Don't use DAL fibers, instead run as a single thread.

markshannon · dpgeorge · commit 68642ff8bd74 · 2015-11-01T10:46:10.000Z
Only poll accelerometer and compass when needed.
diff --git a/inc/genhdr/qstrdefs.generated.h b/inc/genhdr/qstrdefs.generated.h
@@ -359,6 +359,7 @@ QDEF(MP_QSTR_accelerometer, (const byte*)"\x1e\x0d" "accelerometer")
 QDEF(MP_QSTR_get_x, (const byte*)"\x34\x05" "get_x")
 QDEF(MP_QSTR_get_y, (const byte*)"\x35\x05" "get_y")
 QDEF(MP_QSTR_get_z, (const byte*)"\x36\x05" "get_z")
+QDEF(MP_QSTR_get_values, (const byte*)"\xf4\x0a" "get_values")
 QDEF(MP_QSTR_MicroBitCompass, (const byte*)"\x10\x0f" "MicroBitCompass")
 QDEF(MP_QSTR_compass, (const byte*)"\x55\x07" "compass")
 QDEF(MP_QSTR_heading, (const byte*)"\x2d\x07" "heading")
diff --git a/inc/microbit/qstrdefsport.h b/inc/microbit/qstrdefsport.h
@@ -124,6 +124,7 @@ Q(accelerometer)
 Q(get_x)
 Q(get_y)
 Q(get_z)
+Q(get_values)
 
 Q(MicroBitCompass)
 Q(compass)
diff --git a/source/microbit/microbitaccelerometer.cpp b/source/microbit/microbitaccelerometer.cpp
@@ -36,28 +36,57 @@ typedef struct _microbit_accelerometer_obj_t {
     MicroBitAccelerometer *accelerometer;
 } microbit_accelerometer_obj_t;
 
+bool accelerometer_up_to_date = false;
+
 mp_obj_t microbit_accelerometer_get_x(mp_obj_t self_in) {
     microbit_accelerometer_obj_t *self = (microbit_accelerometer_obj_t*)self_in;
+    if (!accelerometer_up_to_date) {
+        self->accelerometer->idleTick();
+        accelerometer_up_to_date = true;
+    }
     return mp_obj_new_int(self->accelerometer->getX());
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_accelerometer_get_x_obj, microbit_accelerometer_get_x);
 
 mp_obj_t microbit_accelerometer_get_y(mp_obj_t self_in) {
     microbit_accelerometer_obj_t *self = (microbit_accelerometer_obj_t*)self_in;
+    if (!accelerometer_up_to_date) {
+        self->accelerometer->idleTick();
+        accelerometer_up_to_date = true;
+    }
     return mp_obj_new_int(self->accelerometer->getY());
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_accelerometer_get_y_obj, microbit_accelerometer_get_y);
 
 mp_obj_t microbit_accelerometer_get_z(mp_obj_t self_in) {
     microbit_accelerometer_obj_t *self = (microbit_accelerometer_obj_t*)self_in;
+    if (!accelerometer_up_to_date) {
+        self->accelerometer->idleTick();
+        accelerometer_up_to_date = true;
+    }
     return mp_obj_new_int(self->accelerometer->getZ());
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_accelerometer_get_z_obj, microbit_accelerometer_get_z);
 
+mp_obj_t microbit_accelerometer_get_values(mp_obj_t self_in) {
+    microbit_accelerometer_obj_t *self = (microbit_accelerometer_obj_t*)self_in;
+    mp_obj_tuple_t *tuple = (mp_obj_tuple_t *)mp_obj_new_tuple(3, NULL);
+    if (!accelerometer_up_to_date) {
+        self->accelerometer->idleTick();
+        accelerometer_up_to_date = true;
+    }
+    tuple->items[0] = mp_obj_new_int(self->accelerometer->getX());
+    tuple->items[1] = mp_obj_new_int(self->accelerometer->getY());
+    tuple->items[2] = mp_obj_new_int(self->accelerometer->getZ());
+    return tuple;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(microbit_accelerometer_get_values_obj, microbit_accelerometer_get_values);
+
 STATIC const mp_map_elem_t microbit_accelerometer_locals_dict_table[] = {
     { MP_OBJ_NEW_QSTR(MP_QSTR_get_x), (mp_obj_t)&microbit_accelerometer_get_x_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_get_y), (mp_obj_t)&microbit_accelerometer_get_y_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_get_z), (mp_obj_t)&microbit_accelerometer_get_z_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_values), (mp_obj_t)&microbit_accelerometer_get_values_obj },
 };
 
 STATIC MP_DEFINE_CONST_DICT(microbit_accelerometer_locals_dict, microbit_accelerometer_locals_dict_table);
diff --git a/source/microbit/microbitcompass.cpp b/source/microbit/microbitcompass.cpp
@@ -62,26 +62,44 @@ mp_obj_t microbit_compass_clear_calibration(mp_obj_t self_in) {
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_compass_clear_calibration_obj, microbit_compass_clear_calibration);
 
+bool compass_up_to_date = false;
+
 mp_obj_t microbit_compass_heading(mp_obj_t self_in) {
     microbit_compass_obj_t *self = (microbit_compass_obj_t*)self_in;
+    if (!compass_up_to_date) {
+        self->compass->idleTick();
+        compass_up_to_date = true;
+    }
     return mp_obj_new_int(self->compass->heading());
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_compass_heading_obj, microbit_compass_heading);
 
 mp_obj_t microbit_compass_get_x(mp_obj_t self_in) {
     microbit_compass_obj_t *self = (microbit_compass_obj_t*)self_in;
+    if (!compass_up_to_date) {
+        self->compass->idleTick();
+        compass_up_to_date = true;
+    }
     return mp_obj_new_int(self->compass->getX());
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_compass_get_x_obj, microbit_compass_get_x);
 
 mp_obj_t microbit_compass_get_y(mp_obj_t self_in) {
     microbit_compass_obj_t *self = (microbit_compass_obj_t*)self_in;
+    if (!compass_up_to_date) {
+        self->compass->idleTick();
+        compass_up_to_date = true;
+    }
     return mp_obj_new_int(self->compass->getY());
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_compass_get_y_obj, microbit_compass_get_y);
 
 mp_obj_t microbit_compass_get_z(mp_obj_t self_in) {
     microbit_compass_obj_t *self = (microbit_compass_obj_t*)self_in;
+    if (!compass_up_to_date) {
+        self->compass->idleTick();
+        compass_up_to_date = true;
+    }
     return mp_obj_new_int(self->compass->getZ());
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_compass_get_z_obj, microbit_compass_get_z);
diff --git a/source/microbit/microbitdisplay.cpp b/source/microbit/microbitdisplay.cpp
@@ -102,18 +102,15 @@ static mp_obj_t async_repeat_iterable = NULL;
 static mp_obj_t async_iterator = NULL;
 // Record if an error occurs in async animation. Unfortunately there is no way to report this.
 static bool async_error = false;
+static volatile bool wakeup_event = false;
 static uint16_t async_nonce = 0;
 static mp_uint_t async_delay = 1000;
 static mp_uint_t async_tick = 0;
 
-STATIC void wakeup_event() {
-    // Wake up any fibers that were blocked on the animation (if any).
-    MicroBitEvent event(MICROBIT_ID_ALERT, async_nonce);
-}
-
 STATIC void wait_for_event() {
-    async_nonce = uBit.MessageBus.nonce();
-    fiber_wait_for_event(MICROBIT_ID_ALERT, async_nonce);
+    while (!wakeup_event)
+        __WFI();
+    wakeup_event = false;
 }
 
 STATIC void async_stop(void) {
@@ -125,7 +122,7 @@ STATIC void async_stop(void) {
     MP_STATE_PORT(async_data)[0] = NULL;
     MP_STATE_PORT(async_data)[1] = NULL;
     MP_STATE_PORT(async_data)[2] = NULL;
-    wakeup_event();
+    wakeup_event = true;
 }
 
 struct DisplayPoint {
@@ -250,6 +247,7 @@ static void microbit_display_update(void) {
         case ASYNC_MODE_ANIMATION:
         {
             if (MP_STATE_PORT(async_data)[0] == NULL || MP_STATE_PORT(async_data)[1] == NULL) {
+                async_stop();
                 break;
             }
             microbit_display_obj_t *display = (microbit_display_obj_t*)MP_STATE_PORT(async_data)[0];
@@ -314,6 +312,7 @@ void microbit_display_animate(microbit_display_obj_t *self, mp_obj_t iterable, m
         async_repeat_iterable = iterable;
         MP_STATE_PORT(async_data)[2] = iterable;
     }
+    wakeup_event = false;
     async_mode = ASYNC_MODE_ANIMATION;
     if (wait) {
         wait_for_event();
@@ -378,6 +377,7 @@ MP_DEFINE_CONST_FUN_OBJ_KW(microbit_display_scroll_obj, 1, microbit_display_scro
 
 void microbit_display_clear(void) {
     // Reset repeat state, cancel animation and clear screen.
+    wakeup_event = false;
     async_mode = ASYNC_MODE_CLEAR;
     async_tick = async_delay - FIBER_TICK_PERIOD_MS;
     wait_for_event();
@@ -461,9 +461,25 @@ microbit_display_obj_t microbit_display_obj = {
     .strobe_mask = 0x20
 };
 
+extern bool compass_up_to_date;
+extern bool accelerometer_up_to_date;
+
 static void ticker(void) {
-    // Make sure we call the DAL ticker function.
-    uBit.systemTick();
+
+    // increment our real-time counter.
+    ticks += FIBER_TICK_PERIOD_MS;
+
+    if (uBit.compass.isCalibrating()) {
+        uBit.compass.idleTick();
+    }
+
+    compass_up_to_date = false;
+    accelerometer_up_to_date = false;
+
+    // Update buttons
+    uBit.buttonA.systemTick();
+    uBit.buttonB.systemTick();
+
     // Update the display.
     microbit_display_tick();
 }
diff --git a/source/microbit/modmicrobit.cpp b/source/microbit/modmicrobit.cpp
@@ -38,7 +38,20 @@ STATIC mp_obj_t microbit_reset_(void) {
 MP_DEFINE_CONST_FUN_OBJ_0(microbit_reset_obj, microbit_reset_);
 
 STATIC mp_obj_t microbit_sleep(mp_obj_t ms_in) {
-    uBit.sleep(mp_obj_get_int(ms_in));
+    mp_int_t ms = mp_obj_get_int(ms_in);
+    if (ms <= 0)
+        return mp_const_none;
+    unsigned long current = uBit.systemTime();
+    unsigned long wakeup = current + ms;
+    if (wakeup < current) {
+        // Overflow
+        do {
+            __WFI();
+        } while (uBit.systemTime() > current);
+    }
+    do {
+        __WFI();
+    } while (uBit.systemTime() < wakeup);
     return mp_const_none;
 }
 MP_DEFINE_CONST_FUN_OBJ_1(microbit_sleep_obj, microbit_sleep);
diff --git a/source/microbit/mphal.cpp b/source/microbit/mphal.cpp
@@ -77,7 +77,7 @@ bool mp_hal_stdin_rx_any(void) {
 
 int mp_hal_stdin_rx_chr(void) {
     while (uart_rx_buf_tail == uart_rx_buf_head) {
-        schedule();
+        __WFI();
     }
     int c = uart_rx_buf[uart_rx_buf_tail];
     uart_rx_buf_tail = (uart_rx_buf_tail + 1) % UART_RX_BUF_SIZE;

Original file line number	Diff line number	Diff line change
`@@ -77,7 +77,7 @@ bool mp_hal_stdin_rx_any(void) {`
`77`	`77`
`78`	`78`	`int mp_hal_stdin_rx_chr(void) {`
`79`	`79`	`while (uart_rx_buf_tail == uart_rx_buf_head) {`
`80`		`- schedule();`
	`80`	`+ __WFI();`
`81`	`81`	`}`
`82`	`82`	`int c = uart_rx_buf[uart_rx_buf_tail];`
`83`	`83`	`uart_rx_buf_tail = (uart_rx_buf_tail + 1) % UART_RX_BUF_SIZE;`