various updates
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Peli de Halleux
parent
5e532dc2fd
commit
7a7435b4c7
@ -55,11 +55,13 @@ namespace sensors {
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export class ColorSensor extends internal.UartSensor {
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thresholdDetector: sensors.ThresholdDetector;
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calibrating: boolean;
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private _curr: number;
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constructor(port: number) {
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super(port)
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this.thresholdDetector = new sensors.ThresholdDetector(this.id());
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this.calibrating = false;
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this._curr = 0;
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}
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_colorEventValue(value: number) {
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@ -102,17 +104,18 @@ namespace sensors {
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"yellow",
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"red",
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"white",
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"brown"][this._query()];
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"brown"][this._curr];
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case ColorSensorMode.AmbientLightIntensity:
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case ColorSensorMode.ReflectedLightIntensity:
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return `${this._query()}%`;
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return `${this._curr}%`;
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default:
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return this._query().toString();
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return this._curr.toString();
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}
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}
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_update(prev: number, curr: number) {
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if (this.calibrating) return; // simply ignore data updates while calibrating
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this._curr = curr;
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if (this.mode == ColorSensorMode.Color || this.mode == ColorSensorMode.RgbRaw || this.mode == ColorSensorMode.RefRaw)
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control.raiseEvent(this._id, this._colorEventValue(curr));
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else
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@ -176,7 +179,7 @@ namespace sensors {
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color(): ColorSensorColor {
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this.poke();
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this.setMode(ColorSensorMode.Color)
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return this.getNumber(NumberFormat.UInt8LE, 0)
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return this._curr;
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}
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/**
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@ -252,7 +255,7 @@ namespace sensors {
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case LightIntensityMode.ReflectedRaw:
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return this.reflectedLightRaw();
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default:
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return this.getNumber(NumberFormat.UInt8LE, 0)
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return this._curr;
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}
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}
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@ -279,7 +282,7 @@ namespace sensors {
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reflectedLightRaw(): number {
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this.poke();
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this.setMode(ColorSensorMode.RefRaw);
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return this.getNumber(NumberFormat.UInt16LE, 0);
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return this._curr;
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}
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/**
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@ -61,8 +61,6 @@ namespace sensors.internal {
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let uartMM: MMap
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let IICMM: MMap
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let powerMM: MMap
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let devcon: Buffer
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let devPoller: Poller
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let sensorInfos: SensorInfo[];
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let batteryInfo: {
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@ -109,7 +107,6 @@ namespace sensors.internal {
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if (sensorInfos) return
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sensorInfos = []
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for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
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devcon = output.createBuffer(DevConOff.Size)
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analogMM = control.mmap("/dev/lms_analog", AnalogOff.Size, 0)
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if (!analogMM) control.fail("no analog sensor")
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@ -122,10 +119,10 @@ namespace sensors.internal {
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powerMM = control.mmap("/dev/lms_power", 2, 0)
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devPoller = new Poller(250, () => { return hashDevices(); },
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(prev, curr) => {
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detectDevices();
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});
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forever(function () {
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pause(500)
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detectDevices();
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})
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}
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export function getActiveSensors(): Sensor[] {
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@ -133,11 +130,14 @@ namespace sensors.internal {
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return sensorInfos.filter(si => si.sensor && si.sensor.isActive()).map(si => si.sensor);
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}
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// this function will return a meaningful result only when stats & CHANGED
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// it is cleared afterwards
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function readUartInfo(port: number, mode: number) {
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let buf = output.createBuffer(UartCtlOff.Size)
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const buf = output.createBuffer(UartCtlOff.Size)
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buf[UartCtlOff.Port] = port
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buf[UartCtlOff.Mode] = mode
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uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
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control.dmesg(`UART_READ_MODE ${buf.toHex()}`)
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return buf
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//let info = `t:${buf[TypesOff.Type]} c:${buf[TypesOff.Connection]} m:${buf[TypesOff.Mode]} n:${buf.slice(0, 12).toHex()}`
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//serial.writeLine("UART " + port + " / " + mode + " - " + info)
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@ -274,43 +274,24 @@ void cUiUpdatePower(void)
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};
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}
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function hashDevices(): number {
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const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
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let r = 0;
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for (let i = 0; i < conns.length; ++i) {
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r = conns[i] + (r << 6) + (r << 16) - r;
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}
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for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART)) {
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const status = getUartStatus(sensorInfo.port);
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r = status + (r << 6) + (r << 16) - r;
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}
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return r;
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}
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function detectDevices() {
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control.dmesg(`detect devices (hash ${hashDevices()})`)
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control.dmesg(`detect devices`)
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const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
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let devcon: Buffer = undefined;
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for (const sensorInfo of sensorInfos) {
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const newConn = conns[sensorInfo.port]
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if (newConn == sensorInfo.connType
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&& sensorInfo.sensor) {
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if (newConn == DAL.CONN_INPUT_UART &&
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!getUartStatus(sensorInfo.port)) {
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sensorInfo.sensor = undefined;
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sensorInfo.devType = DAL.DEVICE_TYPE_NONE;
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control.dmesg(`UART status 0 at ${sensorInfo.port}`)
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}
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else
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continue;
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if (newConn == sensorInfo.connType) {
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continue;
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}
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sensorInfo.connType = newConn
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sensorInfo.devType = DAL.DEVICE_TYPE_NONE
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sensorInfo.sensor = undefined;
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if (newConn == DAL.CONN_INPUT_UART) {
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control.dmesg(`new UART connection at ${sensorInfo.port}`)
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updateUartMode(sensorInfo.port, 0);
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if (!devcon) devcon = output.createBuffer(DevConOff.Size)
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updateUartMode(devcon, sensorInfo.port, 0);
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} else if (newConn == DAL.CONN_NXT_IIC) {
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control.dmesg(`new IIC connection at ${sensorInfo.port}`)
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sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
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@ -324,24 +305,26 @@ void cUiUpdatePower(void)
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control.dmesg(`disconnected port ${sensorInfo.port}`)
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// clear sensor
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sensorInfo.sensor = undefined;
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clearMode(sensorInfo.port);
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} else {
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control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
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// clear sensor
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sensorInfo.sensor = undefined;
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clearMode(sensorInfo.port);
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}
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}
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setUartModes();
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for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART)) {
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let uinfo = readUartInfo(sensorInfo.port, 0)
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sensorInfo.devType = uinfo[TypesOff.Type]
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const mode = uinfo[TypesOff.Mode];
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control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
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if (devcon) {
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setUartModes(devcon);
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for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART)) {
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const uinfo = readUartInfo(sensorInfo.port, 0);
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if (uinfo[TypesOff.Name]) { // the device info has data
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sensorInfo.devType = uinfo[TypesOff.Type]
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const mode = uinfo[TypesOff.Mode];
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control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
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}
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}
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}
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//control.dmesg(`updating sensor status`)
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// assign sensors
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for (const sensorInfo of sensorInfos.filter(si => !si.sensor)) {
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if (sensorInfo.devType == DAL.DEVICE_TYPE_IIC_UNKNOWN) {
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sensorInfo.sensor = sensorInfo.sensors.filter(s => s._IICId() == sensorInfo.iicid)[0]
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@ -361,7 +344,12 @@ void cUiUpdatePower(void)
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}
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}
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}
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//control.dmesg(`detect devices done`)
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// check uart sensors
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for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART && !!si.sensor)) {
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const status = getUartStatus(sensorInfo.port);
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control.dmesg(`UART status ${status} at ${sensorInfo.port}`)
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}
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}
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export class Sensor extends control.Component {
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@ -520,8 +508,8 @@ void cUiUpdatePower(void)
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export const iicsensor = new IICSensor(3)
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function uartReset(port: number) {
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if (port < 0) return
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control.dmesg(`UART reset at ${port}`)
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const devcon = output.createBuffer(DevConOff.Size)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NONE)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
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@ -529,18 +517,19 @@ void cUiUpdatePower(void)
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}
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function getUartStatus(port: number) {
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if (port < 0) return 0
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control.dmesg(`UART status ${uartMM.slice(UartOff.Status, 4).toHex()}`)
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return uartMM.getNumber(NumberFormat.Int8LE, UartOff.Status + port)
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}
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function waitNonZeroUartStatus(port: number) {
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while (true) {
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if (port < 0) return 0
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let s = getUartStatus(port)
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if (s) return s
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function waitNonZeroUartStatus(port: number): number {
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let retry = 20;
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while (retry-- > 0) {
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const s = getUartStatus(port)
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if (s) return s;
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control.dmesg(`UART status 0, waiting...`)
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pause(25)
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}
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return 0
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}
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function uartClearChange(port: number) {
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@ -552,6 +541,7 @@ void cUiUpdatePower(void)
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if ((status & UART_DATA_READY) != 0 && (status & UART_PORT_CHANGED) == 0)
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break
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const devcon = output.createBuffer(DevConOff.Size)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
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@ -564,7 +554,7 @@ void cUiUpdatePower(void)
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}
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}
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function setUartModes() {
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function setUartModes(devcon: Buffer) {
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control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
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uartMM.ioctl(IO.UART_SET_CONN, devcon)
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const ports: number[] = [];
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@ -578,30 +568,22 @@ void cUiUpdatePower(void)
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const port = ports.pop();
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const status = waitNonZeroUartStatus(port)
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control.dmesg(`UART status ${status} at ${port}`);
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if (!(status & UART_DATA_READY))
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setUartMode(port, devcon[DevConOff.Mode + port]);
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}
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}
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function updateUartMode(port: number, mode: number) {
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function updateUartMode(devcon: Buffer, port: number, mode: number) {
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control.dmesg(`UART update mode to ${mode} at ${port}`)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
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}
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function clearMode(port: number) {
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, 0)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
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}
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const UART_PORT_CHANGED = 1
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const UART_DATA_READY = 8
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function setUartMode(port: number, mode: number) {
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while (true) {
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if (port < 0) return
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updateUartMode(port, mode);
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const devcon = output.createBuffer(DevConOff.Size)
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updateUartMode(devcon, port, mode);
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control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
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uartMM.ioctl(IO.UART_SET_CONN, devcon)
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let status = waitNonZeroUartStatus(port)
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@ -634,6 +616,7 @@ void cUiUpdatePower(void)
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export function setIICMode(port: number, type: number, mode: number) {
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if (port < 0) return;
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const devcon = output.createBuffer(DevConOff.Size)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
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@ -642,7 +625,7 @@ void cUiUpdatePower(void)
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export function transactionIIC(port: number, deviceAddress: number, writeBuf: number[], readLen: number) {
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if (port < 0) return;
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let iicdata = output.createBuffer(IICDat.Size)
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const iicdata = output.createBuffer(IICDat.Size)
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iicdata.setNumber(NumberFormat.Int8LE, IICDat.Port, port)
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iicdata.setNumber(NumberFormat.Int8LE, IICDat.Repeat, 0)
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iicdata.setNumber(NumberFormat.Int16LE, IICDat.Time, 0)
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@ -142,14 +142,14 @@ namespace brick {
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const lineHeight8 = image.font8.charHeight + 2;
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const h = screen.height;
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const w = screen.width;
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const blink = (control.millis() >> 5) % (w - 1);
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const blink = (control.millis() >> 5) % (h - 1);
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clearScreen();
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screen.setPixel(blink, 0, 1);
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screen.setPixel(blink, 1, 1);
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screen.setPixel(blink + 1, 0, 1);
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screen.setPixel(blink + 1, 1, 1);
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screen.setPixel(w - 1, blink, 1);
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screen.setPixel(w - 1, blink, 1);
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screen.setPixel(w - 2, blink + 1, 1);
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screen.setPixel(w - 2, blink + 1, 1);
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for (let i = 0; i < 4; ++i) {
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const x = i * col + 2;
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screen.print("ABCD"[i], x, 1 * lineHeight8, 1, image.font8)
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