epicardium/drivers/serial.c

+#include "epicardium.h"
+#include "os/core.h"
+#include "modules/modules.h"
+#include "drivers/drivers.h"
+#include "user_core/interrupts.h"
+
+#include "max32665.h"
+#include "usb/cdcacm.h"
+#include "uart.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "stream_buffer.h"
+
+#include <stdint.h>
+#include <stdio.h>
+
+/* The serial console in use (UART0) */
+extern mxc_uart_regs_t *ConsoleUart;
+
+/* Task ID for the serial handler */
+TaskHandle_t serial_task_id = NULL;
+
+/* Read queue, filled by both UART and CDCACM */
+static QueueHandle_t read_queue;
+/* Stream Buffer for handling all writes to serial */
+static StreamBufferHandle_t write_stream_buffer = NULL;
+
+void serial_init()
+{
+	/* Setup read queue */
+	static uint8_t buffer[sizeof(char) * SERIAL_READ_BUFFER_SIZE];
+	static StaticQueue_t read_queue_data;
+	read_queue = xQueueCreateStatic(
+		SERIAL_READ_BUFFER_SIZE, sizeof(char), buffer, &read_queue_data
+	);
+
+	/* Setup write queue */
+	static uint8_t ucWrite_stream_buffer[SERIAL_WRITE_STREAM_BUFFER_SIZE];
+	static StaticStreamBuffer_t xStream_buffer_struct;
+	write_stream_buffer = xStreamBufferCreateStatic(
+		sizeof(ucWrite_stream_buffer),
+		1,
+		ucWrite_stream_buffer,
+		&xStream_buffer_struct
+	);
+}
+
+void serial_return_to_synchronous()
+{
+	write_stream_buffer = NULL;
+}
+
+static void write_str_(const char *str, size_t length)
+{
+	if (length == 0) {
+		return;
+	}
+
+	/*
+	 * Check if the stream buffer is even initialized yet
+	 */
+	if (write_stream_buffer == NULL) {
+		UART_Write(ConsoleUart, (uint8_t *)str, length);
+		cdcacm_write((uint8_t *)str, length);
+		return;
+	}
+
+	if (xPortIsInsideInterrupt()) {
+		BaseType_t resched1 = pdFALSE;
+		BaseType_t resched2 = pdFALSE;
+
+		/*
+		 * Enter a critial section so no other task can write to the
+		 * stream buffer.
+		 */
+		uint32_t basepri = __get_BASEPRI();
+		taskENTER_CRITICAL_FROM_ISR();
+
+		xStreamBufferSendFromISR(
+			write_stream_buffer, str, length, &resched1
+		);
+
+		taskEXIT_CRITICAL_FROM_ISR(basepri);
+
+		if (serial_task_id != NULL) {
+			xTaskNotifyFromISR(
+				serial_task_id,
+				SERIAL_WRITE_NOTIFY,
+				eSetBits,
+				&resched2
+			);
+		}
+
+		/* Yield if this write woke up a higher priority task */
+		portYIELD_FROM_ISR(resched1 || resched2);
+	} else {
+		size_t bytes_sent = 0;
+		size_t index      = 0;
+		do {
+			taskENTER_CRITICAL();
+			/*
+			 * Wait time needs to be zero, because we are in a
+			 * critical section.
+			 */
+			bytes_sent = xStreamBufferSend(
+				write_stream_buffer,
+				&str[index],
+				length - index,
+				0
+			);
+			index += bytes_sent;
+			taskEXIT_CRITICAL();
+			if (serial_task_id != NULL) {
+				xTaskNotify(
+					serial_task_id,
+					SERIAL_WRITE_NOTIFY,
+					eSetBits
+				);
+				if (bytes_sent == 0) {
+					vTaskDelay(1);
+				} else {
+					portYIELD();
+				}
+			}
+		} while (index < length);
+	}
+}
+
+/*
+ * API-call to write a string.  Output goes to CDCACM, UART and BLE
+ *
+ * This is user data from core 1.
+ */
+void epic_uart_write_str(const char *str, size_t length)
+{
+	/* Make sure that we are not in an interrupt when talking to BLE.
+	 * Should not be the case if this is called from core 1
+	 * anyways. */
+	if (!xPortIsInsideInterrupt()) {
+		ble_uart_write((uint8_t *)str, length);
+	}
+	write_str_(str, length);
+}
+
+static void serial_flush_from_isr(void)
+{
+	uint8_t rx_data[32];
+	size_t received_bytes;
+
+	BaseType_t resched = pdFALSE;
+	BaseType_t woken   = pdFALSE;
+
+	uint32_t basepri = __get_BASEPRI();
+	taskENTER_CRITICAL_FROM_ISR();
+
+	do {
+		received_bytes = xStreamBufferReceiveFromISR(
+			write_stream_buffer,
+			(void *)rx_data,
+			sizeof(rx_data),
+			&woken
+		);
+		resched |= woken;
+
+		if (received_bytes == 0) {
+			break;
+		}
+
+		/*
+		 * The SDK-driver for UART is not reentrant
+		 * which means we need to perform UART writes
+		 * in a critical section.
+		 */
+
+		UART_Write(ConsoleUart, (uint8_t *)&rx_data, received_bytes);
+	} while (received_bytes > 0);
+
+	taskEXIT_CRITICAL_FROM_ISR(basepri);
+
+	portYIELD_FROM_ISR(resched);
+}
+
+static void serial_flush_from_thread(void)
+{
+	uint8_t rx_data[32];
+	size_t received_bytes;
+
+	do {
+		taskENTER_CRITICAL();
+		received_bytes = xStreamBufferReceive(
+			write_stream_buffer,
+			(void *)rx_data,
+			sizeof(rx_data),
+			0
+		);
+		taskEXIT_CRITICAL();
+
+		if (received_bytes == 0) {
+			break;
+		}
+
+		/*
+		 * The SDK-driver for UART is not reentrant
+		 * which means we need to perform UART writes
+		 * in a critical section.
+		 */
+		taskENTER_CRITICAL();
+		UART_Write(ConsoleUart, (uint8_t *)&rx_data, received_bytes);
+		taskEXIT_CRITICAL();
+
+		cdcacm_write((uint8_t *)&rx_data, received_bytes);
+	} while (received_bytes > 0);
+}
+
+/*
+ * Flush all characters which are currently waiting to be printed.
+ *
+ * If this function is called from an ISR, it will only flush to hardware UART
+ * while a call from thread mode will flush to UART, CDC-ACM, and BLE Serial.
+ */
+void serial_flush(void)
+{
+	if (xPortIsInsideInterrupt()) {
+		serial_flush_from_isr();
+	} else {
+		serial_flush_from_thread();
+	}
+}
+
+/*
+ * API-call to read a character from the queue.
+ */
+int epic_uart_read_char(void)
+{
+	char chr;
+	if (xQueueReceive(read_queue, &chr, 0) == pdTRUE) {
+		return (int)chr;
+	}
+	return (-1);
+}
+
+/*
+ * API-call to read data from the queue.
+ */
+int epic_uart_read_str(char *buf, size_t cnt)
+{
+	size_t i = 0;
+
+	for (i = 0; i < cnt; i++) {
+		if (xQueueReceive(read_queue, &buf[i], 0) != pdTRUE) {
+			break;
+		}
+	}
+
+	return i;
+}
+
+/*
+ * Write a string from epicardium. Output goes to CDCACM and UART
+ *
+ * This mainly log data from epicardium, not user date from core 1.
+ */
+long _write_epicardium(int fd, const char *buf, size_t cnt)
+{
+	/*
+	 * Only print one line at a time.  Insert `\r` between lines so they are
+	 * properly displayed on the serial console.
+	 */
+	size_t i, last = 0;
+	for (i = 0; i < cnt; i++) {
+		if (buf[i] == '\n') {
+			write_str_(&buf[last], i - last);
+			write_str_("\r", 1);
+			last = i;
+		}
+	}
+	write_str_(&buf[last], cnt - last);
+	return cnt;
+}
+
+/* Interrupt handler needed for SDK UART implementation */
+void UART0_IRQHandler(void)
+{
+	UART_Handler(ConsoleUart);
+}
+
+static void uart_callback(uart_req_t *req, int error)
+{
+	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+	xTaskNotifyFromISR(
+		serial_task_id,
+		SERIAL_READ_NOTIFY,
+		eSetBits,
+		&xHigherPriorityTaskWoken
+	);
+	portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+}
+
+void serial_enqueue_char(char chr)
+{
+	if (chr == 0x3) {
+		/* Control-C */
+		interrupt_trigger(EPIC_INT_CTRL_C);
+	}
+
+	if (xQueueSend(read_queue, &chr, 100) == errQUEUE_FULL) {
+		/* Queue overran, wait a bit */
+		vTaskDelay(portTICK_PERIOD_MS * 50);
+	}
+
+	interrupt_trigger(EPIC_INT_UART_RX);
+}
+
+void vSerialTask(void *pvParameters)
+{
+	serial_task_id = xTaskGetCurrentTaskHandle();
+
+	/* Setup UART interrupt */
+	NVIC_ClearPendingIRQ(UART0_IRQn);
+	NVIC_DisableIRQ(UART0_IRQn);
+	NVIC_SetPriority(UART0_IRQn, 6);
+	NVIC_EnableIRQ(UART0_IRQn);
+
+	unsigned char data;
+	uart_req_t read_req = {
+		.data     = &data,
+		.len      = 1,
+		.callback = uart_callback,
+	};
+
+	while (1) {
+		int ret = UART_ReadAsync(ConsoleUart, &read_req);
+		if (ret != E_NO_ERROR && ret != E_BUSY) {
+			LOG_ERR("serial", "error reading uart: %d", ret);
+			vTaskDelay(portMAX_DELAY);
+		}
+
+		ret = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+
+		if (ret & SERIAL_WRITE_NOTIFY) {
+			serial_flush_from_thread();
+		}
+
+		if (ret & SERIAL_READ_NOTIFY) {
+			if (read_req.num > 0) {
+				serial_enqueue_char(*read_req.data);
+			}
+
+			while (UART_NumReadAvail(ConsoleUart) > 0) {
+				serial_enqueue_char(UART_ReadByte(ConsoleUart));
+			}
+
+			while (cdcacm_num_read_avail() > 0) {
+				serial_enqueue_char(cdcacm_read());
+			}
+		}
+	}
+}

epicardium/drivers/sleep.c

+#include "epicardium.h"
+#include "modules/modules.h"
+#include "os/core.h"
+
+#include "card10.h"
+#include "simo.h"
+#include "lp.h"
+#include "max86150.h"
+#include "MAX77650-Arduino-Library.h"
+
+#include "bb_drv.h"
+
+#include "max32665.h"
+#include "mxc_sys.h"
+#include "mxc_pins.h"
+
+#include <stdint.h>
+#include <limits.h>
+
+/* Most code is taken and adapted rom EvKitExamples/LP/main.c */
+
+static uint32_t old_clkcn;
+static uint32_t old_perckcn0, old_perckcn1;
+
+void GPIOWAKE_IRQHandler(void)
+{
+	/* Nothing to do here */
+}
+
+static void switchToHIRC(void)
+{
+	MXC_GCR->clkcn &= ~(MXC_S_GCR_CLKCN_PSC_DIV128);
+	MXC_GCR->clkcn |= MXC_S_GCR_CLKCN_PSC_DIV4;
+	MXC_GCR->clkcn |= MXC_F_GCR_CLKCN_HIRC_EN;
+
+	MXC_SETFIELD(
+		MXC_GCR->clkcn,
+		MXC_F_GCR_CLKCN_CLKSEL,
+		MXC_S_GCR_CLKCN_CLKSEL_HIRC
+	);
+
+	while (!(MXC_GCR->clkcn & MXC_F_GCR_CLKCN_CKRDY))
+		; /* Wait for the clock switch to occur */
+
+	/* Disable the now unused 96 MHz clock */
+	MXC_GCR->clkcn &= ~(MXC_F_GCR_CLKCN_HIRC96M_EN);
+
+	SystemCoreClockUpdate();
+}
+
+static void deepsleep(void)
+{
+	SIMO_setVregO_B(810); /* Reduce VCOREB to 0.81 V */
+	LP_FastWakeupEnable();
+	LP_EnterDeepSleepMode();
+	SIMO_setVregO_B(1000); /* Restore VCOREB to 1 V */
+}
+
+static void turnOffClocks(void)
+{
+	old_perckcn0 = MXC_GCR->perckcn0;
+	old_perckcn1 = MXC_GCR->perckcn1;
+
+	/* Allow the USB Switch to be turned off in deepsleep and backup modes. */
+	/* TODO: should this be the default setting? */
+	LP_USBSWLPDisable();
+
+	/* Disable all peripheral clocks except GPIO0 (needed for interrupt wakeup) */
+	MXC_GCR->perckcn0 = 0xFFFFFFFE;
+	MXC_GCR->perckcn1 = 0xFFFFFFFF;
+}
+
+static void turnOnClocks(void)
+{
+	MXC_GCR->perckcn0 = old_perckcn0;
+	MXC_GCR->perckcn1 = old_perckcn1;
+}
+
+/*
+ * Move most GPIOs into a special low power state with the fact
+ * in mind that the external 3.3 V are switched off.
+ *
+ * E.g. this means that the SD card pins need to be pulled low
+ * to preven them from backfeeding into the 3.3 V rail via their
+ * external pull-up resistors.
+ *
+ * Pins needed to talk to the PMIC are left untouched.
+ * ECG AOUT and 32 kHz out as well.
+ */
+static void gpio_low_power(void)
+{
+	/* clang-format off */
+	const gpio_cfg_t pins_low_power[] = {
+		{ PORT_0, PIN_0, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },      // FLash
+		{ PORT_0, PIN_1, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },      // Flash
+		{ PORT_0, PIN_2, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },      // Flash
+		{ PORT_0, PIN_3, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },      // Flash
+		{ PORT_0, PIN_4, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },      // Flash
+		{ PORT_0, PIN_5, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },      // Flash
+		{ PORT_0, PIN_6, GPIO_FUNC_OUT, GPIO_PAD_NONE },        // I2C 3.3V
+		{ PORT_0, PIN_7, GPIO_FUNC_OUT, GPIO_PAD_NONE },        // I2C 3.3V
+		{ PORT_0, PIN_8, GPIO_FUNC_OUT, GPIO_PAD_NONE },        // Motor
+		{ PORT_0, PIN_9, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },      // UART TX
+		{ PORT_0, PIN_10, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },     // UART RX
+		{ PORT_0, PIN_11, GPIO_FUNC_IN, GPIO_PAD_PULL_DOWN },   // BMA400 interrupt
+		// 0, 12: PMIC IRQ
+		{ PORT_0, PIN_13, GPIO_FUNC_IN, GPIO_PAD_NONE },        // BHI160 interrupt, not sure if PP
+		// 0, 14: PMIC I2C
+		// 0, 15: PMIC I2C
+		{ PORT_0, PIN_16, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },     // PMIC AMUX
+		{ PORT_0, PIN_17, GPIO_FUNC_IN, GPIO_PAD_PULL_DOWN },   // SOA GPIO
+		// 0, 18: ECG AOUT
+		// 0, 19: 32 kHz
+		{ PORT_0, PIN_20, GPIO_FUNC_IN, GPIO_PAD_PULL_DOWN },   // Wristband 1
+		{ PORT_0, PIN_21, GPIO_FUNC_IN, GPIO_PAD_PULL_DOWN },   // Wristband 2
+		{ PORT_0, PIN_22, GPIO_FUNC_IN, GPIO_PAD_PULL_DOWN },   // Wristband 3
+		{ PORT_0, PIN_23, GPIO_FUNC_OUT, GPIO_PAD_NONE },       // IR-LED
+		{ PORT_0, PIN_24, GPIO_FUNC_OUT, GPIO_PAD_NONE },       // display SS
+		{ PORT_0, PIN_25, GPIO_FUNC_OUT, GPIO_PAD_NONE },       // display MOSI
+		{ PORT_0, PIN_26, GPIO_FUNC_IN, GPIO_PAD_PULL_DOWN },   // SOA GPIO
+		{ PORT_0, PIN_27, GPIO_FUNC_OUT, GPIO_PAD_NONE },       // display SCK
+		{ PORT_0, PIN_28, GPIO_FUNC_OUT, GPIO_PAD_NONE },       // Backlight
+		{ PORT_0, PIN_29, GPIO_FUNC_IN, GPIO_PAD_PULL_DOWN },   // Wristband 4
+		// 0, 30: PMIC power hold
+		{ PORT_0, PIN_31, GPIO_FUNC_OUT, GPIO_PAD_NONE },   // ECG switch
+
+		{ PORT_1, PIN_0, GPIO_FUNC_OUT, GPIO_PAD_NONE },    // SDHC
+		{ PORT_1, PIN_1, GPIO_FUNC_OUT, GPIO_PAD_NONE },    // SDHC
+		{ PORT_1, PIN_2, GPIO_FUNC_OUT, GPIO_PAD_NONE },    // SDHC
+		{ PORT_1, PIN_3, GPIO_FUNC_OUT, GPIO_PAD_NONE },    // SDHC
+		{ PORT_1, PIN_4, GPIO_FUNC_OUT, GPIO_PAD_NONE },    // SDHC
+		{ PORT_1, PIN_5, GPIO_FUNC_OUT, GPIO_PAD_NONE },    // SDHC
+		{ PORT_1, PIN_6, GPIO_FUNC_OUT, GPIO_PAD_NONE },    // display RS
+		{ PORT_1, PIN_7, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },  // Portexpander interrupt
+		{ PORT_1, PIN_8, GPIO_FUNC_IN, GPIO_PAD_PULL_UP },  // ECG CS TODO: better OUT high
+		{ PORT_1, PIN_9, GPIO_FUNC_OUT, GPIO_PAD_NONE },    // ECG SDI
+		{ PORT_1, PIN_10, GPIO_FUNC_IN, GPIO_PAD_PULL_UP }, // ECG SDO
+		{ PORT_1, PIN_11, GPIO_FUNC_IN, GPIO_PAD_PULL_UP }, // ECG SCK
+		{ PORT_1, PIN_11, GPIO_FUNC_IN, GPIO_PAD_PULL_UP }, // ECG INT
+		{ PORT_1, PIN_13, GPIO_FUNC_IN, GPIO_PAD_NONE },    // PPG Interrupt
+		{ PORT_1, PIN_14, GPIO_FUNC_OUT, GPIO_PAD_NONE },   // RGB LEDs
+		{ PORT_1, PIN_15, GPIO_FUNC_OUT, GPIO_PAD_NONE },   // RGB LEDs
+	};
+	/* clang-format on */
+
+	const unsigned int num_pins =
+		(sizeof(pins_low_power) / sizeof(gpio_cfg_t));
+	for (size_t i = 0; i < num_pins; i++) {
+		GPIO_OutClr(&pins_low_power[i]);
+		GPIO_Config(&pins_low_power[i]);
+	}
+}
+
+/*
+ * Go to deepsleep, turning off peripherals.
+ *
+ * This functions returns after waking up again.
+ * Currently the only wakeup source is an interrupt
+ * from the PMIC.
+ *
+ * Some peripherals and GPIOs are moved into a low
+ * power state before going to sleep. There is no guarantee
+ * that all peripherals will be moved to a low power state
+ *
+ * TODO: Move BHI160, BMA400, BME680, MAX30001 into a low
+ * power state.
+ *
+ * The state of the GPIOs and generally all peripherials
+ * on board is not restored after a wakeup.
+ */
+void sleep_deepsleep(void)
+{
+	LOG_WARN("pmic", "Powersave");
+	epic_disp_backlight(0);
+	epic_leds_set_rocket(0, 0);
+	epic_leds_set_rocket(1, 0);
+	epic_leds_set_rocket(2, 0);
+#if 1
+	/* This will fail if there is no
+     * harmonic board attached */
+	max86150_begin();
+	max86150_get_int1();
+	max86150_get_int2();
+	max86150_shut_down();
+#endif
+	epic_bhi160_disable_all_sensors();
+	epic_bme680_deinit();
+	epic_max30001_disable_sensor();
+	MAX77650_setEN_SBB2(0b100);
+	MAX77650_setSBIA_LPM(true);
+	core1_stop();
+	MAX77650_getINT_GLBL();
+	gpio_low_power();
+	if (ble_is_enabled()) {
+		BbDrvDisable();
+	}
+	turnOffClocks();
+
+	SYS_ClockSourceEnable(SYS_CLOCK_HIRC);
+	old_clkcn = MXC_GCR->clkcn;
+	switchToHIRC();
+	deepsleep();
+
+	/* Now wait for an interrupt to wake us up */
+
+	turnOnClocks();
+	MXC_GCR->clkcn = old_clkcn;
+	while (!(MXC_GCR->clkcn & MXC_F_GCR_CLKCN_CKRDY))
+		; /* Wait for the clock switch to occur */
+	SystemCoreClockUpdate();
+	MAX77650_setEN_SBB2(0b110);
+}
+
+int epic_sleep(uint32_t ms)
+{
+	/* Allow the interrupt module to break us out of a call to
+	 * epic_sleep() */
+	uint32_t count = ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(ms));
+
+	if (count == 0) {
+		return 0;
+	} else {
+		return INT_MAX;
+	}
+}

epicardium/drivers/usb.c

+/**
+ *
+ * Implementation of public epic_usb_ interface
+ *
+ * Configuration and FLASH-specific implementation of USB mass storage device
+ * Configuration of USB CDCACM device
+ *
+ * USB descriptors for both are defined here.
+ *
+ */
+
+#include "epicardium.h"
+
+#include "fs/filesystem.h"
+#include "os/config.h"
+
+#include "usb/cdcacm.h"
+#include "usb/mass_storage.h"
+#include "usb/descriptors.h"
+#include "usb/epc_usb.h"
+
+#include "os/core.h"
+
+#include "mx25lba.h"
+#include "msc.h"
+
+#include "mxc_sys.h"
+#include "wdt.h"
+
+/* memory access callbacks for the mass storage (FLASH) device */
+static int mscmem_init();
+static uint32_t mscmem_size(void);
+static int mscmem_read(uint32_t lba, uint8_t *buffer);
+static int mscmem_write(uint32_t lba, uint8_t *buffer);
+static int mscmem_start();
+static int mscmem_stop();
+static int mscmem_ready();
+
+/* USB descriptors, definition at the end of this file */
+static usb_device_descriptor_t device_descriptor_cdcacm
+	__attribute__((aligned(4)));
+static struct config_descriptor_cdcacm config_descriptor_cdcacm
+	__attribute__((aligned(4)));
+static usb_device_descriptor_t device_descriptor_msc
+	__attribute__((aligned(4)));
+static struct config_descriptor_msc config_descriptor_msc
+	__attribute__((aligned(4)));
+
+/* definitions of config structs */
+static const msc_mem_t s_mscCallbacks = {
+	mscmem_init, mscmem_start, mscmem_stop,  mscmem_ready,
+	mscmem_size, mscmem_read,  mscmem_write,
+};
+
+static struct esb_device_descriptors s_dd_cdcacm = {
+	.device = &device_descriptor_cdcacm, .cdcacm = &config_descriptor_cdcacm
+};
+
+static struct esb_device_descriptors s_dd_msc = {
+	.device = &device_descriptor_msc, .msc = &config_descriptor_msc
+};
+
+static struct esb_config s_cfg_cdcacm = {
+	.name        = "cdcacm",
+	.init        = esb_cdc_init,
+	.configure   = esb_cdc_configure,
+	.deconfigure = esb_cdc_deconfigure,
+	.deinit      = NULL,
+
+	.descriptors = &s_dd_cdcacm,
+	.deviceData  = NULL,
+};
+
+static struct esb_config s_cfg_msc = {
+	.name        = "msc FLASH",
+	.init        = esb_msc_init,
+	.configure   = esb_msc_configure,
+	.deconfigure = esb_msc_deconfigure,
+	.deinit      = NULL,
+
+	.descriptors = &s_dd_msc,
+	.deviceData  = (void *)&s_mscCallbacks,
+};
+
+/* function implementations */
+
+static int dirty = 0;
+static int mscmem_init()
+{
+	LOG_DEBUG("msc", "mem.init");
+	fatfs_detach();
+	return mx25_init();
+}
+
+static uint32_t mscmem_size(void)
+{
+	return mx25_size();
+}
+
+static int mscmem_read(uint32_t lba, uint8_t *buffer)
+{
+	/* Reset the watchdog as this interrupt might be
+	 * firing back to back for a few seconds. */
+	WDT_ResetTimer(MXC_WDT0);
+	return mx25_read(lba, buffer);
+}
+
+static int mscmem_write(uint32_t lba, uint8_t *buffer)
+{
+	if (dirty == 0) {
+		//bootloader_dirty();
+	}
+	dirty = 2;
+	/* Reset the watchdog as this interrupt might be
+	 * firing back to back for a few seconds. */
+	WDT_ResetTimer(MXC_WDT0);
+	return mx25_write(lba, buffer);
+}
+
+static int mscmem_start()
+{
+	return mx25_start();
+}
+
+static int mscmem_stop()
+{
+	LOG_DEBUG("msc", "mem.stop");
+	int ret = mx25_stop();
+	fatfs_schedule_attach();
+	return ret;
+}
+
+static int mscmem_ready()
+{
+	if (dirty) {
+		dirty--;
+		if (dirty == 0) {
+			LOG_DEBUG("msc", "sync");
+			mx25_sync();
+			//bootloader_clean();
+		}
+	}
+	return mx25_ready();
+}
+
+static bool s_fsDetached = false;
+int epic_usb_shutdown(void)
+{
+	esb_deinit();
+	if (s_fsDetached) {
+		fatfs_attach();
+		load_config();
+	}
+	return 0;
+}
+
+int epic_usb_storage(void)
+{
+	esb_deinit();
+	s_fsDetached = true;
+	return esb_init(&s_cfg_msc);
+}
+
+int epic_usb_cdcacm(void)
+{
+	esb_deinit();
+	if (s_fsDetached) {
+		fatfs_attach();
+		load_config();
+	}
+	return esb_init(&s_cfg_cdcacm);
+}
+
+/* clang-format off */
+static usb_device_descriptor_t device_descriptor_cdcacm = {
+	.bLength            = 0x12,
+	.bDescriptorType    = DT_DEVICE,
+	.bcdUSB             = 0x0110,
+	.bDeviceClass       = CLS_COMM,
+	.bDeviceSubClass    = 0x00,
+	.bDeviceProtocol    = 0x00,
+	.bMaxPacketSize     = 0x40,
+	.idVendor           = VNDR_MAXIM,
+	.idProduct          = 0x003C,
+	.bcdDevice          = 0x0100,
+	.iManufacturer      = 0x01,
+	.iProduct           = 0x02,
+	.iSerialNumber      = 0x00,
+	.bNumConfigurations = 0x01
+};
+
+static struct config_descriptor_cdcacm config_descriptor_cdcacm = {
+    .config = {
+        .bLength            = 0x09,
+        .bDescriptorType    = DT_CONFIG,
+        .wTotalLength       = 0x0043,     /*  sizeof(struct config_descriptor_cdcacm) */
+        .bNumInterfaces     = 0x02,
+        .bConfigurationValue= 0x01,
+        .iConfiguration     = 0x00,
+        .bmAttributes       = 0xE0,       /*  (self-powered, remote wakeup) */
+        .bMaxPower          = 0x01,       /*  MaxPower is 2ma (units are 2ma/bit) */
+    },
+    .comm_interface = { /*  First Interface Descriptor For Comm Class Interface */
+        .bLength            = 0x09,
+        .bDescriptorType    = DT_INTERFACE,
+        .bInterfaceNumber   = 0x00,
+        .bAlternateSetting  = 0x00,
+        .bNumEndpoints      = 0x01,
+        .bInterfaceClass    = CLS_COMM,
+        .bInterfaceSubClass = SCLS_ACM,
+        .bInterfaceProtocol = 0x00,
+        .iInterface         = 0x00,
+    },
+    .header_functional = {
+        0x05,         /*  bFunctionalLength = 5           */
+        DT_FUNCTIONAL,/*  bDescriptorType                 */
+        0x00,         /*  bDescriptorSubtype              */
+        0x10, 0x01,   /*  bcdCDC                          */
+    },
+    .call_management = {
+        0x05,         /*  bFunctionalLength = 5           */
+        DT_FUNCTIONAL,/*  bDescriptorType                 */
+        0x01,         /*  bDescriptorSubtype              */
+        0x03,         /*  bmCapabilities = Device handles call management itself (0x01), management over data class (0x02) */
+        0x01,         /*  bmDataInterface                 */
+    },
+    .acm_functional = {
+        0x04,         /*  bFunctionalLength = 4           */
+        DT_FUNCTIONAL,/*  bDescriptorType                 */
+        0x02,         /*  bDescriptorSubtype              */
+        0x02,         /*  bmCapabilities                  */
+    },
+    .union_functional = {
+        0x05,         /*  bFunctionalLength = 5           */
+        DT_FUNCTIONAL,/*  bDescriptorType                 */
+        0x06,         /*  bDescriptorSubtype              */
+        0x00,         /*  bmMasterInterface               */
+        0x01,         /*  bmSlaveInterface0               */
+    },
+    .endpoint_notify = {
+        .bLength            = 0x07,
+        .bDescriptorType    = DT_ENDPOINT,
+        .bEndpointAddress   = 0x80 | ESB_ENDPOINT_CDCACM_NOTIFY,
+        .bmAttributes       = ATTR_INTERRUPT,
+        .wMaxPacketSize     = 0x0040,
+        .bInterval          = 0xff,
+    },
+    .data_interface = {
+        .bLength            = 0x09,
+        .bDescriptorType    = DT_INTERFACE,
+        .bInterfaceNumber   = 0x01,
+        .bAlternateSetting  = 0x00,
+        .bNumEndpoints      = 0x02,
+        .bInterfaceClass    = CLS_DATA,
+        .bInterfaceSubClass = 0x00,
+        .bInterfaceProtocol = 0x00,
+        .iInterface         = 0x00, //not 1?
+    },
+    .endpoint_out = {
+        .bLength            = 0x07,
+        .bDescriptorType    = DT_ENDPOINT,
+        .bEndpointAddress   = ESB_ENDPOINT_CDCACM_OUT,
+        .bmAttributes       = ATTR_BULK,
+        .wMaxPacketSize     = 0x0040,
+        .bInterval          = 0x00,
+    },
+    .endpoint_in = {
+        .bLength            = 0x07,
+        .bDescriptorType    = DT_ENDPOINT,
+        .bEndpointAddress   = 0x80 | ESB_ENDPOINT_CDCACM_IN,
+        .bmAttributes       = ATTR_BULK,
+        .wMaxPacketSize     = 0x0040,
+        .bInterval          = 0x00
+    }
+};
+
+static usb_device_descriptor_t device_descriptor_msc = {
+	.bLength            = 0x12,
+	.bDescriptorType    = DT_DEVICE,
+	.bcdUSB             = 0x0200,
+	.bDeviceClass       = CLS_UNSPECIFIED,
+	.bDeviceSubClass    = 0x00,
+	.bDeviceProtocol    = 0x00,
+	.bMaxPacketSize     = 0x40,
+	.idVendor           = VNDR_MAXIM,
+	.idProduct          = 0x4402,
+	.bcdDevice          = 0x0100,
+	.iManufacturer      = 0x01,
+	.iProduct           = 0x02,
+	.iSerialNumber      = 0x03,
+	.bNumConfigurations = 0x01
+};
+
+static struct config_descriptor_msc config_descriptor_msc =
+{
+    .config = {
+        .bLength            = 0x09,
+        .bDescriptorType    = DT_CONFIG,
+        .wTotalLength       = 0x0020,
+        .bNumInterfaces     = 0x01,
+        .bConfigurationValue= 0x01,
+        .iConfiguration     = 0x00,
+        .bmAttributes       = 0xC0,       /* (self-powered, no remote wakeup) */
+        .bMaxPower          = 0x32,
+    },
+    .msc_interface = {
+        .bLength                = 0x09,
+        .bDescriptorType        = DT_INTERFACE,
+        .bInterfaceNumber       = 0x00,
+        .bAlternateSetting      = 0x00,
+        .bNumEndpoints          = 0x02,
+        .bInterfaceClass        = CLS_MASS_STOR,
+        .bInterfaceSubClass     = SCLS_SCSI_CMDS,
+        .bInterfaceProtocol     = PROT_BULK_TRANS,
+        .iInterface             = 0x00,
+    },
+    .endpoint_out = {
+        .bLength            = 0x07,
+        .bDescriptorType    = DT_ENDPOINT,
+        .bEndpointAddress   = ESB_ENDPOINT_MSC_OUT,
+        .bmAttributes       = ATTR_BULK,
+        .wMaxPacketSize     = 0x0040,
+        .bInterval          = 0x00,
+    },
+    .endpoint_in = {
+        .bLength            = 0x07,
+        .bDescriptorType    = DT_ENDPOINT,
+        .bEndpointAddress   = 0x80 | ESB_ENDPOINT_MSC_IN,
+        .bmAttributes       = ATTR_BULK,
+        .wMaxPacketSize     = 0x0040,
+        .bInterval          = 0x00
+    }
+};
+/* clang-format on */

epicardium/drivers/vibra.c

+#include "gpio.h"
+#include "FreeRTOS.h"
+#include "timers.h"
+
+static const gpio_cfg_t motor_pin = {
+	PORT_0, PIN_8, GPIO_FUNC_OUT, GPIO_PAD_NONE
+};
+
+static StaticTimer_t vibra_timer_data;
+static TimerHandle_t vibra_timer = NULL;
+
+void epic_vibra_set(int status)
+{
+	if (status) {
+		GPIO_OutSet(&motor_pin);
+	} else {
+		GPIO_OutClr(&motor_pin);
+	}
+}
+
+void vTimerCallback()
+{
+	epic_vibra_set(0);
+}
+
+void epic_vibra_vibrate(int millis)
+{
+	int ticks = millis * (configTICK_RATE_HZ / 1000);
+
+	if (vibra_timer == NULL) {
+		vibra_timer = xTimerCreateStatic(
+			"vibratimer",
+			1,
+			pdFALSE, /* one-shot */
+			0,
+			vTimerCallback,
+			&vibra_timer_data);
+	}
+
+	/* Make sure the duration is valid */
+	if (ticks < 1) {
+		/* Disable a potentially running motor / timer */
+		epic_vibra_set(0);
+		xTimerStop(vibra_timer, 0);
+		return;
+	}
+
+	if (vibra_timer != NULL) {
+		epic_vibra_set(1);
+		xTimerChangePeriod(vibra_timer, ticks, 0);
+	}
+}

epicardium/drivers/watchdog.c

+#include "os/core.h"
+#include "modules/modules.h"
+
+#include "timers.h"
+#include "mxc_sys.h"
+#include "wdt.h"
+
+static TimerHandle_t clearer_timer;
+static StaticTimer_t clearer_timer_buffer;
+#define CLEAR_PERIOD pdMS_TO_TICKS(2000)
+
+static void watchdog_clearer_callback()
+{
+	WDT_ResetTimer(MXC_WDT0);
+}
+
+void watchdog_init()
+{
+	/*
+	 * Don't enable the the watchdog when a debugger is connected.
+	 */
+	if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) != 0) {
+		return;
+	}
+
+	sys_cfg_wdt_t wdt_cfg = NULL;
+	WDT_Init(MXC_WDT0, wdt_cfg);
+
+	if (WDT_GetResetFlag(MXC_WDT0)) {
+		WDT_ClearResetFlag(MXC_WDT0);
+		LOG_INFO("watchdog", "Last reset was due to watchdog timeout");
+	}
+
+	WDT_Enable(MXC_WDT0, 1);
+	WDT_SetResetPeriod(
+		MXC_WDT0,
+		WDT_PERIOD_2_28); /* Clocked by PCLK at 50MHz, reset at 2^28 ticks = 5.4 seconds */
+	WDT_EnableReset(MXC_WDT0, 1);
+}
+
+void watchdog_clearer_init()
+{
+	WDT_ResetTimer(MXC_WDT0);
+
+	clearer_timer = xTimerCreateStatic(
+		"watchdog_clearer_timer",
+		CLEAR_PERIOD,
+		pdTRUE,
+		NULL,
+		watchdog_clearer_callback,
+		&clearer_timer_buffer
+	);
+	xTimerStart(clearer_timer, 0);
+}

epicardium/drivers/ws2812.c

+#include "leds.h"
+#include "pmic.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "epicardium.h"
+#include "max32665.h"
+#include "gpio.h"
+#include "modules/modules.h"
+#include "drivers/drivers.h"
+
+#include <stdbool.h>
+
+#define OVERHEAD 33
+
+#define EPIC_WS2812_ZERO_HIGH_TICKS (34 - OVERHEAD)
+#define EPIC_WS2812_ZERO_LOW_TICKS (86 - OVERHEAD)
+#define EPIC_WS2812_ONE_HIGH_TICKS (86 - OVERHEAD)
+#define EPIC_WS2812_ONE_LOW_TICKS (34 - OVERHEAD)
+#define EPIC_WS2812_RESET_TCKS (4800 - OVERHEAD)
+
+static volatile uint32_t counter = 0;
+
+static inline __attribute__((always_inline)) void
+epic_ws2812_delay_ticks(uint32_t ticks)
+{
+	counter = ticks;
+	while (--counter) {
+	};
+}
+
+static inline __attribute__((always_inline)) void
+epic_ws2812_transmit_bit(gpio_cfg_t *pin, uint8_t bit)
+{
+	if (bit != 0) {
+		GPIO_OutSet(pin);
+		epic_ws2812_delay_ticks(EPIC_WS2812_ONE_HIGH_TICKS);
+		GPIO_OutClr(pin);
+		epic_ws2812_delay_ticks(EPIC_WS2812_ONE_LOW_TICKS);
+	} else {
+		GPIO_OutSet(pin);
+		epic_ws2812_delay_ticks(EPIC_WS2812_ZERO_HIGH_TICKS);
+		GPIO_OutClr(pin);
+		epic_ws2812_delay_ticks(EPIC_WS2812_ZERO_LOW_TICKS);
+	}
+}
+
+static inline __attribute__((always_inline)) void
+epic_ws2812_transmit_byte(gpio_cfg_t *pin, uint8_t byte)
+{
+	epic_ws2812_transmit_bit(pin, byte & 0b10000000);
+	epic_ws2812_transmit_bit(pin, byte & 0b01000000);
+	epic_ws2812_transmit_bit(pin, byte & 0b00100000);
+	epic_ws2812_transmit_bit(pin, byte & 0b00010000);
+	epic_ws2812_transmit_bit(pin, byte & 0b00001000);
+	epic_ws2812_transmit_bit(pin, byte & 0b00000100);
+	epic_ws2812_transmit_bit(pin, byte & 0b00000010);
+	epic_ws2812_transmit_bit(pin, byte & 0b00000001);
+}
+
+void epic_ws2812_write(uint8_t pin, uint8_t *pixels, uint32_t n_bytes)
+{
+	uint8_t *pixels_end = pixels + n_bytes;
+	gpio_cfg_t *pin_cfg = &gpio_configs[pin];
+
+	taskENTER_CRITICAL();
+
+	/*
+	 * If the pin was not previously configured as an output, the
+	 * `epic_gpio_set_pin_mode()` call will pull it down which the first
+	 * neopixel interprets as the color `0x008000`.  To fix this, wait a bit
+	 * after mode-setting and then write the new values.
+	 */
+	if ((epic_gpio_get_pin_mode(pin) & EPIC_GPIO_MODE_OUT) == 0) {
+		epic_gpio_set_pin_mode(pin, EPIC_GPIO_MODE_OUT);
+	}
+
+	GPIO_OutClr(pin_cfg);
+	epic_ws2812_delay_ticks(EPIC_WS2812_RESET_TCKS);
+
+	do {
+		epic_ws2812_transmit_byte(pin_cfg, *pixels);
+	} while (++pixels != pixels_end);
+
+	taskEXIT_CRITICAL();
+}

epicardium/epic_boot.c

+#include <math.h>
+
+static const uint8_t pride_colors[6][3] = {
+	{ 0xe4, 0x02, 0x02 }, { 0xff, 0x8c, 0x00 }, { 0xff, 0xed, 0x00 },
+	{ 0x00, 0x80, 0x26 }, { 0x00, 0x4d, 0xff }, { 0x75, 0x06, 0x87 },
+};
+
+static void epic_frame(Ctx *epicardium_ctx, float frame)
+{
+	int num_colors = sizeof(pride_colors) / sizeof(pride_colors[0]);
+	for (int color = 0; color < num_colors; color++) {
+		ctx_rgba8_stroke(
+			epicardium_ctx,
+			pride_colors[color][0],
+			pride_colors[color][1],
+			pride_colors[color][2],
+			0xff
+		);
+		ctx_line_width(epicardium_ctx, 10.0);
+		ctx_line_cap(epicardium_ctx, CTX_CAP_ROUND);
+
+		float width =
+			expf(-pow(frame / 2.0 - 5 + color / 2.0, 2)) * 55.0 +
+			5.0;
+
+		float ypos = color * 10.0 + 40.0 - (num_colors - 1) * 5.0;
+
+		ctx_move_to(epicardium_ctx, 80.0 - width, ypos);
+		ctx_line_to(epicardium_ctx, 80.0 + width, ypos);
+		ctx_stroke(epicardium_ctx);
+	}
+
+	ctx_save(epicardium_ctx);
+
+	ctx_font_size(epicardium_ctx, 20.0f);
+	ctx_text_baseline(epicardium_ctx, CTX_TEXT_BASELINE_BOTTOM);
+	ctx_rgba8(epicardium_ctx, 0xff, 0xff, 0xff, 0xff);
+
+	ctx_text_align(epicardium_ctx, CTX_TEXT_ALIGN_CENTER);
+	ctx_move_to(epicardium_ctx, 80.0f, 58.0f);
+	ctx_text(epicardium_ctx, "Epicardium");
+
+	if (strcmp(CARD10_VERSION, "v1.18") != 0) {
+		ctx_text_align(epicardium_ctx, CTX_TEXT_ALIGN_LEFT);
+		ctx_move_to(epicardium_ctx, 2.0f, 78.0f);
+		ctx_text(epicardium_ctx, CARD10_VERSION);
+	} else {
+		ctx_move_to(epicardium_ctx, 80.0f, 78.0f);
+		ctx_text(epicardium_ctx, "Queer Quinoa");
+	}
+
+	ctx_restore(epicardium_ctx);
+}

epicardium/epicardium.h

@@ -33,9 +33,11 @@ typedef _Bool bool;
 #define API_SYSTEM_EXEC             0x2
 #define API_SYSTEM_RESET            0x3
 #define API_BATTERY_VOLTAGE         0x4
+#define API_SLEEP                   0x5
 
 #define API_INTERRUPT_ENABLE        0xA
 #define API_INTERRUPT_DISABLE       0xB
+#define API_INTERRUPT_IS_ENABLED    0xC
 
 #define API_UART_WRITE_STR         0x10
 #define API_UART_READ_CHAR         0x11
@@ -53,6 +55,16 @@ typedef _Bool bool;
 #define API_DISP_CIRC              0x27
 #define API_DISP_PIXEL             0x28
 #define API_DISP_FRAMEBUFFER       0x29
+#define API_DISP_BACKLIGHT         0x2a
+#define API_DISP_PRINT_ADV         0x2b
+#define API_DISP_BLIT              0x2d
+
+/* API_BATTERY_VOLTAGE              0x30 */
+#define API_BATTERY_CURRENT        0x31
+#define API_CHARGEIN_VOLTAGE       0x32
+#define API_CHARGEIN_CURRENT       0x33
+#define API_SYSTEM_VOLTAGE         0x34
+#define API_THERMISTOR_VOLTAGE     0x35
 
 #define API_FILE_OPEN              0x40
 #define API_FILE_CLOSE             0x41
@@ -67,10 +79,14 @@ typedef _Bool bool;
 #define API_FILE_UNLINK            0x4b
 #define API_FILE_RENAME            0x4c
 #define API_FILE_MKDIR             0x4d
+#define API_FILE_FS_ATTACHED       0x4e
 
 #define API_RTC_GET_SECONDS        0x50
 #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
@@ -86,6 +102,9 @@ 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_LEDS_FLASH_ROCKET      0x72
 
 #define API_VIBRA_SET              0x70
 #define API_VIBRA_VIBRATE          0x71
@@ -93,6 +112,7 @@ typedef _Bool bool;
 #define API_LIGHT_SENSOR_RUN       0x80
 #define API_LIGHT_SENSOR_GET       0x81
 #define API_LIGHT_SENSOR_STOP      0x82
+#define API_LIGHT_SENSOR_READ	   0x83
 
 #define API_BUTTONS_READ           0x90
 
@@ -102,11 +122,78 @@ typedef _Bool bool;
 #define API_GPIO_READ_PIN          0xA3
 
 #define API_TRNG_READ              0xB0
+#define API_CSPRNG_READ            0XB1
 
 #define API_PERSONAL_STATE_SET     0xc0
 #define API_PERSONAL_STATE_GET     0xc1
 #define API_PERSONAL_STATE_IS_PERSISTENT 0xc2
 
+#define API_BME680_INIT            0xD0
+#define API_BME680_DEINIT          0xD1
+#define API_BME680_GET_DATA        0xD2
+#define API_BSEC_GET_DATA          0xD3
+
+#define API_BHI160_ENABLE          0xe0
+#define API_BHI160_DISABLE         0xe1
+#define API_BHI160_DISABLE_ALL     0xe2
+
+#define API_MAX30001_ENABLE        0xf0
+#define API_MAX30001_DISABLE       0xf1
+
+#define API_MAX86150_ENABLE        0x0100
+#define API_MAX86150_DISABLE       0x0101
+
+#define API_USB_SHUTDOWN           0x110
+#define API_USB_STORAGE            0x111
+#define API_USB_CDCACM             0x112
+
+#define API_WS2812_WRITE           0x0120
+
+#define API_CONFIG_GET_STRING      0x130
+#define API_CONFIG_GET_INTEGER     0x131
+#define API_CONFIG_GET_BOOLEAN     0x132
+#define API_CONFIG_SET_STRING      0x133
+
+#define API_BLE_GET_COMPARE_VALUE     0x140
+#define API_BLE_COMPARE_RESPONSE      0x141
+#define API_BLE_SET_MODE              0x142
+#define API_BLE_GET_EVENT             0x143
+#define API_BLE_GET_SCAN_REPORT       0x144
+#define API_BLE_GET_LAST_PAIRING_NAME 0x145
+#define API_BLE_GET_PEER_DEVICE_NAME  0x146
+#define API_BLE_FREE_EVENT            0x147
+
+#define API_BLE_HID_SEND_REPORT        0x150
+
+#define API_BLE_ATTS_DYN_CREATE_GROUP         0x160
+#define API_BLE_ATTS_DYN_DELETE_GROUP         0x161
+#define API_BLE_ATTS_DYN_DELETE_GROUPS        0x169
+#define API_BLE_ATTS_DYN_ADD_CHARACTERISTIC   0x16B
+#define API_BLE_ATTS_DYN_ADD_DESCRIPTOR       0x163
+#define API_BLE_ATTS_SET_BUFFER               0x16A
+#define API_BLE_ATTS_SEND_SERVICE_CHANGED_IND 0x168
+
+#define API_BLE_ATTS_SET_ATTR                 0x170
+#define API_BLE_ATTS_HANDLE_VALUE_NTF         0x171
+#define API_BLE_ATTS_HANDLE_VALUE_IND         0x172
+
+#define API_BLE_CLOSE_CONNECTION              0x180
+#define API_BLE_IS_CONNECTION_OPEN            0x181
+#define API_BLE_SET_DEVICE_NAME               0x182
+#define API_BLE_GET_DEVICE_NAME               0x183
+#define API_BLE_GET_ADDRESS                   0x184
+#define API_BLE_ADVERTISE                     0x185
+#define API_BLE_ADVERTISE_STOP                0x186
+#define API_BLE_DISCOVER_PRIMARY_SERVICES     0x187
+#define API_BLE_DISCOVER_CHARACTERISTICS      0x188
+#define API_BLE_DISCOVER_DESCRIPTORS          0x189
+#define API_BLE_ATTC_READ                     0x18A
+#define API_BLE_ATTC_WRITE_NO_RSP             0x18B
+#define API_BLE_ATTC_WRITE                    0x18C
+
+#define API_BLE_INIT                          0x190
+#define API_BLE_DEINIT                        0x191
+
 /* clang-format on */
 
 typedef uint32_t api_int_id_t;
@@ -118,6 +205,17 @@ typedef uint32_t api_int_id_t;
  * the other direction.  These interrupts can be enabled/disabled
  * (masked/unmasked) using :c:func:`epic_interrupt_enable` and
  * :c:func:`epic_interrupt_disable`.
+ *
+ * These interrupts work similar to hardware interrupts:  You will only get a
+ * single interrupt, even if multiple events occured since the ISR last ran
+ * (*this behavior is new since version 1.16*).
+ *
+ * .. warning::
+ *
+ *    Never attempt to call the API from inside an ISR.  This might trigger an
+ *    assertion if a call is already being made from thread context.  We plan to
+ *    lift this restriction at some point, but for the time being, this is how
+ *    it is.
  */
 
 /**
@@ -134,6 +232,19 @@ API(API_INTERRUPT_ENABLE, int epic_interrupt_enable(api_int_id_t int_id));
  */
 API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
 
+/**
+ * Check if an API interrupt is enabled.
+ *
+ * :param int int_id: The interrupt to be checked
+ * :param bool* enabled: ``true`` will be stored here if the interrupt is enabled.
+ *   ``false`` otherwise.
+ *
+ * :return: 0 on success, ``-EINVAL`` if the interrupt is unknown.
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_INTERRUPT_IS_ENABLED, int epic_interrupt_is_enabled(api_int_id_t int_id, bool *enabled));
+
 /**
  * The following interrupts are defined:
  */
@@ -145,11 +256,25 @@ API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
 #define EPIC_INT_CTRL_C                 1
 /** UART Receive interrupt.  See :c:func:`epic_isr_uart_rx`. */
 #define EPIC_INT_UART_RX                2
-/** RTC Alarm interrupt.  See :c:func:`epic_isr_rtc_alarm` */
+/** RTC Alarm interrupt.  See :c:func:`epic_isr_rtc_alarm`. */
 #define EPIC_INT_RTC_ALARM              3
-
+/** BHI160 Accelerometer.  See :c:func:`epic_isr_bhi160_accelerometer`. */
+#define EPIC_INT_BHI160_ACCELEROMETER	4
+/** BHI160 Orientation Sensor.  See :c:func:`epic_isr_bhi160_orientation`. */
+#define EPIC_INT_BHI160_ORIENTATION	5
+/** 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
+/** MAX86150 ECG and PPG sensor.  See :c:func:`epic_isr_max86150`. */
+#define EPIC_INT_MAX86150               9
+/** Bluetooth Low Energy event.  See :c:func:`epic_isr_ble`. */
+#define EPIC_INT_BLE                    10
+#define EPIC_INT_MAX86150_PROX          11
 /* Number of defined interrupts. */
-#define EPIC_INT_NUM                    4
+#define EPIC_INT_NUM                    12
 /* clang-format on */
 
 /*
@@ -212,15 +337,61 @@ API(API_SYSTEM_EXEC, int __epic_exec(char *name));
 API(API_SYSTEM_RESET, void epic_system_reset(void));
 
 /**
- * Battery Voltage
+ * Sleep for the specified amount of time.
+ *
+ * This call will block for at most the specified amount of time. It allows epicardium to
+ * reduce clock speed of the system until this call is finished.
+ *
+ * This call returns early if an interrupt is signaled from epicardium.
+ *
+ * The clock source of epicardium has a limited amount of accuracy. Tolerances
+ * of +- 10% have been observed. This means that the sleep time also has a
+ * tolarance of at least +- 10%. The exact amount varies from device to device and
+ * also with temperature. You should take this into consideration when selecting
+ * the time you want to sleep.
+ *
+ * :param ms:  Time to wait in milliseconds
+ * :returns: 0 if no interrupt happened, ``INT_MAX`` if an interrupt happened and the sleep ended early.
+ */
+API(API_SLEEP, int epic_sleep(uint32_t ms));
+
+/**
+ * PMIC API
  * ===============
  */
 
+
 /**
  * Read the current battery voltage.
  */
 API(API_BATTERY_VOLTAGE, int epic_read_battery_voltage(float *result));
 
+/**
+ * Read the current battery current.
+ */
+API(API_BATTERY_CURRENT, int epic_read_battery_current(float *result));
+
+/**
+ * Read the current charge voltage.
+ */
+API(API_CHARGEIN_VOLTAGE, int epic_read_chargein_voltage(float *result));
+
+/**
+ * Read the current charge current.
+ */
+API(API_CHARGEIN_CURRENT, int epic_read_chargein_current(float *result));
+
+/**
+ * Read the current system voltage.
+ */
+API(API_SYSTEM_VOLTAGE, int epic_read_system_voltage(float *result));
+
+/**
+ * Read the current thermistor voltage.
+ */
+API(API_THERMISTOR_VOLTAGE, int epic_read_thermistor_voltage(float *result));
+
+
 /**
  * UART/Serial Interface
  * =====================
@@ -237,8 +408,7 @@ API(API_BATTERY_VOLTAGE, int epic_read_battery_voltage(float *result));
  * :param length:  Amount of bytes to print.
  */
 API(API_UART_WRITE_STR, void epic_uart_write_str(
-	const char *str,
-	intptr_t length
+	const char *str, size_t length
 ));
 
 /**
@@ -264,7 +434,7 @@ API(API_UART_READ_CHAR, int epic_uart_read_char(void));
 API(API_UART_READ_STR, int epic_uart_read_str(char *buf, size_t cnt));
 
 /**
- * **Interrupt Service Routine**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_UART_RX`
  *
  * UART receive interrupt.  This interrupt is triggered whenever a new character
  * becomes available on any connected UART device.  This function is weakly
@@ -294,7 +464,7 @@ API(API_UART_READ_STR, int epic_uart_read_str(char *buf, size_t cnt));
 API_ISR(EPIC_INT_UART_RX, epic_isr_uart_rx);
 
 /**
- * **Interrupt Service Routine**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_CTRL_C`
  *
  * A user-defineable ISR which is triggered when a ``^C`` (``0x04``) is received
  * on any serial input device.  This function is weakly aliased to
@@ -378,26 +548,27 @@ API(API_BUTTONS_READ, uint8_t epic_buttons_read(uint8_t mask));
 /** GPIO pins IDs */
 enum gpio_pin {
     /** ``1``, Wristband connector 1 */
-    GPIO_WRISTBAND_1 = 1,
+    EPIC_GPIO_WRISTBAND_1 = 1,
     /** ``2``, Wristband connector 2 */
-    GPIO_WRISTBAND_2 = 2,
+    EPIC_GPIO_WRISTBAND_2 = 2,
     /** ``3``, Wristband connector 3 */
-    GPIO_WRISTBAND_3 = 3,
+    EPIC_GPIO_WRISTBAND_3 = 3,
     /** ``4``, Wristband connector 4 */
-    GPIO_WRISTBAND_4 = 4,
+    EPIC_GPIO_WRISTBAND_4 = 4,
 };
 
 /** GPIO pin modes */
 enum gpio_mode {
     /** Configure the pin as input */
-    GPIO_MODE_IN = (1<<0),
+    EPIC_GPIO_MODE_IN = (1<<0),
     /** Configure the pin as output */
-    GPIO_MODE_OUT = (1<<1),
+    EPIC_GPIO_MODE_OUT = (1<<1),
+    EPIC_GPIO_MODE_ADC = (1<<2),
 
     /** Enable the internal pull-up resistor */
-    GPIO_PULL_UP = (1<<6),
+    EPIC_GPIO_PULL_UP = (1<<6),
     /** Enable the internal pull-down resistor */
-    GPIO_PULL_DOWN = (1<<7),
+    EPIC_GPIO_PULL_DOWN = (1<<7),
 };
 
 /**
@@ -421,7 +592,9 @@ enum gpio_mode {
  * :param uint8_t mode: Mode to be configured. Use a combination of the :c:type:`gpio_mode` flags.
  * :returns: ``0`` if the mode was set, ``-EINVAL`` if ``pin`` is not valid or the mode could not be set.
  */
-API(API_GPIO_SET_PIN_MODE, int epic_gpio_set_pin_mode(uint8_t pin, uint8_t mode));
+API(API_GPIO_SET_PIN_MODE, int epic_gpio_set_pin_mode(
+	uint8_t pin, uint8_t mode
+));
 
 /**
  * Get the mode of a card10 GPIO pin.
@@ -494,7 +667,7 @@ API(API_GPIO_WRITE_PIN, int epic_gpio_write_pin(uint8_t pin, bool on));
  * :param uint8_t pin: ID of the pin to get the configuration of. Use on of the IDs defined in :c:type:`gpio_pin`.
  * :returns: ``-EINVAL`` if ``pin`` is not valid, an integer value otherwise.
  */
-API(API_GPIO_READ_PIN, uint32_t epic_gpio_read_pin(uint8_t pin));
+API(API_GPIO_READ_PIN, int epic_gpio_read_pin(uint8_t pin));
 
