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.clang

+1 −1

flags = -DBOARD_CARD10=1 -D_FILE_OFFSET_BITS=64 -DTARGET=32665 -DTARGET_REV=0x4131 -target thumbv7m-none-eabi -Ibuild/epicardium -Ibuild/epicardium/366573f@@api-caller@sta -Ibuild/epicardium/366573f@@api-dispatcher@sta -Ibuild/epicardium/366573f@@epicardium.elf@exe -Ibuild/epicardium/366573f@@freertos@sta -Ibuild/lib/card10 -Ibuild/lib/card10/7eaaaa5@@card10@sta -Ibuild/lib/ff13 -Ibuild/lib/ff13/a277df3@@ff13@sta -Ibuild/lib/gfx -Ibuild/lib/gfx/2308dff@@gfx@sta -Ibuild/lib/micropython -Ibuild/lib/micropython/a57cd11@@mpy-cross-wrapper@exe -Ibuild/lib/mx25lba -Ibuild/lib/mx25lba/c7b864b@@mx25lba@sta -Ibuild/lib/sdk/Libraries/Boards/card10 -Ibuild/lib/sdk/Libraries/Boards/card10/9eeeac4@@board-card10@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665 -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup-core0@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup-core1@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup@sta -Ibuild/lib/sdk/Libraries/MAX32665PeriphDriver -Ibuild/lib/sdk/Libraries/MAX32665PeriphDriver/0d96707@@PeriphDriver@sta -Ibuild/lib/sdk/Libraries/MAXUSB -Ibuild/lib/sdk/Libraries/MAXUSB/9a51a91@@maxusb@sta -Ibuild/lib/vendor/Bosch/BHy1 -Ibuild/lib/vendor/Bosch/BHy1/6298ab9@@bhy1@sta -Ibuild/lib/vendor/Bosch/BMA400 -Ibuild/lib/vendor/Bosch/BMA400/b6b0216@@bma400@sta -Ibuild/lib/vendor/Bosch/BME680 -Ibuild/lib/vendor/Bosch/BME680/ef6f079@@bme680@sta -Ibuild/lib/vendor/Maxim/MAX77650 -Ibuild/lib/vendor/Maxim/MAX77650/cc369b8@@max77650@sta -Ibuild/lib/vendor/Maxim/MAX86150 -Ibuild/lib/vendor/Maxim/MAX86150/21e3a66@@max86150@sta -Ibuild/pycardium -Ibuild/pycardium/1f90fd2@@micropython@sta -Ibuild/pycardium/1f90fd2@@pycardium.elf@exe -Iepicardium -Ilib/card10 -Ilib/ff13 -Ilib/ff13/Source -Ilib/ff13/util -Ilib/FreeRTOS/Source/include -Ilib/FreeRTOS/Source/portable/GCC/ARM_CM4F -Ilib/gfx -Ilib/gfx/Fonts -Ilib/gfx/GUI_DEV -Ilib/gfx/LCD -Ilib/micropython -Ilib/micropython/micropython -Ilib/micropython/micropython/extmod -Ilib/micropython/micropython/lib/utils -Ilib/mx25lba -Ilib/sdk/Libraries/Boards/card10 -Ilib/sdk/Libraries/Boards/card10/Include -Ilib/sdk/Libraries/Boards/Include -Ilib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665 -Ilib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/Include -Ilib/sdk/Libraries/CMSIS/Include -Ilib/sdk/Libraries/MAX32665PeriphDriver -Ilib/sdk/Libraries/MAX32665PeriphDriver/Include -Ilib/sdk/Libraries/MAXUSB -Ilib/sdk/Libraries/MAXUSB/include/core -Ilib/sdk/Libraries/MAXUSB/include/core/musbhsfc -Ilib/sdk/Libraries/MAXUSB/include/dbg_log -Ilib/sdk/Libraries/MAXUSB/include/devclass -Ilib/sdk/Libraries/MAXUSB/include/enumerate -Ilib/sdk/Libraries/MAXUSB/include/util -Ilib/vendor/Bosch/BHy1 -Ilib/vendor/Bosch/BHy1/driver/inc -Ilib/vendor/Bosch/BHy1/examples/firmware -Ilib/vendor/Bosch/BMA400 -Ilib/vendor/Bosch/BME680 -Ilib/vendor/Maxim/MAX77650 -Ilib/vendor/Maxim/MAX86150 -Ipycardium

flags = -DBOARD_CARD10=1 -D_FILE_OFFSET_BITS=64 -DTARGET=32665 -DTARGET_REV=0x4131 -target thumbv7m-none-eabi -Ibuild/epicardium -Ibuild/epicardium/366573f@@api-caller@sta -Ibuild/epicardium/366573f@@api-dispatcher@sta -Ibuild/epicardium/366573f@@epicardium.elf@exe -Ibuild/epicardium/366573f@@freertos@sta -Ibuild/lib/card10 -Ibuild/lib/card10/7eaaaa5@@card10@sta -Ibuild/lib/ff13 -Ibuild/lib/ff13/a277df3@@ff13@sta -Ibuild/lib/gfx -Ibuild/lib/gfx/2308dff@@gfx@sta -Ibuild/lib/micropython -Ibuild/lib/micropython/a57cd11@@mpy-cross-wrapper@exe -Ibuild/lib/mx25lba -Ibuild/lib/mx25lba/c7b864b@@mx25lba@sta -Ibuild/lib/sdk/Libraries/Boards/card10 -Ibuild/lib/sdk/Libraries/Boards/card10/9eeeac4@@board-card10@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665 -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup-core0@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup-core1@sta -Ibuild/lib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/a500f70@@max32665-startup@sta -Ibuild/lib/sdk/Libraries/MAX32665PeriphDriver -Ibuild/lib/sdk/Libraries/MAX32665PeriphDriver/0d96707@@PeriphDriver@sta -Ibuild/lib/sdk/Libraries/MAXUSB -Ibuild/lib/sdk/Libraries/MAXUSB/9a51a91@@maxusb@sta -Ibuild/lib/vendor/Bosch/BHy1 -Ibuild/lib/vendor/Bosch/BHy1/6298ab9@@bhy1@sta -Ibuild/lib/vendor/Bosch/BMA400 -Ibuild/lib/vendor/Bosch/BMA400/b6b0216@@bma400@sta -Ibuild/lib/vendor/Bosch/BME680 -Ibuild/lib/vendor/Bosch/BME680/ef6f079@@bme680@sta -Ibuild/lib/vendor/Maxim/MAX77650 -Ibuild/lib/vendor/Maxim/MAX77650/cc369b8@@max77650@sta -Ibuild/lib/vendor/Maxim/MAX86150 -Ibuild/lib/vendor/Maxim/MAX86150/21e3a66@@max86150@sta -Ibuild/pycardium -Ibuild/pycardium/1f90fd2@@micropython@sta -Ibuild/pycardium/1f90fd2@@pycardium.elf@exe -Iepicardium -Ilib/card10 -Ilib/ff13 -Ilib/ff13/Source -Ilib/ff13/util -Ilib/FreeRTOS/Source/include -Ilib/FreeRTOS/Source/portable/GCC/ARM_CM4F -Ilib/gfx -Ilib/gfx/Fonts -Ilib/gfx/GUI_DEV -Ilib/gfx/LCD -Ilib/micropython -Ilib/micropython/micropython -Ilib/micropython/micropython/extmod -Ilib/micropython/micropython/lib/utils -Ilib/mx25lba -Ilib/sdk/Libraries/Boards/card10 -Ilib/sdk/Libraries/Boards/card10/Include -Ilib/sdk/Libraries/Boards/Include -Ilib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665 -Ilib/sdk/Libraries/CMSIS/Device/Maxim/MAX32665/Include -Ilib/sdk/Libraries/CMSIS/Include -Ilib/sdk/Libraries/MAX32665PeriphDriver -Ilib/sdk/Libraries/MAX32665PeriphDriver/Include -Ilib/sdk/Libraries/MAXUSB -Ilib/sdk/Libraries/MAXUSB/include/core -Ilib/sdk/Libraries/MAXUSB/include/core/musbhsfc -Ilib/sdk/Libraries/MAXUSB/include/dbg_log -Ilib/sdk/Libraries/MAXUSB/include/devclass -Ilib/sdk/Libraries/MAXUSB/include/enumerate -Ilib/sdk/Libraries/MAXUSB/include/util -Ilib/vendor/Bosch/BHy1 -Ilib/vendor/Bosch/BHy1/driver/inc -Ilib/vendor/Bosch/BHy1/examples/firmware -Ilib/vendor/Bosch/BMA400 -Ilib/vendor/Bosch/BME680 -Ilib/vendor/Maxim/MAX77650 -Ilib/vendor/Maxim/MAX86150 -Ipycardium -Ilib/ctx

