCompass : public MicroBitComponent
* @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the magnetometer could not be accessed.
*/
int writeCommand(uint8_t reg, uint8_t value);
/**
* Issues a read command into the specified buffer.
* Blocks the calling thread until complete.
@ -350,7 +350,7 @@ class MicroBitCompass : public MicroBitComponent
* @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER or MICROBIT_I2C_ERROR if the magnetometer could not be accessed.
*/
int readCommand(uint8_t reg, uint8_t* buffer, int length);
/**
* Issues a read of a given address, and returns the value.
* Blocks the calling thread until complete.
@ -359,8 +359,8 @@ class MicroBitCompass : public MicroBitComponent
* @return The register value, interpreted as a 16 but signed value, or MICROBIT_I2C_ERROR if the magnetometer could not be accessed.
*/
int read16(uint8_t reg);
/**
* Issues a read of a given address, and returns the value.
* Blocks the calling thread until complete.

35
inc/MicroBitDisplay.h
View File

@ -73,7 +73,7 @@ enum AnimationMode {
enum DisplayMode {
DISPLAY_MODE_BLACK_AND_WHITE,
DISPLAY_MODE_GREYSCALE
DISPLAY_MODE_GREYSCALE
};
enum DisplayRotation {
@ -172,24 +172,24 @@ class MicroBitDisplay : public MicroBitComponent
* Periodic callback, that we use to perform any animations we have running.
*/
void animationUpdate();
/**
* Called by the display in an interval determined by the brightness of the display, to give an impression
* of brightness.
*/
void renderFinish();
/**
* Translates a bit mask to a bit mask suitable for the nrf PORT0 and PORT1.
* Brightness has two levels on, or off.
*/
void render();
/**
* Translates a bit mask into a timer interrupt that gives the appearence of greyscale.
*/
void renderGreyscale();
/**
* Internal scrollText update method.
* Shift the screen image by one pixel to the left. If necessary, paste in the next char.
@ -224,7 +224,7 @@ class MicroBitDisplay : public MicroBitComponent
/**
* Blocks the current fiber until the display is available (i.e. not effect is being displayed).
* Animations are queued until their time to display.
*/
*/
void waitForFreeDisplay();
public:
@ -255,16 +255,16 @@ public:
* Frame update method, invoked periodically to strobe the display.
*/
virtual void systemTick();
/**
* Prints the given character to the display, if it is not in use.
*
* @param c The character to display.
* @param delay Optional parameter - the time for which to show the character. Zero displays the character forever.
* @return MICROBIT_OK, MICROBIT_BUSY is the screen is in use, or MICROBIT_INVALID_PARAMETER.
*
*
* Example:
* @code
* @code
* uBit.display.printAsync('p');
* uBit.display.printAsync('p',100);
* @endcode
@ -294,7 +294,7 @@ public:
* @param i The image to display.
* @param x The horizontal position on the screen to display the image (default 0)
* @param y The vertical position on the screen to display the image (default 0)
* @param alpha Treats the brightness level '0' as transparent (default 0)
* @param alpha Treats the brightness level '0' as transparent (default 0)
* @param delay The time to delay between characters, in milliseconds. set to 0 to display forever. (default 0).
*
* Example:
@ -334,7 +334,7 @@ public:
* @endcode
*/
int print(ManagedString s, int delay = MICROBIT_DEFAULT_PRINT_SPEED);
/**
* Prints the given image to the display.
* Blocks the calling thread until all the text has been displayed.
@ -350,7 +350,7 @@ public:
* @endcode
*/
int print(MicroBitImage i, int x, int y, int alpha, int delay = 0);
/**
* Scrolls the given string to the display, from right to left.
* Uses the given delay between characters.
@ -474,14 +474,14 @@ public:
/**
* Sets the mode of the display.
* @param mode The mode to swap the display into. (can be either DISPLAY_MODE_GREYSCALE, or DISPLAY_MODE_NORMAL)
*
*
* Example:
* @code
* @code
* uBit.display.setDisplayMode(DISPLAY_MODE_GREYSCALE); //per pixel brightness
* @endcode
*/
*/
void setDisplayMode(DisplayMode mode);
/**
* Fetches the current brightness of this display.
* @return the brightness of this display, in the range 0..255.
@ -557,7 +557,7 @@ public:
* Retreives the font object used for rendering characters on the display.
*/
MicroBitFont getFont();
/**
* Captures the bitmap currently being rendered on the display.
*/
@ -565,4 +565,3 @@ public:
};
#endif

84
inc/MicroBitMessageBus.h
View File

@ -18,7 +18,7 @@
* MicroBit platform. It serves a number of purposes:
*
* 1) It provides an eventing abstraction that is independent of the underlying substrate.
* 2) It provides a mechanism to decouple user code from trusted system code
* 2) It provides a mechanism to decouple user code from trusted system code
* i.e. the basis of a message passing nano kernel.
* 3) It allows a common high level eventing abstraction across a range of hardware types.e.g. buttons, BLE...
* 4) It provides a mechanims for extensibility - new devices added via I/O pins can have OO based
@ -34,23 +34,23 @@ class MicroBitMessageBus : public MicroBitComponent
public:
/**
* Default constructor.
* Default constructor.
* Anticipating only one MessageBus per device, as filtering is handled within the class.
*/
MicroBitMessageBus();
MicroBitMessageBus();
/**
* Queues the given event to be sent to all registered recipients.
*
* @param The event to send.
* @param The event to send.
*
* n.b. THIS IS NOW WRAPPED BY THE MicroBitEvent CLASS FOR CONVENIENCE...
*
* Example:
* @code
* @code
* MicroBitEvent evt(id,MICROBIT_BUTTON_EVT_DOWN,ticks,false);
* evt.fire();
* //OR YOU CAN DO THIS...
* //OR YOU CAN DO THIS...
* MicroBitEvent evt(id,MICROBIT_BUTTON_EVT_DOWN);
* @endcode
*/
@ -63,7 +63,7 @@ class MicroBitMessageBus : public MicroBitComponent
* IT IS RECOMMENDED THAT ALL EXTERNAL CODE USE THE send() FUNCTIONS INSTEAD OF THIS FUNCTION,
* or the constructors provided by MicroBitEvent.
*
* @param evt The event to send.
* @param evt The event to send.
* @param urgent The type of listeners to process (optional). If set to true, only listeners defined as urgent and non-blocking will be processed
* otherwise, all other (standard) listeners will be processed.
* @return 1 if all matching listeners were processed, 0 if further processing is required.
@ -72,19 +72,19 @@ class MicroBitMessageBus : public MicroBitComponent
/**
* Register a listener function.
*
* @param id The source of messages to listen for. Events sent from any other IDs will be filtered.
*
* @param id The source of messages to listen for. Events sent from any other IDs will be filtered.
* Use MICROBIT_ID_ANY to receive events from all components.
*
* @param value The value of messages to listen for. Events with any other values will be filtered.
* @param value The value of messages to listen for. Events with any other values will be filtered.
* Use MICROBIT_EVT_ANY to receive events of any value.
*
* @param handler The function to call when an event is received.
*
* @return MICROBIT_OK on success MICROBIT_INVALID_PARAMETER
*
*
* Example:
* @code
* @code
* void onButtonBClick()
* {
* //do something
@ -93,22 +93,22 @@ class MicroBitMessageBus : public MicroBitComponent
* @endcode
*/
int listen(int id, int value, void (*handler)(MicroBitEvent), uint16_t flags = MESSAGE_BUS_LISTENER_DEFAULT_FLAGS);
/**
* Register a listener function.
*
* @param id The source of messages to listen for. Events sent from any other IDs will be filtered.
*
* @param id The source of messages to listen for. Events sent from any other IDs will be filtered.
* Use MICROBIT_ID_ANY to receive events from all components.
*
* @param value The value of messages to listen for. Events with any other values will be filtered.
* @param value The value of messages to listen for. Events with any other values will be filtered.
* Use MICROBIT_EVT_ANY to receive events of any value.
*
* @param hander The function to call when an event is received.
*
* @return MICROBIT_OK on success MICROBIT_INVALID_PARAMETER
*
*
* Example:
* @code
* @code
* void onButtonBClick(void *arg)
* {
* //do something
@ -120,26 +120,26 @@ class MicroBitMessageBus : public MicroBitComponent
/**
* Register a listener function.
*
* @param id The source of messages to listen for. Events sent from any other IDs will be filtered.
*
* @param id The source of messages to listen for. Events sent from any other IDs will be filtered.
* Use MICROBIT_ID_ANY to receive events from all components.
*
* @param value The value of messages to listen for. Events with any other values will be filtered.
* @param value The value of messages to listen for. Events with any other values will be filtered.
* Use MICROBIT_EVT_ANY to receive events of any value.
*
* @param hander The function to call when an event is received.
*
* @return MICROBIT_OK on success MICROBIT_INVALID_PARAMETER
*
*
* Example:
* @code
* @code
* void SomeClass::onButtonBClick()
* {
* //do something
* }
*
* SomeClass s = new SomeClass();
* uBit.MessageBus.listen(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, s, &SomeClass::onButtonBClick);
* uBit.MessageBus.listen(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, s, &SomeClass::onButtonBClick);
* @endcode
*/
template <typename T>
@ -149,7 +149,7 @@ class MicroBitMessageBus : public MicroBitComponent
/**
* Unregister a listener function.
* Listners are identified by the Event ID, Event VALUE and handler registered using listen().
*
*
* @param id The Event ID used to register the listener.
* @param value The Event VALUE used to register the listener.
* @param handler The function used to register the listener.
@ -158,21 +158,21 @@ class MicroBitMessageBus : public MicroBitComponent
*
*
* Example:
* @code
* @code
* void onButtonBClick()
* {
* //do something
* }
*
* uBit.MessageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonBClick);
* uBit.MessageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonBClick);
* @endcode
*/
int ignore(int id, int value, void (*handler)(MicroBitEvent));
/**
* Unregister a listener function.
* Listners are identified by the Event ID, Event VALUE and handler registered using listen().
*
*
* @param id The Event ID used to register the listener.
* @param value The Event VALUE used to register the listener.
* @param handler The function used to register the listener.
@ -180,13 +180,13 @@ class MicroBitMessageBus : public MicroBitComponent
* @return MICROBIT_OK on success MICROBIT_INVALID_PARAMETER
*
* Example:
* @code
* @code
* void onButtonBClick(void *arg)
* {
* //do something
* }
*
* uBit.MessageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonBClick);
* uBit.MessageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonBClick);
* @endcode
*/
int ignore(int id, int value, void (*handler)(MicroBitEvent, void*));
@ -194,7 +194,7 @@ class MicroBitMessageBus : public MicroBitComponent
/**
* Unregister a listener function.
* Listners are identified by the Event ID, Event VALUE and handler registered using listen().
*
*
* @param id The Event ID used to register the listener.
* @param value The Event VALUE used to register the listener.
* @param handler The function used to register the listener.
@ -202,15 +202,15 @@ class MicroBitMessageBus : public MicroBitComponent
* @return MICROBIT_OK on success MICROBIT_INVALID_PARAMETER
*
* Example:
* @code
*
* @code
*
* void SomeClass::onButtonBClick()
* {
* //do something
* }
*
* SomeClass s = new SomeClass();
* uBit.MessageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, s, &SomeClass::onButtonBClick);
* uBit.MessageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, s, &SomeClass::onButtonBClick);
* @endcode
*/
template <typename T>
@ -250,7 +250,7 @@ class MicroBitMessageBus : public MicroBitComponent
MicroBitEventQueueItem *evt_queue_tail; // Tail of queued events to be processed.
uint16_t nonce_val; // The last nonce issued.
uint16_t queueLength; // The number of events currently waiting to be processed.
void queueEvent(MicroBitEvent &evt);
MicroBitEventQueueItem* dequeueEvent();
@ -262,10 +262,10 @@ class MicroBitMessageBus : public MicroBitComponent
* A registration function to allow C++ member funcitons (methods) to be registered as an event
* listener.
*
* @param id The source of messages to listen for. Events sent from any other IDs will be filtered.
* @param id The source of messages to listen for. Events sent from any other IDs will be filtered.
* Use MICROBIT_ID_ANY to receive events from all components.
*
* @param value The value of messages to listen for. Events with any other values will be filtered.
* @param value The value of messages to listen for. Events with any other values will be filtered.
* Use MICROBIT_EVT_ANY to receive events of any value.
*
* @param object The object on which the method should be invoked.
@ -291,7 +291,7 @@ int MicroBitMessageBus::listen(uint16_t id, uint16_t value, T* object, void (T::
/**
* Unregister a listener function.
* Listners are identified by the Event ID, Event VALUE and handler registered using listen().
*
*
* @param id The Event ID used to register the listener.
* @param value The Event VALUE used to register the listener.
* @param handler The function used to register the listener.
@ -299,13 +299,13 @@ int MicroBitMessageBus::listen(uint16_t id, uint16_t value, T* object, void (T::
* @return MICROBIT_OK on success MICROBIT_INVALID_PARAMETER
*
* Example:
* @code
* @code
* void onButtonBClick(void *arg)
* {
* //do something
* }
*
* uBit.MessageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonBClick);
* uBit.MessageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonBClick);
* @endcode
*/
template <typename T>
@ -322,5 +322,3 @@ int MicroBitMessageBus::ignore(uint16_t id, uint16_t value, T* object, void (T::
#endif

94
source/MicroBitCompass.cpp
View File

@ -1,7 +1,7 @@
#include "MicroBit.h"
/**
* Constructor.
* Constructor.
* Create a compass representation with the given ID.
* @param id the event ID of the compass object.
* @param address the default address for the compass register
@ -22,17 +22,17 @@ MicroBitCompass::MicroBitCompass(uint16_t id, uint16_t address) : average(), sam
{
this->id = id;
this->address = address;
// We presume the device calibrated until the average values are read.
this->status = 0x01;
// Select 10Hz update rate, with oversampling, and enable the device.
this->samplePeriod = 100;
this->configure();
// Assume that we have no calibraiton information.
// Assume that we have no calibraiton information.
status &= ~MICROBIT_COMPASS_STATUS_CALIBRATED;
// Indicate that we're up and running.
uBit.flags |= MICROBIT_FLAG_COMPASS_RUNNING;
}
@ -50,7 +50,7 @@ int MicroBitCompass::writeCommand(uint8_t reg, uint8_t value)
uint8_t command[2];
command[0] = reg;
command[1] = value;
return uBit.i2c.write(address, (const char *)command, 2);
}
@ -100,7 +100,7 @@ int MicroBitCompass::read16(uint8_t reg)
cmd[0] = 0x00;
cmd[1] = 0x00;
result = uBit.i2c.read(address, (char *)cmd, 2);
if (result !=0)
return MICROBIT_I2C_ERROR;
@ -132,10 +132,10 @@ int MicroBitCompass::read8(uint8_t reg)
* Gets the current heading of the device, relative to magnetic north.
* If the compass is not calibrated, it will raise the MICROBIT_COMPASS_EVT_CALIBRATE event.
* Users wishing to implement their own calibration algorithms should listen for this event,
* using MESSAGE_BUS_LISTENER_IMMEDIATE model. This ensures that calibration is complete before
* the user program continues.
*
* @return the current heading, in degrees. Or MICROBIT_CALIBRATION_IN_PROGRESS if the compass is calibrating.
* using MESSAGE_BUS_LISTENER_IMMEDIATE model. This ensures that calibration is complete before
* the user program continues.
*
* @return the current heading, in degrees. Or MICROBIT_CALIBRATION_IN_PROGRESS if the compass is calibrating.
*
* Example:
* @code
@ -147,7 +147,7 @@ int MicroBitCompass::heading()
float bearing;
if(status & MICROBIT_COMPASS_STATUS_CALIBRATING)
return MICROBIT_CALIBRATION_IN_PROGRESS;
return MICROBIT_CALIBRATION_IN_PROGRESS;
if(!(status & MICROBIT_COMPASS_STATUS_CALIBRATED))
calibrate();
@ -165,11 +165,11 @@ int MicroBitCompass::heading()
float sinTheta = sin(theta);
float cosTheta = cos(theta);
bearing = (360*atan2(z*sinPhi - y*cosPhi, x*cosTheta + y*sinTheta*sinPhi + z*sinTheta*cosPhi)) / (2*PI);
bearing = (360*atan2(z*sinPhi - y*cosPhi, x*cosTheta + y*sinTheta*sinPhi + z*sinTheta*cosPhi)) / (2*PI);
if (bearing < 0)
bearing += 360.0;
return (int) bearing;
}
@ -179,7 +179,7 @@ int MicroBitCompass::heading()
*/
void MicroBitCompass::idleTick()
{
// Poll interrupt line from accelerometer (Active HI).
// Poll interrupt line from accelerometer (Active HI).
// Interrupt is cleared on data read of MAG_OUT_X_MSB.
if(int1)
{
@ -225,7 +225,7 @@ int MicroBitCompass::getX(MicroBitCoordinateSystem system)
* @code
* uBit.compass.getY();
* @endcode
*/
*/
int MicroBitCompass::getY(MicroBitCoordinateSystem system)
{
switch (system)
@ -235,7 +235,7 @@ int MicroBitCompass::getY(MicroBitCoordinateSystem system)
case NORTH_EAST_DOWN:
return (sample.x - average.x);
case RAW:
default:
return sample.y;
@ -250,7 +250,7 @@ int MicroBitCompass::getY(MicroBitCoordinateSystem system)
* @code
* uBit.compass.getZ();
* @endcode
*/
*/
int MicroBitCompass::getZ(MicroBitCoordinateSystem system)
{
switch (system)
@ -273,7 +273,7 @@ int MicroBitCompass::getZ(MicroBitCoordinateSystem system)
* @code
* uBit.compass.getFieldStrength();
* @endcode
*/
*/
int MicroBitCompass::getFieldStrength()
{
double x = getX();
@ -300,7 +300,7 @@ int MicroBitCompass::configure()
if (result != MICROBIT_OK)
return MICROBIT_I2C_ERROR;
// Wait for the part to enter standby mode...
// Wait for the part to enter standby mode...
while(1)
{
// Read the status of the part...
@ -335,7 +335,7 @@ int MicroBitCompass::configure()
if (result != MICROBIT_OK)
return MICROBIT_I2C_ERROR;
// Bring the device online, with the requested sample frequency.
result = writeCommand(MAG_CTRL_REG1, actualSampleRate->ctrl_reg1 | 0x01);
if (result != MICROBIT_OK)
@ -358,7 +358,7 @@ int MicroBitCompass::setPeriod(int period)
}
/**
* Reads the currently configured sample rate of the compass.
* Reads the currently configured sample rate of the compass.
* @return The time between samples, in milliseconds.
*/
int MicroBitCompass::getPeriod()
@ -368,7 +368,7 @@ int MicroBitCompass::getPeriod()
/**
* Attempts to determine the 8 bit ID from the magnetometer.
* Attempts to determine the 8 bit ID from the magnetometer.
* @return the id of the compass (magnetometer), or MICROBIT_I2C_ERROR if the magnetometer could not be updated.
*
* Example:
@ -381,7 +381,7 @@ int MicroBitCompass::whoAmI()
uint8_t data;
int result;
result = readCommand(MAG_WHOAMI, &data, 1);
result = readCommand(MAG_WHOAMI, &data, 1);
if (result != MICROBIT_OK)
return MICROBIT_I2C_ERROR;
@ -389,7 +389,7 @@ int MicroBitCompass::whoAmI()
}
/**
* Reads the current die temperature of the compass.
* Reads the current die temperature of the compass.
* @return the temperature in degrees celsius, or MICROBIT_I2C_ERROR if the magnetometer could not be updated.
*/
int MicroBitCompass::readTemperature()
@ -406,10 +406,10 @@ int MicroBitCompass::readTemperature()
/**
* Perform a calibration of the compass.
*
*
* This method will be called automatically if a user attempts to read a compass value when
* the compass is uncalibrated. It can also be called at any time by the user.
*
*
* Any old calibration data is deleted.
* The method will only return once the compass has been calibrated.
*
@ -453,7 +453,7 @@ int MicroBitCompass::calibrate()
int MicroBitCompass::calibrateStart()
{
return calibrate();
}
}
/**
* Perform the asynchronous calibration of the compass.
@ -463,7 +463,7 @@ int MicroBitCompass::calibrateStart()
* @note *** PLEASE USE THE calibrate() FUNCTION INSTEAD ***
*/
void MicroBitCompass::calibrateAsync()
{
{
calibrate();
}
@ -472,20 +472,20 @@ void MicroBitCompass::calibrateAsync()
* This will fire MICROBIT_COMPASS_EVT_CAL_END.
*
* @note *** THIS FUNCTION IS NOW DEPRECATED AND WILL BE REMOVED IN THE NEXT MAJOR RELEASE ***
*/
*/
void MicroBitCompass::calibrateEnd()
{
}
}
/**
* Configure the compass to use the given calibration data.
* Calibration data is comprised of the perceived zero offset of each axis of the compass.
* After calibration this should now take into account trimming errors in the magnetometer,
* After calibration this should now take into account trimming errors in the magnetometer,
* and any "hard iron" offsets on the device.
*
* @param The x, y and z zero offsets to use as calibration data.
*/
*/
void MicroBitCompass::setCalibration(CompassSample calibration)
{
average = calibration;
@ -496,8 +496,8 @@ void MicroBitCompass::setCalibration(CompassSample calibration)
* Provides the calibration data currently in use by the compass.
* More specifically, the x, y and z zero offsets of the compass.
*
* @return The x, y and z xero offsets of the compass.
*/
* @return The x, y and z xero offsets of the compass.
*/
CompassSample MicroBitCompass::getCalibration()
{
return average;
@ -508,7 +508,7 @@ CompassSample MicroBitCompass::getCalibration()
*/
int MicroBitCompass::isCalibrated()
{
return status & MICROBIT_COMPASS_STATUS_CALIBRATED;
return status & MICROBIT_COMPASS_STATUS_CALIBRATED;
}
/**
@ -516,7 +516,7 @@ int MicroBitCompass::isCalibrated()
*/
int MicroBitCompass::isCalibrating()
{
return status & MICROBIT_COMPASS_STATUS_CALIBRATING;
return status & MICROBIT_COMPASS_STATUS_CALIBRATING;
}
/**
@ -524,7 +524,7 @@ int MicroBitCompass::isCalibrating()
*/
void MicroBitCompass::clearCalibration()
{
status &= ~MICROBIT_COMPASS_STATUS_CALIBRATED;
status &= ~MICROBIT_COMPASS_STATUS_CALIBRATED;
}
/**
@ -540,13 +540,13 @@ int MicroBitCompass::isIdleCallbackNeeded()
const MAG3110SampleRateConfig MAG3110SampleRate[MAG3110_SAMPLE_RATES] = {
{12500, 0x00}, // 80 Hz
{25000, 0x20}, // 40 Hz
{50000, 0x40}, // 20 Hz
{100000, 0x60}, // 10 hz
{200000, 0x80}, // 5 hz
{400000, 0x88}, // 2.5 hz
{800000, 0x90}, // 1.25 hz
{1600000, 0xb0}, // 0.63 hz
{3200000, 0xd0}, // 0.31 hz
{6400000, 0xf0}, // 0.16 hz
{12800000, 0xf8} // 0.08 hz
{50000, 0x40}, // 20 Hz
{100000, 0x60}, // 10 hz
{200000, 0x80}, // 5 hz
{400000, 0x88}, // 2.5 hz
{800000, 0x90}, // 1.25 hz
{1600000, 0xb0}, // 0.63 hz
{3200000, 0xd0}, // 0.31 hz
{6400000, 0xf0}, // 0.16 hz
{12800000, 0xf8} // 0.08 hz
};

270
source/MicroBitDisplay.cpp
View File

@ -17,19 +17,19 @@ const float timings[MICROBIT_DISPLAY_GREYSCALE_BIT_DEPTH] = {0.000010, 0.000047,
*
* @param x the width of the display in pixels.
* @param y the height of the display in pixels.
*
*
* Example:
* @code
* @code
* MicroBitDisplay display(MICROBIT_ID_DISPLAY, 5, 5),
* @endcode
*/
MicroBitDisplay::MicroBitDisplay(uint16_t id, uint8_t x, uint8_t y) :
MicroBitDisplay::MicroBitDisplay(uint16_t id, uint8_t x, uint8_t y) :
font(),
image(x*2,y)
{
//set pins as output
nrf_gpio_range_cfg_output(MICROBIT_DISPLAY_COLUMN_START,MICROBIT_DISPLAY_COLUMN_START + MICROBIT_DISPLAY_COLUMN_COUNT + MICROBIT_DISPLAY_ROW_COUNT);
this->id = id;
this->width = x;
this->height = y;
@ -38,46 +38,46 @@ MicroBitDisplay::MicroBitDisplay(uint16_t id, uint8_t x, uint8_t y) :
this->rotation = MICROBIT_DISPLAY_ROTATION_0;
this->greyscaleBitMsk = 0x01;
this->timingCount = 0;
this->setBrightness(MICROBIT_DISPLAY_DEFAULT_BRIGHTNESS);
this->mode = DISPLAY_MODE_BLACK_AND_WHITE;
this->animationMode = ANIMATION_MODE_NONE;
uBit.flags |= MICROBIT_FLAG_DISPLAY_RUNNING;
}
/**
* Internal frame update method, used to strobe the display.
*
* TODO: Write a more efficient, complementary variation of this method for the case where
* TODO: Write a more efficient, complementary variation of this method for the case where
* MICROBIT_DISPLAY_ROW_COUNT > MICROBIT_DISPLAY_COLUMN_COUNT.
*/
*/
void MicroBitDisplay::systemTick()
{
{
if(!(uBit.flags & MICROBIT_FLAG_DISPLAY_RUNNING))
return;
// Move on to the next row.
// Move on to the next row.
strobeBitMsk <<= 1;
strobeRow++;
//reset the row counts and bit mask when we have hit the max.
if(strobeRow == MICROBIT_DISPLAY_ROW_COUNT){
strobeRow = 0;
strobeBitMsk = 0x20;
strobeBitMsk = 0x20;
}
if(mode == DISPLAY_MODE_BLACK_AND_WHITE)
render();
if(mode == DISPLAY_MODE_GREYSCALE)
{
greyscaleBitMsk = 0x01;
timingCount = 0;
renderGreyscale();
}
// Update text and image animations if we need to.
this->animationUpdate();
}
@ -87,60 +87,60 @@ void MicroBitDisplay::renderFinish()
//kept inline to reduce overhead
//clear the old bit pattern for this row.
//clear port 0 4-7 and retain lower 4 bits
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT0, 0xF0 | (nrf_gpio_port_read(NRF_GPIO_PORT_SELECT_PORT0) & 0x0F));
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT0, 0xF0 | (nrf_gpio_port_read(NRF_GPIO_PORT_SELECT_PORT0) & 0x0F));
// clear port 1 8-12 for the current row
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT1, strobeBitMsk | 0x1F);
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT1, strobeBitMsk | 0x1F);
}
void MicroBitDisplay::render()
{
{
// Simple optimisation. If display is at zero brightness, there's nothign to do.
if(brightness == 0)
return;
int coldata = 0;
// Calculate the bitpattern to write.
for (int i = 0; i<MICROBIT_DISPLAY_COLUMN_COUNT; i++)
{
int x = matrixMap[i][strobeRow].x;
int y = matrixMap[i][strobeRow].y;
int t = x;
int t = x;
if(rotation == MICROBIT_DISPLAY_ROTATION_90)
{
x = width - 1 - y;
y = t;
}
if(rotation == MICROBIT_DISPLAY_ROTATION_180)
{
x = width - 1 - x;
y = height - 1 - y;
}
if(rotation == MICROBIT_DISPLAY_ROTATION_270)
{
x = y;
y = height - 1 - t;
}
if(image.getBitmap()[y*(width*2)+x])
coldata |= (1 << i);
}
//write the new bit pattern
//set port 0 4-7 and retain lower 4 bits
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT0, (~coldata<<4 & 0xF0) | (nrf_gpio_port_read(NRF_GPIO_PORT_SELECT_PORT0) & 0x0F));
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT0, (~coldata<<4 & 0xF0) | (nrf_gpio_port_read(NRF_GPIO_PORT_SELECT_PORT0) & 0x0F));
//set port 1 8-12 for the current row
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT1, strobeBitMsk | (~coldata>>4 & 0x1F));
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT1, strobeBitMsk | (~coldata>>4 & 0x1F));
//timer does not have enough resolution for brightness of 1. 23.53 us
if(brightness != MICROBIT_DISPLAY_MAXIMUM_BRIGHTNESS && brightness > MICROBIT_DISPLAY_MINIMUM_BRIGHTNESS)
renderTimer.attach(this, &MicroBitDisplay::renderFinish, (((float)brightness) / ((float)MICROBIT_DISPLAY_MAXIMUM_BRIGHTNESS)) * (float)MICROBIT_DISPLAY_REFRESH_PERIOD);
//this will take around 23us to execute
if(brightness <= MICROBIT_DISPLAY_MINIMUM_BRIGHTNESS)
renderFinish();
@ -149,47 +149,47 @@ void MicroBitDisplay::render()
void MicroBitDisplay::renderGreyscale()
{
int coldata = 0;
// Calculate the bitpattern to write.
for (int i = 0; i<MICROBIT_DISPLAY_COLUMN_COUNT; i++)
{
int x = matrixMap[i][strobeRow].x;
int y = matrixMap[i][strobeRow].y;
int t = x;
int t = x;
if(rotation == MICROBIT_DISPLAY_ROTATION_90)
{
x = width - 1 - y;
y = t;
}
if(rotation == MICROBIT_DISPLAY_ROTATION_180)
{
x = width - 1 - x;
y = height - 1 - y;
}
if(rotation == MICROBIT_DISPLAY_ROTATION_270)
{
x = y;
y = height - 1 - t;
}
if(min(image.getBitmap()[y * (width * 2) + x],brightness) & greyscaleBitMsk)
coldata |= (1 << i);
}
}
//write the new bit pattern
//set port 0 4-7 and retain lower 4 bits
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT0, (~coldata<<4 & 0xF0) | (nrf_gpio_port_read(NRF_GPIO_PORT_SELECT_PORT0) & 0x0F));
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT0, (~coldata<<4 & 0xF0) | (nrf_gpio_port_read(NRF_GPIO_PORT_SELECT_PORT0) & 0x0F));
//set port 1 8-12 for the current row
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT1, strobeBitMsk | (~coldata>>4 & 0x1F));
nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT1, strobeBitMsk | (~coldata>>4 & 0x1F));
if(timingCount > MICROBIT_DISPLAY_GREYSCALE_BIT_DEPTH-1)
return;
greyscaleBitMsk <<= 1;
renderTimer.attach(this,&MicroBitDisplay::renderGreyscale, timings[timingCount++]);
}
@ -198,29 +198,29 @@ void MicroBitDisplay::renderGreyscale()
*/
void
MicroBitDisplay::animationUpdate()
{
{
// If there's no ongoing animation, then nothing to do.
if (animationMode == ANIMATION_MODE_NONE)
return;
animationTick += FIBER_TICK_PERIOD_MS;
animationTick += FIBER_TICK_PERIOD_MS;
if(animationTick >= animationDelay)
{
animationTick = 0;
if (animationMode == ANIMATION_MODE_SCROLL_TEXT)
this->updateScrollText();
if (animationMode == ANIMATION_MODE_PRINT_TEXT)
this->updatePrintText();
if (animationMode == ANIMATION_MODE_SCROLL_IMAGE)
this->updateScrollImage();
if (animationMode == ANIMATION_MODE_ANIMATE_IMAGE)
this->updateAnimateImage();
if(animationMode == ANIMATION_MODE_PRINT_CHARACTER)
{
animationMode = ANIMATION_MODE_NONE;
@ -243,18 +243,18 @@ void MicroBitDisplay::sendAnimationCompleteEvent()
}
/**
* Internal scrollText update method.
* Internal scrollText update method.
* Shift the screen image by one pixel to the left. If necessary, paste in the next char.
*/
*/
void MicroBitDisplay::updateScrollText()
{
{
image.shiftLeft(1);
scrollingPosition++;
if (scrollingPosition == width + MICROBIT_DISPLAY_SPACING)
{
{
scrollingPosition = 0;
image.print(scrollingChar < scrollingText.length() ? scrollingText.charAt(scrollingChar) : ' ',width,0);
if (scrollingChar > scrollingText.length())
@ -268,36 +268,36 @@ void MicroBitDisplay::updateScrollText()
}
/**
* Internal printText update method.
* Internal printText update method.
* Paste in the next char in the string.
*/
*/
void MicroBitDisplay::updatePrintText()
{
{
image.print(printingChar < printingText.length() ? printingText.charAt(printingChar) : ' ',0,0);
if (printingChar > printingText.length())
{
animationMode = ANIMATION_MODE_NONE;
animationMode = ANIMATION_MODE_NONE;
this->sendAnimationCompleteEvent();
return;
}
printingChar++;
}
/**
* Internal scrollImage update method.
* Internal scrollImage update method.
* Paste the stored bitmap at the appropriate point.
*/
*/
void MicroBitDisplay::updateScrollImage()
{
image.clear();
{
image.clear();
if ((image.paste(scrollingImage, scrollingImagePosition, 0, 0) == 0) && scrollingImageRendered)
{
animationMode = ANIMATION_MODE_NONE;
this->sendAnimationCompleteEvent();
animationMode = ANIMATION_MODE_NONE;
this->sendAnimationCompleteEvent();
return;
}
@ -307,27 +307,27 @@ void MicroBitDisplay::updateScrollImage()
}
/**
* Internal animateImage update method.
* Internal animateImage update method.
* Paste the stored bitmap at the appropriate point and stop on the last frame.
*/
*/
void MicroBitDisplay::updateAnimateImage()
{
{
//wait until we have rendered the last position to give a continuous animation.
if (scrollingImagePosition <= -scrollingImage.getWidth() + (MICROBIT_DISPLAY_WIDTH + scrollingImageStride) && scrollingImageRendered)
{
animationMode = ANIMATION_MODE_NONE;
animationMode = ANIMATION_MODE_NONE;