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Merge branch 'master' into ble-bondtablepurge

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This commit is contained in:
Joe Finney 2016-02-01 22:50:05 +00:00
commit e983b80b0b
18 changed files with 1520 additions and 111 deletions
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23
inc/MESEvents.h
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@ -68,4 +68,27 @@
#define MES_DEVICE_INCOMING_MESSAGE 8
#define MES_DPAD_CONTROLLER_ID 1104
#define MES_DPAD_BUTTON_A_DOWN 1
#define MES_DPAD_BUTTON_A_UP 2
#define MES_DPAD_BUTTON_B_DOWN 3
#define MES_DPAD_BUTTON_B_UP 4
#define MES_DPAD_BUTTON_C_DOWN 5
#define MES_DPAD_BUTTON_C_UP 6
#define MES_DPAD_BUTTON_D_DOWN 7
#define MES_DPAD_BUTTON_D_UP 8
#define MES_DPAD_BUTTON_1_DOWN 9
#define MES_DPAD_BUTTON_1_UP 10
#define MES_DPAD_BUTTON_2_DOWN 11
#define MES_DPAD_BUTTON_2_UP 12
#define MES_DPAD_BUTTON_3_DOWN 13
#define MES_DPAD_BUTTON_3_UP 14
#define MES_DPAD_BUTTON_4_DOWN 15
#define MES_DPAD_BUTTON_4_UP 16
//
// Events that typically use radio broadcast:
//
#define MES_BROADCAST_GENERAL_ID 2000
#endif

28
inc/MicroBit.h
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@ -24,6 +24,7 @@
#include "MicroBitCompass.h"
#include "MicroBitAccelerometer.h"
#include "MicroBitThermometer.h"
#include "MicroBitLightSensor.h"
#include "MicroBitMultiButton.h"
#include "MicroBitSerial.h"
@ -34,6 +35,7 @@
#include "MicroBitMessageBus.h"
#include "MicroBitBLEManager.h"
#include "MicroBitRadio.h"
// MicroBit::flags values
#define MICROBIT_FLAG_SCHEDULER_RUNNING 0x00000001
@ -46,12 +48,14 @@
#define MICROBIT_NAME_CODE_LETTERS 5
// Random number generator
#define NRF51822_RNG_ADDRESS 0x4000D000
#define NRF51822_RNG_ADDRESS 0x4000D000
// mbed pin assignments of core components.
#define MICROBIT_PIN_SDA P0_30
#define MICROBIT_PIN_SCL P0_0
#define MICROBIT_PIN_SDA P0_30
#define MICROBIT_PIN_SCL P0_0
#define MICROBIT_DEFAULT_TICK_PERIOD FIBER_TICK_PERIOD_MS
/**
* Class definition for a MicroBit device.
@ -65,6 +69,8 @@ class MicroBit
void compassCalibrator(MicroBitEvent e);
uint32_t randomValue;
//the current tick period in MS
int tickPeriod;
public:
@ -103,6 +109,7 @@ class MicroBit
// Bluetooth related member variables.
MicroBitBLEManager bleManager;
MicroBitRadio radio;
BLEDevice *ble;
/**
@ -259,6 +266,21 @@ class MicroBit
*/
int removeIdleComponent(MicroBitComponent *component);
/*
* Reconfigures the ticker to the given speed in milliseconds.
* @param speedMs the speed in milliseconds
* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMETER is returned if speedUs < 1
*
* @note this will also modify the value that is added to ticks in MiroBitFiber:scheduler_tick()
*/
int setTickPeriod(int speedMs);
/*
* Returns the currently used tick speed in milliseconds
*/
int getTickPeriod();
/**
* Determine the time since this MicroBit was last reset.
*

5
inc/MicroBitBLEManager.h
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@ -39,6 +39,11 @@
#define MICROBIT_BLE_PAIR_SUCCESSFUL 0x08
#define MICROBIT_BLE_PAIRING_TIMEOUT 90
#define MICROBIT_BLE_POWER_LEVELS 8
#define MICROBIT_BLE_MAXIMUM_BONDS 4
#define MICROBIT_BLE_ENABLE_BONDING true
#define MICROBIT_BLE_REQUIRE_MITM true
extern const int8_t MICROBIT_BLE_POWER_LEVEL[];
/**
* Class definition for the MicroBitBLEManager.

2
inc/MicroBitComponent.h
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@ -44,6 +44,8 @@
#define MICROBIT_ID_GESTURE 27 // Gesture events
#define MICROBIT_ID_THERMOMETER 28
#define MICROBIT_ID_RADIO 29
#define MICROBIT_ID_RADIO_DATA_READY 30
#define MICROBIT_ID_NOTIFY 1023 // Notfication channel, for general purpose synchronisation
#define MICROBIT_ID_NOTIFY_ONE 1022 // Notfication channel, for general purpose synchronisation

43
inc/MicroBitDisplay.h
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@ -1,17 +1,12 @@
#ifndef MICROBIT_DISPLAY_H
#define MICROBIT_DISPLAY_H
/**
* Core Configuration settings.
*/
#define MICROBIT_DISPLAY_REFRESH_PERIOD ((float)FIBER_TICK_PERIOD_MS / (float)1000)
/**
* MessageBus Event Codes
*/
#define MICROBIT_DISPLAY_EVT_ANIMATION_COMPLETE 1
#define MICROBIT_DISPLAY_EVT_FREE 2
#define MICROBIT_DISPLAY_EVT_LIGHT_SENSE 4
/**
* I/O configurations for common devices.
@ -43,6 +38,7 @@
#define MICROBIT_DISPLAY_COLUMN_COUNT 9
#define MICROBIT_DISPLAY_COLUMN_PINS P0_4, P0_5, P0_6, P0_7, P0_8, P0_9, P0_10, P0_11, P0_12
#define MICROBIT_DISPLAY_COLUMN_START P0_4
#define MICROBIT_DISPLAY_ROW_START P0_13
#endif
//
@ -55,6 +51,8 @@
#define MICROBIT_DISPLAY_GREYSCALE_BIT_DEPTH 8
#define MICROBIT_DISPLAY_ANIMATE_DEFAULT_POS -255
#define MICROBIT_DISPLAY_ROW_RESET 0x20
#include "mbed.h"
#include "ManagedString.h"
#include "MicroBitComponent.h"
@ -73,7 +71,8 @@ enum AnimationMode {
enum DisplayMode {
DISPLAY_MODE_BLACK_AND_WHITE,
DISPLAY_MODE_GREYSCALE
DISPLAY_MODE_GREYSCALE,
DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE
};
enum DisplayRotation {
@ -161,6 +160,9 @@ class MicroBitDisplay : public MicroBitComponent
// The number of pixels the image is shifted on the display in each quantum.
int8_t scrollingImageStride;
// A pointer to an instance of light sensor, if in use
MicroBitLightSensor* lightSensor;
// Flag to indicate if image has been rendered to screen yet (or not)
bool scrollingImageRendered;
@ -185,6 +187,12 @@ class MicroBitDisplay : public MicroBitComponent
*/
void render();
/**
* Renders the current image, and drops the fourth frame to allow for
* sensors that require the display to operate.
*/
void renderWithLightSense();
/**
* Translates a bit mask into a timer interrupt that gives the appearence of greyscale.
*/
@ -473,7 +481,7 @@ 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)
* @param mode The mode to swap the display into. (can be either DISPLAY_MODE_GREYSCALE, DISPLAY_MODE_BLACK_AND_WHITE, DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE)
*
* Example:
* @code
@ -482,6 +490,12 @@ public:
*/
void setDisplayMode(DisplayMode mode);
/**
* Gets the mode of the display.
* @return the current mode of the display
*/
int getDisplayMode();
/**
* Fetches the current brightness of this display.
* @return the brightness of this display, in the range 0..255.
@ -563,6 +577,19 @@ public:
*/
MicroBitImage screenShot();
/**
* Constructs an instance of a MicroBitLightSensor if not already configured
* and sets the display mode to DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE.
*
* This also changes the tickPeriod to MICROBIT_LIGHT_SENSOR_TICK_SPEED so
* that the display does not suffer from artifacts.
*
* @note this will return 0 on the first call to this method, a light reading
* will be available after the display has activated the light sensor for the
* first time.
*/
int readLightLevel();
/**
* Destructor for MicroBitDisplay, so that we deregister ourselves as a systemComponent
*/

104
inc/MicroBitLightSensor.h Normal file
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@ -0,0 +1,104 @@
#ifndef MICROBIT_LIGHT_SENSOR_H
#define MICROBIT_LIGHT_SENSOR_H
#include "mbed.h"
#include "MicroBitComponent.h"
#define MICROBIT_LIGHT_SENSOR_CHAN_NUM 3
#define MICROBIT_LIGHT_SENSOR_AN_SET_TIME 4000
#define MICROBIT_LIGHT_SENSOR_TICK_PERIOD 5
#define MICROBIT_LIGHT_SENSOR_MAX_VALUE 338
#define MICROBIT_LIGHT_SENSOR_MIN_VALUE 75
/**
* Class definition for MicroBitLightSensor.
*
* This is an object that interleaves light sensing with uBit.display.
*/
class MicroBitLightSensor
{
//contains the results from each section of the display
int results[MICROBIT_LIGHT_SENSOR_CHAN_NUM] = { 0 };
//holds the current channel (also used to index the results array)
uint8_t chan;
//a Timeout which triggers our analogReady() call
Timeout analogTrigger;
//a pointer the currently sensed pin, represented as an AnalogIn
AnalogIn* sensePin;
/**
* After the startSensing method has been called, this method will be called
* MICROBIT_LIGHT_SENSOR_AN_SET_TIME after.
*
* It will then read from the currently selected channel using the AnalogIn
* that was configured in the startSensing method.
*/
void analogReady();
/**
* Forcibly disables the AnalogIn, otherwise it will remain in possession
* of the GPIO channel it is using, meaning that the display will not be
* able to use a channel (COL).
*
* This is required as per PAN 3, details of which can be found here:
*
* https://www.nordicsemi.com/eng/nordic/download_resource/24634/5/88440387
*/
void analogDisable();
/**
* The method that is invoked by sending MICROBIT_DISPLAY_EVT_LIGHT_SENSE
* using the id MICROBIT_ID_DISPLAY.
*
* If you want to manually trigger this method, you should use the event bus.
*/
void startSensing(MicroBitEvent);
public:
/**
* Constructor.
* Create a representation of the light sensor
*/
MicroBitLightSensor();
/**
* This method returns a summed average of the three sections of the display.
*
* A section is defined as:
* ___________________
* | 1 | | 2 | | 3 |
* |___|___|___|___|___|
* | | | | | |
* |___|___|___|___|___|
* | 2 | | 3 | | 1 |
* |___|___|___|___|___|
* | | | | | |
* |___|___|___|___|___|
* | 3 | | 1 | | 2 |
* |___|___|___|___|___|
*
* Where each number represents a different section on the 5 x 5 matrix display.
*
* @return returns a value in the range 0 - 100 where 0 is dark, and 100
* is very bright
*
* @note currently returns a value in the range 0 - 100 where 0 is dark, and 100
* is very bright perhaps we should normalise the returned values into an SI unit!
* TODO.
*/
int read();
/**
* The destructor restores the default Display Mode and tick speed, and also
* removes the listener from the MessageBus.
*/
~MicroBitLightSensor();
};
#endif