.gitignore

+1 −1

Original line number	Diff line number	Diff line
		build/
		/build/
		/Documentation/output/
		__pycache__/
		*.pyc

.gitlab-ci.yml

+15 −4

Original line number	Diff line number	Diff line
		@@ -4,22 +4,33 @@ image: "derq3k/card10-build-env:20190806-195837Z-f95b541-dirty"
		build:
		stage: build
		script:
		- ./bootstrap.sh
		- git submodule deinit --all -f
		- ./bootstrap.sh --werror
		- ninja -C build/
		- arm-none-eabi-size build/bootloader/bootloader.elf build/epicardium/epicardium.elf build/pycardium/pycardium.elf
		- cp build/pycardium/pycardium_epicardium.bin card10.bin
		only:
		- merge_requests
		- master
		artifacts:
		expose_as: Firmware Binaries
		expire_in: 1 week
		paths:
		- build/epicardium/epicardium.elf
		- build/pycardium/pycardium.elf
		- card10.bin

		release:
		stage: build
		script:
		- ./bootstrap.sh
		- git submodule deinit --all -f
		- ./bootstrap.sh --werror
		- ninja -C build/
		- arm-none-eabi-size build/bootloader/bootloader.elf build/epicardium/epicardium.elf build/pycardium/pycardium.elf
		only:
		- tag
		artifacts:
		expire_in: never
		paths:
		- build/bootloader/bootloader.elf
		- build/epicardium/epicardium.elf
		@@ -36,7 +47,7 @@ lint:
		# If this starts failing for any reason, just remove this curl ping.
		- curl --fail https://annoyatron-prod.q3k.org/ping/mr?mr=${CI_MERGE_REQUEST_IID}
		- git remote rm card10 \|\| true # old gitlab runners might have this remote.
		- git fetch https://git.card10.badge.events.ccc.de/card10/firmware.git master:card10/master
		- git -c http.sslVerify=false fetch https://git.card10.badge.events.ccc.de/card10/firmware.git master:card10/master
		- git merge-base card10/master HEAD \|\| ( echo "Your change needs to be rebased against current master."; exit 1; )
		- git diff --name-only --diff-filter=d card10/master...HEAD \| xargs tools/code-style.sh
		- git diff --exit-code
		@@ -46,7 +57,7 @@ lint:
		pages:
		stage: deploy
		# maintaned by q3k, build using docker/deploy-env
		image: "derq3k/card10-deploy-env:20190806-200743Z-f95b541-dirty"
		image: "registry.k0.hswaw.net/q3k/card10-deploy-env:20210403-110003Z-4d929ee0"
		script:
		- export LD_LIBRARY_PATH=$(llvm-config --libdir)
		- echo $LD_LIBRARY_PATH

.gitmodules

+9 −0

Original line number	Diff line number	Diff line
		@@ -4,3 +4,12 @@
		[submodule "lib/micropython/micropython-lib"]
		path = lib/micropython/micropython-lib
		url = https://github.com/micropython/micropython-lib.git
		[submodule "lib/crypto/tiny-AES-c"]
		path = lib/crypto/tiny-AES-c
		url = https://github.com/kokke/tiny-AES-c
		[submodule "lib/crypto/SHA256"]
		path = lib/crypto/SHA256
		url = https://github.com/ilvn/SHA256
		[submodule "lib/lodepng/lodepng"]
		path = lib/lodepng/lodepng
		url = https://github.com/lvandeve/lodepng

CHANGELOG.md

+275 −1

Original line number	Diff line number	Diff line
		@@ -6,6 +6,273 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
		## [Unreleased]


		## [v1.18] - 2021-12-25 - [Queer Quinoa]
		[Queer Quinoa]: https://card10.badge.events.ccc.de/release/card10-v1.18-Queer-Quinoa.zip

		### For Users
		- Much improved battery runtime, up to 160% more time without recharging!
		- Integration of the [ctx.graphics] vector graphics renderer! This
		means much smoother looking graphics as CTX comes with anti-aliasing!
		For now, CTX is only integrated as a backend (for the existing graphics API)
		but in future releases you will also be able to use CTX directly as well.
		- As part of that, we have integrated a new font. You can also use your own, by
		replacing `lib/ctx/fira-mono.ttf` with a font of your choice and then
		rebuilding the firmware.
		- Automatically return from USB storage mode after the host (= your computer)
		ejects the device.
		- Added ECG streaming over BLE. The latest version of the Android companion
		app implements the other side of this.

		### For Hackers
		- Disable IRQs on core 1 during all Epicardium API calls. This means API calls
		are now always safe to use from ISRs.
		- Added an [`epic_sleep()`] API call which can be used as a hint to Epicardium
		that it can enter a deep-sleep mode. [`epic_sleep()`] will only return once
		either the time is up or an interrupt to core 1 is pending. Pycardium now
		uses this call for all delays by default.
		- Update MicroPython to v1.17.
		- With the MicroPython update, pycardium now supports f-strings!
		- Firmware version can now be properly read out over BLE.
		- Legacy app launcher scripts in the filesystem root are deleted on startup of
		new versions now. Newer companion app releases also no longer generate this
		launcher script.

		### Internals
		- Restructured `epicardium/modules` into more sensible subdirectories.
		- Switched the UART peripheral to use the HIRC8 clock.
		- Converted the "personal state" implementation to use the workqueue.
		- Switched the SysTick in Pycardium to use the 32kHz clock source.
		- Made display backlight PWM robust against changes to the MCU's PCLK speed.
		- During tickless idle, lower the core-clock (PCLK) to reduce power consumption.
		- Rewrote the LCD driver.
		- Put the display to sleep when the backlight is off to save power.
		- Fixed a 32-bit overflow in Pycardium systick code.

		[ctx.graphics]: https://ctx.graphics/
		[`epic_sleep()`]: https://firmware.card10.badge.events.ccc.de/epicardium/api.html#c.epic_sleep


		## [v1.17] - 2021-04-04 - [R2R Rocket]
		[R2R Rocket]: https://card10.badge.events.ccc.de/release/card10-v1.17-R2R-Rocket.zip

		### For Users
		#### Added
		- Added the Bosch BSEC library for the BME680 sensor. See the [``bme680``
		module][bme680-docs] documentation for details.
		- Added a [BLE Environmental Sensing Service][ess-docs].
		- Added a [BLE HID Service][ble-hid-docs].
		- Added the ability to use the pulse-oximeter as a proximity sensor (makes it
		usable as a button). Additionally a demo-application was added which uses
		this for a push-to-talk button.
		- Added a [blitting][blit-docs] function to the display module. This finally
		allows to efficiently draw pixels!
		- MicroPython BLE support!
		- A PNG library for pycardium: [`png`][png-docs]
		- Two more config options to tweak menu button behavior: `long_press_ms` and ``retrigger_ms``
		- Option to disable low battery checks via `card10.cfg`. This is meant for
		devices where the connection between the PMICs ADMUX and the CPU's ADC is broken
		in some way, leading to the device always reporting a low battery condition.

		#### Changed
		- Updated the BME680 demo app with BSEC support.
		- Upgraded to MicroPython 1.14.
		- Open the USB mass-storage when no apps are found.
		- Improved the l0dables runtime; it now handles HardFaults and app-exits
		properly.

		#### Fixed
		- Fixed lockup when trying to load an ELF l0dable while ELFs are disabled.
		- Fixed card10 not waking up from sleep when BLE is disabled (regression from 1.15 to 1.16).
		- Fixed card10 not working with the Harmonic Board disconnected (regression from
		1.15 to 1.16).

		#### Removed
		- Removed the battery BLE service.

		### Internals
		#### Added
		- A work-queue API in Epicardium to schedule work that needs to be done
		asynchronously.

		#### Changed
		- Upgraded to newer SDK version.
		- Cleaned up the BHI160 driver a bit.
		- Readjusted the flash layout, to give Epicardium more space.
		- Upgraded the documentation to use Sphinx 3.

		[bme680-docs]: https://firmware.card10.badge.events.ccc.de/pycardium/bme680.html
		[ess-docs]: https://firmware.card10.badge.events.ccc.de/bluetooth/ess.html
		[ble-hid-docs]: https://firmware.card10.badge.events.ccc.de/pycardium/ble_hid.html
		[blit-docs]: https://firmware.card10.badge.events.ccc.de/pycardium/display.html#display.Display.blit
		[png-docs]: https://firmware.card10.badge.events.ccc.de/pycardium/png.html


		## [v1.16] - 2020-12-04 - [Pandemic Potato]
		[Pandemic Potato]: https://card10.badge.events.ccc.de/release/card10-v1.16-Pandemic-Potato.zip

		### Added
		#### For Users
		- A feature to allow setting the main app on-device.
		- Added compatibility to BLE 5.0 capable phones (including iPhones).
		- Added a pairing dialog in the BLE app. card10 is only visible when BLE app is
		active.
		- G-Watch watch face.
		- App for COVID-19 exposure notification statistics.
		- Experimental app using the MAX86150 pulse-oximeter.

		#### For Developers
		- `leds.flash_rocket()` API for making rockets flash asynchronously.
		- Basic API for the MAX86150 pulse-oximeter.
		- CSPRNG as a replacement for the hardware TRNG which does not seem to produce
		good entropy the way we are using it right now.
		- Option to write HCI layer log files for debugging.
		- Feature in `simple_menu` which detects long button presses.
		- _Stub_ `ubluetooth` module. Not yet functional!

		### Changed
		#### For Users
		- The default watch face is now G-Watch.
		- Improved BLE security by only allowing man-in-the-middle protected
		pairings and specifying minimum key lengths.
		- Read time/date automatically from iOS devices.
		- It is now configurable whether the left/right bottom buttons or the right
		top/bottom buttons scroll in the menu via the `right_scroll` option in
		`card10.cfg`.

		#### For Developers
		- Updated to a newer version of MicroPython (v1.12).
		- All `u{module}` MicroPython modules are now also available as `{module}` which
		brings card10 more in line with upstream.
		- Updated to SDK version 0.2.1-12
		- The BLE pairing database was completely overhauled.
		- Use the CSPRNG for all MicroPython randomness.
		- Internal changes to the way interrupts are triggered.

		### Fixed
		- Made the `vibra` vibration motor API more stable.
		- Fixed bug which triggered reboot loops.
		- Fixed bug which made the USB serial connection unresponsive.
		- Fixed bug which wrote the pairings file more periodically.
		- Fixed invalid filesystem locking in BLE startup.
		- Only print a single warning when a sensor stream overflows instead of spamming
		the console with errors.
		- Fixed issues from reloading the configuration file.
		- Fixed `pycard10.py` not properly resetting the device before loading a script.
		- Allow to reopen BHI160 sensor from python.
		- Fixed pycardium not exiting when triggering certain failure conditions.
		- Made the config parser more robust.
		- Fixed a possible lockup in the handling of the serial console.


		## [v1.15] - 2020-02-02 - [Okra]
		[Okra]: https://card10.badge.events.ccc.de/release/card10-v1.15-Okra.zip

		### Added
		- Show a fault screen on the display when epicardium panics

		### Fixed
		- Prevent MicroPython garbage collector from delting ISRs
		- Fix race conditoin when reading/writing BLE MAC address at boot.
		- Fix locking of LEDs.
		- Fix bug which only allowed to have a single file open at any time.
		- Put all chips into standby when going to sleep
		- Misc BLE fixes


		## [v1.14] - 2019-12-29 - [Nettle]
		[Nettle]: https://card10.badge.events.ccc.de/release/card10-v1.14-Nettle.zip

		### Added
		- Scripts for profiling card10 (`tools/poor-profiler`)
		- `tools/ecg2wav.py` script for displaying ECG logs in audio programs like
		Audacity.

		### Changed
		- Ported hardware-locks & bhi160 to new mutex API
		- The menu now tries to display apps without a `metadata.json` as well, if
		possible.

