1.1.19

* updated ramp block

* updated example

docs/fll.md

@@ -89,18 +89,11 @@ Sharing programs is also shown in the [Tips and Tricks](https://legoeducation.vi
 
 ### Why can't I delete my program (*.uf2) files from the Brick?
 
-There's a bug in the firmware which prevents you from deleting the programs (``*.uf2`` files) from your EV3 Brick. There isn't a firmware update to fix this yet. As a workaround, you can temporarily downgrade your firmware version, delete the files, and then upgrade back to the version that works with MakeCode.
+There's a bug in the firmware which prevents you from deleting the programs (``*.uf2`` files) from your EV3 Brick. There isn't a firmware update to fix this yet.
 
-Follow these steps to downgrade your firmware version, delete the files, and uprgade back again:
-
-1. Go into **EV3 LabVIEW** - if it's not installed get it [here](https://education.lego.com/en-us/downloads/mindstorms-ev3/software)
-2. Plug in your EV3 Brick and start a new project
-3. Go to the **Tools** menu in the upper right corner, select **Firmware Update**
-4. In the **Firmware Update** dialog box, click on the **Show Details** button
-5. From the **Available Firmware Files** list, select **EV3 Firmware V1.09E**
-6. Click the **Update Firmware** button and wait for the update to complete
-
-Now the firmware version on the EV3 Brick will be **V1.09E**. Also, in the process, the downgrade deleted all of the saved programs from the EV3 Brick. To continue to use MakeCode, the firmware version must be at **V1.10E** or above. So, the Brick firmware needs to be upgraded again. If you don't know or do remember how to do this, see the **Upgrade your @drivename@** section in the [troubleshooting](/troubleshoot) page.
+We have prepared a special program that lets you delete UF2 files from the brick.
+Download [these PDF instructions](/file-manager.pdf) and drop the PDF on the brick drive.
+This will present you with an menu for deleting files.
 
 For other common questions, try the FAQ page https://makecode.mindstorms.com/faq.
 

docs/reference/brick/battery-property.md

@@ -0,0 +1,47 @@
+# battery Property
+
+Return the information about the battery
+
+```sig
+brick.batteryInfo(BatteryProperty.Level)
+```
+
+## Parameters
+
+* property: the kind of information
+
+## Returns
+
+* a [number](/types/number) which represents the value of the property requested.
+
+## Example
+
+Show the battery level percentage on the screen. Also, show a green light if the battery level is above 15%. If the battery level is below 15% but above 5%, show a orange light. But, if the battery level is below 5%, show a pulsing red light.
+
+```blocks
+let battery = 0;
+forever(function() {
+    brick.showString("Battery level:", 1)
+    brick.showNumber(battery, 2)
+    battery = brick.batteryInfo(BatteryProperty.Level);
+    if (battery > 15)
+    {
+        brick.setStatusLight(StatusLight.Green);
+    } else if (battery > 5) {
+        brick.setStatusLight(StatusLight.Orange);
+    } else {
+        brick.setStatusLight(StatusLight.RedPulse)
+    }
+    pause(30000)
+})
+```
+
+Or see all the values
+
+```blocks
+forever(function () {
+    brick.showValue("bat V", brick.batteryInfo(BatteryProperty.Voltage), 1)
+    brick.showValue("bat %", brick.batteryInfo(BatteryProperty.Level), 2)
+    brick.showValue("bat I", brick.batteryInfo(BatteryProperty.Current), 3)
+})
+```

docs/reference/motors/motor/ramp.md

@@ -0,0 +1,59 @@
+# Ramp
+
+Schedules an acceleration, constant and deceleration phase at a given speed.
+
+```sig
+motors.largeA.ramp(50, 100, 500, 100)
+```
+
+The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
+
+
+## Parameters
+
+* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motor in the reverse direction.
+* **acceleration**: the [number](/types/number) of movement units to rotate for while accelerating.
+* **value**: the [number](/types/number) of movement units to rotate for.
+* **deceleration**: the [number](/types/number) of movement units to rotate for while decelerating.
+* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
+
+## Example
+
+This is an interactive program that lets you change the values of 
+the acceleration and deceleration and see the effects.
+
+```blocks
+let steady = 0
+let dec = 0
+let acc = 0
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    acc += -100
+})
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeB.ramp(50, steady, MoveUnit.MilliSeconds, acc, dec)
+})
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    acc += 100
+})
+brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
+    dec += 100
+})
+brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
+    dec += -100
+})
+acc = 500
+steady = 1000
+acc = 500
+forever(function () {
+    brick.showValue("acc", acc, 1)
+    brick.showValue("steady", steady, 2)
+    brick.showValue("dec", dec, 3)
+    brick.showString("acc: left/right", 5)
+    brick.showString("dec: up/down", 6)
+    brick.showString("run large B: enter", 7)
+})
+```
+
+## See also
+
+[tank](/reference/motors/synced/tank), [steer](/reference/motors/synced/steer), [stop](/reference/motors/motor/stop)

docs/reference/motors/motor/schedule.md

@@ -1,22 +0,0 @@
-# Schedule
-
-Schedules an acceleration, constant and deceleration phase at a given speed.
-
-```sig
-motors.largeA.schedule(50, 100, 500, 100)
-```
-
-The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
-
-
-## Parameters
-
-* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motor in the reverse direction.
-* **acceleration**: the [number](/types/number) of movement units to rotate for while accelerating.
-* **value**: the [number](/types/number) of movement units to rotate for.
-* **deceleration**: the [number](/types/number) of movement units to rotate for while decelerating.
-* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
-
-## See also
-
-[tank](/reference/motors/synced/tank), [steer](/reference/motors/synced/steer), [stop](/reference/motors/motor/stop)

editor/deploy.ts

@@ -63,9 +63,7 @@ const rbfTemplate = `
 export function deployCoreAsync(resp: pxtc.CompileResult) {
     let w: pxt.editor.Ev3Wrapper
 
-    const origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(ts.pxtc.decodeBase64(resp.outfiles[pxt.outputName()])))
-    
-    let filename = resp.downloadFileBaseName || (origElfUF2[0].filename || "").replace(/^Projects\//, "").replace(/\.elf$/, "") || "pxt"
+    let filename = resp.downloadFileBaseName || "pxt"
     filename = filename.replace(/^lego-/, "")
 
     let fspath = "../prjs/BrkProg_SAVE/"
@@ -79,6 +77,8 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
     let rbfBIN = pxt.U.fromHex(rbfHex)
     pxt.HF2.write16(rbfBIN, 4, rbfBIN.length)
 
+    let origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(ts.pxtc.decodeBase64(resp.outfiles[pxt.outputName()])))
+
     let mkFile = (ext: string, data: Uint8Array = null) => {
         let f = UF2.newBlockFile()
         f.filename = "Projects/" + filename + ext

libs/core/battery.ts

@@ -1,13 +1,40 @@
 
+const enum BatteryProperty {
+    //% level (%)
+    Level,
+    //% block="current (I)"
+    Current,
+    //% block="voltage (V)"
+    Voltage
+} 
+
 namespace brick {
     /**
      * Returns the current battery level
      */
     //% blockId=brickBatteryLevel block="battery level"
-    //% group="More"
+    //% group="Battery"
     //% help=brick/battery-level
+    //% deprecated blockHidden=1
     export function batteryLevel(): number {
         const info = sensors.internal.getBatteryInfo();
-        return info.current;
+        return info.level;
+    }
+
+    /**
+     * Returns information about the battery
+     */
+    //% blockId=brickBatteryProperty block="battery %property"
+    //% group="Battery"
+    //% help=brick/battery-property
+    export function batteryInfo(property: BatteryProperty): number {
+        const info = sensors.internal.getBatteryInfo();
+        switch(property) {
+            case BatteryProperty.Level: return info.level;
+            case BatteryProperty.Current: return info.Ibatt;
+            case BatteryProperty.Voltage: return info.Vbatt;
+            default: return 0;
+        }
+
     }
 }

libs/core/input.ts

@@ -36,8 +36,17 @@ namespace sensors.internal {
     let analogMM: MMap
     let uartMM: MMap
     let IICMM: MMap
+    let powerMM: MMap
     let devcon: Buffer
-    let sensorInfos: SensorInfo[]
+    let sensorInfos: SensorInfo[];
+
+    let batteryInfo: {
+        CinCnt: number;
+        CoutCnt: number;
+        VinCnt: number;
+    };
+    let batteryVMin: number;
+    let batteryVMax: number;
 
     class SensorInfo {
         port: number
@@ -71,10 +80,13 @@ namespace sensors.internal {
         IICMM = control.mmap("/dev/lms_iic", IICOff.Size, 0)
         if (!IICMM) control.fail("no iic sensor")
 
-        unsafePollForChanges(500, 
-            () => { return hashDevices(); }, 
-            (prev, curr) => { detectDevices(); 
-        });
+        powerMM = control.mmap("/dev/lms_power", 2, 0)
+
+        unsafePollForChanges(500,
+            () => { return hashDevices(); },
+            (prev, curr) => {
+                detectDevices();
+            });
         sensorInfos.forEach(info => {
             unsafePollForChanges(50, () => {
                 if (info.sensor) return info.sensor._query()
@@ -82,9 +94,8 @@ namespace sensors.internal {
             }, (prev, curr) => {
                 if (info.sensor) info.sensor._update(prev, curr)
             })
-        })
-
-    }
+        })        
+   }
 
     export function getActiveSensors(): Sensor[] {
         init();
@@ -110,18 +121,130 @@ namespace sensors.internal {
         return manufacturer + sensorType;
     }
 
-    export function getBatteryInfo(): { temp: number; current: number } {
-        init();
-        return {
-            temp: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryTemp),
-            current: Math.round(analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent) / 10)
+    const ADC_REF = 5000                  //!< [mV]  maximal value on ADC
+    const ADC_RES = 4095                  //!< [CNT] maximal count on ADC
+    // see c_ui.c
+    const SHUNT_IN = 0.11              //  [Ohm]
+    const AMP_CIN = 22.0              //  [Times]
+
+    const EP2_SHUNT_IN = 0.05              //  [Ohm]
+    const EP2_AMP_CIN = 15.0              //  [Times]
+
+    const SHUNT_OUT = 0.055             //  [Ohm]
+    const AMP_COUT = 19.0              //  [Times]
+
+    const VCE = 0.05              //  [V]
+    const AMP_VIN = 0.5               //  [Times]
+
+    const AVR_CIN = 300
+    const AVR_COUT = 30
+    const AVR_VIN = 30
+    // lms2012
+    const BATT_INDICATOR_HIGH = 7500          //!< Battery indicator high [mV]
+    const BATT_INDICATOR_LOW = 6200          //!< Battery indicator low [mV]
+    const ACCU_INDICATOR_HIGH = 7500          //!< Rechargeable battery indicator high [mV]
+    const ACCU_INDICATOR_LOW = 7100          //!< Rechargeable battery indicator low [mV]    
+
+    function CNT_V(C: number) {
+        return ((C * ADC_REF) / (ADC_RES * 1000.0))
+    }
+
+    function updateBatteryInfo() {
+        let CinCnt = analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent);
+        let CoutCnt = analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.MotorCurrent);
+        let VinCnt = analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.Cell123456);
+        if (!batteryInfo) {
+            batteryVMin = BATT_INDICATOR_LOW;
+            batteryVMax = BATT_INDICATOR_HIGH;
+            if (powerMM) {
+                const accu = powerMM.getNumber(NumberFormat.UInt8LE, 0);
+                if (accu > 0) {
+                    control.dmesg("rechargeable battery")
+                    batteryVMin = ACCU_INDICATOR_LOW;
+                    batteryVMax = ACCU_INDICATOR_HIGH;
+                }
+            }
+            batteryInfo = { 
+                CinCnt: CinCnt, 
+                CoutCnt: CoutCnt,
+                VinCnt: VinCnt
+            };
+            // update in background
+            control.runInParallel(() => forever(updateBatteryInfo)); 
+        } else {
+            CinCnt = batteryInfo.CinCnt = ((batteryInfo.CinCnt * (AVR_CIN - 1)) + CinCnt) / AVR_CIN;
+            CoutCnt = batteryInfo.CoutCnt = ((batteryInfo.CoutCnt * (AVR_COUT - 1)) + CoutCnt) / AVR_COUT;
+            VinCnt = batteryInfo.VinCnt = ((batteryInfo.VinCnt * (AVR_VIN - 1)) + VinCnt) / AVR_VIN;
         }
     }
 
