Starting sensor support

TODO.md

@@ -1,6 +1,11 @@
 * [x] try unlink ELF file before uploading - didn't work
 * [x] implement serialPoll
 * [x] try some motors
+* [ ] add `control.interrupt(ms, () => { ... sync function ... })` - running outside regular JS thread
+* [ ] add `//% onlyWhenUsed` on global variable initializers
+* [ ] parse Python field lists into offsets
 
 ## Further down
 * [ ] have some protocol for restarting user app if it's running (flag file somewhere?)
+* [ ] display panic code on the screen
+* [ ] catch SIGSEGV and panic

libs/base/enums.d.ts

@@ -0,0 +1,36 @@
+// Auto-generated. Do not edit.
+
+
+    declare enum NumberFormat {
+    Int8LE = 1,
+    UInt8LE = 2,
+    Int16LE = 3,
+    UInt16LE = 4,
+    Int32LE = 5,
+    Int8BE = 6,
+    UInt8BE = 7,
+    Int16BE = 8,
+    UInt16BE = 9,
+    Int32BE = 10,
+
+    UInt32LE = 11,
+    UInt32BE = 12,
+    Float32LE = 13,
+    Float64LE = 14,
+    Float32BE = 15,
+    Float64BE = 16,
+    }
+
+
+    declare enum ValType {
+    Undefined = 0,
+    Boolean = 1,
+    Number = 2,
+    String = 3,
+    Object = 4,
+    Function = 5,
+    }
+declare namespace serial {
+}
+
+// Auto-generated. Do not edit. Really.

libs/core/analog.ts

@@ -0,0 +1,74 @@
+namespace input {
+    let analogMM: MMap
+
+    /*
+    struct_anon_76._fields_ = [
+        ('InPin1', DATA16 * 4),
+        ('InPin6', DATA16 * 4),
+        ('OutPin5', DATA16 * 4),
+        ('BatteryTemp', DATA16),
+        ('MotorCurrent', DATA16),
+        ('BatteryCurrent', DATA16),
+        ('Cell123456', DATA16),
+        ('Pin1', (DATA16 * 300) * 4),
+        ('Pin6', (DATA16 * 300) * 4),
+        ('Actual', UWORD * 4),
+        ('LogIn', UWORD * 4),
+        ('LogOut', UWORD * 4),
+        ('NxtCol', COLORSTRUCT * 4),
+        ('OutPin5Low', DATA16 * 4),
+        ('Updated', DATA8 * 4),
+        ('InDcm', DATA8 * 4),
+        ('InConn', DATA8 * 4),
+        ('OutDcm', DATA8 * 4),
+        ('OutConn', DATA8 * 4),
+    ]
+    */
+
+    function init() {
+        if (analogMM) return
+        analogMM = control.mmap("/dev/lms_analog", 1024, 0)
+        if (!analogMM) control.fail("no analog sensor")
+    }
+
+    export function readAnalogPin6(port: number) {
+        init()
+        port = Math.clamp(0, 3, port | 0)
+        return analogMM.getNumber(NumberFormat.UInt16LE, 2 * (port + 4))
+    }
+
+}
+
+namespace input {
+    let uartMM: MMap
+
+    /*
+    DEVCON = [
+    ('Connection', DATA8 * 4),
+    ('Type', DATA8 * 4),
+    ('Mode', DATA8 * 4),
+    ]
+
+    UART = [
+    ('TypeData', (TYPES * 8) * 4),
+    ('Repeat', (UWORD * 300) * 4),
+    ('Raw', ((DATA8 * 32) * 300) * 4),
+    ('Actual', UWORD * 4),
+    ('LogIn', UWORD * 4),
+    ('Status', DATA8 * 4),
+    ('Output', (DATA8 * 32) * 4),
+    ('OutputLength', DATA8 * 4),
+    ]
+    */
+
+    function init() {
+        if (uartMM) return
+        uartMM = control.mmap("/dev/lms_uart", 1024, 0)
+        if (!uartMM) control.fail("no uart sensor")
+    }
+
+    function setUartMode(port: number, mode: number) {
+
+    }
+
+}

libs/core/mmap.cpp

@@ -5,6 +5,7 @@
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
+#include <sys/ioctl.h>
 
 namespace pxt {
 PXT_VTABLE_CTOR(MMap) {
@@ -28,6 +29,7 @@ namespace control {
 /** Create new file mapping in memory */
 //%
 MMap *mmap(String filename, int size, int offset) {
+    DMESG("mmap %s len=%d off=%d", filename->data, size, offset);
     int fd = open(filename->data, O_RDWR, 0);
     if (fd < 0)
         return 0;
@@ -41,7 +43,7 @@ MMap *mmap(String filename, int size, int offset) {
     auto r = new MMap();
     r->fd = fd;
     r->length = size;
-    r->data = (uint8_t*)data;
+    r->data = (uint8_t *)data;
     return r;
 }
 }
@@ -73,4 +75,11 @@ TNumber getNumber(MMap *buf, NumberFormat format, int offset) {
 int length(MMap *s) {
     return s->length;
 }
+
+/** Perform ioctl(2) on the underlaying file */
+//%
+void ioctl(MMap *mmap, uint32_t id, Buffer data) {
+    ::ioctl(mmap->fd, id, data->data);
+}
+
 }

libs/core/pxt.json

@@ -14,6 +14,7 @@
         "screen.ts",
         "output.cpp",
         "output.ts",
+        "analog.ts",
         "shims.d.ts",
         "enums.d.ts",
         "dal.d.ts",

libs/core/shims.d.ts

@@ -23,6 +23,10 @@ declare interface MMap {
     /** Returns the length of a Buffer object. */
     //% property shim=MMapMethods::length
     length: int32;
+
+    /** Perform ioctl(2) on the underlaying file */
+    //% shim=MMapMethods::ioctl
+    ioctl(id: uint32, data: Buffer): void;
 }
 declare namespace control {