CHANGELOG.md

@@ -4,13 +4,80 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
+
+
+## [v1.11] - 2019-09-24 - [Karotte]
+[Karotte]: https://card10.badge.events.ccc.de/release/card10-v1.11-Karotte.zip
+
 ### Added
-- `micropython.mem_use()` function.
+- **Support for sleep-mode instead of full power-off.  This means the RTC now
+  retains its state!**
+- For debugger users: A GDB macro `task_backtrace` which allows to view
+  backtraces of tasks which are currently swapped out.  Use like
+  ```text
+  (gdb) task_backtrace serial_task_id
+  ...
+  (gdb) task_backtrace dispatcher_task_id
+  ...
+  (gdb) task_backtrace ble_task_id
+  ```
+- BHI160 magnetometer sensor
+- ESB API in Pycardium.
+- Monotonic clock API
+- New FOSS font ...
+
+### Changed
+- `Display.print()` uses a transparent background when printing with `bg == fg`.
+- Try different crc16 module during build because different environments might
+  have different ones installed.
+- Improved ECG app, it can now blink on pulse and more!
+- Improved BHI160 and BME680 apps.
+
+### Fixed
+- Fixed a regression which made it impossible to turn off the flashlight.
+- Fixed CRT for l0dables not allowing to overwrite interrupt handlers.
+- Fixed ECG App not closing the sensor on `KeyboardInterrupt`.
+- Fixed a bug which made the power-button unresponsive when pressed during boot
+  (Interrupts were getting ignored).
+- Fixed `simple_menu.Menu.exit()` not actually working.
+- Added a few missing locks in `leds` module.
+- Added a workaround for BHI160 axis mapping not being applied in some cases.
+- Added a critical-section in BLE stack initialization to prevent weird lock-ups.
+- Fixed vibra module crashing when calling `vibra.vibrate()` while already running.
+- Fixed sensor-sample overflow leading to I2C bus lockup.
+
+
+## [v1.10] - 2019-09-05 21:42 - [JerusalemArtichoke]
+[JerusalemArtichoke]: https://card10.badge.events.ccc.de/release/card10-v1.10-JerusalemArtichoke.zip
+
+### Added
+- **ws2812**: Connect Neopixels to the wristband GPIOs and make your card10
+  even more colorful!
+- DigiClk is now in the default prelude!
 - High-pass filter and pulse detection in default ECG app.
+- Actually added `uuid` module - it was not built into the firmware before,
+  by accident.
+- `leds.get_rgb()`: Get the current color of an LED.
+- `leds.get_rocket()`: Get the current brightness of one of the rockets.
+- `micropython.mem_use()` function.
+- The analog-clock can now also set the time using the buttons.
+
+### Changed
+- **Pycardium**: Switched from `long-long` to `mpz` integer representation.
+  This should resolve any issues with large numbers which had popped up so far.
+- Refactored BME680 sensor interface.
+- Made OpenOCD scripts work with more debuggers out of the box.
+- Internal changes in preparation for button-interrupts.
 
 ### Fixed
 - Backlight and Vibration motor were not reset when switching apps.
 - Mismatch in default settings of the *Card10 Nickname* app.
+- Fixed the PMIC ADC muxer not being properly reset to neutral after a
+  measurement.
+- Fixed wrong timezone offset calculation in `utime.time_ms()`.
+- Fixed bug where `\` characters were not parsed as path separators.
+- Fixed the alignment request check in our ELF l0der.
+- Fixed a buffer-overflow in the config-parser.
 
 
 ## [v1.9] - 2019-08-28 23:23 - [IcebergLettuce]
@@ -214,7 +281,9 @@ fbf7c8c0 fix(menu.py) Refactored menu.py based on !138
 ## [v1.0] - 2019-08-21 00:50
 Initial release.
 
