693 lines
22 KiB
TypeScript
693 lines
22 KiB
TypeScript
namespace sensors.internal {
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//% shim=pxt::unsafePollForChanges
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export function unsafePollForChanges(
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periodMs: number,
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query: () => number,
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changeHandler: (prev: number, curr: number) => void
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) {
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// This is implemented in C++ without blocking the regular JS when query() is runnning
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// which is generally unsafe. Query should not update globally visible state, and cannot
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// call any yielding functions, like sleep().
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// This is implementation for the simulator.
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control.runInParallel(() => {
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let prev = query()
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changeHandler(prev, prev)
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while (true) {
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pause(periodMs)
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let curr = query()
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if (prev !== curr) {
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changeHandler(prev, curr)
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prev = curr
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}
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}
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})
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}
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export function bufferToString(buf: Buffer): string {
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let s = ''
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for (let i = 0; i < buf.length; i++)
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s += String.fromCharCode(buf[i])
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return s
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}
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let analogMM: MMap
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let uartMM: MMap
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let IICMM: MMap
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let devcon: Buffer
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let sensorInfos: SensorInfo[]
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class SensorInfo {
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port: number
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sensor: Sensor
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sensors: Sensor[]
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connType: number
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devType: number
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iicid: string
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constructor(p: number) {
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this.port = p
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this.connType = DAL.CONN_NONE
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this.devType = DAL.DEVICE_TYPE_NONE
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this.iicid = ''
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this.sensors = []
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}
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}
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function init() {
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if (sensorInfos) return
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sensorInfos = []
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for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
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devcon = output.createBuffer(DevConOff.Size)
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analogMM = control.mmap("/dev/lms_analog", AnalogOff.Size, 0)
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if (!analogMM) control.fail("no analog sensor")
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uartMM = control.mmap("/dev/lms_uart", UartOff.Size, 0)
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if (!uartMM) control.fail("no uart sensor")
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IICMM = control.mmap("/dev/lms_iic", IICOff.Size, 0)
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if(!IICMM) control.fail("no iic sensor")
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forever(() => {
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detectDevices()
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pause(500)
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})
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for (let info_ of sensorInfos) {
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let info = info_
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unsafePollForChanges(50, () => {
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if (info.sensor) return info.sensor._query()
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return 0
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}, (prev, curr) => {
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if (info.sensor) info.sensor._update(prev, curr)
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})
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}
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}
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export function getActiveSensors(): Sensor[] {
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init();
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return sensorInfos.filter(si => si.sensor && si.sensor.isActive()).map(si => si.sensor);
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}
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function readUartInfo(port: number, mode: number) {
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let buf = output.createBuffer(UartCtlOff.Size)
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buf[UartCtlOff.Port] = port
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buf[UartCtlOff.Mode] = mode
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uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
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return buf
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//let info = `t:${buf[TypesOff.Type]} c:${buf[TypesOff.Connection]} m:${buf[TypesOff.Mode]} n:${buf.slice(0, 12).toHex()}`
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//serial.writeLine("UART " + port + " / " + mode + " - " + info)
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}
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export function readIICID(port: number) {
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let buf = output.createBuffer(IICStr.Size)
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buf[IICStr.Port] = port
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IICMM.ioctl(IO.IIC_READ_TYPE_INFO, buf)
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let Manufacturer = bufferToString(buf.slice(IICStr.Manufacturer, 8))
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let SensorType = bufferToString(buf.slice(IICStr.SensorType, 8))
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return Manufacturer + SensorType ;
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}
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export function getBatteryInfo(): { temp: number; current: number } {
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init();
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return {
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temp: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryTemp),
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current: Math.round(analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent) / 10)
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}
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}
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let nonActivated = 0;
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function detectDevices() {
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let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
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let numChanged = 0
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for (let info of sensorInfos) {
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let newConn = conns[info.port]
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if (newConn == info.connType)
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continue
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numChanged++
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info.connType = newConn
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info.devType = DAL.DEVICE_TYPE_NONE
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if (newConn == DAL.CONN_INPUT_UART) {
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control.dmesg(`new UART connection at ${info.port}`)
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setUartMode(info.port, 0)
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let uinfo = readUartInfo(info.port, 0)
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info.devType = uinfo[TypesOff.Type]
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control.dmesg(`UART type ${info.devType}`)
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} else if(newConn == DAL.CONN_NXT_IIC){
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control.dmesg(`new IIC connection at ${info.port}`)
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info.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
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info.iicid = readIICID(info.port)
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control.dmesg(`IIC ID ${info.iicid.length}`)
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} else if (newConn == DAL.CONN_INPUT_DUMB) {
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control.dmesg(`new DUMB connection at ${info.port}`)
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// TODO? for now assume touch
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info.devType = DAL.DEVICE_TYPE_TOUCH
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} else if (newConn == DAL.CONN_NONE || newConn == 0) {
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control.dmesg(`disconnect at ${info.port}`)
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} else {
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control.dmesg(`unknown connection type: ${newConn} at ${info.port}`)
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}
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}
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if (numChanged == 0 && nonActivated == 0)
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return
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nonActivated = 0;
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for (let si of sensorInfos) {
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if(si.devType == DAL.DEVICE_TYPE_IIC_UNKNOWN){
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si.sensor = si.sensors.filter(s => s._IICId() == si.iicid)[0]
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if (!si.sensor) {
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control.dmesg(`sensor not found for iicid=${si.iicid} at ${si.port}`)
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nonActivated++;
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}else{
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control.dmesg(`sensor connected iicid=${si.iicid} at ${si.port}`)
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si.sensor._activated()
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}
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}else if (si.devType != DAL.DEVICE_TYPE_NONE) {
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si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0]
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if (!si.sensor) {
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control.dmesg(`sensor not found for type=${si.devType} at ${si.port}`)
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nonActivated++;
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}else{
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control.dmesg(`sensor connected type=${si.devType} at ${si.port}`)
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si.sensor._activated()
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}
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}
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}
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}
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export class Sensor extends control.Component {
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protected _port: number // this is 0-based
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constructor(port_: number) {
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super()
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if (!(1 <= port_ && port_ <= DAL.NUM_INPUTS))
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control.panic(120)
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this._port = port_ - 1
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init()
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sensorInfos[this._port].sensors.push(this)
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this.markUsed();
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}
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markUsed() {
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sensors.__sensorUsed(this._port, this._deviceType());
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}
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_activated() { }
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// 1-based
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port() {
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return this._port + 1
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}
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isActive() {
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return sensorInfos[this._port].sensor == this
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}
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_query() {
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return 0
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}
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_info(): string {
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return this._query().toString();
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}
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_update(prev: number, curr: number) {
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}
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_deviceType() {
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return 0
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}
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_IICId() {
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return ''
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}
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}
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export class AnalogSensor extends Sensor {
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constructor(port: number) {
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super(port)
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}
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_readPin6() {
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if (!this.isActive()) return 0
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return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this._port)
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}
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}
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export class UartSensor extends Sensor {
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protected mode: number // the mode user asked for
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protected realmode: number // the mode the hardware is in
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constructor(port: number) {
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super(port)
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this.mode = 0
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this.realmode = 0
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}
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_activated() {
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this.realmode = 0
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this._setMode(this.mode)
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}
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protected _setMode(m: number) {
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//control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`)
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let v = m | 0
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this.mode = v
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if (!this.isActive()) return
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if (this.realmode != this.mode) {
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this.realmode = v
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setUartMode(this._port, v)
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}
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}
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getBytes(): Buffer {
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return getUartBytes(this.isActive() ? this._port : -1)
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}
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getNumber(fmt: NumberFormat, off: number) {
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if (!this.isActive())
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return 0
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return getUartNumber(fmt, off, this._port)
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}
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reset() {
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if (this.isActive()) uartReset(this._port);
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this.realmode = 0;
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}
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}
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export class IICSensor extends Sensor {
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protected mode: number // the mode user asked for
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protected realmode: number // the mode the hardware is in
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private readLength: number
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constructor(port: number) {
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super(port)
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this.mode = 0
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this.realmode = 0
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this.readLength = 1;
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}
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_activated() {
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this.realmode = 0
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this._setMode(this.mode)
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}
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protected _setMode(m: number) {
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let v = m | 0
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this.mode = v
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if (!this.isActive()) return
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if (this.realmode != this.mode) {
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this.realmode = v
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setIICMode(this._port, this._deviceType() ,v)
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}
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}
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getBytes(): Buffer {
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return getIICBytes(this.isActive() ? this._port : -1, this.readLength)
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}
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getNumber(fmt: NumberFormat, off: number) {
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if (!this.isActive())
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return 0
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return getIICNumber(this.readLength, fmt, off, this._port)
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}
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transaction(deviceAddress: number, write: number[], read: number){
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this.readLength = read;
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transactionIIC(this._port, deviceAddress, write, read)
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}
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_deviceType (){
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return DAL.DEVICE_TYPE_IIC_UNKNOWN
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}
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}
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export const iicsensor = new IICSensor(3)
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function uartReset(port: number) {
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if (port < 0) return
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control.dmesg(`UART reset at ${port}`)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NONE)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
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uartMM.ioctl(IO.UART_SET_CONN, devcon)
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}
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function getUartStatus(port: number) {
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if (port < 0) return 0
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return uartMM.getNumber(NumberFormat.Int8LE, UartOff.Status + port)
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}
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function waitNonZeroUartStatus(port: number) {
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while (true) {
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if (port < 0) return 0
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let s = getUartStatus(port)
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if (s) return s
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pause(25)
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}
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}
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function uartClearChange(port: number) {
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const UART_DATA_READY = 8
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const UART_PORT_CHANGED = 1
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while (true) {
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let status = getUartStatus(port)
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if (port < 0) break
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if ((status & UART_DATA_READY) != 0 && (status & UART_PORT_CHANGED) == 0)
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break
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 0)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, 0)
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uartMM.ioctl(IO.UART_CLEAR_CHANGED, devcon)
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uartMM.setNumber(NumberFormat.Int8LE, UartOff.Status + port,
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getUartStatus(port) & 0xfffe)
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pause(10)
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}
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}
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function setUartMode(port: number, mode: number) {
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const UART_PORT_CHANGED = 1
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while (true) {
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if (port < 0) return
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control.dmesg(`UART set mode to ${mode} at ${port}`)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
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uartMM.ioctl(IO.UART_SET_CONN, devcon)
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let status = waitNonZeroUartStatus(port)
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if (status & UART_PORT_CHANGED) {
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uartClearChange(port)
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} else {
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break
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}
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pause(10)
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}
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}
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function getUartBytes(port: number): Buffer {
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if (port < 0) return output.createBuffer(DAL.MAX_DEVICE_DATALENGTH)
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let index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
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return uartMM.slice(
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UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index,
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DAL.MAX_DEVICE_DATALENGTH)
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}
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function getUartNumber(fmt: NumberFormat, off: number, port: number) {
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if (port < 0) return 0
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let index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
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return uartMM.getNumber(fmt,
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UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index + off)
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}
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export function setIICMode(port: number, type: number, mode: number){
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if(port < 0)return;
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
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devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
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IICMM.ioctl(IO.IIC_SET_CONN, devcon)
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}
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export function transactionIIC(port: number, deviceAddress: number, writeBuf: number[], readLen: number){
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if(port < 0)return;
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let iicdata = output.createBuffer(IICDat.Size)
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iicdata.setNumber(NumberFormat.Int8LE, IICDat.Port, port)
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iicdata.setNumber(NumberFormat.Int8LE, IICDat.Repeat, 0)
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iicdata.setNumber(NumberFormat.Int16LE, IICDat.Time, 0)
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iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrLng, writeBuf.length + 1)
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for(let i = 0; i< writeBuf.length; i++)
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iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrData + i + 1, writeBuf[i])
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iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrData, deviceAddress)
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iicdata.setNumber(NumberFormat.Int8LE, IICDat.RdLng, readLen)
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IICMM.ioctl(IO.IIC_SETUP, iicdata)
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}
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export function getIICBytes(port: number, length: number) {
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if (port < 0) return output.createBuffer(length);
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let index = IICMM.getNumber(NumberFormat.UInt16LE, IICOff.Actual + port * 2);
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let buf = IICMM.slice(
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IICOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index,
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length
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);
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// Reverse
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for (let i = 0; i < length / 2; i++) {
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let c = buf[i]
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buf[i] = buf[length - i - 1]
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buf[length - i - 1] = c
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}
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return buf;
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}
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export function getIICNumber(length: number, format: NumberFormat, off: number, port: number) {
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return getIICBytes(port, length).getNumber(format, off)
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}
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const enum NxtColOff {
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Calibration = 0, // uint32[4][3]
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CalLimits = 48, // uint16[2]
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Crc = 52, // uint16
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ADRaw = 54, // uint16[4]
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SensorRaw = 62, // uint16[4]
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Padding = 70,
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Size = 72
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}
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const enum AnalogOff {
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InPin1 = 0, // int16[4]
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InPin6 = 8, // int16[4]
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OutPin5 = 16, // int16[4]
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BatteryTemp = 24, // int16
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MotorCurrent = 26, // int16
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BatteryCurrent = 28, // int16
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Cell123456 = 30, // int16
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Pin1 = 32, // int16[300][4]
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Pin6 = 2432, // int16[300][4]
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Actual = 4832, // uint16[4]
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LogIn = 4840, // uint16[4]
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LogOut = 4848, // uint16[4]
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NxtCol = 4856, // uint16[36][4] - NxtColor*4
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OutPin5Low = 5144, // int16[4]
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Updated = 5152, // int8[4]
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InDcm = 5156, // int8[4]
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InConn = 5160, // int8[4]
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OutDcm = 5164, // int8[4]
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OutConn = 5168, // int8[4]
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Size = 5172
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}
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const enum DevConOff {
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Connection = 0, // int8[4]
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Type = 4, // int8[4]
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Mode = 8, // int8[4]
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Size = 12
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}
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const enum TypesOff {
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Name = 0, // int8[12]
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Type = 12, // int8
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Connection = 13, // int8
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Mode = 14, // int8
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DataSets = 15, // int8
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Format = 16, // int8
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Figures = 17, // int8
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Decimals = 18, // int8
|
|
Views = 19, // int8
|
|
RawMin = 20, // float32
|
|
RawMax = 24, // float32
|
|
PctMin = 28, // float32
|
|
PctMax = 32, // float32
|
|
SiMin = 36, // float32
|
|
SiMax = 40, // float32
|
|
InvalidTime = 44, // uint16
|
|
IdValue = 46, // uint16
|
|
Pins = 48, // int8
|
|
Symbol = 49, // int8[5]
|
|
Align = 54, // uint16
|
|
Size = 56
|
|
}
|
|
|
|
const enum UartOff {
|
|
TypeData = 0, // Types[8][4]
|
|
Repeat = 1792, // uint16[300][4]
|
|
Raw = 4192, // int8[32][300][4]
|
|
Actual = 42592, // uint16[4]
|
|
LogIn = 42600, // uint16[4]
|
|
Status = 42608, // int8[4]
|
|
Output = 42612, // int8[32][4]
|
|
OutputLength = 42740, // int8[4]
|
|
Size = 42744
|
|
}
|
|
|
|
const enum UartCtlOff {
|
|
TypeData = 0, // Types
|
|
Port = 56, // int8
|
|
Mode = 57, // int8
|
|
Size = 58
|
|
}
|
|
|
|
const enum IICOff {
|
|
TypeData = 0, // Types[8][4]
|
|
Repeat = 1792, // uint16[300][4]
|
|
Raw = 4192, // int8[32][300][4]
|
|
Actual = 42592, // uint16[4]
|
|
LogIn = 42600, // uint16[4]
|
|
Status = 42608, // int8[4]
|
|
Output = 42612, // int8[32][4]
|
|
OutputLength = 42740, // int8[4]
|
|
Size = 42744
|
|
}
|
|
|
|
const enum IICCtlOff {
|
|
TypeData = 0, // Types
|
|
Port = 56, // int8
|
|
Mode = 57, // int8
|
|
Size = 58
|
|
}
|
|
|
|
const enum IICDat {
|
|
Result = 0, // result
|
|
Port = 4, // int8
|
|
Repeat = 5, // int8
|
|
Time = 6, // int16
|
|
WrLng = 8, // int8
|
|
WrData = 9, // int8[32]
|
|
RdLng = 41, // int8
|
|
RdData = 42, //int8[32]
|
|
Size = 74,
|
|
}
|
|
|
|
const enum IICStr {
|
|
Port = 0, // int8
|
|
Time = 2, // int16
|
|
Type = 4, // int8
|
|
Mode = 5, // int8
|
|
Manufacturer = 6, // int8[9]
|
|
SensorType = 15, // int[9]
|
|
SetupLng = 24, // int8
|
|
SetupString = 28, // ulong
|
|
PollLng = 32, // int8
|
|
PollString = 36, // ulong
|
|
ReadLng = 40, // int8
|
|
Size = 44
|
|
}
|
|
|
|
const enum IO {
|
|
UART_SET_CONN = 0xc00c7500,
|
|
UART_READ_MODE_INFO = 0xc03c7501,
|
|
UART_NACK_MODE_INFO = 0xc03c7502,
|
|
UART_CLEAR_CHANGED = 0xc03c7503,
|
|
IIC_SET_CONN = 0xc00c6902,
|
|
IIC_READ_TYPE_INFO = 0xc03c6903,
|
|
IIC_SETUP = 0xc04c6905,
|
|
IIC_SET = 0xc02c6906,
|
|
TST_PIN_ON = 0xc00b7401,
|
|
TST_PIN_OFF = 0xc00b7402,
|
|
TST_PIN_READ = 0xc00b7403,
|
|
TST_PIN_WRITE = 0xc00b7404,
|
|
TST_UART_ON = 0xc0487405,
|
|
TST_UART_OFF = 0xc0487406,
|
|
TST_UART_EN = 0xc0487407,
|
|
TST_UART_DIS = 0xc0487408,
|
|
TST_UART_READ = 0xc0487409,
|
|
TST_UART_WRITE = 0xc048740a,
|
|
}
|
|
}
|
|
|
|
namespace sensors {
|
|
export enum ThresholdState {
|
|
Normal = 1,
|
|
High = 2,
|
|
Low = 3,
|
|
}
|
|
|
|
export class ThresholdDetector {
|
|
public id: number;
|
|
public min: number;
|
|
public max: number;
|
|
public lowThreshold: number;
|
|
public highThreshold: number;
|
|
public level: number;
|
|
public state: ThresholdState;
|
|
|
|
constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
|
|
this.id = id;
|
|
this.min = min;
|
|
this.max = max;
|
|
this.lowThreshold = lowThreshold;
|
|
this.highThreshold = highThreshold;
|
|
this.level = Math.ceil((max - min) / 2);
|
|
this.state = ThresholdState.Normal;
|
|
}
|
|
|
|
public setLevel(level: number) {
|
|
if (this == null) return
|
|
this.level = this.clampValue(level);
|
|
|
|
if (this.level >= this.highThreshold) {
|
|
this.setState(ThresholdState.High);
|
|
}
|
|
else if (this.level <= this.lowThreshold) {
|
|
this.setState(ThresholdState.Low);
|
|
}
|
|
else {
|
|
const interval = (this.highThreshold - this.lowThreshold) / 6;
|
|
if ((this.state == ThresholdState.High && this.level < this.highThreshold - interval) ||
|
|
(this.state == ThresholdState.Low && this.level > this.lowThreshold + interval))
|
|
this.setState(ThresholdState.Normal);
|
|
}
|
|
}
|
|
|
|
public threshold(t: ThresholdState): number {
|
|
switch(t) {
|
|
case ThresholdState.High: return this.highThreshold;
|
|
case ThresholdState.Low: return this.lowThreshold;
|
|
default: return (this.max - this.min) / 2;
|
|
}
|
|
}
|
|
|
|
public setLowThreshold(value: number) {
|
|
this.lowThreshold = this.clampValue(value);
|
|
this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
|
|
}
|
|
|
|
public setHighThreshold(value: number) {
|
|
this.highThreshold = this.clampValue(value);
|
|
this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
|
|
}
|
|
|
|
private clampValue(value: number) {
|
|
if (value < this.min) {
|
|
return this.min;
|
|
}
|
|
else if (value > this.max) {
|
|
return this.max;
|
|
}
|
|
return value;
|
|
}
|
|
|
|
private setState(state: ThresholdState) {
|
|
if (this.state == state) return;
|
|
|
|
this.state = state;
|
|
switch (state) {
|
|
case ThresholdState.High:
|
|
control.raiseEvent(this.id, ThresholdState.High);
|
|
break;
|
|
case ThresholdState.Low:
|
|
control.raiseEvent(this.id, ThresholdState.Low);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|