drv/uart: major overhaul

* uartdev is refactored to be non-blocking on UART Tx
* unaligned access bugs fixed in uartdev (just lucky that they were not
  a problem before?)
* better resync when receiving data in uartdev (probably breaks motor
  position/speed)
* store LPF2 input/output flags in uartdev and use them for checking to
  see if we can actually write formatted data to a sensor
* refactor uartdev and uart drivers to allow reading and writing more
  than one byte at a time
* combine uart drivers by MCU
* fixes 2 UART devices not working at the same time on movehub/cityhub
* fixes setting mode locking up on movehub/cityhub
* iodev callback functions updated to be async
* better error checking when accessing iodev from micropython

movehub fw size +2032

bricks/cityhub/pbioconfig.h

@@ -2,5 +2,7 @@
 // Copyright (c) 2019 David Lechner
 
 #define PBIO_CONFIG_UARTDEV                 (1)
+#define PBIO_CONFIG_UARTDEV_NUM_DEV         (2)
+
 #define PBIO_CONFIG_ENABLE_DEINIT           (0)
 #define PBIO_CONFIG_ENABLE_SYS              (1)

bricks/debug/modules/boot.py

@@ -0,0 +1,3 @@
+from advanced import *
+from debug import *
+from parameters import *

bricks/debug/mpconfigport.h

@@ -9,11 +9,11 @@
 #define PYBRICKS_HEAP_KB                64 // half of RAM
 
 // Pybricks modules
-#define PYBRICKS_PY_ADVANCED            (0)
+#define PYBRICKS_PY_ADVANCED            (1)
 #define PYBRICKS_PY_BATTERY             (0)
 #define PYBRICKS_PY_DEBUG               (1)
 #define PYBRICKS_PY_MOTOR               (0)
-#define PYBRICKS_PY_PARAMETERS          (0)
+#define PYBRICKS_PY_PARAMETERS          (1)
 #define PYBRICKS_PY_PUPDEVICES          (0)
 #define PYBRICKS_PY_TOOLS               (0)
 

bricks/debug/pbioconfig.h

@@ -2,4 +2,6 @@
 // Copyright (c) 2019 David Lechner
 
 #define PBIO_CONFIG_UARTDEV                 (1)
+#define PBIO_CONFIG_UARTDEV_NUM_DEV         (1)
+
 #define PBIO_CONFIG_ENABLE_SYS              (1)

bricks/movehub/pbioconfig.h

@@ -2,5 +2,7 @@
 // Copyright (c) 2019 David Lechner
 
 #define PBIO_CONFIG_UARTDEV                 (1)
+#define PBIO_CONFIG_UARTDEV_NUM_DEV         (2)
+
 #define PBIO_CONFIG_ENABLE_DEINIT           (0)
 #define PBIO_CONFIG_ENABLE_SYS              (1)

bricks/stm32.mk

@@ -148,12 +148,12 @@ PBIO_SRC_C = $(addprefix ports/pybricks/lib/pbio/,\
 	drv/$(PBIO_PLATFORM)/bluetooth.c \
 	drv/$(PBIO_PLATFORM)/light.c \
 	drv/$(PBIO_PLATFORM)/motor.c \
-	drv/$(PBIO_PLATFORM)/uart.c \
 	drv/adc/adc_stm32f$(CPU_FAMILY).c \
 	drv/battery/battery_adc.c \
 	drv/button/button_gpio.c \
 	drv/gpio/gpio_stm32f$(CPU_FAMILY).c \
 	drv/ioport/ioport_lpf2.c \
+	drv/uart/uart_stm32f$(CPU_FAMILY).c \
 	platform/$(PBIO_PLATFORM)/clock.c \
 	platform/$(PBIO_PLATFORM)/platform.c \
 	platform/$(PBIO_PLATFORM)/sys.c \

extmod/modadvanced.c

@@ -72,7 +72,7 @@ STATIC mp_obj_t advanced_IODevice_mode(size_t n_args, const mp_obj_t *args) {
     }
     else {
         // set mode
-        pb_assert(pb_iodevice_set_mode(self->iodev, mp_obj_get_int(args[1])));
+        pb_iodevice_set_mode(self->iodev, mp_obj_get_int(args[1]));
         return mp_const_none;
     }
 }

extmod/modpupdevices.c

@@ -30,14 +30,14 @@ STATIC mp_obj_t pupdevices_ColorAndDistSensor_make_new(const mp_obj_type_t *type
 
     pb_assert(pbdrv_ioport_get_iodev(port, &self->iodev));
     pb_iodevice_assert_type_id(self->iodev, PBIO_IODEV_TYPE_ID_COLOR_DIST_SENSOR);
-    pb_assert(pb_iodevice_set_mode(self->iodev, 8));
+    pb_iodevice_set_mode(self->iodev, 8);
     return MP_OBJ_FROM_PTR(self);
 }
 
 STATIC uint8_t pupdevices_ColorAndDistSensor_combined_mode(pbio_iodev_t *iodev, uint8_t idx) {
-    pb_assert(pb_iodevice_set_mode(iodev, 8));
+    pb_iodevice_set_mode(iodev, 8);
     uint8_t *data;
-    pb_assert(pbio_iodev_get_raw_values(iodev, &data));
+    pb_assert(pbio_iodev_get_data(iodev, &data));
     return data[idx];
 }
 
@@ -91,17 +91,17 @@ MP_DEFINE_CONST_FUN_OBJ_1(pupdevices_ColorAndDistSensor_reflection_obj, pupdevic
 STATIC mp_obj_t pupdevices_ColorAndDistSensor_ambient(mp_obj_t self_in) {
     pupdevices_ColorAndDistSensor_obj_t *self = MP_OBJ_TO_PTR(self_in);
     pb_iodevice_assert_type_id(self->iodev, PBIO_IODEV_TYPE_ID_COLOR_DIST_SENSOR);
-    pb_assert(pb_iodevice_set_mode(self->iodev, 4));
+    pb_iodevice_set_mode(self->iodev, 4);
     return pb_iodevice_get_values(self->iodev);
 }
 MP_DEFINE_CONST_FUN_OBJ_1(pupdevices_ColorAndDistSensor_ambient_obj, pupdevices_ColorAndDistSensor_ambient);
 
 STATIC mp_obj_t pupdevices_ColorAndDistSensor_rgb(mp_obj_t self_in) {
     pupdevices_ColorAndDistSensor_obj_t *self = MP_OBJ_TO_PTR(self_in);
     pb_iodevice_assert_type_id(self->iodev, PBIO_IODEV_TYPE_ID_COLOR_DIST_SENSOR);
-    pb_assert(pb_iodevice_set_mode(self->iodev, 6));
+    pb_iodevice_set_mode(self->iodev, 6);
     uint8_t *data;
-    pb_assert(pbio_iodev_get_raw_values(self->iodev, &data));
+    pb_assert(pbio_iodev_get_data(self->iodev, &data));
     mp_obj_t rgb[3];
     for (uint8_t col = 0; col < 3; col++) {
         int16_t intensity = ((*(int16_t *)(data + col * 2))*10)/44;

extmod/pbiodevice.c

@@ -16,6 +16,25 @@
 #include "pberror.h"
 #include "pbiodevice.h"
 
+static void wait(pbio_error_t (*end)(pbio_iodev_t *), void (*cancel)(pbio_iodev_t *), pbio_iodev_t* iodev) {
+    nlr_buf_t nlr;
+    pbio_error_t err;
+
+    if (nlr_push(&nlr) == 0) {
+        while ((err = end(iodev)) == PBIO_ERROR_AGAIN) {
+            MICROPY_EVENT_POLL_HOOK
+        }
+        nlr_pop();
+        pb_assert(err);
+    } else {
+        cancel(iodev);
+        while (end(iodev) == PBIO_ERROR_AGAIN) {
+            MICROPY_VM_HOOK_LOOP
+        }
+        nlr_raise(nlr.ret_val);
+    }
+}
+
 void pb_iodevice_assert_type_id(pbio_iodev_t *iodev, pbio_iodev_type_id_t type_id) {
     if (!iodev->info || iodev->info->type_id != type_id) {
         pb_assert(PBIO_ERROR_NO_DEV);
@@ -35,22 +54,19 @@ pbio_error_t pb_iodevice_get_mode(pbio_iodev_t *iodev, uint8_t *current_mode) {
     return PBIO_SUCCESS;
 }
 
-pbio_error_t pb_iodevice_set_mode(pbio_iodev_t *iodev, uint8_t new_mode) {
+void pb_iodevice_set_mode(pbio_iodev_t *iodev, uint8_t new_mode) {
     pbio_error_t err;
 
     // FIXME: it would be better to do this check on a per-sensor basis since
     // some sensors use setting the mode as a oneshot to update the sensor
     // value - e.g. LEGO EV3 Ultrasonic sensor in certain modes.
     if (iodev->mode == new_mode){
-        return PBIO_SUCCESS;
+        return;
     }
 
-    err = pbio_iodev_set_mode(iodev, new_mode);
-    // Wait for mode change to complete unless there was an error.
-    while (err == PBIO_SUCCESS && iodev->mode != new_mode) {
-        mp_hal_delay_ms(1);
-    }
-    return err;
+    while ((err = pbio_iodev_set_mode_begin(iodev, new_mode)) == PBIO_ERROR_AGAIN);
+    pb_assert(err);
+    wait(pbio_iodev_set_mode_end, pbio_iodev_set_mode_cancel, iodev);
 }
 
 mp_obj_t pb_iodevice_get_values(pbio_iodev_t *iodev) {
@@ -59,8 +75,8 @@ mp_obj_t pb_iodevice_get_values(pbio_iodev_t *iodev) {
     uint8_t len, i;
     pbio_iodev_data_type_t type;
 
-    pb_assert(pbio_iodev_get_raw_values(iodev, &data));
-    pb_assert(pbio_iodev_get_bin_format(iodev, &len, &type));
+    pb_assert(pbio_iodev_get_data(iodev, &data));
+    pb_assert(pbio_iodev_get_data_format(iodev, iodev->mode, &len, &type));
 
     // this shouldn't happen, but just in case...
     if (len == 0) {
@@ -105,8 +121,9 @@ mp_obj_t pb_iodevice_set_values(pbio_iodev_t *iodev, mp_obj_t values) {
     mp_obj_t *items;
     uint8_t len, i;
     pbio_iodev_data_type_t type;
+    pbio_error_t err;
 
-    pb_assert(pbio_iodev_get_bin_format(iodev, &len, &type));
+    pb_assert(pbio_iodev_get_data_format(iodev, iodev->mode, &len, &type));
 
     // if we only have one value, it doesn't have to be a tuple/list
     if (len == 1 && (mp_obj_is_integer(values)
@@ -144,7 +161,10 @@ mp_obj_t pb_iodevice_set_values(pbio_iodev_t *iodev, mp_obj_t values) {
         }
     }
 
-    pb_assert(pbio_iodev_set_raw_values(iodev, data));
+    while ((err = pbio_iodev_set_data_begin(iodev, iodev->mode, data)) == PBIO_ERROR_AGAIN);
+    pb_assert(err);
+    wait(pbio_iodev_set_data_end, pbio_iodev_set_data_cancel, iodev);
+
     return mp_const_none;
 }
 

extmod/pbiodevice.h

@@ -11,6 +11,6 @@
 void pb_iodevice_assert_type_id(pbio_iodev_t *iodev, pbio_iodev_type_id_t type_id);
 pbio_error_t pb_iodevice_get_type_id(pbio_iodev_t *iodev, pbio_iodev_type_id_t *id);
 pbio_error_t pb_iodevice_get_mode(pbio_iodev_t *iodev, uint8_t *current_mode);
-pbio_error_t pb_iodevice_set_mode(pbio_iodev_t *iodev, uint8_t new_mode);
+void pb_iodevice_set_mode(pbio_iodev_t *iodev, uint8_t new_mode);
 mp_obj_t pb_iodevice_get_values(pbio_iodev_t *iodev);
 mp_obj_t pb_iodevice_set_values(pbio_iodev_t *iodev, mp_obj_t values);