174
inc/MicroBitRadio.h Normal file
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@ -0,0 +1,174 @@
#ifndef MICROBIT_RADIO_H
#define MICROBIT_RADIO_H
#include "mbed.h"
/**
* Provides a simple broadcast radio abstraction, built upon the raw nrf51822 RADIO module.
*
* The nrf51822 RADIO module supports a number of proprietary modes of operation in addition to the typical BLE usage.
* This class uses one of these modes to enable simple, point to multipoint communication directly between micro:bits.
*
* TODO: The protocols implemented here do not currently perform any significant form of energy management,
* which means that they will consume far more energy than their BLE equivalent. Later versions of the protocol
* should look to address this through energy efficient broadcast techniques / sleep scheduling. In particular, the GLOSSY
* approach to efficienct rebroadcast and network synchronisation would likely provide an effective future step.
*
* TODO: Meshing should also be considered - again a GLOSSY approach may be effective here, and highly complementary to
* the master/slave arachitecture of BLE.
*
* TODO: This implementation only operates whilst the BLE stack is disabled. The nrf51822 provides a timeslot API to allow
* BLE to cohabit with other protocols. Future work to allow this colocation would be benefical, and would also allow for the
* creation of wireless BLE bridges.
*
* NOTE: This API does not contain any form of encryption, authentication or authorization. It's purpose is solely for use as a
* teaching aid to demonstrate how simple communications operates, and to provide a sandpit through which learning can take place.
* For serious applications, BLE should be considered a substantially more secure alternative.
*/
// Status Flags
#define MICROBIT_RADIO_STATUS_INITIALISED 0x0001
// Default configuration values
#define MICROBIT_RADIO_BASE_ADDRESS 0x75626974
#define MICROBIT_RADIO_DEFAULT_GROUP 0
#define MICROBIT_RADIO_DEFAULT_TX_POWER 6
#define MICROBIT_RADIO_DEFAULT_FREQUENCY 7
#define MICROBIT_RADIO_MAX_PACKET_SIZE 32
#define MICROBIT_RADIO_HEADER_SIZE 4
#define MICROBIT_RADIO_MAXIMUM_RX_BUFFERS 4
// Known Protocol Numbers
#define MICROBIT_RADIO_PROTOCOL_DATAGRAM 1 // A simple, single frame datagram. a little like UDP but with smaller packets. :-)
#define MICROBIT_RADIO_PROTOCOL_EVENTBUS 2 // Transparent propogation of events from one micro:bit to another.
// Events
#define MICROBIT_RADIO_EVT_DATAGRAM 1 // Event to signal that a new datagram has been received.
struct PacketBuffer
{
uint8_t length; // The length of the remaining bytes in the packet. includes protocol/version/group fields, excluding the length field itself.
uint8_t version; // Protocol version code.
uint8_t group; // ID of the group to which this packet belongs.
uint8_t protocol; // Inner protocol number c.f. those issued by IANA for IP protocols
uint8_t payload[MICROBIT_RADIO_MAX_PACKET_SIZE]; // User / higher layer protocol data
PacketBuffer *next; // Linkage, to allow this and other protocols to queue packets pending processing.
};
#include "MicroBitRadioDatagram.h"
#include "MicroBitRadioEvent.h"
class MicroBitRadio : MicroBitComponent
{
uint8_t group; // The radio group to which this micro:bit belongs.
uint8_t queueDepth; // The number of packets in the receiver queue.
PacketBuffer *rxQueue; // A linear list of incoming packets, queued awaiting processing.
PacketBuffer *rxBuf; // A pointer to the buffer being actively used by the RADIO hardware.
public:
MicroBitRadioDatagram datagram; // A simple datagram service.
MicroBitRadioEvent event; // A simple event handling service.
static MicroBitRadio *instance; // A singleton reference, used purely by the interrupt service routine.
/**
* Constructor.
*
* Initialise the MicroBitRadio. Note that this class is demand activated, so most resources are only
* committed if send/recv or event registrations calls are made.
*/
MicroBitRadio(uint16_t id);
/**
* Change the output power level of the transmitter to the given value.
*
* @param power a value in the range 0..7, where 0 is the lowest power and 7 is the highest.
* @return MICROBIT_OK on success, or MICROBIT_INVALID_PARAMETER if the value is out of range.
*
*/
int setTransmitPower(int power);
/**
* Change the transmission and reception band of the radio to the given channel
*
* @param band a frequency band in the range 0 - 100. Each step is 1MHz wide, based at 2400MHz.
* @return MICROBIT_OK on success, or MICROBIT_INVALID_PARAMETER if the value is out of range,
* or MICROBIT_NOT_SUPPORTED if the BLE stack is running.
*
*/
int setFrequencyBand(int band);
/**
* Retrieve a pointer to the currently allocated recieve buffer. This is the area of memory
* actively being used by the radio hardware to store incoming data.
*
* @return a pointer to the current receive buffer
*/
PacketBuffer* getRxBuf();
/**
* Attempt to queue a buffer received by the radio hardware, if sufficient space is available.
*
* @return MICROBIT_OK on success, or MICROBIT_NO_RESOURCES if a replacement receiver buffer
* could not be allocated (either by policy or memory exhaustion).
*/
int queueRxBuf();
/**
* Initialises the radio for use as a multipoint sender/receiver
* @return MICROBIT_OK on success, MICROBIT_NOT_SUPPORTED if SoftDevice is enabled.
*/
int enable();
/**
* Disables the radio for use as a multipoint sender/receiver.
* @return MICROBIT_OK on success, MICROBIT_NOT_SUPPORTED if SoftDevice is enabled.
*/
int disable();
/**
* Sets the radio to listen to packets sent with the given group id.
*
* @param group The group to join. A micro:bit can only listen to one group ID at any time.
* @return MICROBIT_OK on success, or MICROBIT_NOT_SUPPORTED if the BLE stack is running.
*/
int setGroup(uint8_t group);
/**
* A background, low priority callback that is triggered whenever the processor is idle.
* Here, we empty our queue of received packets, and pass them onto higher level protocol handlers.
*
* We provide optimised handling of well known, simple protocols and events on the MicroBitMessageBus
* to provide extensibility to other protocols that may be written in the future.
*/
virtual void idleTick();
/**
* Determines the number of packets ready to be processed.
* @return The number of packets in the receive buffer.
*/
int dataReady();
/**
* Retrieves the next packet from the receive buffer.
* If a data packet is available, then it will be returned immediately to
* the caller. This call will also dequeue the buffer.
*
* NOTE: Once recv() has been called, it is the callers resposibility to
* delete the buffer when appropriate.
*
* @return The buffer containing the the packet. If no data is available, NULL is returned.
*/
PacketBuffer* recv();
/**
* Transmits the given buffer onto the broadcast radio.
* The call will wait until the transmission of the packet has completed before returning.
*
* @param data The packet contents to transmit.
* @return MICROBIT_OK on success, or MICROBIT_NOT_SUPPORTED if the BLE stack is running.
*/
int send(PacketBuffer *buffer);
};
#endif

