298 lines
9.4 KiB
C++
298 lines
9.4 KiB
C++
#ifndef MICROBIT_H
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#define MICROBIT_H
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#include "mbed.h"
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#include "MicroBitConfig.h"
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#include "MicroBitHeapAllocator.h"
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#include "MicroBitPanic.h"
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#include "ErrorNo.h"
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#include "Matrix4.h"
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#include "MicroBitCompat.h"
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#include "MicroBitComponent.h"
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#include "ManagedType.h"
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#include "ManagedString.h"
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#include "MicroBitImage.h"
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#include "MicroBitFont.h"
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#include "MicroBitEvent.h"
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#include "DynamicPwm.h"
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#include "MicroBitI2C.h"
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#include "MESEvents.h"
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#include "MicroBitButton.h"
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#include "MicroBitPin.h"
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#include "MicroBitCompass.h"
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#include "MicroBitAccelerometer.h"
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#include "MicroBitThermometer.h"
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#include "MicroBitMultiButton.h"
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#include "MicroBitSerial.h"
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#include "MicroBitIO.h"
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#include "MicroBitDisplay.h"
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#include "MicroBitFiber.h"
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#include "MicroBitMessageBus.h"
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#include "MicroBitBLEManager.h"
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// MicroBit::flags values
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#define MICROBIT_FLAG_SCHEDULER_RUNNING 0x00000001
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#define MICROBIT_FLAG_ACCELEROMETER_RUNNING 0x00000002
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#define MICROBIT_FLAG_DISPLAY_RUNNING 0x00000004
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#define MICROBIT_FLAG_COMPASS_RUNNING 0x00000008
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// MicroBit naming constants
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#define MICROBIT_NAME_LENGTH 5
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#define MICROBIT_NAME_CODE_LETTERS 5
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// Random number generator
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#define NRF51822_RNG_ADDRESS 0x4000D000
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// mbed pin assignments of core components.
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#define MICROBIT_PIN_SDA P0_30
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#define MICROBIT_PIN_SCL P0_0
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/**
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* Class definition for a MicroBit device.
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*
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* Represents the device as a whole, and includes member variables to that reflect the components of the system.
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*/
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class MicroBit
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{
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private:
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void compassCalibrator(MicroBitEvent e);
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uint32_t randomValue;
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public:
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// Map of device state.
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uint32_t flags;
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// Periodic callback
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Ticker systemTicker;
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// I2C Interface
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MicroBitI2C i2c;
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// Serial Interface
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MicroBitSerial serial;
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// Array of components which are iterated during a system tick
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MicroBitComponent* systemTickComponents[MICROBIT_SYSTEM_COMPONENTS];
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// Array of components which are iterated during idle thread execution, isIdleCallbackNeeded is polled during a systemTick.
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MicroBitComponent* idleThreadComponents[MICROBIT_IDLE_COMPONENTS];
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// Device level Message Bus abstraction
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MicroBitMessageBus MessageBus;
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// Member variables to represent each of the core components on the device.
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MicroBitDisplay display;
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MicroBitButton buttonA;
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MicroBitButton buttonB;
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MicroBitMultiButton buttonAB;
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MicroBitAccelerometer accelerometer;
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MicroBitCompass compass;
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MicroBitThermometer thermometer;
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//An object of available IO pins on the device
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MicroBitIO io;
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// Bluetooth related member variables.
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MicroBitBLEManager bleManager;
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BLEDevice *ble;
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/**
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* Constructor.
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* Create a representation of a MicroBit device as a global singleton.
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* @param messageBus callback function to receive MicroBitMessageBus events.
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*
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* Exposed objects:
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* @code
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* uBit.systemTicker; //the Ticker callback that performs routines like updating the display.
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* uBit.MessageBus; //The message bus where events are fired.
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* uBit.display; //The display object for the LED matrix.
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* uBit.buttonA; //The buttonA object for button a.
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* uBit.buttonB; //The buttonB object for button b.
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* uBit.resetButton; //The resetButton used for soft resets.
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* uBit.accelerometer; //The object that represents the inbuilt accelerometer
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* uBit.compass; //The object that represents the inbuilt compass(magnetometer)
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* uBit.io.P*; //Where P* is P0 to P16, P19 & P20 on the edge connector
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* @endcode
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*/
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MicroBit();
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/**
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* Post constructor initialisation method.
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* After *MUCH* pain, it's noted that the BLE stack can't be brought up in a
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* static context, so we bring it up here rather than in the constructor.
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* n.b. This method *must* be called in main() or later, not before.
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*
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* Example:
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* @code
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* uBit.init();
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* @endcode
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*/
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void init();
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/**
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* Return the friendly name for this device.
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*
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* @return A string representing the friendly name of this device.
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*/
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ManagedString getName();
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/**
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* Return the serial number of this device.
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*
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* @return A string representing the serial number of this device.
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*/
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ManagedString getSerial();
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/**
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* Will reset the micro:bit when called.
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*
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* Example:
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* @code
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* uBit.reset();
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* @endcode
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*/
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void reset();
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/**
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* Delay for the given amount of time.
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* If the scheduler is running, this will deschedule the current fiber and perform
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* a power efficent, concurrent sleep operation.
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* If the scheduler is disabled or we're running in an interrupt context, this
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* will revert to a busy wait.
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*
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* @note Values of 6 and below tend to lose resolution - do you really need to sleep for this short amount of time?
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*
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* @param milliseconds the amount of time, in ms, to wait for. This number cannot be negative.
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* @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER milliseconds is less than zero.
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*
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* Example:
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* @code
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* uBit.sleep(20); //sleep for 20ms
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* @endcode
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*/
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int sleep(int milliseconds);
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/**
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* Seed the pseudo random number generator using the hardware generator.
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*
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* Example:
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* @code
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* uBit.seedRandom();
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* @endcode
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*/
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void seedRandom();
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/**
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* Seed the pseudo random number generator using the given value.
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*
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* @param seed The 32-bit value to seed the generator with.
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*
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* Example:
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* @code
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* uBit.seedRandom(0x12345678);
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* @endcode
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*/
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void seedRandom(uint32_t seed);
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/**
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* Generate a random number in the given range.
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* We use the NRF51822 in built random number generator here
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* TODO: Determine if we want to, given its relatively high power consumption!
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*
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* @param max the upper range to generate a number for. This number cannot be negative
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* @return A random, natural number between 0 and the max-1. Or MICROBIT_INVALID_PARAMETER if max is <= 0.
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*
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* Example:
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* @code
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* uBit.random(200); //a number between 0 and 199
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* @endcode
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*/
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int random(int max);
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/**
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* Period callback. Used by MicroBitDisplay, FiberScheduler and I2C sensors to
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* provide a power efficient sense of time.
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*/
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void systemTick();
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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 systemTasks();
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/**
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* add a component to the array of system components which invocate the systemTick member function during a systemTick
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*
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* @param component The component to add.
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* @return MICROBIT_OK on success. MICROBIT_NO_RESOURCES is returned if further components cannot be supported.
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*/
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int addSystemComponent(MicroBitComponent *component);
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/**
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* remove a component from the array of system components
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* @param component The component to remove.
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* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMETER is returned if the given component has not been previous added.
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*/
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int removeSystemComponent(MicroBitComponent *component);
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/**
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* add a component to the array of of idle thread components.
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* isIdleCallbackNeeded is polled during a systemTick to determine if the idle thread should jump to the front of the queue
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* @param component The component to add.
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* @return MICROBIT_OK on success. MICROBIT_NO_RESOURCES is returned if further components cannot be supported.
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*/
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int addIdleComponent(MicroBitComponent *component);
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/**
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* remove a component from the array of idle thread components
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* @param component The component to remove.
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* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMETER is returned if the given component has not been previous added.
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*/
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int removeIdleComponent(MicroBitComponent *component);
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/**
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* Determine the time since this MicroBit was last reset.
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*
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* @return The time since the last reset, in milliseconds. This will result in overflow after 1.6 months.
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* TODO: handle overflow case.
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*/
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unsigned long systemTime();
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/**
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* Determine the version of the micro:bit runtime currently in use.
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*
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* @return A textual description of the currentlt executing micro:bit runtime.
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* TODO: handle overflow case.
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*/
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const char *systemVersion();
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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.
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*
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* @param statusCode the status code of the associated error. Status codes must be in the range 0-255.
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*/
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void panic(int statusCode = 0);
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};
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// Definition of the global instance of the MicroBit class.
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// Using this as a variation on the singleton pattern, just to make
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// code integration a little bit easier for third parties.
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extern MicroBit uBit;
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// Entry point for application programs. Called after the super-main function
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// has initialized the device and runtime environment.
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extern "C" void app_main();
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#endif
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