Merge pull request #11 from calliope-mini/merge-upstream

Merge upstream into master, confirmed by Calliope Team

.gitignore

@@ -2,6 +2,7 @@ build
 yotta_modules
 yotta_targets
 *.swp
+*~
 Makefile
 .idea
 *.iml

CHANGELOG

@@ -0,0 +1,46 @@
+This file highlights all notable changes between tagged releases on the master branch of this repository, in the form of release notes. 
+
+For a more detailed treatment of changes, please see the commit history of the github repository containing this file.
+
+Version 2.1.1 (23/11/19 [email protected])
+   - Partial flashing is no longer a default service in C++ builds
+   - Make microbit_heap_print() available globally
+   - Remove unused MicroBitPin objects
+   - Add capability to set radio upper and lower frequency bands in yotta config
+   - Fix radio power in C++ builds
+
+Version 2.1.0 (18/10/18 [email protected])
+   - Refactor of motion sensor devices to support a range of accelerometer/magnetometer 
+     sensors through abstract high level classes and concrete device specific subclasses.
+   - Introduction of resusable 3D coordinate space transformation code.
+   - Autodetection algorithm for I2C based accelerometer/magnetometer sensors.
+   - Add support for LSM303 accelerometer/magnetometer sensor.
+   - Add support for FXOS8700 accelerometer/magnetometer sensor.
+   - Update compass calibration UX to gather more samples during calibration
+     in order to improve accuracy. The algorithm now asks the user to "tilt to
+     fill the screen" with pixels, rather than 'draw a circle' of pixels.
+   - More resilient compass calibration algorithm based on iterative
+     approximation that provides more accurate calibration in the presence of
+     local magnetic fileds, such as those caused by a battery pack.
+   - Updates to heap memory allocator. The MicroBitHeapAllocator now replaces
+     the GNU libc heap allocator, rather than exisitng in parallel with it, in
+     order to reduce memory fragmentation and ensure that all allocations
+     benefit from multiple heap region support and interrupt safety.
+   - Added new bluetooth partial flashing service, that allows rapid
+     reprogramming of the micro:bit over bluetooth in the common case.
+   - Improved graphics for bluetooth pairing mode.
+   - Support to allow explicit launch of conmpass calibration algorithm via BLE characteristic.
+   - Support for integrated hardware quadrature decoder
+
+   - Minor bug fixes/code optimisations including:
+       - the message bus event routing code to support multiple event listeners 
+         with the same id, value and context.
+	   - accelerometer pitch measurement algorithm now has a full 0..360 degree range.
+	   - Support for SHAKE gesture recognition in tight loops.
+	   - prevent device lockups when routing UART pins to the edge connector.
+	   - support for changing RADIO frequency whilst active.
+	   - accurate configurations for optional SoftDevice S130v2.
+
+Version 2.0.0
+   Initial Open Source Release
+

README.md

@@ -10,7 +10,7 @@ The core set of drivers, mechanisms and types that make up the micro:bit runtime
 
 The micro:bit runtime provides an easy to use environment for programming the BBC micro:bit in the C/C++ language, written by Lancaster University. It contains device drivers for all the hardware capabilities of the micro:bit, and also a suite of runtime mechanisms to make programming the micro:bit easier and more flexible. These range from control of the LED matrix display to peer-to-peer radio communication and secure Bluetooth Low Energy services. The micro:bit runtime is proudly built on the ARM mbed and Nordic nrf51 platforms.
 
-In addition to supporting development in C/C++, the runtime is also designed specifically to support higher level languages provided by our partners that target the micro:bit. It is currently used as a support library for all the languages on the BBC www.microbit.co.uk website, including the Microsoft Block Editor, Microsoft Touch Develop, Code Kingdoms JavaScript and Micropython languages.
+In addition to supporting development in C/C++, the runtime is also designed specifically to support higher level languages provided by our partners that target the micro:bit. It is currently used as a support library for all the languages on the BBC www.microbit.org website; including the Javascript Blocks Editor and Micropython
 
 ## Links
 
@@ -40,4 +40,4 @@ int main()
 
 ## BBC Community Guidelines
 
-[BBC Community Guidelines](https://www.microbit.co.uk/help#sect_cg)
+[Microbit Community Guidelines](http://microbit.org/community/)

inc/bluetooth/MicroBitAccelerometerService.h

@@ -28,11 +28,7 @@ DEALINGS IN THE SOFTWARE.
 
 #include "MicroBitConfig.h"
 #include "ble/BLE.h"
-#ifdef TARGET_NRF51_CALLIOPE
-#include "MicroBitAccelerometer-bmx.h"
-#else
 #include "MicroBitAccelerometer.h"
-#endif
 #include "EventModel.h"
 
 // UUIDs for our service and characteristics

inc/bluetooth/MicroBitBLEManager.h

@@ -57,6 +57,7 @@ DEALINGS IN THE SOFTWARE.
 #include "MicroBitButtonService.h"
 #include "MicroBitIOPinService.h"
 #include "MicroBitTemperatureService.h"
+#include "MicroBitPartialFlashingService.h"
 #include "ExternalEvents.h"
 #include "MicroBitButton.h"
 #include "MicroBitStorage.h"
@@ -281,6 +282,19 @@ class MicroBitBLEManager : MicroBitComponent
     int advertiseEddystoneUid(const char* uid_namespace, const char* uid_instance, int8_t calibratedPower = MICROBIT_BLE_EDDYSTONE_DEFAULT_POWER, bool connectable = true, uint16_t interval = MICROBIT_BLE_EDDYSTONE_ADV_INTERVAL);
 #endif
 
+  /**
+   * Restarts in BLE Mode
+   *
+   */
+   void restartInBLEMode();
+
+   /**
+    * Get current BLE mode; application, pairing
+    * #define MICROBIT_MODE_PAIRING     0x00
+    * #define MICROBIT_MODE_APPLICATION 0x01
+    */
+    uint8_t getCurrentMode();
+
   private:
     /**
 	* Displays the device's ID code as a histogram on the provided MicroBitDisplay instance.
@@ -289,12 +303,27 @@ class MicroBitBLEManager : MicroBitComponent
 	*/
     void showNameHistogram(MicroBitDisplay &display);
 
+
+    /**
+    * Displays pairing mode animation
+    *
+    * @param display The display instance used for displaying the histogram.
+    */
+    void showManagementModeAnimation(MicroBitDisplay &display);
+
     #define MICROBIT_BLE_DISCONNECT_AFTER_PAIRING_DELAY  500
     unsigned long pairing_completed_at_time;   
 
     int pairingStatus;
     ManagedString passKey;
     ManagedString deviceName;
+
+    /*
+     * Default to Application Mode
+     * This variable will be set to MICROBIT_MODE_PAIRING if pairingMode() is executed.
+     */
+    uint8_t currentMode = MICROBIT_MODE_APPLICATION;
+
 };
 
 #endif

inc/bluetooth/MicroBitIOPinService.h

@@ -30,7 +30,7 @@ DEALINGS IN THE SOFTWARE.
 #include "ble/BLE.h"
 #include "MicroBitIO.h"
 
-#define MICROBIT_IO_PIN_SERVICE_PINCOUNT       19
+#define MICROBIT_IO_PIN_SERVICE_PINCOUNT       20
 #define MICROBIT_IO_PIN_SERVICE_DATA_SIZE      10
 #define MICROBIT_PWM_PIN_SERVICE_DATA_SIZE     2
 

inc/bluetooth/MicroBitMagnetometerService.h

@@ -28,11 +28,7 @@ DEALINGS IN THE SOFTWARE.
 
 #include "ble/BLE.h"
 #include "MicroBitConfig.h"
-#ifdef TARGET_NRF51_CALLIOPE
-#include "MicroBitCompass-bmx.h"
-#else
 #include "MicroBitCompass.h"
-#endif
 #include "EventModel.h"
 
 #define COMPASS_CALIBRATION_STATUS_UNKNOWN 0

inc/bluetooth/MicroBitPartialFlashingService.h

@@ -0,0 +1,111 @@
+/*
+The MIT License (MIT)
+
+This class has been written by Sam Kent for the Microbit Educational Foundation.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef MICROBIT_PARTIAL_FLASH_SERVICE_H
+#define MICROBIT_PARTIAL_FLASH_SERVICE_H
+
+#include "MicroBitConfig.h"
+#include "MicroBitBLEManager.h"
+#include "ble/BLE.h"
+#include "MicroBitMemoryMap.h"
+
+#include "MicroBitFlash.h"
+#include "MicroBitStorage.h"
+
+#include "MicroBitComponent.h"
+#include "MicroBitEvent.h"
+#include "MicroBitListener.h"
+#include "EventModel.h"
+
+#define PARTIAL_FLASHING_VERSION 0x01
+
+// BLE PF Control Codes
+#define REGION_INFO 0x00
+#define FLASH_DATA  0x01
+#define END_OF_TRANSMISSION 0x02
+
+// BLE Utilities
+#define MICROBIT_STATUS 0xEE
+#define MICROBIT_RESET  0xFF
+
+// UUIDs for our service and characteristics
+extern const uint8_t  MicroBitPartialFlashingServiceUUID[];
+extern const uint8_t  MicroBitPartialFlashingServiceCharacteristicUUID[];
+
+/**
+  * Class definition for the custom MicroBit Partial Flash Service.
+  * Provides a BLE service to remotely read the memory map and flash the PXT program.
+  */
+class MicroBitPartialFlashingService
+{
+    public:
+    /**
+      * Constructor.
+      * Create a representation of the Partial Flash Service
+      * @param _ble The instance of a BLE device that we're running on.
+      * @param _memoryMap An instance of MicroBiteMemoryMap to interface with.
+      */
+    MicroBitPartialFlashingService(BLEDevice &_ble, EventModel &_messageBus);
+
+    /**
+      * Callback. Invoked when any of our attributes are written via BLE.
+      */
+    void onDataWritten(const GattWriteCallbackParams *params);
+
+    /**
+      * Callback. Invoked when any of our attributes are read via BLE.
+      */
+    void onDataRead(GattReadAuthCallbackParams *params);
+
+    private:
+    // M:B Bluetooth stack and MessageBus
+    BLEDevice           &ble;
+    EventModel          &messageBus;
+
+    /**
+      * Writing to flash inside MicroBitEvent rather than in the ISR
+      */
+    void partialFlashingEvent(MicroBitEvent e);
+
+    // Handles to access each characteristic when they are held by Soft Device.
+    GattAttribute::Handle_t partialFlashCharacteristicHandle;
+
+    /**
+      * Process a Partial Flashing data packet
+      */
+    void flashData(uint8_t *data);
+
+    // Ensure packets are in order
+    uint8_t packetCount = 0;
+    uint8_t blockPacketCount = 0;
+
+    // Keep track of blocks of data
+    uint32_t block[16];
+    uint8_t  blockNum = 0;
+    uint32_t offset   = 0;
+
+};
+
+
+#endif