77
inc/MicroBitRadioDatagram.h Normal file
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@ -0,0 +1,77 @@
#ifndef MICROBIT_RADIO_DATAGRAM_H
#define MICROBIT_RADIO_DATAGRAM_H
#include "mbed.h"
#include "MicroBitRadio.h"
/**
* Provides a simple broadcast radio abstraction, built upon the raw nrf51822 RADIO module.
*
* This class provides the ability to broadcast simple text or binary messages to other micro:bits in the vicinity
* It is envisaged that this would provide the basis for children to experiment with building their own, simple,
* custom protocols.
*
* NOTE: This API does not contain any form of encryption, authentication or authorisation. Its purpose is solely for use as a
* teaching aid to demonstrate how simple communications operates, and to provide a sandpit through which learning can take place.
* For serious applications, BLE should be considered a substantially more secure alternative.
*/
class MicroBitRadioDatagram
{
PacketBuffer *rxQueue; // A linear list of incoming packets, queued awaiting processing.
public:
/**
* Constructor.
*/
MicroBitRadioDatagram();
/**
* Retreives packet payload data into the given buffer.
* If a data packet is already available, then it will be returned immediately to the caller.
* If no data is available the EmptyString is returned, then MICROBIT_INVALID_PARAMETER is returned.
*
* @param buf A pointer to a valid memory location where the received data is to be stored.
* @param len The maximum amount of data that can safely be stored in 'buf'
*
* @return The length of the data stored, or MICROBIT_INVALID_PARAMETER if no data is available, or the memory regions provided are invalid.
*/
int recv(uint8_t *buf, int len);
/**
* Retreives packet payload data into the given buffer.
* If a data packet is already available, then it will be returned immediately to the caller,
* in the form of a string. If no data is available the EmptyString is returned.
*
* @return the data received, or the EmptyString if no data is available.
*/
ManagedString recv();
/**
* Transmits the given buffer onto the broadcast radio.
* The call will wait until the transmission of the packet has completed before returning.
*
* @param buffer The packet contents to transmit.
* @param len The number of bytes to transmit.
* @return MICROBIT_OK on success.
*/
int send(uint8_t *buffer, int len);
/**
* Transmits the given string onto the broadcast radio.
* The call will wait until the transmission of the packet has completed before returning.
*
* @param data The packet contents to transmit.
* @return MICROBIT_OK on success.
*/
int send(ManagedString data);
/**
* Protocol handler callback. This is called when the radio receives a packet marked as a datagram.
* This function process this packet, and queues it for user reception.
*/
void packetReceived();
};
#endif

67
inc/MicroBitRadioEvent.h Normal file
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@ -0,0 +1,67 @@
#ifndef MICROBIT_RADIO_EVENT_H
#define MICROBIT_RADIO_EVENT_H
#include "mbed.h"
#include "MicroBitRadio.h"
/**
* Provides a simple broadcast radio abstraction, built upon the raw nrf51822 RADIO module.
*
* This class provides the ability to extend the micro:bit's MessageBus to other micro:bits in the vicinity,
* in a very similar way to the MicroBitEventService for BLE interfaces.
* It is envisaged that this would provide the basis for children to experiment with building their own, simple,
* custom asynchronous events and actions.
*
* NOTE: This API does not contain any form of encryption, authentication or authorisation. Its purpose is solely for use as a
* teaching aid to demonstrate how simple communications operates, and to provide a sandpit through which learning can take place.
* For serious applications, BLE should be considered a substantially more secure alternative.
*/
class MicroBitRadioEvent
{
bool suppressForwarding; // A private flag used to prevent event forwarding loops.
public:
/**
* Constructor.
*/
MicroBitRadioEvent();
/**
* Associates the given MessageBus events with the radio channel.
* Once registered, all events matching the given registration sent to this micro:bit's
* MessageBus will be automatically retrasmitted on the radio.
*
* @param id The ID of the events to register.
* @param value the VALUE of the event to register. use MICROBIT_EVT_ANY for all event values matching the given ID.
*
* @return MICROBIT_OK on success.
*/
int listen(uint16_t id, uint16_t value);
/**
* Disassociates the given MessageBus events with the radio channel.
*
* @param id The ID of the events to deregister.
* @param value the VALUE of the event to deregister. use MICROBIT_EVT_ANY for all event values matching the given ID.
*
* @return MICROBIT_OK on success.
*/
int ignore(uint16_t id, uint16_t value);
/**
* Protocol handler callback. This is called when the radio receives a packet marked as using the event protocol.
* This function process this packet, and fires the event contained inside onto the local MessageBus.
*/
void packetReceived();
/**
* Event handler callback. This is called whenever an event is received matching one of those registered through
* the registerEvent() method described above. Upon receiving such an event, it is wrapped into
* a radio packet and transmitted to any othe rmicro:bits in the same group.
*/
void eventReceived(MicroBitEvent e);
};
#endif