 /**
  * LEDs
@@ -516,6 +689,34 @@ API(API_GPIO_READ_PIN, uint32_t epic_gpio_read_pin(uint8_t pin));
  */
 API(API_LEDS_SET, void epic_leds_set(int led, uint8_t r, uint8_t g, uint8_t b));
 
+
+/**
+ * Get one of card10's RGB LEDs in format of RGB.
+ *
+ * :c:func:`epic_leds_get_rgb` will get the value of a RGB  LED described by ``led``.
+ *
+ * :param int led:  Which LED to get.  0-10 are the LEDs on the top and 11-14
+ *    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));
+
+/**
+ * Set one of the rockets to flash for a certain time.
+ *
+ * :c:func:`epic_leds_flash_rocket` will set a timer for the flash of a rocket.
+ *
+ * :param int led: Number of the rocket that sould flash 
+ * :param uint8_t value:  brightness of the 'on'-state of this rocket ( 0 < value < 32)
+ * :param int millis:  time in milliseconds defining the duration of the flash (i.e. how long is the rocket 'on')
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_LEDS_FLASH_ROCKET, void epic_leds_flash_rocket(int led, uint8_t valiue, int millis));
+
 /**
  * Set one of card10's RGB LEDs to a certain color in HSV format.
  *
@@ -528,7 +729,9 @@ API(API_LEDS_SET, void epic_leds_set(int led, uint8_t r, uint8_t g, uint8_t b));
  * :param float s:  Saturation component of the color. (0 <= s <= 1)
  * :param float v:  Value/Brightness component of the color. (0 <= v <= 0)
  */
-API(API_LEDS_SET_HSV, void epic_leds_set_hsv(int led, float h, float s, float v));
+API(API_LEDS_SET_HSV, void epic_leds_set_hsv(
+	int led, float h, float s, float v
+));
 
 /**
  * Set multiple of card10's RGB LEDs to a certain color in RGB format.
@@ -551,7 +754,9 @@ API(API_LEDS_SET_ALL, void epic_leds_set_all(uint8_t *pattern, uint8_t len));
  *    LEDs. (0 <= h < 360, 0 <= s <= 1, 0 <= v <= 1)
  * :param uint8_t len: Length of 1st dimension of ``pattern``, see above.
  */
-API(API_LEDS_SET_ALL_HSV, void epic_leds_set_all_hsv(float *pattern, uint8_t len));
+API(API_LEDS_SET_ALL_HSV, void epic_leds_set_all_hsv(
+	float *pattern, uint8_t len
+));
 
 /**
  * Prepare one of card10's RGB LEDs to be set to a certain color in RGB format.
@@ -564,7 +769,9 @@ API(API_LEDS_SET_ALL_HSV, void epic_leds_set_all_hsv(float *pattern, uint8_t len
  * :param uint8_t g:  Green component of the color.
  * :param uint8_t b:  Blue component of the color.
  */
-API(API_LEDS_PREP, void epic_leds_prep(int led, uint8_t r, uint8_t g, uint8_t b));
+API(API_LEDS_PREP, void epic_leds_prep(
+	int led, uint8_t r, uint8_t g, uint8_t b
+));
 
 /**
  * Prepare one of card10's RGB LEDs to be set to a certain color in HSV format.
@@ -577,7 +784,9 @@ API(API_LEDS_PREP, void epic_leds_prep(int led, uint8_t r, uint8_t g, uint8_t b)
  * :param uint8_t s:  Saturation component of the color. (float, 0 <= s <= 1)
  * :param uint8_t v:  Value/Brightness component of the color. (float, 0 <= v <= 0)
  */
-API(API_LEDS_PREP_HSV, void epic_leds_prep_hsv(int led, float h, float s, float v));
+API(API_LEDS_PREP_HSV, void epic_leds_prep_hsv(
+	int led, float h, float s, float v
+));
 
 /**
  * Set global brightness for top RGB LEDs.
@@ -641,6 +850,26 @@ 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.
  *
@@ -660,8 +889,7 @@ API(API_LEDS_SET_FLASHLIGHT, void epic_set_flashlight(bool power));
  * :param uint8_t[256] gamma_table: Gamma lookup table. (default = 4th order power function rounded up)
  */
 API(API_LEDS_SET_GAMMA_TABLE, void epic_leds_set_gamma_table(
-	uint8_t rgb_channel,
-	uint8_t *gamma_table
+	uint8_t rgb_channel, uint8_t *gamma_table
 ));
 
 /**
@@ -671,7 +899,294 @@ API(API_LEDS_SET_GAMMA_TABLE, void epic_leds_set_gamma_table(
  * :param uint8_t g: Value for the green color channel.
  * :param uint8_t b: Value for the blue color channel.
  */
-API(API_LEDS_CLEAR_ALL, void epic_leds_clear_all(uint8_t r, uint8_t g, uint8_t b));
+API(API_LEDS_CLEAR_ALL, void epic_leds_clear_all(
+	uint8_t r, uint8_t g, uint8_t b
+));
+
+/**
+ * BME680
+ * ======
+ *
+ * .. versionadded:: 1.4
+ */
+
+/**
+ * BME680 Sensor Data
+ */
+struct bme680_sensor_data {
+	/** Temperature in degree celsius */
+	float temperature;
+	/** Humidity in % relative humidity */
+	float humidity;
+	/** Pressure in hPa */
+	float pressure;
+	/** Gas resistance in Ohms */
+	float gas_resistance;
+};
+
+/**
+ * Initialize the BM680 sensor.
+ *
+ * .. versionadded:: 1.4
+ *
+ * :return: 0 on success or ``-Exxx`` on error.  The following
+ *     errors might occur:
+ *
+ *     - ``-EFAULT``:  On NULL-pointer.
+ *     - ``-EINVAL``:  Invalid configuration.
+ *     - ``-EIO``:  Communication with the device failed.
+ *     - ``-ENODEV``:  Device was not found.
+ */
+API(API_BME680_INIT, int epic_bme680_init());
+
+/**
+ * De-Initialize the BM680 sensor.
+ *
+ * .. versionadded:: 1.4
+ *
+ * :return: 0 on success or ``-Exxx`` on error.  The following
+ *     errors might occur:
+ *
+ *     - ``-EFAULT``:  On NULL-pointer.
+ *     - ``-EINVAL``:  Invalid configuration.
+ *     - ``-EIO``:  Communication with the device failed.
+ *     - ``-ENODEV``:  Device was not found.
+ */
+API(API_BME680_DEINIT, int epic_bme680_deinit());
+
+/**
+ * Get the current BME680 data.
+ *
+ * .. versionadded:: 1.4
+ *
+ * :param data: Where to store the environmental data.
+ * :return: 0 on success or ``-Exxx`` on error.  The following
+ *     errors might occur:
+ *
+ *     - ``-EFAULT``:  On NULL-pointer.
+ *     - ``-EINVAL``:  Sensor not initialized.
+ *     - ``-EIO``:  Communication with the device failed.
+ *     - ``-ENODEV``:  Device was not found.
+ */
+API(API_BME680_GET_DATA, int epic_bme680_read_sensors(
+	struct bme680_sensor_data *data
+));
+
+/**
+ * .. _bsec_api:
+ *
+ * BSEC
+ * ----
+ * The Bosch Sensortec Environmental Cluster (BSEC) library
+ * allows to estimate an indoor air qualtiy (IAQ) metric as
+ * well as CO2 and VOC content equivalents using the gas sensor
+ * of the BME680.
+ *
+ * As it is a proprietary binary blob, it has to be enabled using
+ * the ``bsec_enable`` configuration option (see :ref:`card10_cfg`).
+ *
+ * Please also have a look at the BME680 datasheet and some of
+ * the BSEC documentation:
+ *
+ * https://git.card10.badge.events.ccc.de/card10/hardware/-/blob/master/datasheets/bosch/BST-BME680-DS001.pdf
+ *
+ * https://git.card10.badge.events.ccc.de/card10/firmware/-/blob/master/lib/vendor/Bosch/BSEC/integration_guide/BST-BME680-Integration-Guide-AN008-48.pdf
+ */
+
+/**
+ * BSEC Sensor Data
+ */
+struct bsec_sensor_data {
+	/** Compensated temperature in degree celsius */
+	float temperature;
+	/** Compensated humidity in % relative humidity */
+	float humidity;
+	/** Pressure in hPa */
+	float pressure;
+	/** Gas resistance in Ohms */
+	float gas_resistance;
+	/** Timestamp in of the measurement in UNIX time (seconds since
+	 * 1970-01-01 00:00:00 UTC)*/
+	uint32_t timestamp;
+	/** Accuracy of IAQ, CO2 equivalent and breath VOC equivalent:
+	 *
+	 * 0: Stabilization / run-in ongoing:
+	 *    This means that the sensor still needs to warm up. Takes about
+	 *    5 min after activation of BSEC / reboot.
+	 *
+	 * 1: Low accuracy:
+	 *    The sensor has not yet been calibrated. BSEC needs to collect
+	 *    more data to calibrate the sensor. This can take multiple
+	 *    hours.
+	 *
+	 *    BSEC documentation: To reach high accuracy(3) please expose
+	 *    sensor once to good air (e.g. outdoor air) and bad air (e.g.
+	 *    box with exhaled breath) for auto-trimming
+	 *
+	 * 2: Medium accuracy: auto-trimming ongoing
+	 *    BSEC has detected that it needs to recalibrate the sensor.
+	 *    This is an automatic process and usally finishes after tens
+	 *    of minutes. Can happen every now and then.
+	 *
+	 * 3: High accuracy:
+	 *    The sensor has warmed up and is calibrated.
+	 *
+	 * From BSEC documentation:
+	 * IAQ accuracy indicator will notify the user when they should
+	 * initiate a calibration process. Calibration is performed automatically
+	 * in the background if the sensor is exposed to clean and polluted air
+	 * for approximately 30 minutes each.
+	 *
+	 * See also:
+	 * https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BME680-IAQ-accuracy-definition/m-p/5931/highlight/true#M10
+	 */
+	uint8_t accuracy;
+	/** Indoor Air Quality with range 0 to 500
+	 *
+	 * Statement from the Bosch BSEC library:
+	 *
+	 * Indoor-air-quality (IAQ) gives an indication of the relative change
+	 * in ambient TVOCs detected by BME680.
+	 *
+	 * The IAQ scale ranges from 0 (clean air) to 500 (heavily polluted air).
+	 * During operation, algorithms automatically calibrate and adapt
+	 * themselves to the typical environments where the sensor is operated
+	 * (e.g., home, workplace, inside a car, etc.).This automatic background
+	 * calibration ensures that users experience consistent IAQ performance.
+	 * The calibration process considers the recent measurement history (typ.
+	 * up to four days) to ensure that IAQ=25 corresponds to typical good air
+	 * and IAQ=250 indicates typical polluted air.
+	 *
+	 * Please also consult the BME680 datsheet (pages 9 and 21) as well:
+	 * https://git.card10.badge.events.ccc.de/card10/hardware/-/blob/master/datasheets/bosch/BST-BME680-DS001.pdf
+	 *
+	 */
+	int32_t indoor_air_quality;
+	/** Unscaled IAQ value.
+	 *
+	 * See this post for details:
+	 * https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BME680-strange-IAQ-and-CO2-values/m-p/9667/highlight/true#M1505
+	 */
+	int32_t static_indoor_air_quality;
+	/** Estimation of equivalant CO2 content in the air in ppm. */
+	float co2_equivalent;
+	/** Estimation of equivalant breath VOC content in the air in ppm. */
+	float breath_voc_equivalent;
+};
+
+/**
+ *
+ * Get the current BME680 data filtered by Bosch BSEC library
+ *
+ * As it is a proprietary binary blob, it has to be enabled using
+ * the ``bsec_enable`` configuration option (see :ref:`card10_cfg`).
+ *
+ * The sample rate is currently fixed to one sample every 3 seconds.
+ * Querying the sensor more often will return cached data.
+ *
+ * After the libary has been activated it starts to calibrate the
+ * sensor. This can take multiple hours.
+ * After a reset/power on it takes about 5 minutes to stabilize
+ * the sensor if it was calibrated before.
+ *
+ * The BSEC library regularly recalibrates the sensor during operation.
+ * The ``accuracy`` field of the return data indicates the calibration
+ * status of the sensor. Please take it into consideration when
+ * using / displaying the IAQ.
+ *
+ * Please refer to the description of :c:type:`bsec_sensor_data` for more
+ * information about how to interpret its content.
+ *
+ * .. versionadded:: 1.x
+ *
+ * :param data: Where to store the environmental data.
+ * :return: 0 on success or ``-Exxx`` on error.  The following
+ *     errors might occur:
+ *
+ *     - ``-EFAULT``:  On NULL-pointer.
+ *     - ``-EINVAL``:  No data available from the sensor.
+ *     - ``-ENODEV``:  BSEC libray is not running.
+ */
+API(API_BSEC_GET_DATA, int epic_bsec_read_sensors(
+	struct bsec_sensor_data *data
+));
+/**
+ * MAX86150
+ * ========
+ */
+
+/**
+ * Configuration for a MAX86150 sensor.
+ *
+ * This struct is used when enabling a sensor using
+ * :c:func:`epic_max86150_enable_sensor`.
+ */
+struct max86150_sensor_config {
+    /**
+     * Number of samples Epicardium should keep for this sensor.  Do not set
+     * this number too high as the sample buffer will eat RAM.
+     */
+    size_t sample_buffer_len;
+    /**
+     * Sample rate for PPG from the sensor in Hz.  Maximum data rate is limited
+     * to 200 Hz for all sensors though some might be limited at a lower
+     * rate.
+     *
+     * Possible values are 10, 20, 50, 84, 100, 200.
+     */
+    uint16_t ppg_sample_rate;
+};
+
+/**
+ * MAX86150 Sensor Data
+ */
+struct max86150_sensor_data {
+	/** Red LED data */
+	uint32_t red;
+	/** IR LED data */
+	uint32_t ir;
+	/** ECG data */
+	int32_t ecg;
+};
+
+/**
+ * Enable a MAX86150 PPG and ECG sensor.
+ *
+ * Calling this function will instruct the MAX86150 to collect a
+ * data from the sensor.  You can then retrieve the samples using
+ * :c:func:`epic_stream_read`.
+ *
+ * :param max86150_sensor_config* config: Configuration for this sensor.
+ * :param size_t config_size: Size of ``config``.
+ * :returns: A sensor descriptor which can be used with
+ *    :c:func:`epic_stream_read` or a negative error value:
+ *
+ *    - ``-ENOMEM``:  The MAX86150 driver failed to create a stream queue.
+ *    - ``-ENODEV``:  The MAX86150 driver failed due to physical connectivity problem
+ *      (broken wire, unpowered, etc).
+ *    - ``-EINVAL``:  config->ppg_sample_rate is not one of 10, 20, 50, 84, 100, 200
+ *      or config_size is not size of config.
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_MAX86150_ENABLE, int epic_max86150_enable_sensor(struct max86150_sensor_config *config, size_t config_size));
+
+/**
+ * Disable the MAX86150 sensor.
+ *
+ * :returns: 0 in case of success or forward negative error value from stream_deregister.
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_MAX86150_DISABLE, int epic_max86150_disable_sensor());
+
+/**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_MAX86150`
+ *
+ * :c:func:`epic_isr_max86150` is called whenever the MAX86150
+ * PPG sensor has new data available.
+ */
+API_ISR(EPIC_INT_MAX86150, epic_isr_max86150);
 
 /**
  * Personal State
@@ -697,10 +1212,12 @@ enum personal_state {
     STATE_NO_CONTACT = 1,
     /** ``2``, "chaos" - Adventure time - blue led, short blink, long blink. */
     STATE_CHAOS = 2,
-    /** ``3``, "communication" - want to learn something or have a nice conversation - green led, long blinks. */
+    /** ``3``, "communication" - want to learn something or have a nice conversation - yellow led, long blinks. */
     STATE_COMMUNICATION = 3,
-    /** ``4``, "camp" - I am focussed on self-, camp-, or community maintenance - yellow led, fade on and off. */
+    /** ``4``, "camp" - I am focussed on self-, camp-, or community maintenance - green led, fade on and off. */
     STATE_CAMP = 4,
+    /** STATE_MAX gives latest value and count of possible STATEs**/
+    STATE_MAX = 5,
 };
 
 /**
@@ -712,8 +1229,9 @@ enum personal_state {
  * :param bool persistent: Indicates whether the configured personal state will remain set and active on pycardium application restart/change.
  * :returns: ``0`` on success, ``-EINVAL`` if an invalid state was requested.
  */
-API(API_PERSONAL_STATE_SET, int epic_personal_state_set(uint8_t state,
-                                                        bool persistent));
+API(API_PERSONAL_STATE_SET, int epic_personal_state_set(
+	uint8_t state, bool persistent
+));
 
 /**
  * Get the users personal state.
@@ -796,69 +1314,287 @@ API(API_PERSONAL_STATE_IS_PERSISTENT, int epic_personal_state_is_persistent());
 API(API_STREAM_READ, int epic_stream_read(int sd, void *buf, size_t count));
 
 /**
- * Vibration Motor
- * ===============
+ * BHI160 Sensor Fusion
+ * ====================
+ * card10 has a BHI160 onboard which is used as an IMU.  BHI160 exposes a few
+ * different sensors which can be accessed using Epicardium API.
+ *
+ * .. versionadded:: 1.4
+ *
+ * **Example**:
+ *
+ * .. code-block:: cpp
+ *
+ *    #include "epicardium.h"
+ *
+ *    // Configure a sensor & enable it
+ *    struct bhi160_sensor_config cfg = {0};
+ *    cfg.sample_buffer_len = 40;
+ *    cfg.sample_rate = 4;   // Hz
+ *    cfg.dynamic_range = 2; // g
+ *
+ *    int sd = epic_bhi160_enable_sensor(BHI160_ACCELEROMETER, &cfg);
+ *
+ *    // Read sensor data
+ *    while (1) {
+ *            struct bhi160_data_vector buf[10];
+ *
+ *            int n = epic_stream_read(sd, buf, sizeof(buf));
+ *
+ *            for (int i = 0; i < n; i++) {
+ *                    printf("X: %6d Y: %6d Z: %6d\n",
+ *                           buf[i].x,
+ *                           buf[i].y,
+ *                           buf[i].z);
+ *            }
+ *    }
+ *
+ *    // Disable the sensor
+ *    epic_bhi160_disable_sensor(BHI160_ACCELEROMETER);
  */
 
 /**
- * Turn vibration motor on or off
- *
- * :param status: 1 to turn on, 0 to turn off.
+ * BHI160 Sensor Types
+ * -------------------
  */
-API(API_VIBRA_SET, void epic_vibra_set(int status));
 