+    export function getBatteryInfo(): { 
+        level: number; 
+        Ibatt: number, 
+        Vbatt: number, 
+        Imotor: number 
+    } {
+        init();
+        if (!batteryInfo) updateBatteryInfo();
+        const CinCnt = batteryInfo.CinCnt;
+        const CoutCnt = batteryInfo.CoutCnt;
+        const VinCnt = batteryInfo.VinCnt;
+        /*
+void      cUiUpdatePower(void)
+{
+#ifndef Linux_X86
+  DATAF   CinV;
+  DATAF   CoutV;
+
+  if ((UiInstance.Hw == FINAL) || (UiInstance.Hw == FINALB))
+  {
+    CinV                =  CNT_V(UiInstance.CinCnt) / AMP_CIN;
+    UiInstance.Vbatt    =  (CNT_V(UiInstance.VinCnt) / AMP_VIN) + CinV + VCE;
+
+    UiInstance.Ibatt    =  CinV / SHUNT_IN;
+    CoutV               =  CNT_V(UiInstance.CoutCnt) / AMP_COUT;
+    UiInstance.Imotor   =  CoutV / SHUNT_OUT;
+
+  }
+  else
+  {
+    CinV                =  CNT_V(UiInstance.CinCnt) / EP2_AMP_CIN;
+    UiInstance.Vbatt    =  (CNT_V(UiInstance.VinCnt) / AMP_VIN) + CinV + VCE;
+
+    UiInstance.Ibatt    =  CinV / EP2_SHUNT_IN;
+    UiInstance.Imotor   =  0;
+
+  }
+
+#endif
+#ifdef DEBUG_TEMP_SHUTDOWN
+
+  UiInstance.Vbatt  =  7.0;
+  UiInstance.Ibatt  =  5.0;
+
+#endif
+}        
+        */
+       const CinV = CNT_V(CinCnt) / AMP_CIN;
+       const Vbatt = CNT_V(VinCnt) / AMP_VIN + CinV + VCE;
+       const Ibatt = CinV / SHUNT_IN;
+       const CoutV = CNT_V(CoutCnt) / AMP_COUT;
+       const Imotor = CoutV / SHUNT_OUT;
+       const level   = Math.max(0, Math.min(100, Math.floor((Vbatt * 1000.0 - batteryVMin)
+        / (batteryVMax - batteryVMin) * 100)));
+
+        return {
+            level: level,
+            Vbatt: Vbatt,
+            Ibatt: Ibatt,
+            Imotor: Imotor
+        };
+    }
+
     function hashDevices(): number {
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let r = 0;
-        for(let i = 0; i < conns.length; ++i) {
+        for (let i = 0; i < conns.length; ++i) {
             r = (r << 8 | conns[i]);
         }
         return r;

libs/core/linux.cpp

@@ -23,10 +23,6 @@
 #define MALLOC_LIMIT (8 * 1024 * 1024)
 #define MALLOC_CHECK_PERIOD (1024 * 1024)
 
-namespace Array_ {
-RefCollection *mk(unsigned flags);
-}
-
 void *xmalloc(size_t sz) {
     static size_t allocBytes = 0;
     allocBytes += sz;
@@ -480,7 +476,7 @@ void stopLMS() {
         if (!pid)
             continue;
         char namebuf[100];
-        snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
+        snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
         FILE *f = fopen(namebuf, "r");
         if (f) {
             fread(namebuf, 1, 99, f);
@@ -594,66 +590,4 @@ void dmesg(const char *format, ...) {
     fflush(dmesgFile);
     fdatasync(fileno(dmesgFile));
 }
-
-const char *progPath = "/mnt/ramdisk/prjs/BrkProg_SAVE";
-
-//%
-void deleteAllPrograms() {
-    char buf[1024];
-
-    struct dirent *ent;
-    DIR *dir;
-
-    dir = opendir(progPath);
-    if (dir == NULL)
-        return;
-
-    while ((ent = readdir(dir)) != NULL) {
-        if (ent->d_name[0] == '.')
-            continue;
-        snprintf(buf, sizeof(buf), "%s/%s", progPath, ent->d_name);
-        DMESG("FN: %s", ent->d_name);
-        // unlink(buf);
-    }
-
-    closedir(dir);
-}
-
-
-//%
-void deletePrjFile(String filename) {
-    if (strlen(filename->data) > 500 || strchr(filename->data, '/'))
-        return;
-    char buf[1024];
-    snprintf(buf, sizeof(buf), "%s/%s", progPath, filename->data);
-    unlink(buf);
-}
-
-//%
-RefCollection *listPrjFiles() {
-    auto res = Array_::mk(0);
-    //registerGCObj(res);
-
-    auto dp = opendir(progPath);
-
-    for (;;) {
-        dirent *ep = dp ? readdir(dp) : NULL;
-        if (!ep)
-            break;
-        if (ep->d_name[0] == '.')
-            continue;
-        auto str = mkString(ep->d_name, -1);
-        //registerGCObj(str);
-        res->push((TValue)str);
-        //unregisterGCObj(str);
-    }
-    if (dp)
-        closedir(dp);
-    //unregisterGCObj(res);
-
-    return res;
-}
-
-
-
 } // namespace pxt

libs/core/output.ts

@@ -279,7 +279,7 @@ namespace motors {
             const r: MoveSchedule = {
                 speed: Math.clamp(-100, 100, speed >> 0),
                 useSteps: true,
-                steps: [step1, step2, step3]
+                steps: [step1 || 0, step2 || 0, step3 || 0]
             }
             let scale = 1;
             switch (unit) {
@@ -352,18 +352,20 @@ namespace motors {
         /**
          * Schedules a run of the motor with an acceleration, constant and deceleration phase.
          * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
-         * @param acceleration acceleration phase measured distance or rotation
-         * @param value measured distance or rotation
-         * @param deceleration deceleration phase measured distance or rotation
-         * @param unit (optional) unit of the value
+         * @param value measured distance or rotation, eg: 500
+         * @param unit (optional) unit of the value, eg: MoveUnit.MilliSeconds
+         * @param acceleration acceleration phase measured distance or rotation, eg: 500
+         * @param deceleration deceleration phase measured distance or rotation, eg: 500
          */
-        //% blockId=motorSchedule block="schedule %motor at %speed=motorSpeedPicker|\\%|for %acceleration|%value|%deceleration||%unit"
+        //% blockId=motorSchedule block="ramp %motor at %speed=motorSpeedPicker|\\%|for %value|%unit||accelerate %acceleration|decelerate %deceleration"
         //% weight=99 blockGap=8
         //% group="Move"
         //% motor.fieldEditor="motors"
-        //% help=motors/motor/schedule
+        //% help=motors/motor/ramp
         //% inlineInputMode=inline
-        schedule(speed: number, acceleration: number, value: number, deceleration: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
+        //% expandableArgumentMode=toggle
+        //% value.defl=500
+        ramp(speed: number, value: number = 500, unit: MoveUnit = MoveUnit.MilliSeconds, acceleration?: number, deceleration?: number) {
             this.init();
             const schedule = this.normalizeSchedule(speed, acceleration, value, deceleration, unit);
             // stop if speed is 0
@@ -386,7 +388,7 @@ namespace motors {
          * Specifies the amount of rotation or time for the acceleration
          * of run commands.
          */
-        //% blockId=outputMotorsetRunAcceleration block="set %motor|run acceleration to $value||$unit"
+        //% blockId=outputMotorsetRunAcceleration block="set %motor|run acceleration ramp to $value||$unit"
         //% motor.fieldEditor="motors"
         //% weight=21 blockGap=8
         //% group="Properties"

libs/ev3/ns.ts

@@ -1,6 +1,6 @@
 
 //% color="#68C3E2" weight=100 icon="\uf106"
-//% groups='["Buttons", "Screen"]'
+//% groups='["Buttons", "Screen", "Battery"]'
 //% labelLineWidth=60
 namespace brick {
 }

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.1.17",
+  "version": "1.1.19",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [