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various updates

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This commit is contained in:
Peli de Halleux
2019-10-18 19:09:43 -07:00
parent 5e532dc2fd
commit 7a7435b4c7
3 changed files with 63 additions and 77 deletions
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15
libs/color-sensor/color.ts
View File

@@ -55,11 +55,13 @@ namespace sensors {
export class ColorSensor extends internal.UartSensor {
thresholdDetector: sensors.ThresholdDetector;
calibrating: boolean;
private _curr: number;
constructor(port: number) {
super(port)
this.thresholdDetector = new sensors.ThresholdDetector(this.id());
this.calibrating = false;
this._curr = 0;
}
_colorEventValue(value: number) {
@@ -102,17 +104,18 @@ namespace sensors {
"yellow",
"red",
"white",
"brown"][this._query()];
"brown"][this._curr];
case ColorSensorMode.AmbientLightIntensity:
case ColorSensorMode.ReflectedLightIntensity:
return `${this._query()}%`;
return `${this._curr}%`;
default:
return this._query().toString();
return this._curr.toString();
}
}
_update(prev: number, curr: number) {
if (this.calibrating) return; // simply ignore data updates while calibrating
this._curr = curr;
if (this.mode == ColorSensorMode.Color || this.mode == ColorSensorMode.RgbRaw || this.mode == ColorSensorMode.RefRaw)
control.raiseEvent(this._id, this._colorEventValue(curr));
else
@@ -176,7 +179,7 @@ namespace sensors {
color(): ColorSensorColor {
this.poke();
this.setMode(ColorSensorMode.Color)
return this.getNumber(NumberFormat.UInt8LE, 0)
return this._curr;
}
/**
@@ -252,7 +255,7 @@ namespace sensors {
case LightIntensityMode.ReflectedRaw:
return this.reflectedLightRaw();
default:
return this.getNumber(NumberFormat.UInt8LE, 0)
return this._curr;
}
}
@@ -279,7 +282,7 @@ namespace sensors {
reflectedLightRaw(): number {
this.poke();
this.setMode(ColorSensorMode.RefRaw);
return this.getNumber(NumberFormat.UInt16LE, 0);
return this._curr;
}
/**

115
libs/core/input.ts
View File

@@ -61,8 +61,6 @@ namespace sensors.internal {
let uartMM: MMap
let IICMM: MMap
let powerMM: MMap
let devcon: Buffer
let devPoller: Poller
let sensorInfos: SensorInfo[];
let batteryInfo: {
@@ -109,7 +107,6 @@ namespace sensors.internal {
if (sensorInfos) return
sensorInfos = []
for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
devcon = output.createBuffer(DevConOff.Size)
analogMM = control.mmap("/dev/lms_analog", AnalogOff.Size, 0)
if (!analogMM) control.fail("no analog sensor")
@@ -122,10 +119,10 @@ namespace sensors.internal {
powerMM = control.mmap("/dev/lms_power", 2, 0)
devPoller = new Poller(250, () => { return hashDevices(); },
(prev, curr) => {
detectDevices();
});
forever(function () {
pause(500)
detectDevices();
})
}
export function getActiveSensors(): Sensor[] {
@@ -133,11 +130,14 @@ namespace sensors.internal {
return sensorInfos.filter(si => si.sensor && si.sensor.isActive()).map(si => si.sensor);
}
// this function will return a meaningful result only when stats & CHANGED
// it is cleared afterwards
function readUartInfo(port: number, mode: number) {
let buf = output.createBuffer(UartCtlOff.Size)
const buf = output.createBuffer(UartCtlOff.Size)
buf[UartCtlOff.Port] = port
buf[UartCtlOff.Mode] = mode
uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
control.dmesg(`UART_READ_MODE ${buf.toHex()}`)
return buf
//let info = `t:${buf[TypesOff.Type]} c:${buf[TypesOff.Connection]} m:${buf[TypesOff.Mode]} n:${buf.slice(0, 12).toHex()}`
//serial.writeLine("UART " + port + " / " + mode + " - " + info)
@@ -274,43 +274,24 @@ void cUiUpdatePower(void)
};
}
function hashDevices(): number {
const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
let r = 0;
for (let i = 0; i < conns.length; ++i) {
r = conns[i] + (r << 6) + (r << 16) - r;
}
for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART)) {
const status = getUartStatus(sensorInfo.port);
r = status + (r << 6) + (r << 16) - r;
}
return r;
}
function detectDevices() {
control.dmesg(`detect devices (hash ${hashDevices()})`)
control.dmesg(`detect devices`)
const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
let devcon: Buffer = undefined;
for (const sensorInfo of sensorInfos) {
const newConn = conns[sensorInfo.port]
if (newConn == sensorInfo.connType
&& sensorInfo.sensor) {
if (newConn == DAL.CONN_INPUT_UART &&
!getUartStatus(sensorInfo.port)) {
sensorInfo.sensor = undefined;
sensorInfo.devType = DAL.DEVICE_TYPE_NONE;
control.dmesg(`UART status 0 at ${sensorInfo.port}`)
}
else
continue;
if (newConn == sensorInfo.connType) {
continue;
}
sensorInfo.connType = newConn
sensorInfo.devType = DAL.DEVICE_TYPE_NONE
sensorInfo.sensor = undefined;
if (newConn == DAL.CONN_INPUT_UART) {
control.dmesg(`new UART connection at ${sensorInfo.port}`)
updateUartMode(sensorInfo.port, 0);
if (!devcon) devcon = output.createBuffer(DevConOff.Size)
updateUartMode(devcon, sensorInfo.port, 0);
} else if (newConn == DAL.CONN_NXT_IIC) {
control.dmesg(`new IIC connection at ${sensorInfo.port}`)
sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
@@ -324,24 +305,26 @@ void cUiUpdatePower(void)
control.dmesg(`disconnected port ${sensorInfo.port}`)
// clear sensor
sensorInfo.sensor = undefined;
clearMode(sensorInfo.port);
} else {
control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
// clear sensor
sensorInfo.sensor = undefined;
clearMode(sensorInfo.port);
}
}
setUartModes();
for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART)) {
let uinfo = readUartInfo(sensorInfo.port, 0)
sensorInfo.devType = uinfo[TypesOff.Type]
const mode = uinfo[TypesOff.Mode];
control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
if (devcon) {
setUartModes(devcon);
for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART)) {
const uinfo = readUartInfo(sensorInfo.port, 0);
if (uinfo[TypesOff.Name]) { // the device info has data
sensorInfo.devType = uinfo[TypesOff.Type]
const mode = uinfo[TypesOff.Mode];
control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
}
}
}
//control.dmesg(`updating sensor status`)
// assign sensors
for (const sensorInfo of sensorInfos.filter(si => !si.sensor)) {
if (sensorInfo.devType == DAL.DEVICE_TYPE_IIC_UNKNOWN) {
sensorInfo.sensor = sensorInfo.sensors.filter(s => s._IICId() == sensorInfo.iicid)[0]
@@ -361,7 +344,12 @@ void cUiUpdatePower(void)
}
}
}
//control.dmesg(`detect devices done`)
// check uart sensors
for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART && !!si.sensor)) {
const status = getUartStatus(sensorInfo.port);
control.dmesg(`UART status ${status} at ${sensorInfo.port}`)
}
}
export class Sensor extends control.Component {
@@ -520,8 +508,8 @@ void cUiUpdatePower(void)
export const iicsensor = new IICSensor(3)
function uartReset(port: number) {
if (port < 0) return
control.dmesg(`UART reset at ${port}`)
const devcon = output.createBuffer(DevConOff.Size)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NONE)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
@@ -529,18 +517,19 @@ void cUiUpdatePower(void)
}
function getUartStatus(port: number) {
if (port < 0) return 0
control.dmesg(`UART status ${uartMM.slice(UartOff.Status, 4).toHex()}`)
return uartMM.getNumber(NumberFormat.Int8LE, UartOff.Status + port)
}
function waitNonZeroUartStatus(port: number) {
while (true) {
if (port < 0) return 0
let s = getUartStatus(port)
if (s) return s
function waitNonZeroUartStatus(port: number): number {
let retry = 20;
while (retry-- > 0) {
const s = getUartStatus(port)
if (s) return s;
control.dmesg(`UART status 0, waiting...`)
pause(25)
}
return 0
}
function uartClearChange(port: number) {
@@ -552,6 +541,7 @@ void cUiUpdatePower(void)
if ((status & UART_DATA_READY) != 0 && (status & UART_PORT_CHANGED) == 0)
break
const devcon = output.createBuffer(DevConOff.Size)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
@@ -564,7 +554,7 @@ void cUiUpdatePower(void)
}
}
function setUartModes() {
function setUartModes(devcon: Buffer) {
control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
uartMM.ioctl(IO.UART_SET_CONN, devcon)
const ports: number[] = [];
@@ -578,30 +568,22 @@ void cUiUpdatePower(void)
const port = ports.pop();
const status = waitNonZeroUartStatus(port)
control.dmesg(`UART status ${status} at ${port}`);
if (!(status & UART_DATA_READY))
setUartMode(port, devcon[DevConOff.Mode + port]);
}
}
function updateUartMode(port: number, mode: number) {
function updateUartMode(devcon: Buffer, port: number, mode: number) {
control.dmesg(`UART update mode to ${mode} at ${port}`)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
}
function clearMode(port: number) {
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, 0)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
}
const UART_PORT_CHANGED = 1
const UART_DATA_READY = 8
function setUartMode(port: number, mode: number) {
while (true) {
if (port < 0) return
updateUartMode(port, mode);
const devcon = output.createBuffer(DevConOff.Size)
updateUartMode(devcon, port, mode);
control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
uartMM.ioctl(IO.UART_SET_CONN, devcon)
let status = waitNonZeroUartStatus(port)
@@ -634,6 +616,7 @@ void cUiUpdatePower(void)
export function setIICMode(port: number, type: number, mode: number) {
if (port < 0) return;
const devcon = output.createBuffer(DevConOff.Size)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
@@ -642,7 +625,7 @@ void cUiUpdatePower(void)
export function transactionIIC(port: number, deviceAddress: number, writeBuf: number[], readLen: number) {
if (port < 0) return;
let iicdata = output.createBuffer(IICDat.Size)
const iicdata = output.createBuffer(IICDat.Size)
iicdata.setNumber(NumberFormat.Int8LE, IICDat.Port, port)
iicdata.setNumber(NumberFormat.Int8LE, IICDat.Repeat, 0)
iicdata.setNumber(NumberFormat.Int16LE, IICDat.Time, 0)

10
libs/screen/targetoverrides.ts
View File

@@ -142,14 +142,14 @@ namespace brick {
const lineHeight8 = image.font8.charHeight + 2;
const h = screen.height;
const w = screen.width;
const blink = (control.millis() >> 5) % (w - 1);
const blink = (control.millis() >> 5) % (h - 1);
clearScreen();
screen.setPixel(blink, 0, 1);
screen.setPixel(blink, 1, 1);
screen.setPixel(blink + 1, 0, 1);
screen.setPixel(blink + 1, 1, 1);
screen.setPixel(w - 1, blink, 1);
screen.setPixel(w - 1, blink, 1);
screen.setPixel(w - 2, blink + 1, 1);
screen.setPixel(w - 2, blink + 1, 1);
for (let i = 0; i < 4; ++i) {
const x = i * col + 2;
screen.print("ABCD"[i], x, 1 * lineHeight8, 1, image.font8)