 /**
- * Turn vibration motor on for a given time
- *
- * :param millis: number of milliseconds to run the vibration motor.
+ * BHI160 virtual sensor type.
  */
-API(API_VIBRA_VIBRATE, void epic_vibra_vibrate(int millis));
-
+enum bhi160_sensor_type {
 	/**
- * Display
- * =======
- * The card10 has an LCD screen that can be accessed from user code.
+	 * Accelerometer
 	 *
- * There are two ways to access the display:
+	 * - Data type: :c:type:`bhi160_data_vector`
+	 * - Dynamic range: g's (1x Earth Gravity, ~9.81m*s^-2)
+	 */
+	BHI160_ACCELEROMETER               = 0,
+	/**
+	 * Magnetometer
 	 *
- *  - *immediate mode*, where you ask Epicardium to draw shapes and text for
- *    you.  Most functions in this subsection are related to *immediate mode*.
- *  - *framebuffer mode*, where you provide Epicardium with a memory range where
- *    you already drew graphics whichever way you wanted and Epicardium will
- *    copy them to the display.  To use *framebuffer mode*, use the
- *    :c:func:`epic_disp_framebuffer` function.
+	 * - Data type: :c:type:`bhi160_data_vector`
+	 * - Dynamic range: -1000 to 1000 microtesla
 	 */
+	BHI160_MAGNETOMETER                = 1,
+	/** Orientation */
+	BHI160_ORIENTATION                 = 2,
+	/** Gyroscope */
+	BHI160_GYROSCOPE                   = 3,
+	/** Gravity (**Unimplemented**) */
+	BHI160_GRAVITY                     = 4,
+	/** Linear acceleration (**Unimplemented**) */
+	BHI160_LINEAR_ACCELERATION         = 5,
+	/** Rotation vector (**Unimplemented**) */
+	BHI160_ROTATION_VECTOR             = 6,
+	/** Uncalibrated magnetometer (**Unimplemented**) */
+	BHI160_UNCALIBRATED_MAGNETOMETER   = 7,
+	/** Game rotation vector (whatever that is supposed to be) */
+	BHI160_GAME_ROTATION_VECTOR        = 8,
+	/** Uncalibrated gyroscrope (**Unimplemented**) */
+	BHI160_UNCALIBRATED_GYROSCOPE      = 9,
+	/** Geomagnetic rotation vector (**Unimplemented**) */
+	BHI160_GEOMAGNETIC_ROTATION_VECTOR = 10,
+};
 
-/** Line-Style */
-enum disp_linestyle {
-  /** */
-  LINESTYLE_FULL = 0,
-  /** */
-  LINESTYLE_DOTTED = 1
+enum bhi160_data_type {
+	BHI160_DATA_TYPE_VECTOR
 };
 
-/** Fill-Style */
-enum disp_fillstyle {
-  /** */
-  FILLSTYLE_EMPTY = 0,
-  /** */
-  FILLSTYLE_FILLED = 1
+/**
+ * BHI160 Sensor Data Types
+ * ------------------------
+ */
+
+/**
+ * Vector Data.  The scaling of these values is dependent on the chosen dynamic
+ * range.  See the individual sensor's documentation for details.
+ */
+struct bhi160_data_vector {
+	enum bhi160_data_type data_type;
+
+	/** X */
+	int16_t x;
+	/** Y */
+	int16_t y;
+	/** Z */
+	int16_t z;
+	/** Status */
+	uint8_t status;
 };
 
-/** Width of display in pixels */
-#define DISP_WIDTH 160
+/**
+ * BHI160 API
+ * ----------
+ */
 
-/** Height of display in pixels */
-#define DISP_HEIGHT 80
+/**
+ * Configuration for a BHI160 sensor.
+ *
+ * This struct is used when enabling a sensor using
+ * :c:func:`epic_bhi160_enable_sensor`.
+ */
+struct bhi160_sensor_config {
+	/**
+	 * Number of samples Epicardium should keep for this sensor.  Do not set
+	 * this number too high as the sample buffer will eat RAM.
+	 */
+	size_t sample_buffer_len;
+	/**
+	 * Sample rate for the sensor in Hz.  Maximum data rate is limited
+	 * to 200 Hz for all sensors though some might be limited at a lower
+	 * rate.
+	 */
+	uint16_t sample_rate;
+	/**
+	 * Dynamic range.  Interpretation of this value depends on
+	 * the sensor type.  Please refer to the specific sensor in
+	 * :c:type:`bhi160_sensor_type` for details.
+	 */
+	uint16_t dynamic_range;
+	/** Always zero. Reserved for future parameters. */
+	uint8_t _padding[8];
+};
 
 /**
- * Framebuffer
+ * Enable a BHI160 virtual sensor.  Calling this function will instruct the
+ * BHI160 to collect data for this specific virtual sensor.  You can then
+ * retrieve the samples using :c:func:`epic_stream_read`.
  *
- * The frambuffer stores pixels as RGB565, but byte swapped.  That is, for every ``(x, y)`` coordinate, there are two ``uint8_t``\ s storing 16 bits of pixel data.
+ * :param bhi160_sensor_type sensor_type: Which sensor to enable.
+ * :param bhi160_sensor_config* config: Configuration for this sensor.
+ * :returns: A sensor descriptor which can be used with
+ *    :c:func:`epic_stream_read` or a negative error value:
  *
- * .. todo::
+ *    - ``-EBUSY``:  The BHI160 driver is currently busy with other tasks and
+ *      could not be acquired for enabling a sensor.
  *
- *    Document (x, y) in relation to chirality.
+ * .. versionadded:: 1.4
+ */
+API(API_BHI160_ENABLE, int epic_bhi160_enable_sensor(
+	enum bhi160_sensor_type sensor_type,
+	struct bhi160_sensor_config *config
+));
+
+/**
+ * Disable a BHI160 sensor.
+ *
+ * :param bhi160_sensor_type sensor_type: Which sensor to disable.
+ *
+ * .. versionadded:: 1.4
+ */
+API(API_BHI160_DISABLE, int epic_bhi160_disable_sensor(
+	enum bhi160_sensor_type sensor_type
+));
+
+/**
+ * Disable all BHI160 sensors.
+ *
+ * .. versionadded:: 1.4
+ */
+API(API_BHI160_DISABLE_ALL, void epic_bhi160_disable_all_sensors());
+
+/**
+ * BHI160 Interrupt Handlers
+ * -------------------------
+ */
+
+/**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_BHI160_ACCELEROMETER`
+ *
+ * :c:func:`epic_isr_bhi160_accelerometer` is called whenever the BHI160
+ * accelerometer has new data available.
+ */
+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`
+ *
+ * :c:func:`epic_isr_bhi160_orientation` is called whenever the BHI160
+ * orientation sensor has new data available.
+ */
+API_ISR(EPIC_INT_BHI160_ORIENTATION, epic_isr_bhi160_orientation);
+
+/**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_BHI160_GYROSCOPE`
+ *
+ * :c:func:`epic_isr_bhi160_orientation` is called whenever the BHI160
+ * gyroscrope has new data available.
+ */
+API_ISR(EPIC_INT_BHI160_GYROSCOPE, epic_isr_bhi160_gyroscope);
+
+
+/**
+ * Vibration Motor
+ * ===============
+ */
+
+/**
+ * Turn vibration motor on or off
+ *
+ * :param status: 1 to turn on, 0 to turn off.
+ */
+API(API_VIBRA_SET, void epic_vibra_set(int status));
+
+/**
+ * Turn vibration motor on for a given time
+ *
+ * :param millis: number of milliseconds to run the vibration motor.
+ */
+API(API_VIBRA_VIBRATE, void epic_vibra_vibrate(int millis));
+
+/**
+ * Display
+ * =======
+ * The card10 has an LCD screen that can be accessed from user code.
+ *
+ * There are two ways to access the display:
+ *
+ *  - *immediate mode*, where you ask Epicardium to draw shapes and text for
+ *    you.  Most functions in this subsection are related to *immediate mode*.
+ *  - *framebuffer mode*, where you provide Epicardium with a memory range where
+ *    you already drew graphics whichever way you wanted and Epicardium will
+ *    copy them to the display.  To use *framebuffer mode*, use the
+ *    :c:func:`epic_disp_framebuffer` function.
+ */
+
+/** Line-Style */
+enum disp_linestyle {
+  /** */
+  LINESTYLE_FULL = 0,
+  /** */
+  LINESTYLE_DOTTED = 1
+};
+
+/** Fill-Style */
+enum disp_fillstyle {
+  /** */
+  FILLSTYLE_EMPTY = 0,
+  /** */
+  FILLSTYLE_FILLED = 1
+};
+
+/** Width of display in pixels */
+#define DISP_WIDTH 160
+
+/** Height of display in pixels */
+#define DISP_HEIGHT 80
+
+/**
+ * Framebuffer
+ *
+ * The frambuffer stores pixels as RGB565, but byte swapped.  That is, for every ``(x, y)`` coordinate, there are two ``uint8_t``\ s storing 16 bits of pixel data.
+ *
+ * .. todo::
+ *
+ *    Document (x, y) in relation to chirality.
  *
  * **Example**: Fill framebuffer with red
  *
@@ -911,8 +1647,8 @@ API(API_DISP_UPDATE, int epic_disp_update());
 /**
  * Prints a string into the display framebuffer
  *
- * :param posx: x position to print to. 0 <= x <= 160
- * :param posy: y position to print to. 0 <= y <= 80
+ * :param posx: x position to print to.
+ * :param posy: y position to print to.
  * :param pString: string to print
  * :param fg: foreground color in rgb565
  * :param bg: background color in rgb565
@@ -922,13 +1658,56 @@ API(API_DISP_UPDATE, int epic_disp_update());
  */
 API(API_DISP_PRINT,
     int epic_disp_print(
-	    uint16_t posx,
-	    uint16_t posy,
+	    int16_t posx,
+	    int16_t posy,
 	    const char *pString,
 	    uint16_t fg,
 	    uint16_t bg)
     );
 
+/*
+ * Font Selection
+ */
+enum disp_font_name {
+	DISP_FONT8  = 0,
+	DISP_FONT12 = 1,
+	DISP_FONT16 = 2,
+	DISP_FONT20 = 3,
+	DISP_FONT24 = 4,
+};
+
+/*
+ * Image data type
+ */
+enum epic_rgb_format {
+	EPIC_RGB8     = 0,
+	EPIC_RGBA8    = 1,
+	EPIC_RGB565   = 2,
+	EPIC_RGBA5551 = 3,
+ };
+
+/**
+ * Prints a string into the display framebuffer with font type selectable
+ *
+ * :param fontName: number of font, use FontName enum
+ * :param posx: x position to print to.
+ * :param posy: y position to print to.
+ * :param pString: string to print
+ * :param fg: foreground 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.
+ */
+API(API_DISP_PRINT_ADV, int epic_disp_print_adv(
+	uint8_t font,
+	int16_t posx,
+	int16_t posy,
+	const char *pString,
+	uint16_t fg,
+	uint16_t bg
+));
+
 /**
  * Fills the whole screen with one color
  *
@@ -942,27 +1721,43 @@ API(API_DISP_CLEAR, int epic_disp_clear(uint16_t color));
 /**
  * Draws a pixel on the display
  *
- * :param x: x position; 0 <= x <= 160
- * :param y: y position; 0 <= y <= 80
+ * :param x: x position;
+ * :param y: y position;
  * :param color: pixel color in rgb565
  * :return: ``0`` on success or a negative value in case of an error:
  *
  *    - ``-EBUSY``: Display was already locked from another task.
  */
-API(API_DISP_PIXEL,
-    int epic_disp_pixel(
-	    uint16_t x,
-	    uint16_t y,
-	    uint16_t color)
-    );
+API(API_DISP_PIXEL, int epic_disp_pixel(
+	int16_t x, int16_t y, uint16_t color
+));
+
+/**
+ * Blits an image buffer to the display
+ *
+ * :param x: x position
+ * :param y: y position
+ * :param w: Image width
+ * :param h: Image height
+ * :param img: Image data
+ * :param format: Format of the image data. One of :c:type:`epic_rgb_format`.
+ */
+API(API_DISP_BLIT, int epic_disp_blit(
+	int16_t x,
+	int16_t y,
+	int16_t w,
+	int16_t h,
+	void *img,
+	enum epic_rgb_format format
+));
 
 /**
  * Draws a line on the display
  *
- * :param xstart: x starting position; 0 <= x <= 160
- * :param ystart: y starting position; 0 <= y <= 80
- * :param xend: x ending position; 0 <= x <= 160
- * :param yend: y ending position; 0 <= y <= 80
+ * :param xstart: x starting position
+ * :param ystart: y starting position
+ * :param xend: x ending position
+ * :param yend: y ending position
  * :param color: line color in rgb565
  * :param linestyle: 0 for solid, 1 for dottet (almost no visual difference)
  * :param pixelsize: thickness of the line; 1 <= pixelsize <= 8
@@ -970,24 +1765,23 @@ API(API_DISP_PIXEL,
  *
  *    - ``-EBUSY``: Display was already locked from another task.
  */
-API(API_DISP_LINE,
-    int epic_disp_line(
-	    uint16_t xstart,
-	    uint16_t ystart,
-	    uint16_t xend,
-	    uint16_t yend,
+API(API_DISP_LINE, int epic_disp_line(
+	int16_t xstart,
+	int16_t ystart,
+	int16_t xend,
+	int16_t yend,
 	uint16_t color,
 	enum disp_linestyle linestyle,
-	    uint16_t pixelsize)
-    );
+	uint16_t pixelsize
+));
 
 /**
  * Draws a rectangle on the display
  *
- * :param xstart: x coordinate of top left corner; 0 <= x <= 160
- * :param ystart: y coordinate of top left corner; 0 <= y <= 80
- * :param xend: x coordinate of bottom right corner; 0 <= x <= 160
- * :param yend: y coordinate of bottom right corner; 0 <= y <= 80
+ * :param xstart: x coordinate of top left corner
+ * :param ystart: y coordinate of top left corner
+ * :param xend: x coordinate of bottom right corner
+ * :param yend: y coordinate of bottom right corner
  * :param color: line color in rgb565
  * :param fillstyle: 0 for empty, 1 for filled
  * :param pixelsize: thickness of the rectangle outline; 1 <= pixelsize <= 8
@@ -995,16 +1789,15 @@ API(API_DISP_LINE,
  *
  *    - ``-EBUSY``: Display was already locked from another task.
  */
-API(API_DISP_RECT,
-    int epic_disp_rect(
-	    uint16_t xstart,
-	    uint16_t ystart,
-	    uint16_t xend,
-	    uint16_t yend,
+API(API_DISP_RECT, int epic_disp_rect(
+	int16_t xstart,
+	int16_t ystart,
+	int16_t xend,
+	int16_t yend,
 	uint16_t color,
 	enum disp_fillstyle fillstyle,
-	    uint16_t pixelsize)
-    );
+	uint16_t pixelsize
+));
 
 /**
  * Draws a circle on the display
@@ -1019,15 +1812,14 @@ API(API_DISP_RECT,
  *
  *    - ``-EBUSY``: Display was already locked from another task.
  */
-API(API_DISP_CIRC,
-    int epic_disp_circ(
-	    uint16_t x,
-	    uint16_t y,
+API(API_DISP_CIRC, int epic_disp_circ(
+	int16_t x,
+	int16_t y,
 	uint16_t rad,
 	uint16_t color,
 	enum disp_fillstyle fillstyle,
-	    uint16_t pixelsize)
-    );
+	uint16_t pixelsize
+));
 
 /**
  * Immediately send the contents of a framebuffer to the display. This overrides
@@ -1038,17 +1830,36 @@ API(API_DISP_CIRC,
  *
  *    - ``-EBUSY``: Display was already locked from another task.
  */
-API(API_DISP_FRAMEBUFFER, int epic_disp_framebuffer(union disp_framebuffer *fb));
+API(API_DISP_FRAMEBUFFER, int epic_disp_framebuffer(
+	union disp_framebuffer *fb
+));
+
+
+/**
+ * Light Sensor
+ * ============
+ */
+
+
+/**
+ * Set the backlight brightness.
+ *
+ * Note that this function does not require acquiring the display.
+ *
+ * :param brightness: brightness from 0 - 100
+ * :return: ``0`` on success or negative value in case of an error
+ */
+API(API_DISP_BACKLIGHT, int epic_disp_backlight(uint16_t brightness));
 
 
 /**
  * Start continuous readout of the light sensor. Will read light level
- * at preconfigured interval and make it available via `epic_light_sensor_get()`.
+ * at preconfigured interval and make it available via :c:func:`epic_light_sensor_get`.
  *
  * If the continuous readout was already running, this function will silently pass.
  *
  *
- * :return: `0` if the start was successful or a negative error value
+ * :return: ``0`` if the start was successful or a negative error value
  *      if an error occured. Possible errors:
  *
  *      - ``-EBUSY``: The timer could not be scheduled.
@@ -1059,7 +1870,7 @@ API(API_LIGHT_SENSOR_RUN, int epic_light_sensor_run());
  * Get the last light level measured by the continuous readout.
  *
  * :param uint16_t* value: where the last light level should be written.
- * :return: `0` if the readout was successful or a negative error
+ * :return: ``0`` if the readout was successful or a negative error
  *      value. Possible errors:
  *
  *      - ``-ENODATA``: Continuous readout not currently running.
@@ -1072,13 +1883,27 @@ API(API_LIGHT_SENSOR_GET, int epic_light_sensor_get(uint16_t* value));
  *
  * If the continuous readout wasn't running, this function will silently pass.
  *
- * :return: `0` if the stop was sucessful or a negative error value
+ * :return: ``0`` if the stop was sucessful or a negative error value
  *      if an error occured. Possible errors:
  *
  *      - ``-EBUSY``: The timer stop could not be scheduled.
  */
 API(API_LIGHT_SENSOR_STOP, int epic_light_sensor_stop());
 
+/**
+ * Get the light level directly.
+ *
+ * Each call has an intrinsic delay of about 240us, I recommend another
+ * 100-300us delay  between calls. Whether or not the IR LED is fast enough is
+ * another issue.
+ *
+ * :return: Light level
+ *
+ * .. versionadded:: 1.8
+ */
+API(API_LIGHT_SENSOR_READ, uint16_t epic_light_sensor_read(void));
+
+
 /**
  * File
  * ====
@@ -1114,10 +1939,9 @@ API(API_FILE_READ, int epic_file_read(int fd, void* buf, size_t nbytes));
  * :return: ``< 0`` on error, ``nbytes`` on success. (Partial writes don't occur on success!)
  *
 */
-API(
-	API_FILE_WRITE,
-	int epic_file_write(int fd, const void* buf, size_t nbytes)
-);
+API(API_FILE_WRITE, int epic_file_write(
+	int fd, const void* buf, size_t nbytes
+));
 
 /** */
 API(API_FILE_FLUSH, int epic_file_flush(int fd));
@@ -1261,11 +2085,42 @@ API(API_FILE_RENAME, int epic_file_rename(const char *oldp, const char* newp));
  */
 API(API_FILE_MKDIR, int epic_file_mkdir(const char *dirname));
 
+/**
+ * Check whether the filesystem is currently attached and a call like
+ * :c:func:`epic_file_open` has a chance to succeed.
+ *
+ * :return: ``true`` if the filesystem is attached and ``false`` if the
+ *     filesystem is not attached.
+ */
+API(API_FILE_FS_ATTACHED, bool epic_fs_is_attached(void));
+
 /**
  * RTC
  * ===
  */
 
+/**
+ * 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.
  *
@@ -1273,16 +2128,25 @@ API(API_FILE_MKDIR, int epic_file_mkdir(const char *dirname));
  */
 API(API_RTC_GET_SECONDS, uint32_t epic_rtc_get_seconds(void));
 
+/**
+ * Read the current RTC value in ms.
+ *
+ * :return: Unix time in milliseconds
+ */
+API(API_RTC_GET_MILLISECONDS, uint64_t epic_rtc_get_milliseconds(void));
+
 /**
  * Sets the current RTC time in milliseconds
  */
-API(API_RTC_SET_MILLISECONDS, void epic_rtc_set_milliseconds(uint64_t milliseconds));
+API(API_RTC_SET_MILLISECONDS, void epic_rtc_set_milliseconds(
+	uint64_t milliseconds
+));
 
 /**
  * Schedule the RTC alarm for the given timestamp.
  *
  * :param uint32_t timestamp: When to schedule the IRQ
- * :return: `0` on success or a negative value if an error occured. Possible
+ * :return: ``0`` on success or a negative value if an error occured. Possible
  *    errors:
  *
  *    - ``-EINVAL``: RTC is in a bad state
@@ -1290,7 +2154,7 @@ API(API_RTC_SET_MILLISECONDS, void epic_rtc_set_milliseconds(uint64_t millisecon
 API(API_RTC_SCHEDULE_ALARM, int epic_rtc_schedule_alarm(uint32_t timestamp));
 
 /**
- * **Interrupt Service Routine**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_RTC_ALARM`
  *
  * ``epic_isr_rtc_alarm()`` is called when the RTC alarm triggers.  The RTC alarm
  * can be scheduled using :c:func:`epic_rtc_schedule_alarm`.
@@ -1298,20 +2162,605 @@ API(API_RTC_SCHEDULE_ALARM, int epic_rtc_schedule_alarm(uint32_t timestamp));
 API_ISR(EPIC_INT_RTC_ALARM, epic_isr_rtc_alarm);
 
 /**
- * TRNG
+ * RNG
  * ====
  */
 
 /**
  * Read random bytes from the TRNG.
  *
+ * Be aware that this function returns raw unprocessed bytes from
+ * the TRNG. They might be biased or have other kinds of imperfections.
+ *
+ * Use :c:func:`epic_csprng_read` for cryptographically safe random
+ * numbers instead.
+ *
+ * .. warning::
+ *
+ *    The exact behaviour of the TRNG is not well understood. Its
+ *    distribution and other parameters are unknown. Only use this
+ *    function if you really want the unmodified values from the
+ *    hardware TRNG to experiment with it.
+ *
  * :param uint8_t * dest: Destination buffer
  * :param size: Number of bytes to read.
- * :return: `0` on success or a negative value if an error occured. Possible
+ * :return: ``0`` on success or a negative value if an error occured. Possible
  *    errors:
  *
  *    - ``-EFAULT``: Invalid destination address.
  */
 API(API_TRNG_READ, int epic_trng_read(uint8_t *dest, size_t size));
 
+/**
+ * Read random bytes from the CSPRNG.
+ *
+ * The random bytes returned are safe to be used for cryptography.
+ *
+ * :param uint8_t * dest: Destination buffer
+ * :param size: Number of bytes to read.
+ * :return: ``0`` on success or a negative value if an error occured. Possible
+ *    errors:
+ *
+ *    - ``-EFAULT``: Invalid destination address.
+ */
+API(API_CSPRNG_READ, int epic_csprng_read(uint8_t *dest, size_t size));
+
+/**
+ * MAX30001
+ * ========
+ */
+
+/**
+ * Configuration for a MAX30001 sensor.
+ *
+ * This struct is used when enabling the sensor using
+ * :c:func:`epic_max30001_enable_sensor`.
+ */
+struct max30001_sensor_config {
+	/**
+	 * Number of samples Epicardium should keep for this sensor.  Do not set
+	 * this number too high as the sample buffer will eat RAM.
+	 */
+	size_t sample_buffer_len;
+	/**
+	 * Sample rate for the sensor in Hz.
+	 */
+	uint16_t sample_rate;
+
+	/**
+	 * Set to true if the second lead comes from USB-C
+	 */
+	bool usb;
+
+	/**
+	 * Set to true if the interal lead bias of the MAX30001 is to be used.
+	 */
+	bool bias;
+
+	/** Always zero. Reserved for future parameters. */
+	uint8_t _padding[8];
+};
+
+/**
+ * Enable a MAX30001 ECG sensor.
+ *
+ * Calling this function will instruct the MAX30001 to collect data for this
+ * sensor.  You can then retrieve the samples using :c:func:`epic_stream_read`.
+ *
+ * :param max30001_sensor_config* config: Configuration for this sensor.
+ * :returns: A sensor descriptor which can be used with
+ *    :c:func:`epic_stream_read` or a negative error value:
+ *
+ *    - ``-EBUSY``:  The MAX30001 driver is currently busy with other tasks and
+ *      could not be acquired for enabling a sensor.
+ *
+ * .. versionadded:: 1.6
+ */
+API(API_MAX30001_ENABLE, int epic_max30001_enable_sensor(
+	struct max30001_sensor_config *config
+));
+
+/**
+ * Disable MAX30001
+ *
+ * .. versionadded:: 1.6
+ */
+API(API_MAX30001_DISABLE, int epic_max30001_disable_sensor());
+
+/**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_MAX30001_ECG`
+ *
+ * This interrupt handler is called whenever the MAX30001 ECG has new data
+ * available.
+ */
+API_ISR(EPIC_INT_MAX30001_ECG, epic_isr_max30001_ecg);
+
+/**
+ * USB
+ * ===
+ */
+
+/**
+ * De-initialize the currently configured USB device (if any)
+ *
+ */
+API(API_USB_SHUTDOWN, int epic_usb_shutdown(void));
+
+/**
+ * Configure the USB peripheral to export the internal FLASH
+ * as a Mass Storage device.
+ */
+API(API_USB_STORAGE, int epic_usb_storage(void));
+
+/**
+ * Configure the USB peripheral to provide card10's stdin/stdout
+ * on a USB CDC-ACM device.
+ */
+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));
+
+
+/**
+ * Configuration
+ * =============
+ */
+
+/**
+ * Read an integer from the configuration file
+ *
+ * :param char* key: Name of the option to read
+ * :param int* value: Place to read the value into
+ * :return: ``0`` on success or a negative value if an error occured. Possible
+ *    errors:
+ *
+ *    - ``-ENOENT``: Value can not be read
+ *
+ * .. versionadded:: 1.13
+ */
+API(API_CONFIG_GET_INTEGER, int epic_config_get_integer(const char *key, int *value));
+
+/**
+ * Read a boolean from the configuration file
+ *
+ * :param char* key: Name of the option to read
+ * :param bool* value: Place to read the value into
+ * :return: ``0`` on success or a negative value if an error occured. Possible
+ *    errors:
+ *
+ *    - ``-ENOENT``: Value can not be read
+ *
+ * .. versionadded:: 1.13
+ */
+API(API_CONFIG_GET_BOOLEAN, int epic_config_get_boolean(const char *key, bool *value));
+
+/**
+ * Read a string from the configuration file.
+ *
+ * If the buffer supplied is too small for the config option,
+ * no error is reported and the first ``buf_len - 1`` characters
+ * are returned (0 terminated).
+ *
+ * :param char* key: Name of the option to read
+ * :param char* buf: Place to read the string into
+ * :param size_t buf_len: Size of the provided buffer
+ * :return: ``0`` on success or a negative value if an error occured. Possible
+ *    errors:
+ *
+ *    - ``-ENOENT``: Value can not be read
+ *
+ * .. versionadded:: 1.13
+ */
+API(API_CONFIG_GET_STRING, int epic_config_get_string(const char *key, char *buf, size_t buf_len));
+
+
+/**
+ * Write a string to the configuration file.
+ *
+ * :param char* key: Name of the option to write
+ * :param char* value: The value to write
+ * :return: ``0`` on success or a negative value if an error occured. Possivle
+ *    errors:
+ *
+ *    - ``-EINVAL``: Parameters out of range
+ *    - ``-ENOENT``: Key already exists but can not be read
+ *    - ``-EIO``   : Unspecified I/O error
+ *    - Any fopen/fread/fwrite/fclose related error code
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_CONFIG_SET_STRING, int epic_config_set_string(const char *key, const char *value));
+
+
+/**
+ * Bluetooth Low Energy (BLE)
+ * ==========================
+ */
+
+/**
+ * BLE event type
+ */
+enum epic_ble_event_type {
+	/** No event pending */
+	BLE_EVENT_NONE                                    = 0,
+	/** Numeric comparison requested */
+	BLE_EVENT_HANDLE_NUMERIC_COMPARISON               = 1,
+	/** A pairing procedure has failed */
+	BLE_EVENT_PAIRING_FAILED                          = 2,
+	/** A pairing procedure has successfully completed */
+	BLE_EVENT_PAIRING_COMPLETE                        = 3,
+	/** New scan data is available  */
+	BLE_EVENT_SCAN_REPORT                             = 4,
+	BLE_EVENT_ATT_EVENT                               = 5,
+	BLE_EVENT_ATT_WRITE                               = 6,
+	BLE_EVENT_DM_EVENT                                = 7,
+};
+
+/**
+ * MicroPython Bluetooth support data types. Please
+ * do not use them until they are stabilized.
+ */
+typedef uint8_t bdAddr_t[6];
+
+struct epic_wsf_header
+{
+	/** General purpose parameter passed to event handler */
+	uint16_t param;
+	/** General purpose event value passed to event handler */
+	uint8_t event;
+	/** General purpose status value passed to event handler */
+	uint8_t status;
+};
+
+struct epic_att_event
+{
+	/** Header structure */
+	struct epic_wsf_header hdr;
+	/** Value */
+	uint8_t *pValue;
+	/** Value length */
+	uint16_t valueLen;
+	/** Attribute handle */
+	uint16_t handle;
+	/** TRUE if more response packets expected */
+	uint8_t continuing;
+	/** Negotiated MTU value */
+	uint16_t mtu;
+};
+
+struct epic_hciLeConnCmpl_event
+{        /** Event header */
+	struct epic_wsf_header hdr;
+	/** Status. */
+	uint8_t status;
+	/** Connection handle. */
+	uint16_t handle;
+	/** Local connection role. */
+	uint8_t role;
+	/** Peer address type. */
+	uint8_t addrType;
+	/** Peer address. */
+	bdAddr_t peerAddr;
+	/** Connection interval */
+	uint16_t connInterval;
+	/** Connection latency. */
+	uint16_t connLatency;
+	/** Supervision timeout. */
+	uint16_t supTimeout;
+	/** Clock accuracy. */
+	uint8_t clockAccuracy;
+
+	/** enhanced fields */
+	/** Local RPA. */
+	bdAddr_t localRpa;
+	/** Peer RPA. */
+	bdAddr_t peerRpa;
+};
+
+/*! \brief Disconnect complete event */
+struct epic_hciDisconnectCmpl_event
+{
+	/** Event header */
+	struct epic_wsf_header hdr;
+	/** Disconnect complete status. */
+	uint8_t status;
+	/** Connect handle. */
+	uint16_t handle;
+	/** Reason. */
+	uint8_t reason;
+};
+
+struct epic_dm_event
+{
+	union {
+		/** LE connection complete. */
+		struct epic_hciLeConnCmpl_event leConnCmpl;
+		/** Disconnect complete. */
+		struct epic_hciDisconnectCmpl_event disconnectCmpl;
+	};
+};
+
+struct epic_att_write
+{
+	/** Header structure */
+	struct epic_wsf_header hdr;
+	/** Value length */
+	uint16_t valueLen;
+	/** Attribute handle */
+	uint16_t handle;
+
+	uint8_t operation;
+	uint16_t offset;
+	void *buffer;
+};
+
+struct epic_ble_event {
+	enum epic_ble_event_type type;
+	union {
+		void *data;
+		struct epic_att_event *att_event;
+		struct epic_dm_event *dm_event;
+		struct epic_att_write *att_write;
+	};
+};
+
+/**
+ * Scan report data. Based on ``hciLeAdvReportEvt_t`` from BLE stack.
+ *
+ * TODO: 64 bytes for data is an arbitrary number ATM */
+struct epic_scan_report
+{
+	/** advertising or scan response data. */
+	uint8_t data[64];
+	/** length of advertising or scan response data. */
+	uint8_t len;
+	/** RSSI. */
+	int8_t rssi;
+	/** Advertising event type. */
+	uint8_t eventType;
+	/** Address type. */
+	uint8_t addrType;
+	/** Device address. */
+	uint8_t addr[6];
+
+	/** direct fields */
+	/** Direct advertising address type. */
+	uint8_t directAddrType;
+	/** Direct advertising address. */
+	uint8_t directAddr[6];
+};
+
+/**
+ * **Interrupt Service Routine** for :c:data:`EPIC_INT_BLE`
+ *
+ * :c:func:`epic_isr_ble` is called when the BLE stack wants to signal an
+ * event to the application. You can use :c:func:`epic_ble_get_event` to obtain
+ * the event which triggered this interrupt.
+ *
+ * Currently supported events:
+ *
+ * :c:data:`BLE_EVENT_HANDLE_NUMERIC_COMPARISON`:
+ *    An ongoing pairing procedure requires a numeric comparison to complete.
+ *    The compare value can be retreived using :c:func:`epic_ble_get_compare_value`.
+ *
+ * :c:data:`BLE_EVENT_PAIRING_FAILED`:
+ *    A pairing procedure failed. The stack automatically went back advertising
+ *    and accepting new pairings.
+ *
+ * :c:data:`BLE_EVENT_PAIRING_COMPLETE`:
+ *    A pairing procedure has completed sucessfully.
+ *    The stack automatically persists the pairing information, creating a bond.
+ *
+ * .. versionadded:: 1.16
+ */
+API_ISR(EPIC_INT_BLE, epic_isr_ble);
+
+/**
+ * Retreive the event which triggered :c:func:`epic_isr_ble`
+ *
+ * .. versionadded:: 1.16
+ * .. versionchanged:: 1.17
+ */
+API(API_BLE_GET_EVENT, int epic_ble_get_event(struct epic_ble_event *e));
+
+/**
+ * Retrieve the compare value of an ongoing pairing procedure.
+ *
+ * If no pairing procedure is ongoing, the returned value is undefined.
+ *
+ * :return: 6 digit long compare value
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_BLE_GET_COMPARE_VALUE, uint32_t epic_ble_get_compare_value(void));
+
+/**
+ * Retrieve the (file) name of the last pairing which was successful.
+ *
+ * :return: ``0`` on success or a negative value if an error occured. Possible
+ *    errors:
+ *
+ *    - ``-ENOENT``: There was no successful pairing yet.
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_BLE_GET_LAST_PAIRING_NAME, int epic_ble_get_last_pairing_name(char *buf, size_t buf_size));
+
+/**
+ * Retrieve the name of the peer to which we are connected
+ *
+ * The name might be empty if the peer device does not expose it or
+ * if it has not yet been read from it.
+ *
+ * :return: ``0`` on success or a negative value if an error occured. Possible
+ *    errors:
+ *
+ *    - ``-ENOENT``: There is no active connection at the moment.
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_BLE_GET_PEER_DEVICE_NAME, int epic_ble_get_peer_device_name(char *buf, size_t buf_size));
+
+/**
+ * Indicate wether the user confirmed the compare value.
+ *
+ * If a pariring procedure involving a compare value is ongoing and this
+ * function is called with confirmed set to ``true``, it will try to
+ * proceed and complete the pairing process. If called with ``false``, the
+ * pairing procedure will be aborted.
+ *
+ * :param bool confirmed: ``true`` if the user confirmed the compare value.
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_BLE_COMPARE_RESPONSE, void epic_ble_compare_response(bool confirmed));
+
+/**
+ * Set the desired mode of the BLE stack.
+ *
+ * There are three allowed modes:
+ *
+ *  - Peripheral which is not bondable (bondable = ``false``, scanner = ``false``).
+ *  - Peripheral which is bondable (bondable = ``true``, scanner = ``false``).
+ *  - Observer which scans for advertisements (bondable = ``false``, scanner = ``true``).
+ *
+ * By default the card10 will not allow new bondings to be made. New
+ * bondings have to explicitly allowed by calling this function.
+ *
+ * While bondable the card10 will change its advertisements to
+ * indicate to scanning hosts that it is available for discovery.
+ *
+ * When scanning is active, :c:data:`BLE_EVENT_SCAN_REPORT` events will be sent
+ * and the scan reports can be fetched using :c:func:`epic_ble_get_scan_report`.
+ *
+ * When switching applications new bondings are automatically
+ * disallowed and scanning is stopped.
+ *
+ * :param bool bondable: ``true`` if new bondings should be allowed.
+ * :param bool scanner: ``true`` if scanning should be turned on.
+ *
+ * .. versionadded:: 1.16
+ */
+API(API_BLE_SET_MODE, void epic_ble_set_mode(bool bondable, bool scanner));
+
+/**
+ * Retrieve a scan report from the queue of scan reports.
+ *
+ * :param struct\ epic_scan_report* rpt: Pointer where the report will be stored.
+ *
+ * :return: ``0`` on success or a negative value if an error occured. Possible
+ *    errors:
+ *
+ *    - ``-ENOENT``: No scan report available
+ *
+ */
+API(API_BLE_GET_SCAN_REPORT, int epic_ble_get_scan_report(struct epic_scan_report *rpt));
+
+/**
+ * Send an input report to the host.
+ *
+ * :param uint8_t report_id: The id of the report to use. 1: keyboard, 2: mouse, 3: consumer control
+ * :param uint8_t* data: Data to be reported.
+ * :param uint8_t len: Length in bytes of the data to be reported. Maximum length is 8 bytes.
+ *
+ * :return: ``0`` on success, ``1`` if the report is queued or a negative value
+ *    if an error occured. Possible errors:
+ *
+ *    - ``-EIO``: There is no host device connected or BLE HID is not enabled.
+ *    - ``-EAGAIN``: There is no space in the queue available. Try again later.
+ *    - ``-EINVAL``: Either the report_id is out of range or the data is too long.
+ *
+ */
+API(API_BLE_HID_SEND_REPORT, int epic_ble_hid_send_report(uint8_t report_id, uint8_t *data, uint8_t len));
+
+
+/**
+ * MicroPython BLE Support API
+ * ---------------------------
+ * The following API calls are to be used for MicroPython BLE support.
+ *
+ * .. warning::
+ *
+ *    The following epic-calls are **not** part of the stable public API and
+ *    thus **no** guarantee about stability or behavior is made.  Do not use
+ *    these outside of Pycardium unless you can live with sudden breakage!!
+ *
+ *    They are only documented here for completeness and as a reference for
+ *    firmware hackers, not for common usage.
+ */
+
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_INIT, int epic_ble_init(void));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_DEINIT, int epic_ble_deinit(void));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_DYN_CREATE_GROUP, int epic_atts_dyn_create_service(const uint8_t *uuid, uint8_t uuid_len, uint16_t group_size, void **pSvcHandle));
+//API(API_BLE_ATTS_DYN_DELETE_GROUP, void AttsDynDeleteGroup(void *pSvcHandle));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_DYN_DELETE_GROUPS, int epic_ble_atts_dyn_delete_groups(void));
+
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_DYN_ADD_CHARACTERISTIC, int epic_atts_dyn_add_characteristic(void *pSvcHandle, const uint8_t *uuid, uint8_t uuid_len, uint8_t flags, uint16_t maxLen, uint16_t *value_handle));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_DYN_ADD_DESCRIPTOR, int epic_ble_atts_dyn_add_descriptor(void *pSvcHandle, const uint8_t *uuid, uint8_t uuid_len, uint8_t flags, const uint8_t *value, uint16_t value_len, uint16_t maxLen, uint16_t *descriptor_handle));
+
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_SEND_SERVICE_CHANGED_IND, int epic_atts_dyn_send_service_changed_ind(void));
+
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_SET_ATTR, int epic_ble_atts_set_attr(uint16_t handle, const uint8_t *value, uint16_t value_len));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_HANDLE_VALUE_NTF, int epic_ble_atts_handle_value_ntf(uint8_t connId, uint16_t handle, uint16_t valueLen, uint8_t *pValue));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_HANDLE_VALUE_IND, int epic_ble_atts_handle_value_ind(uint8_t connId, uint16_t handle, uint16_t valueLen, uint8_t *pValue));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTS_SET_BUFFER, int epic_ble_atts_set_buffer(uint16_t value_handle, size_t len, bool append));
+
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_FREE_EVENT, int epic_ble_free_event(struct epic_ble_event *e));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_CLOSE_CONNECTION, void epic_ble_close_connection(uint8_t connId));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_IS_CONNECTION_OPEN, int epic_ble_is_connection_open(void));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_SET_DEVICE_NAME, int epic_ble_set_device_name(const uint8_t *buf, uint16_t len));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_GET_DEVICE_NAME, int epic_ble_get_device_name(uint8_t **buf, uint16_t *len));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_GET_ADDRESS, void epic_ble_get_address(uint8_t *addr));
+
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ADVERTISE, int epic_ble_advertise(int interval_us, const uint8_t *adv_data, size_t adv_data_len, const uint8_t *sr_data, size_t sr_data_len, bool connectable));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ADVERTISE_STOP, int epic_ble_advertise_stop(void));
+
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_DISCOVER_PRIMARY_SERVICES, int epic_ble_attc_discover_primary_services(uint8_t connId, const uint8_t *uuid, uint8_t uuid_len));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_DISCOVER_CHARACTERISTICS, int epic_ble_attc_discover_characteristics(uint8_t connId, uint16_t start_handle, uint16_t end_handle));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_DISCOVER_DESCRIPTORS, int epic_ble_attc_discover_descriptors(uint8_t connId, uint16_t start_handle, uint16_t end_handle));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTC_READ, int epic_ble_attc_read(uint8_t connId, uint16_t value_handle));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTC_WRITE_NO_RSP, int epic_ble_attc_write_no_rsp(uint8_t connId, uint16_t value_handle, const uint8_t *value, uint16_t value_len));
+/** Private API call for Pycardium BLE support. */
+API(API_BLE_ATTC_WRITE, int epic_ble_attc_write(uint8_t connId, uint16_t value_handle, const uint8_t *value, uint16_t value_len));
+
 #endif /* _EPICARDIUM_H */
+

epicardium/modules/fileops.c → epicardium/fs/fileops.c

@@ -29,6 +29,17 @@ int epic_file_open(const char *filename, const char *mode)
 	return res;
 }
 
+bool epic_fs_is_attached(void)
+{
+	EpicFileSystem *fs;
+	if (efs_lock_global(&fs) == 0) {
+		efs_unlock_global(fs);
+		return true;
+	} else {
+		return false;
+	}
+}
+
 int epic_file_close(int fd)
 {
 	EpicFileSystem *fs;

epicardium/fs/filesystem.h

+#ifndef EPICARDIUM_MODULE_FILESYSTEM_INCLUDED
+#define EPICARDIUM_MODULE_FILESYSTEM_INCLUDED
+
+/* ---------- FAT fs ------------------------------------------------------ */
+
+#include <stdbool.h>
+#include "epicardium.h"
+
+/**
+ * module initialization - to be called once at startup before any FreeRTOS tasks
+ * have been started
+ *
+ * calls fatfs_attach
+ */
+void fatfs_init(void);
+
+/**
+ * initialize and mount the FLASH storage
+ *
+ * NOTE: not safe to be called from an ISR
+ */
+int fatfs_attach(void);
+
+
+/**
+ * asynchronously attach the FLASH storage
+ *
+ * safe to be called from an ISR
+ */
+void fatfs_schedule_attach(void);
+
+/** close all opened FDs, sync and deinitialize FLASH layer */
+void fatfs_detach(void);
+
+/** close all onpened FDs
+ * TODO: add ability to close FDs opened by core0/core1 only
+ */
+#define EPICARDIUM_COREMASK_0		0x01
+#define EPICARDIUM_COREMASK_1		0x02
+#define EPICARDIUM_COREMASK_BOTH	0x03
+
+void fatfs_close_all(int coreMask);
+
+#endif//EPICARDIUM_MODULE_FILESYSTEM_INCLUDED

epicardium/fs/filesystem_fat.c

@@ -16,21 +16,22 @@
 
 #include <FreeRTOS.h>
 #include <semphr.h>
+#include <timers.h>
 
 #include "fs/internal.h"
-#include "modules/filesystem.h"
+#include "fs/filesystem.h"
+#include "user_core/user_core.h"
 #include "epicardium.h"
 #include "card10.h"
-#include "modules/log.h"
+#include "os/core.h"
+#include "modules/modules.h"
+#include "api/common.h"
+#include "os/mutex.h"
 
 #define SSLOG_DEBUG(...) LOG_DEBUG("fatfs", __VA_ARGS__)
 #define SSLOG_INFO(...) LOG_INFO("fatfs", __VA_ARGS__)
 #define SSLOG_ERR(...) LOG_ERR("fatfs", __VA_ARGS__)
 
-#ifndef EPIC_FAT_STATIC_SEMAPHORE
-#define EPIC_FAT_STATIC_SEMAPHORE 0
-#endif
-
 /* clang-format off */
 #define EPIC_FAT_MAX_OPENED           (1 << (EPIC_FAT_FD_INDEX_BITS))
 #define EPIC_FAT_FD_GENERATION_BITS   (31 - (EPIC_FAT_FD_INDEX_BITS))
@@ -44,6 +45,7 @@
 
 struct FatObject {
 	uint32_t generation;
+	int coreMask;
 	enum epic_stat_type type;
 	union {
 		FIL file;
@@ -54,17 +56,16 @@ struct FatObject {
 struct EpicFileSystem {
 	struct FatObject pool[EPIC_FAT_MAX_OPENED];
 	uint32_t generationCount;
-	bool initialized;
+	bool attached;
 	FATFS FatFs;
+	int lockCoreMask;
 };
 
 // this table converts from FRESULT to POSIX errno
 static const int s_libffToErrno[20];
 
 static const char *f_get_rc_string(FRESULT rc);
-static bool globalLockAccquire();
-static void globalLockRelease();
-static void efs_close_all(EpicFileSystem *fs);
+static void efs_close_all(EpicFileSystem *fs, int coreMask);
 
 /**
  * if EPICSTAT_NONE is passed to `expected`, the type is not checked.
@@ -92,11 +93,12 @@ static void efs_init_stat(struct epic_stat *stat, FILINFO *finfo);
 
 static EpicFileSystem s_globalFileSystem;
 
-#if (EPIC_FAT_STATIC_SEMAPHORE == 1)
-static StaticSemaphore_t s_globalLockBuffer;
-#endif
+static struct mutex fatfs_lock = { 0 };
 
-static SemaphoreHandle_t s_globalLock = NULL;
+static void cb_attachTimer(void *a, uint32_t b)
+{
+	fatfs_attach();
+}
 
 void fatfs_init()
 {
@@ -108,11 +110,8 @@ void fatfs_init()
 	assert(!s_initCalled);
 	s_initCalled = true;
 
-#if (EPIC_FAT_STATIC_SEMAPHORE == 1)
-	s_globalLock = xSemaphoreCreateMutexStatic(&s_globalLockBuffer);
-#else
-	s_globalLock = xSemaphoreCreateMutex();
-#endif
+	mutex_create(&fatfs_lock);
+
 	s_globalFileSystem.generationCount = 1;
 	fatfs_attach();
 }
@@ -131,27 +130,36 @@ int fatfs_attach()
 {
 	FRESULT ff_res;
 	int rc = 0;
-	if (globalLockAccquire()) {
+
+	mutex_lock(&fatfs_lock);
+
 	EpicFileSystem *fs = &s_globalFileSystem;
-		if (!fs->initialized) {
+	if (!fs->attached) {
 		ff_res = f_mount(&fs->FatFs, "/", 0);
 		if (ff_res == FR_OK) {
-				fs->initialized = true;
-				SSLOG_DEBUG("FatFs mounted\n");
+			fs->attached = true;
+			SSLOG_INFO("attached\n");
 		} else {
 			SSLOG_ERR(
-					"f_mount error %s\n",
-					f_get_rc_string(ff_res)
+				"f_mount error %s\n", f_get_rc_string(ff_res)
 			);
 			rc = -s_libffToErrno[ff_res];
 		}
 	}
 
-		globalLockRelease();
+	mutex_unlock(&fatfs_lock);
+	return rc;
+}
+
+void fatfs_schedule_attach(void)
+{
+	//if we're running in thread context, cont't call the *FromISR version
+	if (xPortIsInsideInterrupt()) {
+		xTimerPendFunctionCallFromISR(cb_attachTimer, NULL, 0, NULL);
 	} else {
-		SSLOG_ERR("Failed to lock\n");
+		xTimerPendFunctionCall(
+			cb_attachTimer, NULL, 0, 1); //wait 1 tick
 	}
-	return rc;
 }
 
 void fatfs_detach()
@@ -159,7 +167,8 @@ void fatfs_detach()
 	FRESULT ff_res;
 	EpicFileSystem *fs;
 	if (efs_lock_global(&fs) == 0) {
-		efs_close_all(fs);
+		if (fs->attached) {
+			efs_close_all(fs, EPICARDIUM_COREMASK_BOTH);
 
 			//unmount by passing NULL as fs object, will destroy our sync object via ff_del_syncobj
 			ff_res = f_mount(NULL, "/", 0);
@@ -170,13 +179,22 @@ void fatfs_detach()
 				);
 			}
 
-		fs->initialized = false;
+			fs->attached = false;
 			disk_deinitialize();
 			SSLOG_INFO("detached\n");
+		}
 		efs_unlock_global(fs);
 	}
 }
 
+void fatfs_close_all(int coreMask)
+{
+	EpicFileSystem *fs;
+	if (efs_lock_global(&fs) == 0) {
+		efs_close_all(fs, coreMask);
+		efs_unlock_global(fs);
+	}
+}
 static const char *f_get_rc_string(FRESULT rc)
 {
 	static const TCHAR *rcstrings =
@@ -195,34 +213,27 @@ static const char *f_get_rc_string(FRESULT rc)
 	return p;
 }
 
-static bool globalLockAccquire()
-{
-	return (int)(xSemaphoreTake(s_globalLock, FF_FS_TIMEOUT) == pdTRUE);
-}
-
-static void globalLockRelease()
-{
-	xSemaphoreGive(s_globalLock);
-}
-
 int efs_lock_global(EpicFileSystem **fs)
 {
 	*fs = NULL;
-	if (!globalLockAccquire()) {
-		return -EBUSY;
-	}
-	if (!s_globalFileSystem.initialized) {
-		globalLockRelease();
+	mutex_lock(&fatfs_lock);
+	if (!s_globalFileSystem.attached) {
+		mutex_unlock(&fatfs_lock);
 		return -ENODEV;
 	}
 	*fs = &s_globalFileSystem;
+	if (xTaskGetCurrentTaskHandle() == dispatcher_task_id) {
+		s_globalFileSystem.lockCoreMask = EPICARDIUM_COREMASK_1;
+	} else {
+		s_globalFileSystem.lockCoreMask = EPICARDIUM_COREMASK_0;
+	}
 	return 0;
 }
 
 void efs_unlock_global(EpicFileSystem *fs)
 {
 	(void)fs;
-	globalLockRelease();
+	mutex_unlock(&fatfs_lock);
 }
 
 static bool efs_get_opened(
@@ -275,6 +286,7 @@ efs_get_new(EpicFileSystem *fs, uint32_t *idx, struct FatObject **obj, int *rc)
 	}
 
 	*obj = &fs->pool[index];
+	*idx = index;
 	return true;
 }
 
@@ -292,6 +304,7 @@ static int efs_obj_init(
 	}
 	obj->type       = type;
 	obj->generation = generation;
+	obj->coreMask   = fs->lockCoreMask;
 
 	return EPIC_FAT_FD(index, generation);
 }
@@ -300,6 +313,7 @@ static void efs_obj_deinit(EpicFileSystem *fs, struct FatObject *obj)
 {
 	obj->type       = EPICSTAT_NONE;
 	obj->generation = 0;
+	obj->coreMask   = 0;
 }
 
 /* here we're trying to mirror glibc's behaviour:
@@ -392,9 +406,13 @@ int efs_close(EpicFileSystem *fs, int fd)
 	return res;
 }
 
-void efs_close_all(EpicFileSystem *fs)
+void efs_close_all(EpicFileSystem *fs, int coreMask)
 {
+	assert(coreMask != 0);
 	for (int i = 0; i < EPIC_FAT_MAX_OPENED; ++i) {
+		if (!(fs->pool[i].coreMask & coreMask)) {
+			continue;
+		}
 		switch (fs->pool[i].type) {
 		case EPICSTAT_FILE:
 			f_close(&fs->pool[i].file);

epicardium/fs/fs_util.c

+#include "fs_util.h"
+
+#include "epicardium.h"
+
+#include <stdint.h>
+#include <string.h>
+
+int fs_read_file(char *filename, void *data, int len)
+{
+	int fd = epic_file_open(filename, "r");
+	if (fd < 0) {
+		return fd;
+	}
+
+	int res = epic_file_read(fd, data, len);
+	epic_file_close(fd);
+
+	return res;
+}
+
+int fs_read_text_file(char *filename, char *data, int len)
+{
+	int readbytes;
+
+	if (len < 1)
+		return -1;
+	readbytes = fs_read_file(filename, data, len - 1);
+	if (readbytes < 0) {
+		data[0] = 0;
+		return readbytes;
+	};
+	data[readbytes] = 0;
+	while (readbytes > 0 && data[readbytes - 1] < 0x20) {
+		data[--readbytes] = 0;
+	};
+	return readbytes;
+}
+
+int fs_write_file(char *filename, const void *data, int len)
+{
+	int fd = epic_file_open(filename, "w");
+	if (fd < 0) {
+		return fd;
+	}
+
+	int res = epic_file_write(fd, data, len);
+	epic_file_close(fd);
+
+	return res;
+}
+
+int fs_get_file_size(char *filename)
+{
+	struct epic_stat stat;
+	int res = epic_file_stat(filename, &stat);
+	return res < 0 ? res : (int)stat.size;
+}
+
+#if 0
+#include "ff.h"
+FATFS FatFs;          /* File system object for logical drive */
+FS_USAGE FsUsage;
+/* TODO: Port functions from r0ket/rad10 libs */
+int fs_info(FATFS *fs)
+{
+    memcpy(fs, &FatFs, sizeof(FATFS));
+    return 0;
+}
+int fs_usage(FATFS *fs, FS_USAGE *fs_usage)
+{
+    FRESULT res;
+    DWORD tot_clust, fre_clust, sec_size;
+
+    res = f_getfree("/", &fre_clust, &fs);
+    if(res != FR_OK)
+        return -res;
+
+    // sectore size = sectors per cluster *  sector size
+#if FF_MAX_SS == FF_MIN_SS
+    sec_size = fs->csize * FF_MAX_SS;
+#else
+    sec_size = fs->csize * fs.ssize;
+#endif
+
+    // total/free sectors * sectore size
+    tot_clust = fs->n_fatent - 2;
+    fs_usage->total = tot_clust * sec_size; //FatFs.ssize;
+    fs_usage->free = fre_clust * sec_size; //FatFs.ssize;
+
+    return 0;
+}
+#endif

epicardium/fs/meson.build

+fs_sources = files(
+  'fileops.c',
+  'filesystem_fat.c',
+  'fs_util.c',
+)

epicardium/l0der/l0der.c

@@ -6,7 +6,7 @@
 
 #include "epicardium.h"
 #include "l0der/elf.h"
-#include "modules/log.h"
+#include "os/core.h"
 
 /*
  * l0der is, in reality, a boneless operating-system style ELF loader.
@@ -119,7 +119,7 @@ static int _seek_and_read(int fd, uint32_t address, void *data, size_t count)
 		return res;
 	}
 
-	if ((res = epic_file_read(fd, data, count)) != count) {
+	if ((size_t)(res = epic_file_read(fd, data, count)) != count) {
 		LOG_ERR("l0der", "_seek_and_read: could not read: %d", res);
 		return res;
 	}
@@ -149,7 +149,7 @@ static int _read_section_header(int fd, uint32_t shdr_addr, Elf32_Shdr *shdr)
  * This function ensures basic memory sanity of a program header / segment.
  * It ensures that it points to a file region that is contained within the file fully.
  */
-static int _check_program_header(int fd, int size, Elf32_Phdr *phdr)
+static int _check_program_header(int fd, size_t size, Elf32_Phdr *phdr)
 {
 	// Check file size/offset.
 	uint32_t file_start = phdr->p_offset;
@@ -191,7 +191,7 @@ static int _check_program_header(int fd, int size, Elf32_Phdr *phdr)
  * This function ensures basic memory sanity of a section header.
  * It ensures that it points to a file region that is contained within the file fully.
  */
-static int _check_section_header(int fd, int size, Elf32_Shdr *shdr)
+static int _check_section_header(int fd, size_t size, Elf32_Shdr *shdr)
 {
 	// Check file size/offset.
 	uint32_t file_start = shdr->sh_offset;
@@ -329,7 +329,7 @@ static int _load_segment(int fd, struct _pie_load_info *li, Elf32_Phdr *phdr)
  * Parse dynamic symbol sections.
  */
 static int _parse_dynamic_symbols(
-	int fd, int size, struct _pie_load_info *li, Elf32_Ehdr *hdr
+	int fd, size_t size, struct _pie_load_info *li, Elf32_Ehdr *hdr
 ) {
 	int res;
 	Elf32_Shdr shdr;
@@ -366,7 +366,7 @@ static int _parse_dynamic_symbols(
 			return res;
 		}
 
-		for (int j = 0; j < sym_count; j++) {
+		for (uint32_t j = 0; j < sym_count; j++) {
 			if ((res = epic_file_read(
 				     fd, &sym, sizeof(Elf32_Sym))) !=
 			    sizeof(Elf32_Sym)) {
@@ -402,9 +402,9 @@ static int _parse_dynamic_symbols(
  * the only one used when making 'standard' PIE binaries on RAM. However, other
  * kinds might have to be implemented in the future.
  */
-static int
-_run_relocations(int fd, int size, struct _pie_load_info *li, Elf32_Ehdr *hdr)
-{
+static int _run_relocations(
+	int fd, size_t size, struct _pie_load_info *li, Elf32_Ehdr *hdr
+) {
 	int res;
 	Elf32_Shdr shdr;
 	Elf32_Rel rel;
@@ -447,7 +447,7 @@ _run_relocations(int fd, int size, struct _pie_load_info *li, Elf32_Ehdr *hdr)
 			return res;
 		}
 
-		for (int j = 0; j < reloc_count; j++) {
+		for (uint32_t j = 0; j < reloc_count; j++) {
 			if ((res = epic_file_read(
 				     fd, &rel, sizeof(Elf32_Rel))) !=
 			    sizeof(Elf32_Rel)) {
@@ -464,7 +464,7 @@ _run_relocations(int fd, int size, struct _pie_load_info *li, Elf32_Ehdr *hdr)
 			// (ie., do not resolve relocation - they default to a safe NULL)
 			uint8_t skip = 0;
 			if (sym != 0) {
-				for (int k = 0; k < li->weak_symbol_count;
+				for (uint32_t k = 0; k < li->weak_symbol_count;
 				     k++) {
 					if (li->weak_symbols[k] == sym) {
 						skip = 1;
@@ -513,7 +513,7 @@ _run_relocations(int fd, int size, struct _pie_load_info *li, Elf32_Ehdr *hdr)
  * Load a l0dable PIE binary.
  */
 static int
-_load_pie(int fd, int size, Elf32_Ehdr *hdr, struct l0dable_info *info)
+_load_pie(int fd, size_t size, Elf32_Ehdr *hdr, struct l0dable_info *info)
 {
 	int res;
 	struct _pie_load_info li = { 0 };
@@ -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);
@@ -646,7 +647,10 @@ int l0der_load_path(const char *path, struct l0dable_info *info)
 		return res;
 	}
 
-	int size = epic_file_tell(fd);
+	if ((res = epic_file_tell(fd)) < 0) {
+		return res;
+	}
+	size_t size = res;
 
 	if ((res = epic_file_seek(fd, 0, SEEK_SET)) != 0) {
 		return res;

epicardium/main.c

 #include "modules/modules.h"
-#include "modules/log.h"
-#include "modules/filesystem.h"
+#include "os/core.h"
+#include "os/work_queue.h"
+#include "fs/filesystem.h"
+#include "drivers/drivers.h"
+#include "user_core/user_core.h"
+#include "os/config.h"
 #include "card10-version.h"
+#include "user_core/interrupts.h"
+#include "drivers/display/epic_ctx.h"
+
+#include "leds.h"
+#include "version-splash.h"
 
 #include "FreeRTOS.h"
 #include "task.h"
@@ -9,20 +18,89 @@
 
 #include <stdlib.h>
 #include <string.h>
+#include <machine/endian.h>
+
+#include "epic_boot.c"
 
 int main(void)
 {
+	watchdog_init();
+
 	LOG_INFO("startup", "Epicardium startup ...");
 	LOG_INFO("startup", "Version " CARD10_VERSION);
 
 	LOG_DEBUG("startup", "Initializing hardware ...");
 	hardware_early_init();
 
-	char *version_buf = CARD10_VERSION;
-	epic_disp_print(0, 5, "epicardium:", 0xffff, 0x0000);
-	epic_disp_print(0, 24, version_buf, 0xffff, 0x0000);
+	load_config();
+
+	migration_delete_app_launchers();
+
+	//LED feedback in case of dead display
+	epic_leds_set(11, 0, 0, 1);
+	epic_leds_set(12, 0, 0, 1);
+	epic_leds_set(13, 0, 0, 1);
+	epic_leds_set(14, 0, 0, 1);
+
+	epic_disp_clear(0x0000);
+
+#if 0 /* reenable for future releases */
+	epic_leds_set_rocket(0, 31);
+	epic_leds_set_rocket(1, 31);
+	epic_leds_set_rocket(2, 31);
+
+	// TODO: Use blit function here
+#if BYTE_ORDER == LITTLE_ENDIAN
+	for (size_t i = 0; i < sizeof(epicardium_ctx_fb); i += 2) {
+		epicardium_ctx_fb[i]     = version_splash[i + 1];
+		epicardium_ctx_fb[i + 1] = version_splash[i];
+	}
+#else
+	memcpy(epicardium_ctx_fb, version_splash, sizeof(epicardium_ctx_fb));
+#endif
+
+	if (strcmp(CARD10_VERSION, "v1.17") != 0) {
+		ctx_font_size(epicardium_ctx, 20.0f);
+		ctx_text_baseline(epicardium_ctx, CTX_TEXT_BASELINE_BOTTOM);
+		ctx_rgba8(epicardium_ctx, 0xff, 0xc6, 0x00, 0xff);
+
+		ctx_text_align(epicardium_ctx, CTX_TEXT_ALIGN_CENTER);
+		ctx_move_to(epicardium_ctx, 80.0f, 58.0f);
+		ctx_text(epicardium_ctx, "Epicardium");
+
+		ctx_text_align(epicardium_ctx, CTX_TEXT_ALIGN_LEFT);
+		ctx_move_to(epicardium_ctx, 2.0f, 78.0f);
+		ctx_text(epicardium_ctx, CARD10_VERSION);
+
+		/* re-init for the first app */
+		disp_ctx_reinit();
+	}
 	epic_disp_update();
 	mxc_delay(2000000);
+#else
+	for (uint32_t frame = 0; frame < 15; frame++) {
+		switch (frame) {
+		case 0:
+			epic_leds_set_rocket(0, 31);
+			break;
+		case 5:
+			epic_leds_set_rocket(1, 31);
+			break;
+		case 10:
+			epic_leds_set_rocket(2, 31);
+			break;
+		}
+
+		epic_disp_clear(0x0000);
+		epic_frame(epicardium_ctx, frame);
+		epic_disp_update();
+	}
+
+	/* re-init for the first app */
+	disp_ctx_reinit();
+#endif
+
+	epic_leds_clear_all(0, 0, 0);
 
 	LOG_DEBUG("startup", "Initializing tasks ...");
 
@@ -32,23 +110,70 @@ int main(void)
 		    (const char *)"Serial",
 		    configMINIMAL_STACK_SIZE * 2,
 		    NULL,
-		    tskIDLE_PRIORITY + 1,
+		    tskIDLE_PRIORITY + 3,
 		    NULL) != pdPASS) {
-		LOG_CRIT("startup", "Failed to create %s task!", "Serial");
-		abort();
+		panic("Failed to create %s task!", "Serial");
 	}
 
 	/* PMIC */
 	if (xTaskCreate(
 		    vPmicTask,
 		    (const char *)"PMIC",
-		    configMINIMAL_STACK_SIZE,
+		    configMINIMAL_STACK_SIZE * 3,
 		    NULL,
 		    tskIDLE_PRIORITY + 4,
 		    NULL) != pdPASS) {
-		LOG_CRIT("startup", "Failed to create %s task!", "PMIC");
+		panic("Failed to create %s task!", "PMIC");
+	}
+
+	/* BHI160 */
+	if (xTaskCreate(
+		    vBhi160Task,
+		    (const char *)"BHI160 Driver",
+		    configMINIMAL_STACK_SIZE * 2,
+		    NULL,
+		    tskIDLE_PRIORITY + 1,
+		    NULL) != pdPASS) {
+		panic("Failed to create %s task!", "BHI160");
+	}
+
+	/* MAX30001 */
+	if (xTaskCreate(
+		    vMAX30001Task,
+		    (const char *)"MAX30001 Driver",
+		    configMINIMAL_STACK_SIZE * 2,
+		    NULL,
+		    tskIDLE_PRIORITY + 1,
+		    NULL) != pdPASS) {
+		panic("Failed to create %s task!", "MAX30001");
+	}
+
+	/* MAX86150 */
+	if (xTaskCreate(
+		    vMAX86150Task,
+		    (const char *)"MAX86150 Driver",
+		    configMINIMAL_STACK_SIZE * 2,
+		    NULL,
+		    tskIDLE_PRIORITY + 1,
+		    NULL) != pdPASS) {
+		panic("Failed to create %s task!", "MAX86150");
+	}
+
+	/* BSEC */
+	if (bsec_activate() == 0) {
+		if (xTaskCreate(
+			    vBSECTask,
+			    (const char *)"BSEC",
+			    configMINIMAL_STACK_SIZE * 5,
+			    NULL,
+			    tskIDLE_PRIORITY + 1,
+			    NULL) != pdPASS) {
+			LOG_CRIT(
+				"startup", "Failed to create %s task!", "BSEC"
+			);
 			abort();
 		}
+	}
 
 	/* API */
 	if (xTaskCreate(
@@ -58,55 +183,62 @@ int main(void)
 		    NULL,
 		    tskIDLE_PRIORITY + 2,
 		    &dispatcher_task_id) != pdPASS) {
-		LOG_CRIT(
-			"startup",
-			"Failed to create %s task!",
-			"API Dispatcher"
-		);
-		abort();
+		panic("Failed to create %s task!", "API Dispatcher");
+	}
+	/* Interrupts */
+	if (xTaskCreate(
+		    vInterruptsTask,
+		    (const char *)"Interrupt Dispatcher",
+		    configMINIMAL_STACK_SIZE,
+		    NULL,
+		    tskIDLE_PRIORITY + 2,
+		    NULL) != pdPASS) {
+		panic("Failed to create %s task!", "Interrupt Dispatcher");
 	}
 
 	/* BLE */
-	if (ble_shall_start()) {
+	if (ble_is_enabled()) {
 		if (xTaskCreate(
 			    vBleTask,
 			    (const char *)"BLE",
 			    configMINIMAL_STACK_SIZE * 10,
 			    NULL,
-			    tskIDLE_PRIORITY + 1,
+			    tskIDLE_PRIORITY + 3,
 			    NULL) != pdPASS) {
-			LOG_CRIT("startup", "Failed to create %s task!", "BLE");
-			abort();
+			panic("Failed to create %s task!", "BLE");
 		}
 	}
 
-	/* LEDs */
+	/* Lifecycle */
 	if (xTaskCreate(
-		    vLedTask,
-		    (const char *)"LED",
-		    configMINIMAL_STACK_SIZE,
+		    vLifecycleTask,
+		    (const char *)"Lifecycle",
+		    configMINIMAL_STACK_SIZE * 4,
 		    NULL,
-		    tskIDLE_PRIORITY + 1,
+		    tskIDLE_PRIORITY + 3,
 		    NULL) != pdPASS) {
-		LOG_CRIT("startup", "Failed to create %s task!", "LED");
-		abort();
+		panic("Failed to create %s task!", "Lifecycle");
 	}
 
-	/* Lifecycle */
+	/* Work Queue */
 	if (xTaskCreate(
-		    vLifecycleTask,
-		    (const char *)"Lifecycle",
+		    vWorkQueueTask,
+		    (const char *)"Work Queue",
 		    configMINIMAL_STACK_SIZE * 4,
 		    NULL,
-		    tskIDLE_PRIORITY + 3,
+		    tskIDLE_PRIORITY + 1,
 		    NULL) != pdPASS) {
-		LOG_CRIT("startup", "Failed to create %s task!", "Lifecycle");
-		abort();
+		panic("Failed to create %s task!", "Work Queue");
 	}
+	workqueue_init();
+
+	/*
+	 * Initialize serial driver data structures.
+	 */
+	serial_init();
 
 	LOG_DEBUG("startup", "Starting FreeRTOS ...");
 	vTaskStartScheduler();
 
-	LOG_CRIT("startup", "FreeRTOS did not start due to unknown error!");
-	abort();
+	panic("FreeRTOS did not start due to unknown error!");
 }

epicardium/meson.build

@@ -66,21 +66,50 @@ freertos = static_library(
 ##########################################################################
 
 subdir('modules/')
+subdir('drivers/')
+subdir('user_core/')
 subdir('ble/')
+subdir('os/')
+subdir('fs/')
 
 subdir('l0der/')
 
+epicardium_cargs = ['-D_POSIX_C_SOURCE=200809']
+if get_option('jailbreak_card10')
+  epicardium_cargs += [
+    '-DJAILBREAK_CARD10=1',
+  ]
+endif
+
+version_screen = custom_target(
+  'version-splash.h',
+  input: 'version-splash.png',
+  output: 'version-splash.h',
+  command: [
+    python3,
+    meson.current_source_dir() + '../tools/version-image.py',
+    '@INPUT@',
+    '@OUTPUT@',
+  ],
+)
+
 elf = executable(
   name + '.elf',
-  'cdcacm.c',
+  'usb/epc_usb.c',
+  'usb/cdcacm.c',
+  'usb/mass_storage.c',
   'main.c',
   'support.c',
-  'fs/filesystem_fat.c',
   module_sources,
+  os_sources,
+  user_core_sources,
+  driver_sources,
+  fs_sources,
   l0der_sources,
   ble_sources,
   version_hdr,
-  dependencies: [libcard10, max32665_startup_core0, maxusb, libff13, ble],
+  version_screen,
+  dependencies: [libcard10, max32665_startup_core0, maxusb, libff13, ble, bhy1, libcrypto, bsec, libctx],
   link_with: [api_dispatcher_lib, freertos],
   link_whole: [max32665_startup_core0_lib, board_card10_lib, newlib_heap_lib],
   include_directories: [freertos_includes],
@@ -88,6 +117,7 @@ elf = executable(
     '-Wl,-Map=' + meson.current_build_dir() + '/' + name + '.map',
     '-Wl,--defsym=_write=_write_epicardium',
   ],
+  c_args: epicardium_cargs,
 )
 
 epicardium_bin = custom_target(

epicardium/modules/dispatcher.c

-#include "modules/log.h"
-
-#include "api/dispatcher.h"
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "semphr.h"
-
-#define TIMEOUT pdMS_TO_TICKS(2000)
-
-TaskHandle_t dispatcher_task_id;
-
-static StaticSemaphore_t api_mutex_data;
-SemaphoreHandle_t api_mutex = NULL;
-
-/*
- * API dispatcher task.  This task will sleep until an API call is issued and
- * then wake up to dispatch it.
- */
-void vApiDispatcher(void *pvParameters)
-{
-	api_mutex = xSemaphoreCreateMutexStatic(&api_mutex_data);
-
-	LOG_DEBUG("dispatcher", "Ready.");
-	while (1) {
-		if (api_dispatcher_poll()) {
-			if (xSemaphoreTake(api_mutex, TIMEOUT) != pdTRUE) {
-				LOG_ERR("dispatcher", "API mutex blocked");
-				continue;
-			}
-			api_dispatcher_exec();
-			xSemaphoreGive(api_mutex);
-		}
-		ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
-	}
-}

epicardium/modules/display.c

-#include "display.h"
-#include "Fonts/fonts.h"
-#include "FreeRTOS.h"
-#include "LCD_Driver.h"
-#include "epicardium.h"
-#include "gfx.h"
-#include "gpio.h"
-#include "task.h"
-#include "tmr.h"
-#include "tmr_utils.h"
-
-static TaskHandle_t lock = NULL;
-
-static int check_lock()
-{
-	TaskHandle_t task = xTaskGetCurrentTaskHandle();
-	if (task != lock) {
-		return -EBUSY;
-	} else {
-		return 0;
-	}
-}
-
-int epic_disp_print(
-	uint16_t posx,
-	uint16_t posy,
-	const char *pString,
-	uint16_t fg,
-	uint16_t bg
-) {
-	int cl = check_lock();
-	if (cl < 0) {
-		return cl;
-	} else {
-		gfx_puts(&Font20, &display_screen, posx, posy, pString, fg, bg);
-		return 0;
-	}
-}
-
-int epic_disp_clear(uint16_t color)
-{
-	int cl = check_lock();
-	if (cl < 0) {
-		return cl;
-	} else {
-		gfx_clear_to_color(&display_screen, color);
-		return 0;
-	}
-}
-
-int epic_disp_pixel(uint16_t x, uint16_t y, uint16_t color)
-{
-	int cl = check_lock();
-	if (cl < 0) {
-		return cl;
-	} else {
-		gfx_setpixel(&display_screen, x, y, color);
-		return 0;
-	}
-}
-
-int epic_disp_line(
-	uint16_t xstart,
-	uint16_t ystart,
-	uint16_t xend,
-	uint16_t yend,
-	uint16_t color,
-	enum disp_linestyle linestyle,
-	uint16_t pixelsize
-) {
-	int cl = check_lock();
-	if (cl < 0) {
-		return cl;
-	} else {
-		/* TODO add linestyle support to gfx code */
-		gfx_line(
-			&display_screen,
-			xstart,
-			ystart,
-			xend,
-			yend,
-			pixelsize,
-			color
-		);
-		return 0;
-	}
-}
-
-int epic_disp_rect(
-	uint16_t xstart,
-	uint16_t ystart,
-	uint16_t xend,
-	uint16_t yend,
-	uint16_t color,
-	enum disp_fillstyle fillstyle,
-	uint16_t pixelsize
-) {
-	int cl = check_lock();
-	if (cl < 0)
-		return cl;
-
-	switch (fillstyle) {
-	case FILLSTYLE_EMPTY:
-		gfx_rectangle(
-			&display_screen,
-			xstart,
-			ystart,
-			xend - xstart,
-			yend - ystart,
-			pixelsize,
-			color
-		);
-		break;
-	case FILLSTYLE_FILLED:
-		gfx_rectangle_fill(
-			&display_screen,
-			xstart,
-			ystart,
-			xend - xstart,
-			yend - ystart,
-			color
-		);
-		break;
-	}
-	return 0;
-}
-
-int epic_disp_circ(
-	uint16_t x,
-	uint16_t y,
-	uint16_t rad,
-	uint16_t color,
-	enum disp_fillstyle fillstyle,
-	uint16_t pixelsize
-) {
-	int cl = check_lock();
-	if (cl < 0)
-		return cl;
-
-	switch (fillstyle) {
-	case FILLSTYLE_EMPTY:
-		gfx_circle(&display_screen, x, y, rad, pixelsize, color);
-		break;
-	case FILLSTYLE_FILLED:
-		gfx_circle_fill(&display_screen, x, y, rad, color);
-		break;
-	}
-
-	return 0;
-}
-
-int epic_disp_update()
-{
-	int cl = check_lock();
-	if (cl < 0) {
-		return cl;
-	}
-
-	gfx_update(&display_screen);
-	return 0;
-}
-
-int epic_disp_framebuffer(union disp_framebuffer *fb)
-{
-	int cl = check_lock();
-	if (cl < 0) {
-		return cl;
-	}
-
-	LCD_Set(fb->raw, sizeof(fb->raw));
-	return 0;
-}
-
-int epic_disp_open()
-{
-	TaskHandle_t task = xTaskGetCurrentTaskHandle();
-	if (lock == task) {
-		return 0;
-	} else if (lock == NULL) {
-		lock = task;
-		return 0;
-	} else {
-		return -EBUSY;
-	}
-}
-
-int epic_disp_close()
-{
-	if (check_lock() < 0 && lock != NULL) {
-		return -EBUSY;
-	} else {
-		lock = NULL;
-		return 0;
-	}
-}
-
-void disp_forcelock()
-{
-	TaskHandle_t task = xTaskGetCurrentTaskHandle();
-	lock              = task;
-}