4
source/CMakeLists.txt
View file

@ -29,6 +29,7 @@ set(YOTTA_AUTO_MICROBIT-DAL_CPP_FILES
"MicroBitSerial.cpp"
"MicroBitHeapAllocator.cpp"
"MicroBitListener.cpp"
"MicroBitLightSensor.cpp"
"RefCounted.cpp"
"MemberFunctionCallback.cpp"
"ble-services/MicroBitBLEManager.cpp"
@ -40,6 +41,9 @@ set(YOTTA_AUTO_MICROBIT-DAL_CPP_FILES
"ble-services/MicroBitButtonService.cpp"
"ble-services/MicroBitIOPinService.cpp"
"ble-services/MicroBitTemperatureService.cpp"
"ble-services/MicroBitRadio.cpp"
"ble-services/MicroBitRadioDatagram.cpp"
"ble-services/MicroBitRadioEvent.cpp"
)
execute_process(WORKING_DIRECTORY "../../yotta_modules/${PROJECT_NAME}" COMMAND "git" "log" "--pretty=format:%h" "-n" "1" OUTPUT_VARIABLE git_hash)

36
source/MicroBit.cpp
View file

@ -1,4 +1,4 @@
/*
/*
* The underlying Nordic libraries that support BLE do not compile cleanly with the stringent GCC settings we employ
* If we're compiling under GCC, then we suppress any warnings generated from this code (but not the rest of the DAL)
* The ARM cc compiler is more tolerant. We don't test __GNUC__ here to detect GCC as ARMCC also typically sets this
@ -105,6 +105,7 @@ MicroBit::MicroBit() :
MICROBIT_ID_IO_P15,MICROBIT_ID_IO_P16,MICROBIT_ID_IO_P19,
MICROBIT_ID_IO_P20),
bleManager(),
radio(MICROBIT_ID_RADIO),
ble(NULL)
{
}
@ -133,8 +134,10 @@ void MicroBit::init()
// Seed our random number generator
seedRandom();
tickPeriod = MICROBIT_DEFAULT_TICK_PERIOD;
// Start refreshing the Matrix Display
systemTicker.attach(this, &MicroBit::systemTick, MICROBIT_DISPLAY_REFRESH_PERIOD);
systemTicker.attach_us(this, &MicroBit::systemTick, tickPeriod * 1000);
// Register our compass calibration algorithm.
MessageBus.listen(MICROBIT_ID_COMPASS, MICROBIT_COMPASS_EVT_CALIBRATE, this, &MicroBit::compassCalibrator, MESSAGE_BUS_LISTENER_IMMEDIATE);
@ -608,6 +611,35 @@ int MicroBit::removeIdleComponent(MicroBitComponent *component)
return MICROBIT_OK;
}
/*
* Reconfigures the ticker to the given speed in milliseconds.
* @param speedMs the speed in milliseconds
* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMETER is returned if speedUs < 1
*
* @note this will also modify the value that is added to ticks in MiroBitFiber:scheduler_tick()
*/
int MicroBit::setTickPeriod(int speedMs)
{
if(speedMs < 1)
return MICROBIT_INVALID_PARAMETER;
uBit.systemTicker.detach();
uBit.systemTicker.attach_us(this, &MicroBit::systemTick, speedMs * 1000);
tickPeriod = speedMs;
return MICROBIT_OK;
}
/*
* Returns the currently used tick speed in milliseconds
*/
int MicroBit::getTickPeriod()
{
return tickPeriod;
}
/**
* Determine the time since this MicroBit was last reset.
*