inc/core/ErrorNo.h

@@ -82,5 +82,9 @@ enum PanicCode{
 
     // Dereference of a NULL pointer through the ManagedType class,
     MICROBIT_NULL_DEREFERENCE = 40,
+
+    // A requested hardware peripheral could not be found,
+    MICROBIT_HARDWARE_UNAVAILABLE_ACC = 50,
+    MICROBIT_HARDWARE_UNAVAILABLE_MAG = 51,
 };
 #endif

inc/core/EventModel.h

@@ -53,10 +53,16 @@ DEALINGS IN THE SOFTWARE.
   */
 class EventModel
 {
+    protected:
+    void (*listener_deletion_callback)(MicroBitListener *); // if not null, this function is invoked when a listener is removed.
+
     public:
 
     static EventModel *defaultEventBus;
 
+    // Set listener_deletion_callback to NULL.
+    EventModel() : listener_deletion_callback(NULL) {}
+
 	/**
 	  * Queues the given event to be sent to all registered recipients.
       * The method of delivery will vary depending on the underlying implementation.
@@ -130,6 +136,17 @@ class EventModel
         return MICROBIT_OK;
     }
 
+    /**
+      * Sets a pointer to handler that's invoked when any listener is deleted.
+      *
+      * @returns MICROBIT_OK on success.
+      **/
+    int setListenerDeletionCallback(void (*listener_deletion_callback)(MicroBitListener *))
+    {
+        this->listener_deletion_callback = listener_deletion_callback;
+        return MICROBIT_OK;
+    }
+
 	/**
 	  * Register a listener function.
       *
@@ -298,6 +315,8 @@ class EventModel
 	  * @param id The Event ID used to register the listener.
 	  * @param value The Event value used to register the listener.
 	  * @param handler The function used to register the listener.
+      * @param arg the arg that is passed to the handler on an event. Used to differentiate between handlers with the same id and source, but not the same arg.
+      *            Defaults to NULL, which means any handler with the same id, event and callback is removed.
       *
       * @return MICROBIT_OK on success or MICROBIT_INVALID_PARAMETER if the handler
       *         given is NULL.
@@ -315,12 +334,12 @@ class EventModel
       * uBit.messageBus.ignore(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonBClick);
       * @endcode
 	  */
-	int ignore(int id, int value, void (*handler)(MicroBitEvent, void*))
+	int ignore(int id, int value, void (*handler)(MicroBitEvent, void*), void* arg = NULL)
     {
         if (handler == NULL)
             return MICROBIT_INVALID_PARAMETER;
 
-        MicroBitListener listener(id, value, handler, NULL);
+        MicroBitListener listener(id, value, handler, arg);
         remove(&listener);
 
         return MICROBIT_OK;

inc/core/MicroBitComponent.h

@@ -80,6 +80,11 @@ und Björn Eberhardt GbR by arrangement with Calliope GbR.
 #define MICROBIT_ID_MULTIBUTTON_ATTACH  31
 #define MICROBIT_ID_SERIAL              32
 
+#define MICROBIT_ID_IO_INT1             33          //INT1
+#define MICROBIT_ID_IO_INT2             34          //INT2
+#define MICROBIT_ID_IO_INT3             35          //INT3
+#define MICROBIT_ID_PARTIAL_FLASHING    36
+
 #define MICROBIT_ID_MESSAGE_BUS_LISTENER            1021          // Message bus indication that a handler for a given ID has been registered.
 #define MICROBIT_ID_NOTIFY_ONE                      1022          // Notfication channel, for general purpose synchronisation
 #define MICROBIT_ID_NOTIFY                          1023          // Notfication channel, for general purpose synchronisation