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@ -21,24 +21,6 @@
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#pragma GCC diagnostic pop
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#endif
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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 that performs a hard reset when a BLE GAP disconnect occurs.
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* Only used when an explicit reset is invoked locally whilst a BLE connection is in progress.
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* This allows for a clean diconnect of the BLE connection before resetting.
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*/
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void bleDisconnectionResetCallback(const Gap::DisconnectionCallbackParams_t *)
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{
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NVIC_SystemReset();
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}
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/**
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* Perform a hard reset of the micro:bit.
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* If BLE connected, then try to signal a disconnect first
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@ -46,25 +28,9 @@ void bleDisconnectionResetCallback(const Gap::DisconnectionCallbackParams_t *)
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void
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microbit_reset()
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{
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if(uBit.ble && uBit.ble->getGapState().connected) {
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uBit.ble->onDisconnection(bleDisconnectionResetCallback);
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uBit.ble->gap().disconnect(Gap::REMOTE_USER_TERMINATED_CONNECTION);
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// We should be reset by the disconnection callback, so we wait to
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// allow that to happen. If it doesn't happen, then we fall through to the
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// hard rest here. (For example there is a race condition where
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// the remote device disconnects between us testing the connection
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// state and re-setting the disconnection callback).
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uBit.sleep(1000);
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}
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NVIC_SystemReset();
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}
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void bleDisconnectionCallback(const Gap::DisconnectionCallbackParams_t *)
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{
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uBit.ble->startAdvertising();
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}
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void MicroBit::onABListenerRegisteredEvent(MicroBitEvent evt)
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{
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(void) evt; // Unused parameter
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@ -103,16 +69,16 @@ void MicroBit::onABListenerRegisteredEvent(MicroBitEvent evt)
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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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resetButton(MICROBIT_PIN_BUTTON_RESET),
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i2c(MICROBIT_PIN_SDA, MICROBIT_PIN_SCL),
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serial(USBTX, USBRX),
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MessageBus(),
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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, MICROBIT_BUTTON_ALL_EVENTS),
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buttonB(MICROBIT_ID_BUTTON_B,MICROBIT_PIN_BUTTON_B, MICROBIT_BUTTON_ALL_EVENTS),
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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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buttonAB(MICROBIT_ID_BUTTON_AB,MICROBIT_ID_BUTTON_A,MICROBIT_ID_BUTTON_B, messageBus),
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accelerometer(MICROBIT_ID_ACCELEROMETER, MMA8653_DEFAULT_ADDR, i2c),
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compass(MICROBIT_ID_COMPASS, MAG3110_DEFAULT_ADDR,i2c,accelerometer),
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thermometer(MICROBIT_ID_THERMOMETER),
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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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@ -125,6 +91,9 @@ MicroBit::MicroBit() :
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radio(MICROBIT_ID_RADIO),
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ble(NULL)
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{
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// Bring up soft reset functionality as soon as possible.
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resetButton.mode(PullUp);
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resetButton.fall(this, &MicroBit::reset);
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}
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/**
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@ -140,25 +109,74 @@ MicroBit::MicroBit() :
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*/
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void MicroBit::init()
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{
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// Bring up our nested heap allocator.
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microbit_heap_init();
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// Bring up fiber scheduler
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scheduler_init(&messageBus);
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sleep(10);
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// Load any stored calibration data from persistent storage.
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MicroBitStorage s = MicroBitStorage();
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MicroBitConfigurationBlock *b = s.getConfigurationBlock();
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//if we have some calibrated data, calibrate the compass!
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if(b->magic == MICROBIT_STORAGE_CONFIG_MAGIC)
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{
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if(b->compassCalibrationData != CompassSample(0,0,0))
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compass.setCalibration(b->compassCalibrationData);
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}
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delete b;
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// TODO: YUCK!!! MOVE THESE INTO THE RELEVANT COMPONENTS!!
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//add the display to the systemComponent array
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addSystemComponent(&uBit.display);
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addSystemComponent(&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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addIdleComponent(&uBit.MessageBus);
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addIdleComponent(&accelerometer);
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addIdleComponent(&compass);
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addIdleComponent(&messageBus);
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// Seed our random number generator
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seedRandom();
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tickPeriod = MICROBIT_DEFAULT_TICK_PERIOD;
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// Register our compass calibration algorithm.
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messageBus.listen(MICROBIT_ID_COMPASS, MICROBIT_COMPASS_EVT_CALIBRATE, this, &MicroBit::compassCalibrator, MESSAGE_BUS_LISTENER_IMMEDIATE);
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messageBus.listen(MICROBIT_ID_MESSAGE_BUS_LISTENER, MICROBIT_ID_BUTTON_AB, this, &MicroBit::onABListenerRegisteredEvent, MESSAGE_BUS_LISTENER_IMMEDIATE);
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// Start refreshing the Matrix Display
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systemTicker.attach_us(this, &MicroBit::systemTick, tickPeriod * 1000);
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#if CONFIG_ENABLED(MICROBIT_BLE_PAIRING_MODE)
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// Test if we need to enter BLE pairing mode...
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int i=0;
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while (buttonA.isPressed() && buttonB.isPressed() && i<10)
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{
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sleep(100);
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i++;
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// Register our compass calibration algorithm.
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MessageBus.listen(MICROBIT_ID_COMPASS, MICROBIT_COMPASS_EVT_CALIBRATE, this, &MicroBit::compassCalibrator, MESSAGE_BUS_LISTENER_IMMEDIATE);
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MessageBus.listen(MICROBIT_ID_MESSAGE_BUS_LISTENER, MICROBIT_ID_BUTTON_AB, this, &MicroBit::onABListenerRegisteredEvent, MESSAGE_BUS_LISTENER_IMMEDIATE);
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if (i == 10)
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{
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// Start the BLE stack, if it isn't already running.
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if (!ble)
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{
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bleManager.init(getName(), getSerial(), messageBus, true);
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ble = bleManager.ble;
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}
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// Enter pairing mode, using the LED matrix for any necessary pairing operations
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bleManager.pairingMode(display, buttonA);
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}
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}
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#endif
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#if CONFIG_ENABLED(MICROBIT_BLE_ENABLED)
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// Start the BLE stack, if it isn't already running.
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if (!ble)
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{
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bleManager.init(getName(), getSerial(), messageBus, false);
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ble = bleManager.ble;
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}
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#endif
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}
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/**
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@ -208,8 +226,8 @@ void MicroBit::compassCalibrator(MicroBitEvent)
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cursor.on = (cursor.on + 1) % 4;
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// take a snapshot of the current accelerometer data.
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int x = uBit.accelerometer.getX();
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int y = uBit.accelerometer.getY();
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int x = accelerometer.getX();
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int y = accelerometer.getY();
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// Deterine the position of the user controlled pixel on the screen.
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if (x < -PIXEL2_THRESHOLD)
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@ -245,7 +263,7 @@ void MicroBit::compassCalibrator(MicroBitEvent)
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img.setPixelValue(cursor.x, cursor.y, 255);
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// Update the buffer to the screen.
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uBit.display.image.paste(img,0,0,0);
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display.image.paste(img,0,0,0);
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// test if we need to update the state at the users position.
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for (int i=0; i<PERIMETER_POINTS; i++)
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@ -264,7 +282,7 @@ void MicroBit::compassCalibrator(MicroBitEvent)
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}
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}
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uBit.sleep(100);
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sleep(100);
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}
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// We have enough sample data to make a fairly accurate calibration.
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@ -361,6 +379,15 @@ ManagedString MicroBit::getSerial()
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*/
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void MicroBit::reset()
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{
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if(ble && ble->getGapState().connected) {
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// We have a connected BLE peer. Disconnect the BLE session.
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ble->gap().disconnect(Gap::REMOTE_USER_TERMINATED_CONNECTION);
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// Wait a little while for the connection to drop.
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sleep(100);
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}
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microbit_reset();
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}
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@ -387,7 +414,7 @@ int MicroBit::sleep(int milliseconds)
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if(milliseconds < 0)
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return MICROBIT_INVALID_PARAMETER;
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if (flags & MICROBIT_FLAG_SCHEDULER_RUNNING)
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if (fiber_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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@ -418,7 +445,6 @@ int MicroBit::random(int max)
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{
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uint32_t m, result;
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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_PARAMETER;
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@ -468,7 +494,7 @@ void MicroBit::seedRandom()
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{
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randomValue = 0;
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if(uBit.ble)
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if(ble)
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{
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// If Bluetooth is enabled, we need to go through the Nordic software to safely do this.
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uint32_t result = sd_rand_application_vector_get((uint8_t*)&randomValue, sizeof(randomValue));
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@ -510,42 +536,6 @@ void MicroBit::seedRandom(uint32_t seed)
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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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fiber_flags |= MICROBIT_FLAG_DATA_READY;
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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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fiber_flags &= ~MICROBIT_FLAG_DATA_READY;
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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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* @param component The component to add.
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@ -554,16 +544,7 @@ void MicroBit::systemTasks()
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*/
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int 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 MICROBIT_NO_RESOURCES;
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systemTickComponents[i] = component;
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return MICROBIT_OK;
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return fiber_add_system_component(component);
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}
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/**
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@ -574,17 +555,7 @@ int MicroBit::addSystemComponent(MicroBitComponent *component)
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*/
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int 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 MICROBIT_INVALID_PARAMETER;
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systemTickComponents[i] = NULL;
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return MICROBIT_OK;
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return fiber_remove_system_component(component);
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}
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/**
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@ -595,17 +566,7 @@ int MicroBit::removeSystemComponent(MicroBitComponent *component)
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*/
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int 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 MICROBIT_NO_RESOURCES;
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idleThreadComponents[i] = component;
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return MICROBIT_OK;
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return fiber_add_idle_component(component);
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}
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/**
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@ -616,47 +577,9 @@ int MicroBit::addIdleComponent(MicroBitComponent *component)
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*/
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int MicroBit::removeIdleComponent(MicroBitComponent *component)
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{
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int i = 0;
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while(idleThreadComponents[i] != component && i < MICROBIT_IDLE_COMPONENTS)
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i++;
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if(i == MICROBIT_IDLE_COMPONENTS)
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return MICROBIT_INVALID_PARAMETER;
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idleThreadComponents[i] = NULL;
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|
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return MICROBIT_OK;
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|
|
return fiber_remove_idle_component(component);
|
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|
|
}
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|
|
/*
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|
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* Reconfigures the ticker to the given speed in milliseconds.
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|
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* @param speedMs the speed in milliseconds
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|
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* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMETER is returned if speedUs < 1
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*
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|
|
* @note this will also modify the value that is added to ticks in MiroBitFiber:scheduler_tick()
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|
|
*/
|
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|
|
int MicroBit::setTickPeriod(int speedMs)
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|
|
{
|
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|
|
if(speedMs < 1)
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|
|
return MICROBIT_INVALID_PARAMETER;
|
|
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|
|
uBit.systemTicker.detach();
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|
|
uBit.systemTicker.attach_us(this, &MicroBit::systemTick, speedMs * 1000);
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|
|
tickPeriod = speedMs;
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|
|
return MICROBIT_OK;
|
|
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|
|
}
|
|
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|
|
/*
|
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|
|
* Returns the currently used tick speed in milliseconds
|
|
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|
|
*/
|
|
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|
|
int MicroBit::getTickPeriod()
|
|
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|
|
{
|
|
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|
|
return tickPeriod;
|
|
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|
|
}
|
|
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|
|
/**
|
|
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|
|
* Determine the time since this MicroBit was last reset.
|
|
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|
|
@ -682,12 +605,11 @@ const char *MicroBit::systemVersion()
|
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|
|
}
|
|
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|
|
|
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|
|
/**
|
|
|
|
|
* Triggers a microbit panic where an infinite loop will occur swapping between the panicFace and statusCode if provided.
|
|
|
|
|
*
|
|
|
|
|
* Triggers a microbit panic. All functionality will cease, and a sad face displayed along with an error code.
|
|
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|
|
* @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);
|
|
|
|
|
display.error(statusCode);
|
|
|
|
|
}
|
|
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|
Joe Finney
8 years ago