94
source/MicroBitDisplay.cpp
View file

@ -34,7 +34,7 @@ MicroBitDisplay::MicroBitDisplay(uint16_t id, uint8_t x, uint8_t y) :
this->width = x;
this->height = y;
this->strobeRow = 0;
this->strobeBitMsk = 0x20;
this->strobeBitMsk = MICROBIT_DISPLAY_ROW_RESET;
this->rotation = MICROBIT_DISPLAY_ROTATION_0;
this->greyscaleBitMsk = 0x01;
this->timingCount = 0;
@ -44,6 +44,8 @@ MicroBitDisplay::MicroBitDisplay(uint16_t id, uint8_t x, uint8_t y) :
this->mode = DISPLAY_MODE_BLACK_AND_WHITE;
this->animationMode = ANIMATION_MODE_NONE;
this->lightSensor = NULL;
uBit.flags |= MICROBIT_FLAG_DISPLAY_RUNNING;
}
@ -58,6 +60,12 @@ void MicroBitDisplay::systemTick()
if(!(uBit.flags & MICROBIT_FLAG_DISPLAY_RUNNING))
return;
if(mode == DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE)
{
renderWithLightSense();
return;
}
// Move on to the next row.
strobeBitMsk <<= 1;
strobeRow++;
@ -65,7 +73,7 @@ void MicroBitDisplay::systemTick()
//reset the row counts and bit mask when we have hit the max.
if(strobeRow == MICROBIT_DISPLAY_ROW_COUNT){
strobeRow = 0;
strobeBitMsk = 0x20;
strobeBitMsk = MICROBIT_DISPLAY_ROW_RESET;
}
if(mode == DISPLAY_MODE_BLACK_AND_WHITE)
@ -139,13 +147,37 @@ void MicroBitDisplay::render()
//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);
renderTimer.attach_us(this, &MicroBitDisplay::renderFinish, (((brightness * 100) / (MICROBIT_DISPLAY_MAXIMUM_BRIGHTNESS)) * uBit.getTickPeriod()));
//this will take around 23us to execute
if(brightness <= MICROBIT_DISPLAY_MINIMUM_BRIGHTNESS)
renderFinish();
}
void MicroBitDisplay::renderWithLightSense()
{
//reset the row counts and bit mask when we have hit the max.
if(strobeRow == MICROBIT_DISPLAY_ROW_COUNT + 1)
{
MicroBitEvent(id, MICROBIT_DISPLAY_EVT_LIGHT_SENSE);
strobeRow = 0;
strobeBitMsk = MICROBIT_DISPLAY_ROW_RESET;
}
else
{
render();
this->animationUpdate();
// Move on to the next row.
strobeBitMsk <<= 1;
strobeRow++;
}
}
void MicroBitDisplay::renderGreyscale()
{
int coldata = 0;
@ -883,7 +915,7 @@ int MicroBitDisplay::setBrightness(int b)
/**
* 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)
* @param mode The mode to swap the display into. (can be either DISPLAY_MODE_GREYSCALE, DISPLAY_MODE_BLACK_AND_WHITE, DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE)
*
* Example:
* @code
@ -892,9 +924,37 @@ int MicroBitDisplay::setBrightness(int b)
*/
void MicroBitDisplay::setDisplayMode(DisplayMode mode)
{
if(mode == DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE)
{
//to reduce the artifacts on the display - increase the tick
if(uBit.getTickPeriod() != MICROBIT_LIGHT_SENSOR_TICK_PERIOD)
uBit.setTickPeriod(MICROBIT_LIGHT_SENSOR_TICK_PERIOD);
}
if(this->mode == DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE && mode != DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE)
{
//if we previously were in light sense mode - return to our default.
if(uBit.getTickPeriod() != MICROBIT_DEFAULT_TICK_PERIOD)
uBit.setTickPeriod(MICROBIT_DEFAULT_TICK_PERIOD);
delete this->lightSensor;
this->lightSensor = NULL;
}
this->mode = mode;
}
/**
* Gets the mode of the display.
* @return the current mode of the display
*/
int MicroBitDisplay::getDisplayMode()
{
return this->mode;
}
/**
* Fetches the current brightness of this display.
* @return the brightness of this display, in the range 0..255.
@ -992,7 +1052,7 @@ void MicroBitDisplay::error(int statusCode)
disable(); //relinquish PWMOut's control
uint8_t strobeRow = 0;
uint8_t strobeBitMsk = 0x20;
uint8_t strobeBitMsk = MICROBIT_DISPLAY_ROW_RESET;
//point to the font stored in Flash
const unsigned char * fontLocation = MicroBitFont::defaultFont;
@ -1019,7 +1079,7 @@ void MicroBitDisplay::error(int statusCode)
if(strobeRow == 3)
{
strobeRow = 0;
strobeBitMsk = 0x20;
strobeBitMsk = MICROBIT_DISPLAY_ROW_RESET;
}
// Calculate the bitpattern to write.
@ -1087,6 +1147,28 @@ MicroBitImage MicroBitDisplay::screenShot()
return image.crop(0,0,MICROBIT_DISPLAY_WIDTH,MICROBIT_DISPLAY_HEIGHT);
}
/**
* Constructs an instance of a MicroBitLightSensor if not already configured
* and sets the display mode to DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE.
*
* This also changes the tickPeriod to MICROBIT_LIGHT_SENSOR_TICK_SPEED so
* that the display does not suffer from artifacts.
*
* @note this will return 0 on the first call to this method, a light reading
* will be available after the display has activated the light sensor for the
* first time.
*/
int MicroBitDisplay::readLightLevel()
{
if(mode != DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE)
{
setDisplayMode(DISPLAY_MODE_BLACK_AND_WHITE_LIGHT_SENSE);
this->lightSensor = new MicroBitLightSensor();
}
return this->lightSensor->read();
}
/**
* Destructor for MicroBitDisplay, so that we deregister ourselves as a systemComponent
*/

172
source/MicroBitFiber.cpp
View file

@ -6,7 +6,7 @@
* 1) To provide a clean abstraction for application languages to use when building async behaviour (callbacks).
* 2) To provide ISR decoupling for Messagebus events generted in an ISR context.
*/
#include "MicroBit.h"
/*
@ -37,7 +37,7 @@ unsigned long ticks = 0;
uint8_t fiber_flags = 0;
/**
* Utility function to add the currenty running fiber to the given queue.
* Utility function to add the currenty running fiber to the given queue.
* Perform a simple add at the head, to avoid complexity,
* Queues are normally very short, so maintaining a doubly linked, sorted list typically outweighs the cost of
* brute force searching.
@ -62,7 +62,7 @@ void queue_fiber(Fiber *f, Fiber **queue)
}
else
{
// Scan to the end of the queue.
// Scan to the end of the queue.
// We don't maintain a tail pointer to save RAM (queues are nrmally very short).
Fiber *last = *queue;
@ -78,7 +78,7 @@ void queue_fiber(Fiber *f, Fiber **queue)
}
/**
* Utility function to the given fiber from whichever queue it is currently stored on.
* Utility function to the given fiber from whichever queue it is currently stored on.
* @param f the fiber to remove.
*/
void dequeue_fiber(Fiber *f)
@ -87,34 +87,34 @@ void dequeue_fiber(Fiber *f)
if (f->queue == NULL)
return;
// Remove this fiber fromm whichever queue it is on.
// Remove this fiber fromm whichever queue it is on.
__disable_irq();
if (f->prev != NULL)
f->prev->next = f->next;
else
*(f->queue) = f->next;
if(f->next)
f->next->prev = f->prev;
f->next = NULL;
f->prev = NULL;
f->queue = NULL;
__enable_irq();
}
/**
* Allocates a fiber from the fiber pool if availiable. Otherwise, allocates a new one from the heap.
*/
*/
Fiber *getFiberContext()
{
Fiber *f;
__disable_irq();
if (fiberPool != NULL)
{
f = fiberPool;
@ -124,17 +124,17 @@ Fiber *getFiberContext()
else
{
__enable_irq();
f = new Fiber();
if (f == NULL)
return NULL;
f->stack_bottom = 0;
f->stack_top = 0;
}
// Ensure this fiber is in suitable state for reuse.
}
// Ensure this fiber is in suitable state for reuse.
f->flags = 0;
f->tcb.stack_base = CORTEX_M0_STACK_BASE;
@ -143,7 +143,7 @@ Fiber *getFiberContext()
/**
* Initialises the Fiber scheduler.
* Initialises the Fiber scheduler.
* Creates a Fiber context around the calling thread, and adds it to the run queue as the current thread.
*
* This function must be called once only from the main thread, and before any other Fiber operation.
@ -152,14 +152,14 @@ void scheduler_init()
{
// Create a new fiber context
currentFiber = getFiberContext();
// Add ourselves to the run queue.
queue_fiber(currentFiber, &runQueue);
// Create the IDLE fiber.
// Configure the fiber to directly enter the idle task.
idleFiber = getFiberContext();
idleFiber->tcb.SP = CORTEX_M0_STACK_BASE - 0x04;
idleFiber->tcb.SP = CORTEX_M0_STACK_BASE - 0x04;
idleFiber->tcb.LR = (uint32_t) &idle_task;
// Register to receive events in the NOTIFY channel - this is used to implement wait-notify semantics
@ -172,36 +172,36 @@ void scheduler_init()
/**
* Timer callback. Called from interrupt context, once every FIBER_TICK_PERIOD_MS milliseconds.
* Simply checks to determine if any fibers blocked on the sleep queue need to be woken up
* Simply checks to determine if any fibers blocked on the sleep queue need to be woken up
* and made runnable.
*/
void scheduler_tick()
{
Fiber *f = sleepQueue;
Fiber *t;
// increment our real-time counter.
ticks += FIBER_TICK_PERIOD_MS;
ticks += uBit.getTickPeriod();
// Check the sleep queue, and wake up any fibers as necessary.
while (f != NULL)
{
t = f->next;
t = f->next;
if (ticks >= f->context)
{
// Wakey wakey!
dequeue_fiber(f);
queue_fiber(f,&runQueue);
}
f = t;
}
}
/**
* Event callback. Called from the message bus whenever an event is raised.
* Checks to determine if any fibers blocked on the wait queue need to be woken up
* Event callback. Called from the message bus whenever an event is raised.
* Checks to determine if any fibers blocked on the wait queue need to be woken up
* and made runnable due to the event.
*/
void scheduler_event(MicroBitEvent evt)
@ -209,20 +209,20 @@ void scheduler_event(MicroBitEvent evt)
Fiber *f = waitQueue;
Fiber *t;
int notifyOneComplete = 0;
// Check the wait queue, and wake up any fibers as necessary.
while (f != NULL)
{
t = f->next;
// extract the event data this fiber is blocked on.
t = f->next;
// extract the event data this fiber is blocked on.
uint16_t id = f->context & 0xFFFF;
uint16_t value = (f->context & 0xFFFF0000) >> 16;
// Special case for the NOTIFY_ONE channel...
if ((evt.source == MICROBIT_ID_NOTIFY_ONE && id == MICROBIT_ID_NOTIFY) && (value == MICROBIT_EVT_ANY || value == evt.value))
{
if (!notifyOneComplete)
if (!notifyOneComplete)
{
// Wakey wakey!
dequeue_fiber(f);
@ -238,7 +238,7 @@ void scheduler_event(MicroBitEvent evt)
dequeue_fiber(f);
queue_fiber(f,&runQueue);
}
f = t;
}
@ -250,9 +250,9 @@ void scheduler_event(MicroBitEvent evt)
/**
* Blocks the calling thread for the given period of time.
* The calling thread will be immediatley descheduled, and placed onto a
* wait queue until the requested amount of time has elapsed.
*
* The calling thread will be immediatley descheduled, and placed onto a
* wait queue until the requested amount of time has elapsed.
*
* n.b. the fiber will not be be made runnable until after the elasped time, but there
* are no guarantees precisely when the fiber will next be scheduled.
*
@ -269,8 +269,8 @@ void fiber_sleep(unsigned long t)
// Allocate a new fiber. This will come from the fiber pool if availiable,
// else a new one will be allocated on the heap.
forkedFiber = getFiberContext();
// If we're out of memory, there's nothing we can do.
// If we're out of memory, there's nothing we can do.
// keep running in the context of the current thread as a best effort.
if (forkedFiber != NULL)
f = forkedFiber;
@ -278,22 +278,22 @@ void fiber_sleep(unsigned long t)
// Calculate and store the time we want to wake up.
f->context = ticks + t;
// Remove fiber from the run queue
dequeue_fiber(f);
// Add fiber to the sleep queue. We maintain strict ordering here to reduce lookup times.
queue_fiber(f, &sleepQueue);
// Finally, enter the scheduler.
schedule();
}
/**
* Blocks the calling thread until the specified event is raised.
* The calling thread will be immediatley descheduled, and placed onto a
* The calling thread will be immediatley descheduled, and placed onto a
* wait queue until the requested event is received.
*
*
* n.b. the fiber will not be be made runnable until after the event is raised, but there
* are no guarantees precisely when the fiber will next be scheduled.
*
@ -311,8 +311,8 @@ void fiber_wait_for_event(uint16_t id, uint16_t value)
