1.4.9

libs/color-sensor/color.ts

@@ -55,13 +55,11 @@ 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) {
@@ -104,18 +102,17 @@ 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
@@ -179,7 +176,7 @@ namespace sensors {
         color(): ColorSensorColor {
             this.poke();
             this.setMode(ColorSensorMode.Color)
-            return this._curr;
+            return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
         /**
@@ -271,7 +268,7 @@ namespace sensors {
                 case LightIntensityMode.ReflectedRaw:
                     return this.reflectedLightRaw();
                 default:
-                    return this._curr;
+                    return this.getNumber(NumberFormat.UInt8LE, 0)
             }
         }
 
@@ -298,7 +295,7 @@ namespace sensors {
         reflectedLightRaw(): number {
             this.poke();
             this.setMode(ColorSensorMode.RefRaw);
-            return this._curr;
+            return this.getNumber(NumberFormat.UInt16LE, 0);
         }
 
         /**

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: {
@@ -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(250, () => { 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
@@ -264,26 +273,38 @@ 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 = conns[i] + (r << 6) + (r << 16) - r;
+        }
+        return r;
+    }
+
+    let nonActivated = 0;
+    function detectDevices() {
+        control.dmesg(`detect devices (hash ${hashDevices()})`)
+        const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
+        let numChanged = 0;
+        const uartSensors: SensorInfo[] = [];
+
         for (const sensorInfo of sensorInfos) {
             const newConn = conns[sensorInfo.port]
-            if (newConn == sensorInfo.connType)
+            if (newConn == sensorInfo.connType
+                && sensorInfo.sensor
+                && sensorInfo.sensor.isActive()) {
+                if (newConn == DAL.CONN_INPUT_UART)
+                    uartSensors.push(sensorInfo);
                 continue;
-
+            }
+            numChanged++
             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}`)
-                const status = getUartStatus(sensorInfo.port);
+                updateUartMode(sensorInfo.port, 0);
-                if (status & UART_PORT_CHANGED) {
+                uartSensors.push(sensorInfo);
-                    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
@@ -294,31 +315,33 @@ void      cUiUpdatePower(void)
                 // 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}`)
+                //control.dmesg(`disconnect at 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];
+                const mode = uinfo[TypesOff.Mode];
-            control.dmesg(`UART type ${sensorInfo.devType}`)
+                control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
+            }
         }
 
-        // 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 ${sensorInfo.port}`)
                     sensorInfo.sensor._activated()
@@ -327,29 +350,14 @@ void      cUiUpdatePower(void)
                 sensorInfo.sensor = sensorInfo.sensors.filter(s => s._deviceType() == sensorInfo.devType)[0]
                 if (!sensorInfo.sensor) {
                     control.dmesg(`sensor not found for type=${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 {
@@ -508,8 +516,8 @@ 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)
@@ -517,18 +525,17 @@ 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) {
@@ -540,11 +547,10 @@ 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 +559,8 @@ void      cUiUpdatePower(void)
         }
     }
 
-    function setUartModes(devcon: Buffer) {
+    function setUartModes() {
-        control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
+        control.dmesg(`UART set modes 0x${devcon.toHex()}`)
         uartMM.ioctl(IO.UART_SET_CONN, devcon)
         const ports: number[] = [];
         for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@@ -567,22 +573,25 @@ 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(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)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
     }
 
+    const UART_PORT_CHANGED = 1
+    const UART_DATA_READY = 8
     function setUartMode(port: number, mode: number) {
-        control.dmesg(`UART set mode ${mode} at ${port}`);
         while (true) {
-            const devcon = output.createBuffer(DevConOff.Size)
+            if (port < 0) return
-            updateUartMode(devcon, port, mode);
+            updateUartMode(port, mode);
-            control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
+            control.dmesg(`UART set mode 0x${devcon.toHex()}`)
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {
@@ -614,7 +623,6 @@ 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)
@@ -623,7 +631,7 @@ 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)

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/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

@@ -141,8 +141,6 @@ 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 +180,21 @@ 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();
+        })
     }
 
     /**

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.4.8",
+  "version": "1.4.9",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [