Merge branch 'pybricks:master' into ev3-bluetooth-scan

Author: jaguilar

CHANGELOG.md

@@ -8,6 +8,8 @@
 
 ### Added
 - Added preliminary BTstack support for EV3 ([pybricks-micropython#405]).
+- Enabled NXT Light Sensor, NXT Touch Sensor, NXT Sound Sensor on NXT.
+- Added `host_connected_usb` to `hub.system.info()` dictionary.
 
 ### Changed
 - Make 3D orientation default for heading and drivebase heading control ([support#1962]).
@@ -16,15 +18,19 @@
   more similar. User code should measure HSV values again in old code ([pybricks-micropython#421]).
 
 ### Fixed
-- Fixed `race=False` ignored in `pybricks.tools.multitask()`. ([support#2468])
+- Fixed `race=False` ignored in `pybricks.tools.multitask()` ([support#2468]).
 - Fixed Essential Hub button being disabled after power off so it could not be
   switched on again.
 - Fixed `TechnicHub` class being unavailable on Technic Hub in a recent
   pre-release ([pybricks-micropython#425]).
-
+- Fixed internal rounding error that could could cause a Drive Base to be 1 mm
+  off after driving 3 meters, depending on configuration parameters ([support#2500]).
+- Fixed Powered Up remote light getting the wrong color ([support#2497]).
 
 [support#1962]: https://github.com/pybricks/support/issues/1962
 [support#2468]: https://github.com/pybricks/support/issues/2468
+[support#2497]: https://github.com/pybricks/support/issues/2497
+[support#2500]: https://github.com/pybricks/support/issues/2500
 [pybricks-micropython#405]: https://github.com/pybricks/pybricks-micropython/pull/405
 [pybricks-micropython#421]: https://github.com/pybricks/pybricks-micropython/pull/421
 [pybricks-micropython#425]: https://github.com/pybricks/pybricks-micropython/pull/425

Makefile

@@ -28,9 +28,9 @@ doc:
 clean-doc:
 	@$(MAKE) -C lib/pbio/doc clean
 
-all: movehub cityhub technichub primehub essentialhub virtualhub nxt ev3 doc
+all: movehub cityhub technichub primehub essentialhub virtualhub nxt ev3 buildhat doc 
 
-clean-all: clean-movehub clean-cityhub clean-technichub clean-primehub clean-essentialhub clean-virtualhub clean-nxt clean-ev3 clean-doc
+clean-all: clean-movehub clean-cityhub clean-technichub clean-primehub clean-essentialhub clean-virtualhub clean-nxt clean-ev3 clean-buildhat clean-doc
 
 ev3: mpy-cross
 	@$(MAKE) -C bricks/ev3
@@ -82,6 +82,12 @@ clean-virtualhub: clean-mpy-cross
 	@$(MAKE) -C bricks/virtualhub clean BUILD=build-debug
 	@$(MAKE) -C bricks/virtualhub clean BUILD=build-coverage
 
+buildhat: mpy-cross
+	@$(MAKE) -C bricks/buildhat
+
+clean-buildhat: clean-mpy-cross
+	@$(MAKE) -C bricks/buildhat clean
+
 mpy-cross:
 	@$(MAKE) -C micropython/mpy-cross CROSS_COMPILE=$(HOST_CROSS_COMPILE)
 

bricks/_common/common.mk

@@ -489,7 +489,6 @@ NXOS_SRC_C = $(addprefix lib/pbio/platform/nxt/nxos/,\
 	drivers/_twi.c \
 	drivers/_uart.c \
 	drivers/aic.c \
-	drivers/avr.c \
 	drivers/bt.c \
 	drivers/i2c_memory.c \
 	drivers/i2c.c \

bricks/_common/qstrdefs.h

@@ -39,7 +39,7 @@ Q(pybricks.nxtdevices)
 Q(pybricks.parameters)
 #endif
 
-#if PYBRICKS_PY_PUPDEVICES || PYBRICKS_PY_EV3_PUP_ALIAS
+#if PYBRICKS_PY_PUPDEVICES || PYBRICKS_PY_EV3_PUP_ALIAS || PYBRICKS_PY_NXT_PUP_ALIAS
 Q(pybricks.pupdevices)
 #endif
 

bricks/_common/sources.mk

@@ -104,6 +104,7 @@ PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 
 PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/adc/adc_ev3.c \
+	drv/adc/adc_nxt.c \
 	drv/adc/adc_stm32_hal.c \
 	drv/adc/adc_stm32f0.c \
 	drv/battery/battery_adc.c \
@@ -146,6 +147,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/display/display_ev3.c \
 	drv/display/display_virtual.c \
 	drv/gpio/gpio_ev3.c \
+	drv/gpio/gpio_nxt.c \
 	drv/gpio/gpio_pico.c \
 	drv/gpio/gpio_stm32f0.c \
 	drv/gpio/gpio_stm32f4.c \
@@ -176,6 +178,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/reset/reset_stm32.c \
 	drv/resistor_ladder/resistor_ladder.c \
 	drv/rproc/rproc_ev3.c \
+	drv/rproc/rproc_nxt.c \
 	drv/sound/beep_sampled.c \
 	drv/sound/sound_ev3.c \
 	drv/sound/sound_nxt.c \
@@ -203,6 +206,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	src/color/util.c \
 	src/control_settings.c \
 	src/control.c \
+	src/debug.c \
 	src/dcmotor.c \
 	src/differentiator.c \
 	src/drivebase.c \

bricks/nxt/mpconfigport.h

@@ -8,6 +8,9 @@
 #define PYBRICKS_HUB_CLASS_NAME                 (MP_QSTR_NXTBrick)
 
 #define PYBRICKS_HUB_NXTBRICK                   (1)
+// On EV3, allow PUP imports for easy beta testing
+#define PYBRICKS_PY_NXT_PUP_ALIAS               (1)
+#define PYBRICKS_HUB_CLASS_NAME_ALIAS           (MP_QSTR_PrimeHub)
 
 // Pybricks modules
 #define PYBRICKS_PY_COMMON                      (1)

bricks/virtualhub/mpconfigport.h

@@ -11,7 +11,7 @@
 
 // Pybricks modules
 #define PYBRICKS_PY_COMMON                      (1)
-#define PYBRICKS_PY_COMMON_BLE                  (0)
+#define PYBRICKS_PY_COMMON_BLE                  (1)
 #define PYBRICKS_PY_COMMON_CHARGER              (1)
 #define PYBRICKS_PY_COMMON_COLOR_LIGHT          (1)
 #define PYBRICKS_PY_COMMON_CONTROL              (1)
@@ -29,14 +29,22 @@
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
 #define PYBRICKS_PY_HUBS                        (1)
-#define PYBRICKS_PY_IODEVICES                   (0)
+#define PYBRICKS_PY_IODEVICES                   (1)
+#define PYBRICKS_PY_IODEVICES_ANALOG_SENSOR     (0)
+#define PYBRICKS_PY_IODEVICES_DC_MOTOR          (0)
+#define PYBRICKS_PY_IODEVICES_I2C_DEVICE        (0)
+#define PYBRICKS_PY_IODEVICES_LUMP_DEVICE       (0)
+#define PYBRICKS_PY_IODEVICES_LWP3_DEVICE       (1)
+#define PYBRICKS_PY_IODEVICES_PUP_DEVICE        (0)
+#define PYBRICKS_PY_IODEVICES_UART_DEVICE       (0)
+#define PYBRICKS_PY_IODEVICES_XBOX_CONTROLLER   (1)
 #define PYBRICKS_PY_NXTDEVICES                  (0)
 #define PYBRICKS_PY_PARAMETERS                  (1)
 #define PYBRICKS_PY_PARAMETERS_BUTTON           (1)
 #define PYBRICKS_PY_PARAMETERS_ICON             (0)
 #define PYBRICKS_PY_PARAMETERS_IMAGE            (1)
 #define PYBRICKS_PY_PUPDEVICES                  (1)
-#define PYBRICKS_PY_PUPDEVICES_REMOTE           (0)
+#define PYBRICKS_PY_PUPDEVICES_REMOTE           (1)
 #define PYBRICKS_PY_DEVICES                     (1)
 #define PYBRICKS_PY_ROBOTICS                    (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)

lib/pbio/drv/adc/adc_nxt.c

@@ -0,0 +1,43 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2018-2023 The Pybricks Authors
+
+#include <pbdrv/config.h>
+
+#if PBDRV_CONFIG_ADC_NXT
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <pbdrv/adc.h>
+#include <pbdrv/clock.h>
+
+#include <pbio/error.h>
+#include <pbio/util.h>
+
+#include "../rproc/rproc_nxt.h"
+
+void pbdrv_adc_init(void) {
+}
+
+pbio_error_t pbdrv_adc_await_new_samples(pbio_os_state_t *state, uint32_t *start_time_us, uint32_t future_us) {
+
+    PBIO_OS_ASYNC_BEGIN(state);
+    *start_time_us = pbdrv_clock_get_ms();
+    // REVISIT: Pass channel ID to this function so we can adjust the wait time
+    // to the specific sample coming in. The AVR adc samples will be slower.
+    PBIO_OS_AWAIT_UNTIL(state, pbio_util_time_has_passed(pbdrv_clock_get_ms(), *start_time_us + 7));
+    PBIO_OS_ASYNC_END(PBIO_SUCCESS);
+}
+
+pbio_error_t pbdrv_adc_get_ch(uint8_t ch, uint16_t *value) {
+
+    if (ch < 4) {
+        return pbdrv_rproc_nxt_get_sensor_adc(ch, value);
+    }
+
+    // TODO: AT91SAM7S256 internal ADC.
+    *value = 0;
+    return PBIO_SUCCESS;
+}
+
+#endif // PBDRV_CONFIG_ADC_NXT

lib/pbio/drv/battery/battery_nxt.c

@@ -10,17 +10,16 @@
 #include <stdbool.h>
 #include <stdio.h>
 
-#include <nxos/drivers/avr.h>
-
 #include <pbdrv/battery.h>
 #include <pbio/error.h>
 
+#include "../rproc/rproc_nxt.h"
+
 void pbdrv_battery_init(void) {
 }
 
 pbio_error_t pbdrv_battery_get_voltage_now(uint16_t *value) {
-    // REVISIT: Voltage appears off by a factor 2
-    *value = nx_avr_get_battery_voltage();
+    pbdrv_rproc_nxt_get_battery_info(value);
     return PBIO_SUCCESS;
 }
 
@@ -30,7 +29,8 @@ pbio_error_t pbdrv_battery_get_current_now(uint16_t *value) {
 }
 
 pbio_error_t pbdrv_battery_get_type(pbdrv_battery_type_t *value) {
-    *value = nx_avr_battery_is_accu_pack() ? PBDRV_BATTERY_TYPE_LIION : PBDRV_BATTERY_TYPE_ALKALINE;
+    uint16_t voltage;
+    *value = pbdrv_rproc_nxt_get_battery_info(&voltage) ? PBDRV_BATTERY_TYPE_LIION : PBDRV_BATTERY_TYPE_ALKALINE;
     return PBIO_SUCCESS;
 }
 

lib/pbio/drv/bluetooth/bluetooth.c

@@ -23,8 +23,8 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif
@@ -158,6 +158,10 @@ pbio_error_t pbdrv_bluetooth_peripheral_scan_and_connect(pbdrv_bluetooth_periphe
 
     pbdrv_bluetooth_peripheral_t *peri = &peripheral_singleton;
 
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     // Can't connect if already connected or already busy.
     if (pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_PERIPHERAL) || peri->func) {
         return PBIO_ERROR_BUSY;
@@ -188,8 +192,12 @@ pbio_error_t pbdrv_bluetooth_peripheral_disconnect(void) {
         return PBIO_SUCCESS;
     }
 
+    // Clear notification handler to avoid receiving further data.
+    if (peri->config) {
+        peri->config->notification_handler = NULL;
+    }
+
     // Initialize operation for handling on the main thread.
-    peri->config->notification_handler = NULL;
     peri->func = pbdrv_bluetooth_peripheral_disconnect_func;
     peri->err = PBIO_ERROR_AGAIN;
     pbio_os_request_poll();
@@ -296,6 +304,10 @@ pbdrv_bluetooth_advertising_state_t pbdrv_bluetooth_advertising_state;
 
 pbio_error_t pbdrv_bluetooth_start_advertising(bool start) {
 
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     bool is_advertising = pbdrv_bluetooth_advertising_state == PBDRV_BLUETOOTH_ADVERTISING_STATE_ADVERTISING_PYBRICKS;
 
     // Already in requested state. This makes it safe to call stop advertising
@@ -326,6 +338,10 @@ uint8_t pbdrv_bluetooth_broadcast_data_size;
 
 pbio_error_t pbdrv_bluetooth_start_broadcasting(const uint8_t *data, size_t size) {
 
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     if (advertising_or_scan_func) {
         return PBIO_ERROR_BUSY;
     }
@@ -370,6 +386,10 @@ pbdrv_bluetooth_start_observing_callback_t pbdrv_bluetooth_observe_callback;
 
 pbio_error_t pbdrv_bluetooth_start_observing(pbdrv_bluetooth_start_observing_callback_t callback) {
 
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     if (advertising_or_scan_func) {
         return PBIO_ERROR_BUSY;
     }
@@ -589,14 +609,19 @@ pbio_error_t pbdrv_bluetooth_close_user_tasks(pbio_os_state_t *state, pbio_os_ti
 
 void pbdrv_bluetooth_deinit(void) {
 
+    // If Bluetooth is not even initialized, nothing to do.
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return;
+    }
+
     // Under normal operation ::pbdrv_bluetooth_close_user_tasks completes
     // normally and there should be no user activity at this point. If there
     // is, a task got stuck, so exit forcefully.
     pbio_os_state_t unused;
     if (pbdrv_bluetooth_await_advertise_or_scan_command(&unused, NULL) != PBIO_SUCCESS ||
         pbdrv_bluetooth_await_peripheral_command(&unused, NULL) != PBIO_SUCCESS) {
 
-        // Hard reset without waitng on completion of any process.
+        // Hard reset without waiting on completion of any process.
         pbdrv_bluetooth_controller_reset_hard();
         return;
     }