// Allocate a TCB from the new fiber. This will come from the tread pool if availiable,
// else a new one will be allocated on the heap.
forkedFiber = getFiberContext();
// If we're out of memory, there's nothing we can do.
// If we're out of memory, there's nothing we can do.
// keep running in the context of the current thread as a best effort.
if (forkedFiber != NULL)
f = forkedFiber;
@ -320,13 +320,13 @@ void fiber_wait_for_event(uint16_t id, uint16_t value)
// Encode the event data in the context field. It's handy having a 32 bit core. :-)
f->context = value << 16 | id;
// Remove ourselve from the run queue
dequeue_fiber(f);
// Add ourselves to the sleep queue. We maintain strict ordering here to reduce lookup times.
queue_fiber(f, &waitQueue);
// Register to receive this event, so we can wake up the fiber when it happens.
// Special case for teh notify channel, as we always stay registered for that.
if (id != MICROBIT_ID_NOTIFY && id != MICROBIT_ID_NOTIFY_ONE)
@ -337,16 +337,16 @@ void fiber_wait_for_event(uint16_t id, uint16_t value)
}
/**
* Executes the given function asynchronously.
*
* Executes the given function asynchronously.
*
* Fibers are often used to run event handlers, however many of these event handlers are very simple functions
* that complete very quickly, bringing unecessary RAM overhead.
*
* This function takes a snapshot of the current processor context, then attempts to optimistically call the given function directly.
* We only create an additional fiber if that function performs a block operation.
* This function takes a snapshot of the current processor context, then attempts to optimistically call the given function directly.
* We only create an additional fiber if that function performs a block operation.
*
* @param entry_fn The function to execute.
* @return MICROBIT_OK, or MICROBIT_INVALID_PARAMETER.
* @return MICROBIT_OK, or MICROBIT_INVALID_PARAMETER.
*/
int invoke(void (*entry_fn)(void))
{
@ -361,14 +361,14 @@ int invoke(void (*entry_fn)(void))
create_fiber(entry_fn);
return MICROBIT_OK;
}
// Snapshot current context, but also update the Link Register to
// refer to our calling function.
save_register_context(&currentFiber->tcb);
// If we're here, there are two possibilities:
// 1) We're about to attempt to execute the user code
// 2) We've already tried to execute the code, it blocked, and we've backtracked.
// 2) We've already tried to execute the code, it blocked, and we've backtracked.
// If we're returning from the user function and we forked another fiber then cleanup and exit.
if (currentFiber->flags & MICROBIT_FIBER_FLAG_PARENT)
@ -382,7 +382,7 @@ int invoke(void (*entry_fn)(void))
// execute the function directly. If the code tries to block, we detect this and
// spawn a thread to deal with it.
currentFiber->flags |= MICROBIT_FIBER_FLAG_FOB;
entry_fn();
entry_fn();
currentFiber->flags &= ~MICROBIT_FIBER_FLAG_FOB;
// If this is is an exiting fiber that for spawned to handle a blocking call, recycle it.
@ -394,17 +394,17 @@ int invoke(void (*entry_fn)(void))
}
/**
* Executes the given parameterized function asynchronously.
*
* Executes the given parameterized function asynchronously.
*
* Fibers are often used to run event handlers, however many of these event handlers are very simple functions
* that complete very quickly, bringing unecessary RAM overhead.
*
* This function takes a snapshot of the current processor context, then attempt to optimistically call the given function directly.
* We only create an additional fiber if that function performs a block operation.
* This function takes a snapshot of the current processor context, then attempt to optimistically call the given function directly.
* We only create an additional fiber if that function performs a block operation.
*
* @param entry_fn The function to execute.
* @param param an untyped parameter passed into the entry_fn.
* @return MICROBIT_OK, or MICROBIT_INVALID_PARAMETER.
* @return MICROBIT_OK, or MICROBIT_INVALID_PARAMETER.
*/
int invoke(void (*entry_fn)(void *), void *param)
{
@ -419,14 +419,14 @@ int invoke(void (*entry_fn)(void *), void *param)
create_fiber(entry_fn, param);
return MICROBIT_OK;
}
// Snapshot current context, but also update the Link Register to
// refer to our calling function.
save_register_context(&currentFiber->tcb);
// If we're here, there are two possibilities:
// 1) We're about to attempt to execute the user code
// 2) We've already tried to execute the code, it blocked, and we've backtracked.
// 2) We've already tried to execute the code, it blocked, and we've backtracked.
// If we're returning from the user function and we forked another fiber then cleanup and exit.
if (currentFiber->flags & MICROBIT_FIBER_FLAG_PARENT)
@ -440,7 +440,7 @@ int invoke(void (*entry_fn)(void *), void *param)
// execute the function directly. If the code tries to block, we detect this and
// spawn a thread to deal with it.
currentFiber->flags |= MICROBIT_FIBER_FLAG_FOB;
entry_fn(param);
entry_fn(param);
currentFiber->flags &= ~MICROBIT_FIBER_FLAG_FOB;
// If this is is an exiting fiber that for spawned to handle a blocking call, recycle it.
@ -480,26 +480,26 @@ Fiber *__create_fiber(uint32_t ep, uint32_t cp, uint32_t pm, int parameterised)
// Validate our parameters.
if (ep == 0 || cp == 0)
return NULL;
// Allocate a TCB from the new fiber. This will come from the fiber pool if availiable,
// else a new one will be allocated on the heap.
Fiber *newFiber = getFiberContext();
// If we're out of memory, there's nothing we can do.
if (newFiber == NULL)
return NULL;
newFiber->tcb.R0 = (uint32_t) ep;
newFiber->tcb.R1 = (uint32_t) cp;
newFiber->tcb.R2 = (uint32_t) pm;
// Set the stack and assign the link register to refer to the appropriate entry point wrapper.
newFiber->tcb.SP = CORTEX_M0_STACK_BASE - 0x04;
newFiber->tcb.SP = CORTEX_M0_STACK_BASE - 0x04;
newFiber->tcb.LR = parameterised ? (uint32_t) &launch_new_fiber_param : (uint32_t) &launch_new_fiber;
// Add new fiber to the run queue.
queue_fiber(newFiber, &runQueue);
return newFiber;
}
@ -507,7 +507,7 @@ Fiber *__create_fiber(uint32_t ep, uint32_t cp, uint32_t pm, int parameterised)
* Creates a new Fiber, and launches it.
*
* @param entry_fn The function the new Fiber will begin execution in.
* @param completion_fn The function called when the thread completes execution of entry_fn.
* @param completion_fn The function called when the thread completes execution of entry_fn.
* @return The new Fiber.
*/
Fiber *create_fiber(void (*entry_fn)(void), void (*completion_fn)(void))
@ -521,7 +521,7 @@ Fiber *create_fiber(void (*entry_fn)(void), void (*completion_fn)(void))