-[Unreleased]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.9...master
+[Unreleased]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.11...master
+[v1.11]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.10...v1.11
+[v1.10]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.9...v1.10
 [v1.9]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.8...v1.9
 [v1.8]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.7...v1.8
 [v1.7]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.6...v1.7

Documentation/bluetooth/card10.rst

@@ -28,7 +28,7 @@ The current draft uses following service specification:
 - Rockets characteristic:
 
   UUID: ``42230210-2342-2342-2342-234223422342``
-  write no response
+  read and write no response
 
 - Background LED Bottom Left characteristic:
 
@@ -104,6 +104,9 @@ Rockets characteristic
 
 The Rockets characteristic makes it possible to address every three rockets.
 Just write there three byte array, one for evey rocket.
+On read you get the current value of all three rockets.
+Range is between 0 and 31 (``0x1f``) if send higher value it will set to max of 31.
+
 
 Dataformat:
 
@@ -113,8 +116,8 @@ Dataformat:
 Rocket0 Rocket1 Rocket2
 ======= ======= =======
 
-- Enable only Rocket0:  ``0xff0000``
-- Enable all rockets with 50% brightness: ``0x7f7f7f``
+- Enable only Rocket0:  ``0x1f0000``
+- Enable all rockets with 50% brightness: ``0x0f0f0f``
 
 Background LED <Position> characteristic
 ----------------------------------------

Documentation/conf.py

@@ -90,6 +90,7 @@ html_context = {
 autodoc_mock_imports = [
     "buttons",
     "interrupt",
+    "sys_bme680",
     "sys_display",
     "sys_leds",
     "sys_max30001",

Documentation/debugger.rst

@@ -115,6 +115,12 @@ command to soft-reset card10.
    ...
    (gdb)
 
+.. note::
+   You will also find the following self-describing gdb files in the firmware
+   root directory, which do not require additional arguments:
+   ``flash-all.gdb,  flash-bootloader.gdb,  
+   flash-both.gdb,  flash-epicardium.gdb,  flash-pycardium.gdb``
+
 .. warning::
    If you are used to use ``mon reset halt``, be aware that the card10 prototypes
    do not connect the reset line to the debugger. OpenOCD is configured to only do

Documentation/how-to-build.rst

@@ -144,6 +144,15 @@ In order to do a rebuild you can issue a clean command to ninja via
 
 Otherwise, rerunning ``./bootstrap.sh`` will also clean the build-directory.
 
+.. note::
+
+   **macOS**: If ``strip`` fails to work on the freshly compiled ``mpy-cross``:
+   "strip: object: (...)/lib/micropython/micropython/mpy-cross/mpy-cross
+   malformed object (unknown load command 9)", you a likely not using the
+   `strip` that matches to your ``clang``. Do ``which strip && which clang``,
+   and if the paths don't match, clean up your PATHs, or as a quick hack,
+   create a symlink for strip.
+
 .. note::
 
    If you try to flash pycardium_epicardium.bin (renamed to card10.bin) 
@@ -152,4 +161,4 @@ Otherwise, rerunning ``./bootstrap.sh`` will also clean the build-directory.
    was >1MB. This was caused by the ``tr`` tool in the build process 
    (it's supposed to create a large file with 0xff in it) - this requires the 
    LC_ALL environment variable to be not set, or set to "C" 
-   (but not UTF8 or similar).
\ No newline at end of file
+   (but not UTF8 or similar).

Documentation/index.rst

@@ -38,6 +38,7 @@ Last but not least, if you want to start hacking the lower-level firmware, the
    pycardium/simple_menu
    pycardium/utime
    pycardium/vibra
+   pycardium/ws2812
 
 .. toctree::
    :maxdepth: 1

Documentation/overview.rst

@@ -14,24 +14,38 @@ Epicardium
 Epicardium is based on `FreeRTOS <https://www.freertos.org/>`_.  There are a
 number of tasks that will have been keeping card10 running.  These are:
 
-* **Dispatcher**:  The dispatcher task handles API calls from core 1.
-* **PMIC**:  The power manager task checks the battery level and other interesting
-  statistics that can be gathered from our power manager IC (MAX77650).
-* **Serial**:  Handles serial communication via *UART*, *CDC ACM* and possibly
-  Bluetooth.
-* **BHI160**: Housekeeping task for interaction with the `BHI160`_.
-
++-------------------+-------------------------------+----------+-------------------------------------------+
+| Name              | ID Global                     | Priority | Description                               |
++===================+===============================+==========+===========================================+
+| `vPmicTask`_      | ``pmic_task_id`` (static)     | +4       | Power Management (and Reset Button)       |
++-------------------+-------------------------------+----------+-------------------------------------------+
+| `vLifecycleTask`_ | ``lifecycle_task`` (static)   | +3       | Control of the payload running on core 1. |
++-------------------+-------------------------------+----------+-------------------------------------------+
+| `vBleTask`_       | ``ble_task_id`` (static)      | +3       | Bluetooth Low Energy Stack                |
++-------------------+-------------------------------+----------+-------------------------------------------+
+| `vSerialTask`_    | ``serial_task_id``            | +3       | Serial Output via UART/CDC-ACM/BLE        |
++-------------------+-------------------------------+----------+-------------------------------------------+
+| `vApiDispatcher`_ | ``dispatcher_task_id``        | +2       | Epicardium API dispatcher                 |
++-------------------+-------------------------------+----------+-------------------------------------------+
+| `vLedTask`_       | -/-                           | +1       | LED Animations                            |
++-------------------+-------------------------------+----------+-------------------------------------------+
+| `vMAX30001Task`_  | ``max30001_task_id`` (static) | +1       | `MAX30001`_ ECG driver                    |
++-------------------+-------------------------------+----------+-------------------------------------------+
+| `vBhi160Task`_    | ``bhi160_task_id`` (static)   | +1       | `BHI160`_ sensor fusion driver            |
++-------------------+-------------------------------+----------+-------------------------------------------+
+
+.. _vPmicTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/pmic.c#L281
+.. _vLifecycleTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/lifecycle.c#L361
+.. _vBleTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/ble/ble.c#L237
+.. _vSerialTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/serial.c#L289
+.. _vApiDispatcher: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/dispatcher.c#L25
+.. _vLedTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/personal_state.c#L58
+.. _vMAX30001Task: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/max30001.c#L378
+.. _vBhi160Task: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/bhi.c#L419
+
+.. _MAX30001: https://www.maximintegrated.com/en/products/analog/data-converters/analog-front-end-ics/MAX30001.html
 .. _BHI160: https://www.bosch-sensortec.com/bst/products/all_products/bhi160
 
-.. todo::
-
-   The following tasks have not yet been implemented/are currently in the works:
-
-   - **Bluetooth**: The bluetooth stack (`#23`_)
-   - **Payload Controller**: Control what is running on core 1
-
-   .. _#23: https://git.card10.badge.events.ccc.de/card10/firmware/issues/23
-
 Epicardium API
 --------------
 Epicardium exposes lots of functionality via the *Epicardium API*.  The
@@ -48,13 +62,15 @@ Pycardium, take a look at the :ref:`pycardium_guide` guide.
 L0dables
 --------
 Next to Pycardium, other bare-metal code can also run on core 1.  For example,
-a Rustcardium or C-cardium.  These l0dables must be compiled using our special
+a `Rustcardium`_ or C-cardium.  These l0dables must be compiled using our special
 linker script and should link against the api-caller library so they can
 interface with the :ref:`epicardium_api`.
 Note: this feature is disabled by default and has to be enabled at build time.
 To do this, run ``bootstrap.sh`` with the option ``-Djailbreak_card10=true``
 and rebuild the firmware as described in :ref:`how_to_build`.
 
+.. _Rustcardium: https://git.card10.badge.events.ccc.de/astro/rust-card10
+
 .. todo::
 
    Provide more details how this works

Documentation/pycardium/bhi160.rst

@@ -12,7 +12,7 @@ Supports the BHI160 sensor on the card10 for accelerometer, gyroscope...
 
    import bhi160
    import utime
-   
+
    bhi = bhi160.BHI160Orientation()
 
     while True:
@@ -47,7 +47,7 @@ Supports the BHI160 sensor on the card10 for accelerometer, gyroscope...
 
    Close the connection to the sensor
 
-   
+
 .. class:: bhi160.BHI160Accelerometer
 
     Accelerometer of the BHI160
@@ -100,3 +100,31 @@ Supports the BHI160 sensor on the card10 for accelerometer, gyroscope...
 
    Close the connection to the sensor
 
+.. class:: bhi160.BHI160Magnetometer
+
+    Magnetometer of the BHI160
+
+    Parameters:
+        sample_rate: int, optional
+            Sample rate (default is 4)
+        dynamic_range: int, optional
+            Dynamic range (default is 1)
+        callback: callable, optional
+            Call this callback when enough data is collected (default is None)
+
+            .. todo:: The callback functionality is untested, so do not be confused if it does not work.
+        sample_buffer_len: int, optional
+            Length of sample buffer (default is 200)
+
+   .. versionadded:: 1.11
+
+   .. py:method:: read():
+
+   Read sensor values
+
+   :returns: Collected sensor values as list
+
+   .. py:method:: close():
+
+   Close the connection to the sensor
+

Documentation/pycardium/bme680.rst

@@ -2,6 +2,7 @@
 
 ``bme680`` - Environmental Sensor
 =================================
+Allows access to environmental data of card10's surroundings.
 
 **Example**:
 
@@ -9,17 +10,28 @@
 
    import bme680, utime
 
-   bme680.init()
+   with bme680.Bme680() as environment:
+       while True:
+           d = environment.get_data()
 
-   while True:
-       temperature, humidity, pressure, resistance = bme680.get_data()
+           print("Temperature:    {:10.2f} °C".format(d.temperature))
+           print("Humidity:       {:10.2f} % r.h.".format(d.humidity))
+           print("Pressure:       {:10.2f} hPa".format(d.pressure))
+           print("Gas Resistance: {:10.2f} Ω".format(d.resistance))
 
-       print("Temperature:    {:10.2f} °C".format(temperature))
-       print("Humidity:       {:10.2f} % r.h.".format(humidity))
-       print("Pressure:       {:10.2f} hPa".format(pressure))
-       print("Gas Resistance: {:10.2f} Ω".format(resistance))
+           utime.sleep(1)
 
-       utime.sleep(1)
+Sensor Class
+------------
+
+.. autoclass:: bme680.Bme680
+   :members:
+
+Deprecated Interface
+--------------------
+The following functions should no longer be used directly.  The only exist for
+compatibility as they were the old BME680 interface in previous firmware
+versions.
 
 .. py:function:: init()
 
@@ -29,6 +41,8 @@
    :py:func:`bme680.init`.
 
    .. versionadded:: 1.4
+   .. deprecated:: 1.10
+      Use the :py:class:`bme680.Bme680` class instead.
 
 .. py:function:: get_data()
 
@@ -38,9 +52,13 @@
       ``pressure`` (hPa) and ``gas resistance`` (Ohm).
 
    .. versionadded:: 1.4
+   .. deprecated:: 1.10
+      Use the :py:class:`bme680.Bme680` class instead.
 
 .. py:function:: deinit()
 
    Deinitialize the sensor.
 
    .. versionadded:: 1.4
+   .. deprecated:: 1.10
+      Use the :py:class:`bme680.Bme680` class instead.

Documentation/pycardium/os.rst

@@ -72,3 +72,30 @@ Card10-Specific
 
       Please only call this function if absolutely necessary.  In most cases
       you'll want to just :py:func:`os.exit` instead.
+
+.. py:function:: usbconfig(config_type)
+
+   Change active USB configuration. By default, card10 boots with
+   :py:data:`os.USB_SERIAL` active.
+
+   This will deactivate the currently active USB configuration. This means
+   that, if you activate :py:data:`os.USB_FLASH` while :py:data:`os.USB_SERIAL`
+   was active, the USB serial will be disconnected.
+
+   :param config_type: Selects which config to activate. Possible
+      values are :py:data:`os.USB_SERIAL`, :py:data:`os.USB_FLASH`,
+      or :py:data:`os.USB_NONE`.
+
+   .. versionadded:: 1.11
+
+.. py:data:: USB_NONE
+
+   No USB device active.
+
+.. py:data:: USB_SERIAL
+
+   CDC-ACM serial device active.
+
+.. py:data:: USB_FLASH
+
+   Mass-Storage device active.

Documentation/pycardium/overview.rst

@@ -49,10 +49,19 @@ and power it on::
 
    leds.set_rocket(0, 31)
 
+.. note::
+
+   If you're using iOS/Mac then you can connect to your serial console using:
+
+   .. code-block:: shell-session
+
+      screen /dev/tty.usbmodem* 115200
+
+   You can now see in your console what buttons you have pressed and your
+   console outputs/logs.  With ``CTRL+C`` you exit the console.
 
 REPL modes
 ^^^^^^^^^^
-
 MicroPython supports a different REPL modes over the serial console. The modes
 can be changed on every new line.
 
@@ -77,5 +86,3 @@ or give you tracebacks if an error occured.
 
 You can use **pycard10** (tools/pycard10.py) to execute python files from your
 PC directly on the card10.
-
-

Documentation/pycardium/stdlib.rst

@@ -201,6 +201,8 @@ Struct module.
       UUID(bytes='\x12\x34\x56\x78' * 4)
       UUID(int=0x12345678123456781234567812345678)
 
+   .. versionadded:: 1.10
+
    .. py:attribute:: bytes
 
       UUID as ``bytes()`` object
@@ -221,7 +223,4 @@ Struct module.
 
    Generate a new UUID version 4 (random UUID).
 
-   .. todo::
-
-      This function is not yet usable because we don't have
-      :py:func:`os.urandom` yet.
+   .. versionadded:: 1.10

Documentation/pycardium/utime.rst

@@ -33,6 +33,18 @@ alarm.
    Return the current timestamp in milliseconds since 2000-01-01 00:00 in
    the local timezone.
 
+.. py:function:: monotonic()
+
+   Return a monotonically increasing timestamp.
+
+   .. versionadded:: 1.11
+
+.. py:function:: monotonic_ms()
+
+   Return a monotonically increasing timestamp in milliseconds.
+
+   .. versionadded:: 1.11
+
 .. py:function:: set_time(secs)
 
    Sets the time to ``secs`` seconds since 2000-01-01 00:00 in the local

Documentation/pycardium/ws2812.rst

+.. py:module:: ws2812
+
+``ws2812`` - Neopixel LEDs
+==========================
+The ``ws2812`` module controls LEDs of the WS2812 type. Just as the ``leds`` module, it exposes a function :py:func:`ws2812.set_all`, which works a similar fashion.
+
+.. versionadded:: 1.10
+
+.. py:function:: set_all(pin, colors)
+
+   Set multiple of the LEDs to RGB values.
+
+   Filling starts at the LED connected to the specified gpio pin.
+
+   :param int pin: ID of the pin to use for sending the data.
+   :param colors: List of RGB triplets.
+
+   **Example**
+
+   .. code-block:: python
+
+      import color, utime, ws2812, gpio
+
+      i = 0
+      while True:
+          col1 = color.from_hsv(i % 360, 1.0, 0.1)
+          col2 = color.from_hsv((i + 20) % 360, 1.0, 0.1)
+          col3 = color.from_hsv((i + 40) % 360, 1.0, 0.1)
+          ws2812.set_all(gpio.WRISTBAND_2, [col1, col2, col3])
+          i += 1
+          utime.sleep_ms(10)
+
+   .. versionadded:: 1.10

bootloader/crc_patch.py

 #!/usr/bin/env python3
 import sys
-import crc16
+
+try:
+    import crc16
+
+    crcfun = crc16.crc16xmodem
+except ImportError:
+    try:
+        import crcmod
+
+        crcfun = crcmod.predefined.mkCrcFun("xmodem")
+    except ImportError:
+        try:
+            import crcelk
+
+            crcfun = crcelk.CRC_XMODEM.calc_bytes
+        except ImportError:
+            raise Exception(
+                "Could not find a CRC implementation. Tried: crc16, crcmod, crcelk."
+            )
 
 
 def main():
-    data = open(sys.argv[1], 'rb').read()
-    crc = crc16.crc16xmodem(data)
+    data = open(sys.argv[1], "rb").read()
+    crc = crcfun(data)
     # print(crc)
 
     padded = data + bytes([crc >> 8, crc & 0xFF])
 
-    crc = crc16.crc16xmodem(padded)
+    crc = crcfun(padded)
     # print(crc)
 
-    open(sys.argv[1], 'wb').write(padded)
+    open(sys.argv[1], "wb").write(padded)
 
 
 if __name__ == "__main__":

epicardium/ble/ble.c

@@ -244,10 +244,18 @@ void vBleTask(void *pvParameters)
 	vTaskDelay(pdMS_TO_TICKS(500));
 
 	WsfInit();
+	taskENTER_CRITICAL();
+	/* Critical section to prevent a loop in iq_capture2 / meas_freq in
+	 * /home/maxim/Documents/src/BLE/mcbusw/Hardware/Micro/ME14/Firmware/trunk/NDALibraries/BTLE/phy/dbb/prot/ble/pan2g5/afe/max32665/board_config.c:275
+	 * if BHI160 and -Ddebug_prints=true is enabled*/
 	StackInit();
+	taskEXIT_CRITICAL();
 	BbBleDrvSetTxPower(0);
 	setAddress();
 
+	/* We are going to execute FreeRTOS functions from callbacks
+	 * coming from these interrupts. Their priority needs to be
+	 * reduced to allow this. */
 	NVIC_SetPriority(BTLE_SFD_TO_IRQn, 2);
 	NVIC_SetPriority(BTLE_TX_DONE_IRQn, 2);
 	NVIC_SetPriority(BTLE_RX_RCVD_IRQn, 2);

epicardium/ble/card10.c

@@ -114,7 +114,7 @@ static const uint8_t UUID_attChar_vibra[] = {
 
 /* BLE UUID for card10 char rockets */
 static const uint8_t UUID_char_rockets[] = {
-	ATT_PROP_WRITE_NO_RSP,
+	ATT_PROP_READ | ATT_PROP_WRITE_NO_RSP,
 	UINT16_TO_BYTES(CARD10_ROCKETS_VAL_HDL),
 	CARD10_UUID_SUFFIX, 0x10, CARD10_UUID_PREFIX
 };
@@ -123,6 +123,9 @@ static const uint8_t UUID_attChar_rockets[] = {
 	CARD10_UUID_SUFFIX, 0x10, CARD10_UUID_PREFIX
 };
 
+static uint8_t rocketsValue[] = { 0, 0, 0 };
+static uint16_t rocketsLen = sizeof(rocketsValue);
+
 /* BLE UUID for card10 led background bottom left */
 static const uint8_t UUID_char_led_bg_bottom_left[] = {
 	ATT_PROP_READ | ATT_PROP_WRITE_NO_RSP,
@@ -338,11 +341,13 @@ static const attsAttr_t card10SvcAttrList[] = {
 	},
 	{
 		.pUuid       = UUID_attChar_rockets,
-		.pValue      = NULL,
+		.pValue      = rocketsValue,
+		.pLen        = &rocketsLen,
 		.maxLen      = 3 * sizeof(uint8_t),
-		.settings    = ATTS_SET_WRITE_CBACK,
+		.settings    = ATTS_SET_WRITE_CBACK | ATTS_SET_READ_CBACK,
 		.permissions = ATTS_PERMIT_WRITE | ATTS_PERMIT_WRITE_ENC |
-			       ATTS_PERMIT_WRITE_AUTH,
+			       ATTS_PERMIT_WRITE_AUTH | ATTS_PERMIT_READ |
+			       ATTS_PERMIT_READ_ENC | ATTS_PERMIT_READ_AUTH,
 	},
 
 	// BG LED Bottom left
@@ -771,25 +776,20 @@ static uint8_t writeCard10CB(
 		}
 	// leds above
 	case CARD10_LEDS_ABOVE_VAL_HDL:
+		APP_TRACE_INFO0("ble-card10: update LEDs above");
+
 		for (ui16 = 0; ui16 < 11; ui16++) {
-			epic_leds_set(
-				ui16,
-				pValue[ui16 * 3],
-				pValue[ui16 * 3 + 1],
-				pValue[ui16 * 3 + 2]
-			);
-			APP_TRACE_INFO4(
-				"ble-card10: set led %ld above to #%02x%02x%02x\n",
+			epic_leds_prep(
 				ui16,
 				pValue[ui16 * 3],
 				pValue[ui16 * 3 + 1],
 				pValue[ui16 * 3 + 2]
 			);
 		}
+		epic_leds_update();
+		return ATT_SUCCESS;
 	default:
-		APP_TRACE_INFO1(
-			"ble-card10: unsupported characteristic: %c\n", handle
-		);
+		APP_TRACE_INFO1("ble-card10: unsupported handle: %x\n", handle);
 		return ATT_ERR_HANDLE;
 	}
 }
@@ -820,6 +820,17 @@ static uint8_t readCard10CB(
 
 		APP_TRACE_INFO0("ble-card10: read time\n");
 		return ATT_SUCCESS;
+	case CARD10_ROCKETS_VAL_HDL:
+		pAttr->pValue[0] = epic_leds_get_rocket(0);
+		pAttr->pValue[1] = epic_leds_get_rocket(1);
+		pAttr->pValue[2] = epic_leds_get_rocket(2);
+		APP_TRACE_INFO3(
+			"ble-card10: get rockets 0:%d, 1:%d, 2:%d\n",
+			pAttr->pValue[0],
+			pAttr->pValue[1],
+			pAttr->pValue[2]
+		);
+		return ATT_SUCCESS;
 	// background leds
 	case CARD10_LED_BG_BOTTOM_LEFT_VAL_HDL:
 		return getRGBLed(11, pAttr);

epicardium/ble/filetransfer.c

@@ -396,9 +396,7 @@ static uint8_t writeCallback(
 			connId, handle, operation, offset, len, pValue, pAttr
 		);
 	default:
-		LOG_ERR("filetrans",
-			"unsupported characteristic: %c\n",
-			handle);
+		LOG_ERR("filetrans", "unsupported handle: %x\n", handle);
 		return ATT_ERR_HANDLE;
 	}
 }

epicardium/epicardium.h

@@ -81,6 +81,8 @@ typedef _Bool bool;
 #define API_RTC_SCHEDULE_ALARM     0x51
 #define API_RTC_SET_MILLISECONDS   0x52
 #define API_RTC_GET_MILLISECONDS   0x53
+#define API_RTC_GET_MONOTONIC_SECONDS      0x54
+#define API_RTC_GET_MONOTONIC_MILLISECONDS 0x55
 
 #define API_LEDS_SET               0x60
 #define API_LEDS_SET_HSV           0x61
@@ -96,6 +98,7 @@ typedef _Bool bool;
 #define API_LEDS_SET_ALL_HSV       0x6b
 #define API_LEDS_SET_GAMMA_TABLE   0x6c
 #define API_LEDS_CLEAR_ALL         0x6d
+#define API_LEDS_GET_ROCKET        0x6e
 #define API_LEDS_GET               0x6f
 
 #define API_VIBRA_SET              0x70
@@ -138,6 +141,8 @@ typedef _Bool bool;
 #define API_USB_STORAGE            0x111
 #define API_USB_CDCACM             0x112
 
+#define API_WS2812_WRITE           0x0120
+
 /* clang-format on */
 
 typedef uint32_t api_int_id_t;
@@ -185,17 +190,19 @@ API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
 #define EPIC_INT_UART_RX                2
 /** RTC Alarm interrupt.  See :c:func:`epic_isr_rtc_alarm`. */
 #define EPIC_INT_RTC_ALARM              3
-/** BHI180 Accelerometer.  See :c:func:`epic_isr_bhi160_accelerometer`. */
+/** BHI160 Accelerometer.  See :c:func:`epic_isr_bhi160_accelerometer`. */
 #define EPIC_INT_BHI160_ACCELEROMETER   4
-/** BHI180 Orientation Sensor.  See :c:func:`epic_isr_bhi160_orientation`. */
+/** BHI160 Orientation Sensor.  See :c:func:`epic_isr_bhi160_orientation`. */
 #define EPIC_INT_BHI160_ORIENTATION     5
-/** BHI180 Gyroscope.  See :c:func:`epic_isr_bhi160_gyroscope`. */
+/** BHI160 Gyroscope.  See :c:func:`epic_isr_bhi160_gyroscope`. */
 #define EPIC_INT_BHI160_GYROSCOPE       6
 /** MAX30001 ECG.  See :c:func:`epic_isr_max30001_ecg`. */
 #define EPIC_INT_MAX30001_ECG           7
+/** BHI160 Magnetometer.  See :c:func:`epic_isr_bhi160_magnetometer`. */
+#define EPIC_INT_BHI160_MAGNETOMETER    8
 
 /* Number of defined interrupts. */
-#define EPIC_INT_NUM                    8
+#define EPIC_INT_NUM                    9
 /* clang-format on */
 
 /*
@@ -601,6 +608,8 @@ API(API_LEDS_SET, void epic_leds_set(int led, uint8_t r, uint8_t g, uint8_t b));
  *    are the 4 "ambient" LEDs.
  * :param uint8_t * rgb:  need tree byte array to get the value of red, green and blue.
  * :returns: ``0`` on success or ``-EPERM`` if the LED is blocked by personal-state.
+ *
+ * .. versionadded:: 1.10
  */
 API(API_LEDS_GET, int epic_leds_get_rgb(int led, uint8_t * rgb));
 
@@ -737,6 +746,26 @@ API(API_LEDS_UPDATE, void epic_leds_update(void));
  */
 API(API_LEDS_SET_ROCKET, void epic_leds_set_rocket(int led, uint8_t value));
 
+/**
+ * Get the brightness of one of the rocket LEDs.
+ *
+ * :param int led:  Which LED to get.
+ *
+ *    +-------+--------+----------+
+ *    |   ID  | Color  | Location |
+ *    +=======+========+==========+
+ *    | ``0`` | Blue   | Left     |
+ *    +-------+--------+----------+
+ *    | ``1`` | Yellow | Top      |
+ *    +-------+--------+----------+
+ *    | ``2`` | Green  | Right    |
+ *    +-------+--------+----------+
+ * :returns value:  Brightness of LED (value between 0 and 31)  or ``-EINVAL`` if the LED/rocket does not exists.
+ *
+ * .. versionadded:: 1.10
+ */
+API(API_LEDS_GET_ROCKET, int epic_leds_get_rocket(int led));
+
 /**
  * Turn on the bright side LED which can serve as a flashlight if worn on the left wrist or as a rad tattoo illuminator if worn on the right wrist.
  *
@@ -1020,7 +1049,12 @@ enum bhi160_sensor_type {
 	 * - Dynamic range: g's (1x Earth Gravity, ~9.81m*s^-2)
 	 */
 	BHI160_ACCELEROMETER               = 0,
-	/** Magnetometer (**Unimplemented**) */
+	/**
+	 * Magnetometer
+	 *
+	 * - Data type: :c:type:`bhi160_data_vector`
+	 * - Dynamic range: -1000 to 1000 microtesla
+	 */
 	BHI160_MAGNETOMETER                = 1,
 	/** Orientation */
 	BHI160_ORIENTATION                 = 2,
@@ -1152,6 +1186,14 @@ API(API_BHI160_DISABLE_ALL, void epic_bhi160_disable_all_sensors());
  */
 API_ISR(EPIC_INT_BHI160_ACCELEROMETER, epic_isr_bhi160_accelerometer);
 
+/**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_BHI160_MAGNETOMETER`
+ *
+ * :c:func:`epic_isr_bhi160_magnetometer` is called whenever the BHI160
+ * magnetometer has new data available.
+ */
+API_ISR(EPIC_INT_BHI160_MAGNETOMETER, epic_isr_bhi160_magnetometer);
+
 /**
  * **Interrupt Service Routine** for :c:data:`EPIC_INT_BHI160_ORIENTATION`
  *
@@ -1322,7 +1364,7 @@ enum disp_font_name {
  * :param posy: y position to print to. 0 <= y <= 80
  * :param pString: string to print
  * :param fg: foreground color in rgb565
- * :param bg: background color in rgb565
+ * :param bg: background color in rgb565, no background is drawn if bg==fg
  * :return: ``0`` on success or a negative value in case of an error:
  *
  *    - ``-EBUSY``: Display was already locked from another task.
@@ -1693,6 +1735,28 @@ API(API_FILE_MKDIR, int epic_file_mkdir(const char *dirname));
  * ===
  */
 
+/**
+ * Get the monotonic time in seconds.
+ *
+ * :return: monotonic time in seconds
+ *
+ * .. versionadded:: 1.11
+ */
+API(API_RTC_GET_MONOTONIC_SECONDS,
+	uint32_t epic_rtc_get_monotonic_seconds(void)
+);
+
+/**
+ * Get the monotonic time in ms.
+ *
+ * :return: monotonic time in milliseconds
+ *
+ * .. versionadded:: 1.11
+ */
+API(API_RTC_GET_MONOTONIC_MILLISECONDS,
+	uint64_t epic_rtc_get_monotonic_milliseconds(void)
+);
+
 /**
  * Read the current RTC value.
  *
@@ -1843,4 +1907,22 @@ API(API_USB_STORAGE, int epic_usb_storage(void));
  */
 API(API_USB_CDCACM, int epic_usb_cdcacm(void));
 
+/**
+ * WS2812
+ * ======
+ */
+
+/**
+ * Takes a gpio pin specified with the gpio module and transmits
+ * the led data. The format `GG:RR:BB` is expected.
+ *
+ * :param uint8_t pin: The gpio pin to be used for data.
+ * :param uint8_t * pixels: The buffer, in which the pixel data is stored.
+ * :param uint32_t n_bytes: The size of the buffer.
+ *
+ * .. versionadded:: 1.10
+ */
+API(API_WS2812_WRITE, void epic_ws2812_write(uint8_t pin, uint8_t *pixels, uint32_t n_bytes));
+
 #endif /* _EPICARDIUM_H */
+

epicardium/l0der/l0der.c

@@ -545,7 +545,8 @@ _load_pie(int fd, int size, Elf32_Ehdr *hdr, struct l0dable_info *info)
 
 		if (phdr.p_type == PT_LOAD) {
 			// Check alignment request.
-			if ((phdr.p_vaddr % phdr.p_align) != 0) {
+			if ((phdr.p_offset % phdr.p_align) !=
+			    (phdr.p_vaddr % phdr.p_align)) {
 				LOG_ERR("l0der",
 					"_load_pie: phdr %d alignment too strict",
 					i);