Pulling updates from master (#951)

* show ports on start

* don't run show ports automatically

* polarity in synched motor (#945)

* account for polarity

* more comments

* handle dual motor in runtime

* invert steer

* don't use firmware polarity

* add block to stop program (#943)

* add block to stop program

* renaming

* fix translation

libs/core/battery.ts

@@ -26,6 +26,7 @@ namespace brick {
      */
     //% blockId=brickBatteryProperty block="battery %property"
     //% group="Battery"
+    //% blockGap=8
     //% help=brick/battery-property
     export function batteryInfo(property: BatteryProperty): number {
         const info = sensors.internal.getBatteryInfo();

libs/core/buttons.ts

@@ -85,7 +85,7 @@ namespace brick {
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
-        //% weight=81 blockGap=8
+        //% weight=81
         //% group="Buttons"
         //% button.fieldEditor="brickbuttons"
         isPressed() {

libs/core/input.ts

@@ -104,7 +104,7 @@ namespace sensors.internal {
         }
     }
 
-    function init() {
+    export function init() {
         if (sensorInfos) return
         sensorInfos = []
         for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
@@ -137,6 +137,7 @@ namespace sensors.internal {
         buf[UartCtlOff.Port] = port
         buf[UartCtlOff.Mode] = mode
         uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
+        control.dmesg(`UART_READ_MODE_INFO ${buf.toHex()}`)
         return buf
         //let info = `t:${buf[TypesOff.Type]} c:${buf[TypesOff.Connection]} m:${buf[TypesOff.Mode]} n:${buf.slice(0, 12).toHex()}`
         //serial.writeLine("UART " + port + " / " + mode + " - " + info)
@@ -558,7 +559,7 @@ void      cUiUpdatePower(void)
     }
 
     function setUartModes() {
-        control.dmesg(`UART set modes`)
+        control.dmesg(`UART set modes ${devcon.toHex()}`)
         uartMM.ioctl(IO.UART_SET_CONN, devcon)
         const ports: number[] = [];
         for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@@ -570,7 +571,7 @@ void      cUiUpdatePower(void)
         while (ports.length) {
             const port = ports.pop();
             const status = waitNonZeroUartStatus(port)
-            control.dmesg(`UART set mode ${status} at ${port}`);
+            control.dmesg(`UART status ${status} at ${port}`);
         }
     }
 
@@ -586,6 +587,7 @@ void      cUiUpdatePower(void)
         while (true) {
             if (port < 0) return
             updateUartMode(port, mode);
+            control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {

libs/core/output.ts

@@ -55,7 +55,7 @@ namespace motors {
         Size = 12
     }
 
-    function init() {
+    export function init() {
         if (pwmMM) return
         pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
         if (!pwmMM) control.fail("no PWM file")
@@ -159,6 +159,7 @@ namespace motors {
         private _accelerationTime: number;
         private _decelerationSteps: number;
         private _decelerationTime: number;
+        private _inverted: boolean;
 
         protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
 
@@ -176,6 +177,7 @@ namespace motors {
             this._accelerationTime = 0;
             this._decelerationSteps = 0;
             this._decelerationTime = 0;
+            this._inverted = false;
         }
 
         /**
@@ -225,9 +227,11 @@ namespace motors {
         //% help=motors/motor/set-inverted
         setInverted(inverted: boolean) {
             this.init();
-            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
-            writePWM(b)
+            this._inverted = inverted;
+        }
+
+        protected invertedFactor(): number {
+            return this._inverted ? -1 : 1;
         }
 
         /** 
@@ -294,8 +298,9 @@ namespace motors {
         }
 
         private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
+            // motor polarity is not supported at the firmware level for sync motor operations
             const r: MoveSchedule = {
-                speed: Math.clamp(-100, 100, speed >> 0),
+                speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
                 useSteps: true,
                 steps: [step1 || 0, step2 || 0, step3 || 0]
             }
@@ -562,6 +567,7 @@ namespace motors {
 
         private __init() {
             this.setOutputType(this._large);
+            this.setInverted(false);
         }
 
         /**
@@ -741,7 +747,7 @@ namespace motors {
         //% help=motors/synced/steer
         steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
+            speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
             if (!speed) {
                 this.stop();
                 return;