slow down device poller

docs/getting-started/try-tutorial.md

@@ -73,12 +73,6 @@ Verify that the program you just created shows eyes on the Brick Display, and th
 
 **Well done!**
 
-## Run it Again
-
-![EV3 Brick with Try in BrkProg_Save Folder in File Manager](/static/getting-started/try-in-file-manager.png)
-
-Use the Brick Buttons and navigate to the File Manager tab.  Open the **BrkProg_SAVE** folder, select **Try** and click the center button to run it again.
-
 ## Connect a Large Motor @unplugged
 
 Now you will learn to control the Large Motor.

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.26"
+    "appref": "v1.2.22"
 }

docs/offline-app.html

@@ -388,12 +388,12 @@
         }
         function downloadWin64() {
             // TODO: Keep this link up-to-date with the desired release version
-            window.open("https://makecode.com/api/release/ev3/v1.2.26/win64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.22/win64");
             tickEvent("offlineapp.download", { "target": "ev3", "platform": "win64" });
         }
         function downloadMac64() {
             // TODO: Keep this link up-to-date with the desired release version
-            window.open("https://makecode.com/api/release/ev3/v1.2.26/mac64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.22/mac64");
             tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
         }
     </script>

docs/stable-ref.json

@@ -1,3 +0,0 @@
-{
-    "appref": "v1.2"
-}

libs/color-sensor/color.ts

@@ -1,4 +1,5 @@
 const enum ColorSensorMode {
+    None = 0,
     //% block="reflected light intensity"
     ReflectedLightIntensity = 0,
     //% block="ambient light intensity"
@@ -55,13 +56,12 @@ 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;
+            this.setMode(ColorSensorMode.ReflectedLightIntensity);
         }
 
         _colorEventValue(value: number) {
@@ -104,18 +104,17 @@ namespace sensors {
                         "yellow",
                         "red",
                         "white",
-                        "brown"][this._curr];
+                        "brown"][this._query()];
                 case ColorSensorMode.AmbientLightIntensity:
                 case ColorSensorMode.ReflectedLightIntensity:
-                    return `${this._curr}%`;
+                    return `${this._query()}%`;
                 default:
-                    return this._curr.toString();
+                    return this._query().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
@@ -177,25 +176,9 @@ namespace sensors {
         //% group="Color Sensor"
         //% blockGap=8
         color(): ColorSensorColor {
-            this.poke();
             this.setMode(ColorSensorMode.Color)
-            return this._curr;
+            this.poke();
-        }
+            return this.getNumber(NumberFormat.UInt8LE, 0)
-
-        /**
-         * Checks the color is being detected
-         * @param color the color to detect
-         */
-        //% help=sensors/color-sensor/is-color-detected
-        //% block="is **color sensor** %this|detected|%color=colorEnumPicker"
-        //% blockId=colorisColorDetectedDetected
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% this.fieldEditor="ports"
-        //% weight=99 blockGap=8
-        //% group="Color Sensor"
-        isColorDetected(color: number) {
-            return this.color() == color;
         }
 
         /**
@@ -211,8 +194,8 @@ namespace sensors {
         //% group="Color Sensor"
         //% blockGap=8
         rgbRaw(): number[] {
-            this.poke();
             this.setMode(ColorSensorMode.RgbRaw);
+            this.poke();
             return [this.getNumber(NumberFormat.UInt16LE, 0), this.getNumber(NumberFormat.UInt16LE, 2), this.getNumber(NumberFormat.UInt16LE, 4)];
         }
 
@@ -265,13 +248,13 @@ namespace sensors {
         //% weight=87 blockGap=8
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
-            this.poke();
             this.setMode(<ColorSensorMode><number>mode)
+            this.poke();
             switch (mode) {
                 case LightIntensityMode.ReflectedRaw:
                     return this.reflectedLightRaw();
                 default:
-                    return this._curr;
+                    return this.getNumber(NumberFormat.UInt8LE, 0)
             }
         }
 
@@ -296,9 +279,9 @@ namespace sensors {
          */
         //%
         reflectedLightRaw(): number {
-            this.poke();
             this.setMode(ColorSensorMode.RefRaw);
-            return this._curr;
+            this.poke();
+            return this.getNumber(NumberFormat.UInt16LE, 0);
         }
 
         /**

libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md

@@ -1,30 +0,0 @@
-# Is Color Detected
-
-Checks the color is detected
-
-```sig
-let b = sensors.color1.isColorDetected(ColorSensorColor.Blue)
-```
-
-The [color](/reference/sensors/color) you choose to look for is one of the colors that the sensor can detect. If you want to use colors for tracking, it's best to use a color that is the same or very close to the ones the sensor detects.
-
-## Parameters
-
-* **color**: the [color](/reference/sensors/color) to watch for.
-
-## Example
-
-Wait for the sensor to see ``blue``. Then, show an expression on the screen.
-
-```blocks
-brick.showString("Waiting for blue", 1)
-while(!sensors.color1.isColorDetected(ColorSensorColor.Blue)) {
-    pause(20)
-}
-brick.clearScreen()
-brick.showImage(images.expressionsSick)
-```
-
-## See also
-
-[on color detected](/reference/sensors/color-sensor/on-color-detected), [color](/reference/sensors/color)

libs/core/dal.d.ts

@@ -309,6 +309,8 @@ declare const enum DAL {
     DEVICE_TYPE_NXT_LIGHT = 2,
     DEVICE_TYPE_NXT_SOUND = 3,
     DEVICE_TYPE_NXT_COLOR = 4,
+    DEVICE_TYPE_NXT_ULTRASONIC = 5,
+    DEVICE_TYPE_NXT_TEMPERATURE = 6,
     DEVICE_TYPE_TACHO = 7,
     DEVICE_TYPE_MINITACHO = 8,
     DEVICE_TYPE_NEWTACHO = 9,

libs/core/ev3const.h

@@ -11,6 +11,8 @@
 #define DEVICE_TYPE_NXT_LIGHT 2
 #define DEVICE_TYPE_NXT_SOUND 3
 #define DEVICE_TYPE_NXT_COLOR 4
+#define DEVICE_TYPE_NXT_ULTRASONIC 5
+#define DEVICE_TYPE_NXT_TEMPERATURE 6
 #define DEVICE_TYPE_TACHO 7
 #define DEVICE_TYPE_MINITACHO 8
 #define DEVICE_TYPE_NEWTACHO 9

libs/core/input.ts

@@ -1,7 +1,4 @@
 namespace sensors.internal {
-    const UART_PORT_CHANGED = 1
-    const UART_DATA_READY = 8
-
     export class Poller {
         private query: () => number;
         private update: (previous: number, current: number) => void;
@@ -39,7 +36,6 @@ namespace sensors.internal {
 
         private poll() {
             control.runInBackground(() => {
-                pause(this.interval);
                 this.lastQuery = this.lastPause = control.millis();
                 this.previousValue = this.currentValue = this.query();
                 this.update(this.previousValue, this.currentValue);
@@ -64,6 +60,8 @@ namespace sensors.internal {
     let uartMM: MMap
     let IICMM: MMap
     let powerMM: MMap
+    let devcon: Buffer
+    let devPoller: Poller
     let sensorInfos: SensorInfo[];
 
     let batteryInfo: {
@@ -84,7 +82,7 @@ namespace sensors.internal {
         poller: Poller;
 
         constructor(p: number) {
-            this.port = p
+            this.port = p; // 0-based
             this.connType = DAL.CONN_NONE
             this.devType = DAL.DEVICE_TYPE_NONE
             this.iicid = ''
@@ -106,10 +104,11 @@ namespace sensors.internal {
         }
     }
 
-    export function init() {
+    function init() {
         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 +121,10 @@ namespace sensors.internal {
 
         powerMM = control.mmap("/dev/lms_power", 2, 0)
 
-        forever(function () {
+        devPoller = new Poller(500, () => { return hashDevices(); },
-            pause(500)
+            (prev, curr) => {
-            detectDevices();
+                detectDevices();
-        })
+            });
     }
 
     export function getActiveSensors(): Sensor[] {
@@ -133,6 +132,16 @@ namespace sensors.internal {
         return sensorInfos.filter(si => si.sensor && si.sensor.isActive()).map(si => si.sensor);
     }
 
+    function readUartInfo(port: number, mode: number) {
+        let buf = output.createBuffer(UartCtlOff.Size)
+        buf[UartCtlOff.Port] = port
+        buf[UartCtlOff.Mode] = mode
+        uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
+        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)
+    }
+
     export function readIICID(port: number) {
         const buf = output.createBuffer(IICStr.Size)
         buf[IICStr.Port] = port
@@ -264,61 +273,90 @@ void      cUiUpdatePower(void)
         };
     }
 
-    function detectDevices() {
+    function hashDevices(): number {
-        control.dmesg(`detect devices`)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
-        let devcon: Buffer = undefined;
+        let r = 0;
+        for (let i = 0; i < conns.length; ++i) {
+            r = (r << 8 | conns[i]);
+        }
+        //control.dmesg(`devices hash: ${r}`);
+        return r;
+    }
+
+    let nonActivated = 0;
+    function detectDevices() {
+        control.dmesg(`detect devices (${nonActivated} na)`)
+        const inDcm = analogMM.slice(AnalogOff.InDcm, DAL.NUM_INPUTS)
+        const inConn = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
+        let numChanged = 0;
+        const uartSensors: SensorInfo[] = [];
+
         for (const sensorInfo of sensorInfos) {
-            const newConn = conns[sensorInfo.port]
+            const newConn = inConn[sensorInfo.port]
-            if (newConn == sensorInfo.connType)
+            if (newConn == sensorInfo.connType) {
+                // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
                 continue;
-
+            }
+            numChanged++
             sensorInfo.connType = newConn
-            sensorInfo.devType = DAL.DEVICE_TYPE_NONE
+            sensorInfo.devType = DAL.DEVICE_TYPE_NONE;
-            sensorInfo.sensor = undefined;
+            switch (newConn) {
-
+                case DAL.CONN_INPUT_UART: {
-            if (newConn == DAL.CONN_INPUT_UART) {
+                    control.dmesg(`new UART connection at ${sensorInfo.port}`)
-                control.dmesg(`new UART connection at ${sensorInfo.port}`)
+                    updateUartMode(sensorInfo.port, 0);
-                const status = getUartStatus(sensorInfo.port);
+                    uartSensors.push(sensorInfo);
-                if (status & UART_PORT_CHANGED) {
+                    break;
-                    if (!devcon) devcon = output.createBuffer(DevConOff.Size)
+                }
-                    updateUartMode(devcon, sensorInfo.port, 0);
+                case DAL.CONN_NXT_IIC: {
+                    control.dmesg(`new NXT IIC connection at ${sensorInfo.port}`)
+                    sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
+                    sensorInfo.iicid = readIICID(sensorInfo.port)
+                    control.dmesg(`IIC ID ${sensorInfo.iicid.length}`)
+                    break;
+                } case DAL.CONN_NXT_DUMB: { // analog NXT sensor
+                    control.dmesg(`new NXT analog connection at ${sensorInfo.port}`);
+                    sensorInfo.devType = inDcm[sensorInfo.port];
+                    control.dmesg(`NXT analog dev type ${sensorInfo.devType}`);
+                    break;
+                }
+                case DAL.CONN_INPUT_DUMB: {
+                    control.dmesg(`new DUMB connection at ${sensorInfo.port}`)
+                    // TODO? for now assume touch
+                    sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH
+                    break;
+                }
+                case DAL.CONN_NONE:
+                case 0: {
+                    //control.dmesg(`disconnect at port ${sensorInfo.port}`)
+                    break;
+                }
+                default: {
+                    control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
+                    break;
                 }
-            } else if (newConn == DAL.CONN_NXT_IIC) {
-                control.dmesg(`new IIC connection at ${sensorInfo.port}`)
-                sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
-                sensorInfo.iicid = readIICID(sensorInfo.port)
-                control.dmesg(`IIC ID ${sensorInfo.iicid.length}`)
-            } else if (newConn == DAL.CONN_INPUT_DUMB) {
-                control.dmesg(`new DUMB connection at ${sensorInfo.port}`)
-                // TODO? for now assume touch
-                sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH
-            } else if (newConn == DAL.CONN_NONE || newConn == 0) {
-                control.dmesg(`disconnected port ${sensorInfo.port}`)
-                // clear sensor
-                sensorInfo.sensor = undefined;
-            } else {
-                control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
-                // clear sensor
-                sensorInfo.sensor = undefined;
             }
         }
 
-        if (devcon)
+        if (uartSensors.length > 0) {
-            setUartModes(devcon);
+            setUartModes();
-
+            for (const sensorInfo of uartSensors) {
-        for (const sensorInfo of sensorInfos.filter(si => si.connType == DAL.CONN_INPUT_UART && si.devType == DAL.CONN_NONE)) {
+                let uinfo = readUartInfo(sensorInfo.port, 0)
-            const uinfo = readUartInfo(sensorInfo.port, 0);
+                sensorInfo.devType = uinfo[TypesOff.Type]
-            sensorInfo.devType = uinfo[TypesOff.Type];
+                control.dmesg(`UART type ${sensorInfo.devType}`)
-            control.dmesg(`UART type ${sensorInfo.devType}`)
+            }
         }
 
-        // assign sensors
+        if (numChanged == 0 && nonActivated == 0)
-        for (const sensorInfo of sensorInfos.filter(si => !si.sensor)) {
+            return
+
+        //control.dmesg(`updating sensor status`)
+        nonActivated = 0;
+        for (const sensorInfo of sensorInfos) {
             if (sensorInfo.devType == DAL.DEVICE_TYPE_IIC_UNKNOWN) {
                 sensorInfo.sensor = sensorInfo.sensors.filter(s => s._IICId() == sensorInfo.iicid)[0]
                 if (!sensorInfo.sensor) {
                     control.dmesg(`sensor not found for iicid=${sensorInfo.iicid} at ${sensorInfo.port}`)
+                    nonActivated++;
                 } else {
                     control.dmesg(`sensor connected iicid=${sensorInfo.iicid} at ${sensorInfo.port}`)
                     sensorInfo.sensor._activated()
@@ -327,29 +365,14 @@ void      cUiUpdatePower(void)
                 sensorInfo.sensor = sensorInfo.sensors.filter(s => s._deviceType() == sensorInfo.devType)[0]
                 if (!sensorInfo.sensor) {
                     control.dmesg(`sensor not found for type=${sensorInfo.devType} at ${sensorInfo.port}`)
+                    nonActivated++;
                 } else {
                     control.dmesg(`sensor connected type=${sensorInfo.devType} at ${sensorInfo.port}`)
                     sensorInfo.sensor._activated()
                 }
             }
         }
-
+        //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 ${sensorInfo.port}`)
-        }
-    }
-
-    // this function will return a meaningful result only when stats & CHANGED
-    // it is cleared afterwards
-    function readUartInfo(port: number, mode: number) {
-        const buf = output.createBuffer(UartCtlOff.Size)
-        buf[UartCtlOff.Port] = port
-        buf[UartCtlOff.Mode] = mode
-        uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
-        control.dmesg(`UART_READ_MODE t:${buf[TypesOff.Type]} c:${buf[TypesOff.Connection]} m:${buf[TypesOff.Mode]} n:${buf.slice(0, 12).toHex()}`);
-        return buf
     }
 
     export class Sensor extends control.Component {
@@ -423,20 +446,20 @@ void      cUiUpdatePower(void)
         constructor(port: number) {
             super(port)
             this.mode = 0
-            this.realmode = 0
+            this.realmode = 0;
         }
 
         _activated() {
-            this.realmode = 0
+            this.realmode = 0;
             this._setMode(this.mode)
         }
 
         protected _setMode(m: number) {
-            //control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`)
             let v = m | 0
             this.mode = v
             if (!this.isActive()) return
             if (this.realmode != this.mode) {
+                control.dmesg(`_setMode p=${this._port} m: ${this.realmode} -> ${v}`)
                 this.realmode = v
                 setUartMode(this._port, v)
             }
@@ -454,7 +477,7 @@ void      cUiUpdatePower(void)
 
         reset() {
             if (this.isActive()) uartReset(this._port);
-            this.realmode = -1;
+            this.realmode = 0;
         }
     }
 
@@ -508,8 +531,8 @@ 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)
@@ -517,22 +540,23 @@ void      cUiUpdatePower(void)
     }
 
     function getUartStatus(port: number) {
+        if (port < 0) return 0
         return uartMM.getNumber(NumberFormat.Int8LE, UartOff.Status + port)
     }
 
-    function waitNonZeroUartStatus(port: number): number {
+    function waitNonZeroUartStatus(port: number) {
-        let retry = 20;
+        while (true) {
-        while (retry-- > 0) {
+            if (port < 0) return 0
-            const s = getUartStatus(port)
+            let s = getUartStatus(port)
-            if (s) return s;
+            if (s) return s
-            control.dmesg(`UART status 0, waiting...`)
             pause(25)
         }
-        return 0
     }
 
     function uartClearChange(port: number) {
         control.dmesg(`UART clear change`);
+        const UART_DATA_READY = 8
+        const UART_PORT_CHANGED = 1
         while (true) {
             let status = getUartStatus(port)
             if (port < 0) break
@@ -540,11 +564,10 @@ 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)
-            control.dmesg(`UART_CLEAR_CHANGED status ${status} ${devcon.toHex()}`)
+
             uartMM.ioctl(IO.UART_CLEAR_CHANGED, devcon)
 
             uartMM.setNumber(NumberFormat.Int8LE, UartOff.Status + port,
@@ -553,8 +576,8 @@ void      cUiUpdatePower(void)
         }
     }
 
-    function setUartModes(devcon: Buffer) {
+    function setUartModes() {
-        control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
+        control.dmesg(`UART set modes`)
         uartMM.ioctl(IO.UART_SET_CONN, devcon)
         const ports: number[] = [];
         for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@@ -570,7 +593,7 @@ void      cUiUpdatePower(void)
         }
     }
 
-    function updateUartMode(devcon: Buffer, port: number, mode: number) {
+    function updateUartMode(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)
@@ -579,19 +602,18 @@ void      cUiUpdatePower(void)
 
     function setUartMode(port: number, mode: number) {
         control.dmesg(`UART set mode ${mode} at ${port}`);
+        const UART_PORT_CHANGED = 1
         while (true) {
-            const devcon = output.createBuffer(DevConOff.Size)
+            if (port < 0) return
-            updateUartMode(devcon, port, mode);
+            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) {
                 control.dmesg(`UART clear changed at ${port}`)
                 uartClearChange(port)
             } else {
-                control.dmesg(`UART status ${status}`);
+                control.dmesg(`UART status ${status} at ${port}`);
-                if (status & UART_DATA_READY)
+                break;
-                    break;
             }
             pause(10)
         }
@@ -605,16 +627,16 @@ void      cUiUpdatePower(void)
             DAL.MAX_DEVICE_DATALENGTH)
     }
 
-    function getUartNumber(fmt: NumberFormat, off: number, port: number) {
+    function getUartNumber(fmt: NumberFormat, off: number, port: number): number {
         if (port < 0) return 0
-        let index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
+        const index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
         return uartMM.getNumber(fmt,
             UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index + off)
     }
 
     export function setIICMode(port: number, type: number, mode: number) {
         if (port < 0) return;
-        const devcon = output.createBuffer(DevConOff.Size)
+        control.dmesg(`iic set type ${type} mode ${mode} at ${port}`)
         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)
@@ -623,7 +645,7 @@ void      cUiUpdatePower(void)
 
     export function transactionIIC(port: number, deviceAddress: number, writeBuf: number[], readLen: number) {
         if (port < 0) return;
-        const iicdata = output.createBuffer(IICDat.Size)
+        let 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)
@@ -892,4 +914,4 @@ namespace sensors {
             }
         }
     }
-}
+}

libs/core/output.ts

@@ -55,7 +55,7 @@ namespace motors {
         Size = 12
     }
 
-    export function init() {
+    function init() {
         if (pwmMM) return
         pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
         if (!pwmMM) control.fail("no PWM file")

libs/ev3/console.ts

@@ -21,6 +21,7 @@ namespace console._screen {
             console.addListener(log);
             brick.buttonUp.onEvent(ButtonEvent.Bumped, () => scroll(-3))
             brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))
+            brick.showConsole();
         }
     }
 

libs/ev3/startup.ts

@@ -2,6 +2,5 @@
 console.addListener(function(priority: ConsolePriority, msg: string) {
     control.dmesg(msg.substr(0, msg.length - 1))
 })
-
 // boot sequence
 brick.showBoot();

libs/screen/targetoverrides.ts

@@ -27,6 +27,7 @@ namespace brick {
         ShowLines,
         Image,
         Ports,
+        Console,
         Custom
     }
     let screenMode = ScreenMode.None;
@@ -141,8 +142,6 @@ namespace brick {
         const col = 44;
         const lineHeight8 = image.font8.charHeight + 2;
         const h = screen.height;
-        const w = screen.width;
-        const blink = (control.millis() >> 5) % (h - 1);
 
         clearScreen();
 
@@ -182,23 +181,27 @@ namespace brick {
             if (inf)
                 screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
         }
-
-        // alive dot
-        screen.setPixel(w - 1, blink, 1);
-        screen.setPixel(w - 1, blink - 1, 1);
-        screen.setPixel(w - 2, blink - 1, 1);
-        screen.setPixel(w - 2, blink, 1);
     }
 
     export function showBoot() {
         // pulse green, play startup sound, turn off light
         brick.setStatusLight(StatusLight.GreenPulse);
         // We pause for 100ms to give time to read sensor values, so they work in on_start block
-        sensors.internal.init();
+        pause(400)
-        motors.init();
-        pause(800)
         // and we're ready
         brick.setStatusLight(StatusLight.Off);
+        // always show port by default if no UI is set
+        control.runInParallel(function () {
+            // show ports if nothing is has been shown
+            if (screenMode != ScreenMode.None) return;
+            showPorts();
+        })
+    }
+
+    export function showConsole() {
+        console.sendToScreen();
+        screenMode = ScreenMode.Console;
+        clearScreen();
     }
 
     /**

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.4.8",
+  "version": "1.4.7",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [
@@ -45,8 +45,8 @@
     "@types/web-bluetooth": "0.0.4"
   },
   "dependencies": {
-    "pxt-common-packages": "6.16.18",
+    "pxt-common-packages": "6.16.10",
-    "pxt-core": "5.28.8"
+    "pxt-core": "5.25.13"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

targetconfig.json

@@ -27,6 +27,6 @@
         "Tutorial Videos": "videos"
     },
     "electronManifest": {
-        "latest": "v1.2.26"
+        "latest": "v1.2.22"
     }
 }