		### Fixed
		- Fixed an unguarded i2c bus transaction which caused strange issues all
		around.
		- Fixed copying large files freezing card10.
		- Fixed BHI160 initialization interrupt behavior.
		- Properly disable BHI160 if an error occurs during init.
		- Fixed bhi160 app overflowing sensor queues.
		- Fixed neopixel driver not properly writing the first pixel the first
		time.
		- Fixed some l0dables crashing because the SysTick timer interrupt was not
		disabled.


		## [v1.13] - 2019-12-09 - [Mushroom]
		[Mushroom]: https://card10.badge.events.ccc.de/release/card10-v1.13-Mushroom.zip

		### Added
		- ECG plotter tool (for desktop machines) which can plot ECG logs taken with card10.
		- The `input()` Python function.
		- Enabled the MicroPython `framebuf` module for a Pycardium-only framebuffer
		implementation.
		- Added the `utime.ticks_us()` and `utime.ticks_ms()` functions for very
		accurate timing of MicroPython code.
		- Added an option to use the right buttons for scrolling and the left one for
		selecting. This will be made configurable in a future release.
		- Made timezone configurable with a new `timezone` option in `card10.cfg`.
		- Added a setting-menu to the ECG App.

		### Changed
		- Changed default timezone to CET.
		- Made a few library functions callable without any parameters so they are
		easier to use.
		- Refactored the `card10.cfg` config parser.

		### Fixed
		- Fixed the Pycardium delay implementation in preparation for features like
		button-interrupts. Should also be more accurate now.
		- Fixed the filter which is used by the ECG app.
		- Fixed the display staying off while printing the sleep-messages.
		- Improved the USB-Storage mode in the menu app.
		- Fixed GPIO module not properly configuring a pin if both IN and ADC are given.
		- Added missing documentation for `os.mkdir()` and `os.rename()`.
		- Fixed all `-Wextra` warnings, including a few bugs. Warnings exist for a reason!

		### Removed
		- Removed unnecessary out-of-bounds checks in display module. Drawing outside
		the display is now perfectly fine and the pixels will silently be ignored.


		## [v1.12] - 2019-10-19 - [Leek]
		[Leek]: https://card10.badge.events.ccc.de/release/card10-v1.12-Leek.zip

		### Added
		- USB Storage mode! You can now select 'USB Storage' in the menu and
		access card10's filesystem via USB. No more rebooting into bootloader!
		- LED feedback on boot. If your display is broken, you can still see it doing
		something now.
		- `./tools/pycard10.py --set-time` to set card10's system time from your host.
		- 4 new functions in `utime` modules:
		* `set_time_ms()`
		* `set_unix_time_ms()`
		* `unix_time()`
		* `unix_time_ms()`

		### Changed
		- Updated BLE stack
		- Refactored gfx API for drawing images (internal).
		- Draw partially clipped primitives in all cases (Fixes menu scrolling
		animation).
		- Fatal errors are now handled in a central 'panic' module.

		### Fixed
		- Make BLE interrupts higher priority than anything else to hopefully increase
		stability.
		- Turn off BLE encryption after closing a connection.
		- Fixed mainline bootloader being broken.
		- Fixed menu entries being ordered by path instead of name.
		- Fixed menu crashing without a message.
		- Fixed QSTR build-system.


		## [v1.11] - 2019-09-24 - [Karotte]
		[Karotte]: https://card10.badge.events.ccc.de/release/card10-v1.11-Karotte.zip

		@@ -281,7 +548,14 @@ fbf7c8c0 fix(menu.py) Refactored menu.py based on !138
		## [v1.0] - 2019-08-21 00:50
		Initial release.

		[Unreleased]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.11...master
		[Unreleased]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.18...master
		[v1.18]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.17...v1.18
		[v1.17]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.16...v1.17
		[v1.16]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.15...v1.16
		[v1.15]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.14...v1.15
		[v1.14]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.13...v1.14
		[v1.13]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.12...v1.13
		[v1.12]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.11...v1.12
		[v1.11]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.10...v1.11
		[v1.10]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.9...v1.10
		[v1.9]: https://git.card10.badge.events.ccc.de/card10/firmware/compare/v1.8...v1.9

Documentation/bluetooth/card10.rst

+60 −0

Original line number	Diff line number	Diff line
		.. _bluetooth_card10_service:

		Bluetooth Card10 Service
		========================

		@@ -185,3 +187,61 @@ The light sensor characteristic makes it possible to read the current value of t
		The range of this sensor is between 0 (``0x0``) and 400 (``0x9001``).

		- reading of ``0x0e00`` means 14

		Access via btgatt-client
		---------------------------------

		Accessing services from a linux system is possible via ``btgatt-client``. The inbuilt gatt client of ``bluetoothctl`` as well as ``libgatt`` were tested, but struggled with the card10's BLE stack.

		Example:

		.. code-block::

		# pairing the card10:

		$ bluetoothctl
		[bluetooth]# power on
		[bluetooth]# scan on
		[bluetooth]# pair CA:4D:10:xx:xx:xx #replace xx:xx:xx with scan result
		# if this query doesn't appear, remove and re-pair:
		[agent] Confirm passkey ###### (yes/no): [CHG] Device CA:4D:10:xx:xx:xx Name: card10
		[card10-xxxxxx]# disconnect CA:4D:10:xx:xx:xx

		# using a service:

		$ btgatt-client -d CA:4D:10:xx:xx:xx
		# wait until services have been discovered, may take a minute
		[GATT client]# write-value 0x0926 31 31 31

		# if this error appears remove and re-pair:
		[GATT client]# Device disconnected: Software caused connection abort


		ARM Cordio Sources
		------------------

		The BLE stack is based on the ARM Cordio stack. This stack has been developed by a 3rd party and was bought by ARM and open-sourced.

		There are many copies of it floating around on the Internet and some are more up to date than others. To keep track here is a list:
		- mbed
		- mbed has a reasonably up to date version of the stack in their GitHub repository.
		- It is scattered below the CORDIO directories in https://github.com/ARMmbed/mbed-os/tree/master/features/FEATURE_BLE/targets
		- ble-profiles are not included. mbed has written their own adaptation layer to interface with the stack and implements profiles in C++
		- Ambiq Suite SDK
		- Can be found here: https://github.com/sparkfun/AmbiqSuiteSDK/tree/master/third_party/exactle
		- Patches on top might be here: https://support.ambiqmicro.com/hc/en-us/categories/115000239012-Software
		- Reasonably up to date
		- Intersting part: has their own FreeRTOS integration (but apparently on older WSF)
		- BLE 5.1 (?)
		- Packetcraft
		- Apparently tasked with maintaining the stack in general
		- Most up to date version
		- https://github.com/packetcraft-inc/cordio
		- Apparently developing (security) fixes, distributing them to customers, but not applying them to master: https://github.com/ARMmbed/mbed-os/commit/c92777311578eb003b4546c4e5e6f2c1f8ba3c84
		- BLE 5.1
		- Maxim
		- Distributed via Maxim Toolchain Installation tool, no repository available
		- Contains software implementation of the base band
		- ble-host and ble-profiles might be compatible with the one directly from Packetcraft
		- Developing their own low-power enhancements
		- BLE 5.0

Documentation/bluetooth/ecg.rst

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+31 −0

Original line number	Diff line number	Diff line
		.. _bluetooth_ecg_service:

		Bluetooth ECG Service
		========================

		.. warning::
		The service is still work in progress and subject to change

		The ECG service provides access to the ECG sensor of the card10

		BLE Service
		-----------

		The current draft uses following service specification:

		- Service:

		UUID: ``42230300-2342-2342-2342-234223422342``

		- ECG samples characteristic:

		UUID: ``42230301-2342-2342-2342-234223422342``
		notify

		ECG samples characteristic
		--------------------------

		List of 16 bit samples (big endian). Enable notifications to
		receive a stream of samples while the ECG app is open.

		The first 16 bit are a sample counter (big endian).

Documentation/bluetooth/ess.rst

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+99 −0

Original line number	Diff line number	Diff line
		.. _ESS:

		Environmental Sensing Service
		=============================

		The Environmental Sensing Service (ESS) implements access to
		the BME680 environmental sensor of the card10.

		It provides:

		- Temperature
		- Relative humidity
		- Pressure

		If :ref:`bsec_api` is enabled the following additional estimates are available:

		- Indoor air quality (IAQ estimate
		- Equivalent CO2 (eCO2) estimate

		Please refer to :py:mod:`bme680` for more information about BSEC.


		If notifcations are enabled a measurement of all values is performed every 3 seconds. For each measurement a notification is sent for the characteristics which have notifications enabled.


		A measurement can also be triggered by reading from a characteristic. A measurement takes roughly 200 ms. A notifciation will be sent to all characteristics which have notifications enabled except the one which was used to trigger the measurement.

		.. note::
		If :ref:`bsec_api` is enabled, reading a characteristic will not trigger a new measurement.

		.. note::
		This service will be available in version v1.17.


		BLE Service
		-----------

		- Service

		UUID: ``181A``

		- Temperature characteristic:

		UUID: ``2A6E``
		read and notify

		- Humidity characteristic:

		UUID: ``2A6F``
		read and notify

		- Pressure characteristic:

		UUID: ``2A6D``
		read and notify

		- Indoor air quality (IAQ) characteristic:

		UUID: ``422302f1-2342-2342-2342-234223422342``
		read and notify

		Temperature characteristic
		--------------------------

		- 16 bit little endian value representing the measured temperature.

		- Unit: 0.01 deg C


		Humidity characteristic
		-----------------------

		- 16 bit little endian value representing the measured relative humidity.

		- Unit: 0.01%

		Pressure characteristic
		-----------------------

		- 32 bit little endian value representing the measured pressure.

		- Unit: 0.1 Pa (0.001 hPa)

		Indoor air quality (IAQ) characteristic
		---------------------------------------

		Data format:

		======== =========================== ===========================
		Byte 0 Bytes 1-2 Bytes 3-4
		-------- --------------------------- ---------------------------
		Accuracy IAQ (16-bit little endian) eCO2 (16-bit little endian)
		======== =========================== ===========================


		Units:

		- Accuracy and IAQ units: See :ref:`bsec_api` API description
		- CO2 unit: [ppm]

Documentation/bluetooth/file-transfer.rst

+2 −0

Original line number	Diff line number	Diff line
		.. _bluetooth_file_transfer:

		Bluetooth File Transfer
		=======================

Documentation/bluetooth/nimble.rst

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+115 −0

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		NimBLE
		======

		On the card10 the ARM Cordio-B50 stack is used, which is in a very early experimental state and has some incompatibilities with some smartphones.
		Therefore some alternative stacks are evaluated, which meight be used as a replacement in the long term.


		Here a stack called NimBLE is presented, which claims to be feature complete. Originally it has been developed for Mynewt, an open source embedded operating system by Apache (https://mynewt.apache.org/).


		There is a working port for the ESP32 espressif ESP-IDF framework.
		Like Epicardium, ESP-IDF is based on FreeRTOS. Therefore it can be used for evaluation purposes.

		Getting NimBLE run on the ESP32
		-------------------------------

		Install required packages:

		Ubuntu:

		.. code-block:: shell-session

		sudo apt install git virtualenv python2.7 cmake

		Arch:

		.. code-block:: shell-session

		sudo pacman -S git python2 python2-virtualenv cmake

		Download and extract xtensa ESP32 compiler:

		.. code-block:: shell-session

		wget https://dl.espressif.com/dl/xtensa-esp32-elf-gcc8_2_0-esp32-2018r1-linux-amd64.tar.xz
		tar -xf xtensa-esp32-elf-gcc8_2_0-esp32-2018r1-linux-amd64.tar.xz


		Clone esp-idf:

		.. code-block:: shell-session

		git clone https://github.com/espressif/esp-idf.git

		Add xtensa and ESP-IDF path to $PATH:

		bash shell:

		.. code-block:: shell-session

		export IDF_PATH=$PWD/esp-idf
		export PATH=${PATH}:$PWD/xtensa-esp32-elf/bin:$PWD/esp-idf/tools

		fish shell:

		.. code-block:: shell-session

		set -gx IDF_PATH $PWD/esp-idf
		set -gx PATH $PWD/xtensa-esp32-elf/bin/ $PWD/esp-idf/tools $PATH

		Create a python2.7 virtualenv:

		.. code-block:: shell-session

		cd esp-idf
		virtualenv -p /usr/bin/python2.7 venv

		Enter the virtualenv:

		bash shell:

		.. code-block:: shell-session

		. venv/bin/activate

		fish shell:

		.. code-block:: shell-session

		. venv/bin/activate.fish

		Init git submodules and install all required Python packages:

		.. code-block:: shell-session

		git submodule update --init --recursive
		pip install -r requirements.txt


		Now you are ready to build!

		The following steps assume that your ESP32 is connected via USB and
		is accessible via /dev/ttyUSB0. This meight be different on your system.

		There are a few NimbLE examples which can be used for playing around:

		Build a BLE server example (host mode):
		---------------------------------------
		.. code-block:: shell-session

		cd examples/bluetooth/nimble/bleprph
		idf.py -p /dev/ttyUSB0 flash monitor

		This will build and flash the example to the ESP32 and instantly listens on /dev/ttyUSB0 serial port.
		After the flashing process the ESP32 will anounce itself as nimble-bleprph device via BLE.

		Build a BLE client example (central mode):
		------------------------------------------
		.. code-block:: shell-session

		cd examples/bluetooth/nimble/blecent
		idf.py -p /dev/ttyUSB0 flash monitor

		This will build and flash the example to the ESP32 and instantly listens on /dev/ttyUSB0 serial port.
		After the flashing process the ESP32 creates a GATT client and performs passive scan, it then connects to peripheral device if the device advertises connectability and the device advertises support for the Alert Notification service (0x1811) as primary service UUID.

Documentation/bluetooth/overview.rst

0 → 100644

+43 −0

Original line number	Diff line number	Diff line
		.. _bluetooth_overview:

		Overview
		========

		UUIDs
		-----
		Bluetooth uses UUIDs to identify almost everything. The Bluetooth SIG specifies
		a number of "short" 16-bit UUIDs for general use. A device is free to define
		other "long" 128-bit UUIDs if it wants to express non-standard functionality.

		The card10 defines a few non-standard UUIDs. They are prefixed with ``4232``:


		+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
		\| UUID \| Usage \| Comment \|
		+======================================+=======================================================+====================================================================+
		\| 422301XX-2342-2342-2342-234223422342 \| :ref:`File Transfer Service<bluetooth_file_transfer>` \| Used by the Companion App to install apps on the card10 \|
		+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
		\| 422302XX-2342-2342-2342-234223422342 \| :ref:`card10 Service<bluetooth_card10_service>` \| Controls general card10 functionality like LEDs and personal state \|
		+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
		\| 422303XX-2342-2342-2342-234223422342 \| :ref:`ECG Service<bluetooth_ecg_service>` \| Allows to stream ECG measurements via BLE \|
		+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+
		\| 422380XX-2342-2342-2342-234223422342 \| Experimental usage \| To be used for development and experiments \|
		+--------------------------------------+-------------------------------------------------------+--------------------------------------------------------------------+

		The first byte after the prefix identifies the service (e.g. ``03`` for ECG).
		The next byte is reserved for UUIDs used by the service itself. The service
		uses ``00`` at this position. The first attribute inside the service uses
		``01`` at this position. See the documentation of any service for an example.

		You can use the UUID range 422380XX-2342-2342-2342-234223422342 for your own
		experiments / demos/ development. For example the demos under `demos/` in the
		repository use this range of UUIDs.

		BLE with MicroPython
		--------------------

		MicroPython docs: https://docs.micropython.org/en/latest/library/bluetooth.html

		Basic example: https://git.card10.badge.events.ccc.de/card10/firmware/-/blob/master/demos/ble-ws2812-card10.py and https://git.card10.badge.events.ccc.de/card10/firmware/-/blob/master/demos/ble-ws2812-host.py

		MicroPython examples: https://github.com/micropython/micropython/tree/7c54b6428058a236b8a48c93c255948ece7e718b/examples/bluetooth

Documentation/build-docs.sh

+4 −0

Original line number	Diff line number	Diff line
		@@ -4,3 +4,7 @@ set -e
		cd "$(dirname "$0")"

		sphinx-build -b html . ./output

		if [ "$1" = "--open" ]; then
		xdg-open ./output/index.html
		fi

Documentation/card10-cfg.rst

+33 −5

Original line number	Diff line number	Diff line
		@@ -34,8 +34,36 @@ Float A single-precision (32-bit) floating-point number in base 10. Example:
		Supported options
		-----------------

		=============== ========== ===========
		================== ========== ===========
		Option name Type Description
		=============== ========== ===========
		================== ========== ===========
		``execute_elf`` Boolean Allow running of binary :ref:`l0dables`. These files can be nefarious, so this option is off by default.
		=============== ========== ===========
		------------------ ---------- -----------
		``timezone`` String Timezone for card10; must be of format ``[+-]HHMM``. Examples: ``+0800``, ``-0200``
		------------------ ---------- -----------
		``default_app`` String Full path to the exectutable file of the default application. If this option is not set,``apps/analog_clock/__init__.py`` is used.
		------------------ ---------- -----------
		``ble_enable`` Boolean Activate the BLE interface. Turn off for more privacy or to conserve energy.
		------------------ ---------- -----------
		``ble_mac`` Boolean MAC address used for BLE. Format: ``ca:4d:10:xx:xx:xx``.
		------------------ ---------- -----------
		``ble_hid_enable`` Boolean Enable the Human Interface Device (HID) characteristics on BLE.
		------------------ ---------- -----------
		``ble_log_enable`` Boolean Activate HCI level logging of BLE data. Creates a new btsnoop compatible log file named ``ble.log`` in the ``logs`` folder after each boot if BLE is activated. Keeps the last 10 files.
		------------------ ---------- -----------
		``right_scroll`` Boolean Use both right buttons to scroll up and down. Lower left button is SELECT.
		------------------ ---------- -----------
		``long_press_ms`` Integer Defines the timespan for a long key press in milliseconds.
		------------------ ---------- -----------
		``retrigger_ms`` Integer Defines the timespan for repeating key presses when a key is hold in milliseconds.
		------------------ ---------- -----------
		``bsec_enable`` Boolean Activate the Bosch :ref:`bsec_api` binary blob to compute an Indoor Air Quality indication.
		------------------ ---------- -----------
		``bsec_debug`` Boolean Turn on debug output of the BSEC system. Prints each meaurement on the console.
		------------------ ---------- -----------
		``bsec_offset`` Integer Temperature offset in .1 K. Example: Set to `-14` if temperature reads 1.4 "C" to high. Default: -2.2 K (appropriate for a card10 without a case, connected to USB and with BLE active in vertical orientation).
		------------------ ---------- -----------
		``battery_check`` Boolean Whether the low battery check should be enabled (default ``true``). Warning: Do not use this unless you know what you're doing. This option is only meant to be used on devices with a broken PMIC ADMUX connection.
		------------------ ---------- -----------
		``has_flashlight`` Boolean Whether the flashlight LED was soldered onto the harmonic board. Can be used by apps to optionally enable flashlight features.
		================== ========== ===========

Documentation/conf.py

+57 −1

Original line number	Diff line number	Diff line
		@@ -3,6 +3,8 @@ import subprocess
		import sys
		import time
		import sphinx.util.logging
		from docutils import nodes
		from docutils.parsers import rst

		# If extensions (or modules to document with autodoc) are in another directory,
		# add these directories to sys.path here. If the directory is relative to the
		@@ -13,7 +15,6 @@ sys.path.insert(0, os.path.abspath("./"))

		logger = sphinx.util.logging.getLogger("card10/conf.py")


		# -- Project information -----------------------------------------------------

		project = "card10-firmware"
		@@ -47,6 +48,23 @@ todo_include_todos = True
		# This pattern also affects html_static_path and html_extra_path.
		exclude_patterns = ["output", "Thumbs.db", ".DS_Store", "hawkmoth"]

		# -- Extensions -------------------------------------------------------------- {{{


		class ColorExample(rst.Directive):
		has_content = False
		required_arguments = 1
		optional_arguments = 0
		option_spec = {}

		def run(self):
		color = self.arguments[0]
		html_text = '<div style="width: 30px;height: 30px;background: {};border: black 1px solid;border-radius: 15px;"></div>'
		return [nodes.raw("", html_text.format(color), format="html")]


		# }}}

		# -- Options for HTML output ------------------------------------------------- {{{

		# The Read the Docs theme is available from
		@@ -90,12 +108,17 @@ html_context = {
		autodoc_mock_imports = [
		"buttons",
		"interrupt",
		"sys_ble_hid",
		"sys_bme680",
		"sys_bhi160",
		"sys_display",
		"sys_leds",
		"sys_max30001",
		"sys_max86150",
		"sys_png",
		"sys_config",
		"ucollections",
		"uerrno",
		"urandom",
		"utime",
		]
		@@ -125,3 +148,36 @@ except ImportError as e:
		# -- Sphinx Setup ------------------------------------------------------------
		def setup(app):
		app.add_config_value("has_hawkmoth", has_hawkmoth, "")
		app.add_directive("color-example", ColorExample)
		fix_issue_8945()


		def fix_issue_8945():
		c_domain = __import__("sphinx.domains.c").domains.c

		for kw in [
		"char",
		"float",
		"int",
		"long",
		"short",
		"void",
		"_Bool",
		"bool",
		"_Complex",
		"complex",
		]:
		if kw in c_domain._keywords:
		c_domain._keywords.remove(kw)
		if hasattr(c_domain, "_macroKeywords") and kw in c_domain._macroKeywords:
		c_domain._macroKeywords.remove(kw)

		def parse_xref_object(self):
		name = self._parse_nested_name()
		self.skip_ws()
		self.skip_string("()")
		# Removing this line as a hacky workaround:
		# self.assert_end()
		return name

		c_domain.DefinitionParser.parse_xref_object = parse_xref_object

Documentation/debugger.rst

+2 −2

File changed.

Contains only whitespace changes.

Documentation/epicardium/internal.rst

0 → 100644

+8 −0

Original line number	Diff line number	Diff line
		.. _epicardium_internal_apis:

		Epicardium Internal APIs
		========================

		Core OS APIs
		------------
		.. c:autodoc:: epicardium/os/core.h

Documentation/epicardium/mutex.rst

0 → 100644

+136 −0

Original line number	Diff line number	Diff line
		Mutex
		=====
		Ontop of FreeRTOS, we have our own mutex implementation. **Never use the
		FreeRTOS mutexes directly! Always use this abstraction layer instead**. This
		mutex implementation tries to make reasoning about program flow and locking
		behavior easier. And most importantly tries to help with debugging possible
		dead-locks.

		Design
		------
		There are a few guiding design principles:

		- Mutexes can only be used from tasks, never from interrupts!
		- Timers can use mutexes, but only with :c:func:`mutex_trylock`, never with
		:c:func:`mutex_lock` (Because they are not allowed to block).
		- Locking can never fail (if it does, we consider this a fatal error ⇒ panic).
		- No recursive locking.
		- An unlock can only occur from the task which previously acquired the mutex.
		- An unlock is only allowed if the mutex was previously acquired.

		For a more elaborate explanation of the rationale behind these rules take a
		look at the :ref:`mutex-design-reasons`.

		Definitions
		-----------
		.. c:autodoc:: epicardium/os/mutex.h

		.. _mutex-design-reasons:

		Reasons for this Design
		-----------------------

		Locking can never fail
		^^^^^^^^^^^^^^^^^^^^^^^^
		This might seem like a bold claim at first but in the end, it is just a matter
		of definition and shifting responsibilities. Instead of requiring all code to
		be robust against a locking attempt failing, we require all code to properly
		lock and unlock their mutexes and thus never producing a situation where
		locking would fail.

		Because all code using any of the mutexes is contained in the Epicardium
		code-base, we can - hopefully - audit it properly behaving ahead of time and
		thus don't need to add code to ensure correctness at runtime. This makes
		downstream code easier to read and easier to reason about.

		History of this project has shown that most code does not properly deal with
		locking failures anyway: There was code simply skipping the mutexed action on
		failure, code blocking a module entirely until reboot, and worst of all: Code
		exposing the locking failure to 'user-space' (Pycardium) instead of retrying.
		This has lead to spurious errors where technically there would not need to be
		any.

		Only from tasks
		^^^^^^^^^^^^^^^
		Locking a mutex from an ISR, a FreeRTOS software timer or any other context
		which does not allow blocking is complicated to do right. The biggest
		difficulty is that a task might be holding the mutex during execution of such a
		context and there is no way to wait for it to release the mutex. This requires
		careful design of the program flow to choose an alternative option in such a
		case. A common approach is to 'outsource' the relevant parts of the code into
		an 'IRQ worker' which is essentially just a task waiting for the IRQ to wake it
		up and then attempts to lock the mutex.

		If you absolutely do need it (and for legacy reasons), software timers can
		lock a mutex using :c:func:`mutex_trylock` (which never blocks). I strongly
		recommend not doing that, though. As shown above, you will have to deal
		with the case of the mutex being held by another task and it is very well
		possible that your timer will get starved of the mutex because the scheduler
		has no knowledge of its intentions. In most cases, it is a better idea to use
		a task and attempt locking using :c:func:`mutex_lock`.

		.. todo::

		We might introduce a generic IRQ worker queue system at some point.

		No recursive locking
		^^^^^^^^^^^^^^^^^^^^
		Recursive locking refers to the ability to 'reacquire' a mutex already held by
		the current task, deeper down in the call-chain. Only the outermost unlock
		will actually release the mutex. This feature is sometimes implemented to
		allow more elegant abstractions where downstream code does not need to know
		about the mutexes upstream code uses and can still also create a larger region
		where the same mutex is held.

		But exactly by hiding the locking done by a function, these abstractions make
		it hard to trace locking chains and in some cases even make it impossible to
		create provably correct behavior. As an alternative, I would suggest using
		different mutexes for the different levels of abstraction. This also helps
		keeping each mutex separated and 'local' to its purpose.

		Only unlock from the acquiring task
		^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
		Because of the above mentioned mutex locking semantics, there should never be a
		need to force-unlock a forgein mutex. Even in cases of failures, all code
		should still properly release all mutexes it holds. One notable exceptions is
		``panic()``\s which will abort all ongoing operations anyway.

		Only unlock once after acquisition
		^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
		Justified with an argument of robustness, sometimes the :c:func:`mutex_unlock`
		call is written in a way that allows unlocking an already unlocked mutex. But
		robustness of downstream code will not really be improved by the upstream API
		dealing with arguably invalid usage. For example, this could encourage
		practices like unlocking everything again at the end of a function "just to be
		sure".

		Instead, code should be written in a way where the lock/unlock pair is
		immediately recognizable as belonging together and is thus easily auditable to
		have correct locking behavior. A common pattern to help with readability in
		this regard is the Single Function Exit which looks like this:

		.. code-block:: cpp

		int function()
		{
		int ret;
		mutex_lock(&some_mutex);

		ret = foo();
		if (ret) {
		/* Return with an error code */
		ret = -ENODEV;
		goto out_unlock;
		}

		ret = bar();
		if (ret) {
		/* Return the return value from foo */
		goto out_unlock;
		}

		ret = 0;
		out_unlock:
		mutex_unlock(&some_mutex);
		return ret;
		}

Documentation/hawkmoth/README.rst

0 → 100644

+118 −0

Original line number	Diff line number	Diff line
		Hawkmoth - Sphinx Autodoc for C
		===============================

		Hawkmoth is a minimalistic Sphinx_ `C Domain`_ autodoc directive extension to
		incorporate formatted C source code comments written in reStructuredText_ into
		Sphinx based documentation. It uses Clang Python Bindings for parsing, and
		generates C Domain directives for C API documentation, and more. In short,
		Hawkmoth is Sphinx Autodoc for C.

		Hawkmoth aims to be a compelling alternative for documenting C projects using
		Sphinx, mainly through its simplicity of design, implementation and use.

		.. _Sphinx: http://www.sphinx-doc.org

		.. _C Domain: http://www.sphinx-doc.org/en/stable/domains.html

		.. _reStructuredText: http://docutils.sourceforge.net/rst.html

		Example
		-------

		Given C source code with rather familiar looking documentation comments::

		/**
		* Get foo out of bar.
		*/
		void foobar();

		and a directive in the Sphinx project::

		.. c:autodoc:: filename.c

		you can incorporate code documentation into Sphinx. It's as simple as that.

		You can document functions, their parameters and return values, structs, unions,
		their members, macros, function-like macros, enums, enumeration constants,
		typedefs, variables, as well as have generic documentation comments not attached
		to any symbols.

		Documentation
		-------------

		Documentation on how to install and configure Hawkmoth, and write documentation
		comments, with examples, is available in the ``doc`` directory in the source
		tree, obviously in Sphinx format and using the directive extension. Pre-built
		documentation `showcasing what Hawkmoth can do`_ is available at `Read the
		Docs`_.

		.. _showcasing what Hawkmoth can do: https://hawkmoth.readthedocs.io/en/latest/examples.html

		.. _Read the Docs: https://hawkmoth.readthedocs.io/

		Installation
		------------

		You can install Hawkmoth from PyPI_ with::

		pip install hawkmoth

		You'll additionally need to install Clang and Python 3 bindings for it through
		your distro's package manager; they are not available via PyPI. For further
		details, see the documentation.

		Alternatively, installation packages are available for:

		* `Arch Linux`_

		In Sphinx ``conf.py``, add ``hawkmoth`` to ``extensions``, and point
		``cautodoc_root`` at the source tree. See the extension documentation for
		details.

		.. _PyPI: https://pypi.org/project/hawkmoth/

		.. _Arch Linux: https://aur.archlinux.org/packages/?K=hawkmoth

		Development and Contributing
		----------------------------

		Hawkmoth source code is available on GitHub_. The development version can be
		checked out via ``git`` using this command::

		git clone https://github.com/jnikula/hawkmoth.git

		Please file bugs and feature requests as GitHub issues. Contributions are
		welcome both as emailed patches to the mailing list and as pull requests.

		.. _GitHub: https://github.com/jnikula/hawkmoth

		Dependencies
		------------

		- Python 3.4
		- Sphinx 3
		- Clang 6.0
		- Python 3 Bindings for Clang 6.0
		- sphinx-testing 1.0.0 (for development)

		These are the versions Hawkmoth is currently being developed and tested
		against. Other versions might work, but no guarantees.

		License
		-------

		Hawkmoth is free software, released under the `2-Clause BSD License`_.

		.. _2-Clause BSD License: https://opensource.org/licenses/BSD-2-Clause

		Contact
		-------

		IRC channel ``#hawkmoth`` on freenode_.

		Mailing list hawkmoth@freelists.org. Subscription information at the `list home
		page`_.

		.. _freenode: https://freenode.net/

		.. _list home page: https://www.freelists.org/list/hawkmoth

Documentation/hawkmoth/README.txt

deleted100644 → 0

+0 −121

Original line number	Diff line number	Diff line
		Hawkmoth - Sphinx Autodoc for C
		===============================

		Hawkmoth is a minimalistic Sphinx_ `C Domain`_ autodoc directive extension to
		incorporate formatted C source code comments written in reStructuredText_ into
		Sphinx based documentation. It uses Clang Python Bindings for parsing, and
		generates C Domain directives for C API documentation, and more. In short,
		Hawkmoth is Sphinx Autodoc for C.

		Hawkmoth aims to be a compelling alternative for documenting C projects using
		Sphinx, mainly through its simplicity of design, implementation and use.

		.. _Sphinx: http://www.sphinx-doc.org

		.. _C Domain: http://www.sphinx-doc.org/en/stable/domains.html

		.. _reStructuredText: http://docutils.sourceforge.net/rst.html

		Example
		-------

		Given C source code with rather familiar looking documentation comments::

		/**
		* Get foo out of bar.
		*/
		void foobar();

		and a directive in the Sphinx project::

		.. c:autodoc:: filename.c

		you can incorporate code documentation into Sphinx. It's as simple as that.

		You can document functions, their parameters and return values, structs, unions,
		their members, macros, function-like macros, enums, enumeration constants,
		typedefs, variables, as well as have generic documentation comments not attached
		to any symbols.

		Documentation
		-------------

		Documentation on how to configure Hawkmoth and write documentation comments,
		with examples, is available in the ``doc`` directory in the source tree,
		obviously in Sphinx format and using the directive extension. Pre-built
		documentation `showcasing what Hawkmoth can do`_ is available at `Read the
		Docs`_.

		.. _showcasing what Hawkmoth can do: https://hawkmoth.readthedocs.io/en/latest/examples.html

		.. _Read the Docs: https://hawkmoth.readthedocs.io/

		Installation
		------------

		You can install Hawkmoth from PyPI_ with::

		pip install hawkmoth

		You'll additionally need to install Clang and Python 3 bindings for it through
		your distro's package manager; they are not available via PyPI. You may also
		need to set ``LD_LIBRARY_PATH`` so that the Clang library can be found. For
		example::

		export LD_LIBRARY_PATH=$(llvm-config --libdir)

		Alternatively, installation packages are available for:

		* `Arch Linux`_

		In Sphinx ``conf.py``, add ``hawkmoth`` to ``extensions``, and point
		``cautodoc_root`` at the source tree. See the extension documentation for
		details.

		.. _PyPI: https://pypi.org/project/hawkmoth/

		.. _Arch Linux: https://aur.archlinux.org/packages/?K=hawkmoth

		Development and Contributing
		----------------------------

		Hawkmoth source code is available on GitHub_. The development version can be
		checked out via ``git`` using this command::

		git clone https://github.com/jnikula/hawkmoth.git

		Please file bugs and feature requests as GitHub issues. Contributions are
		welcome both as emailed patches to the mailing list and as pull requests.

		.. _GitHub: https://github.com/jnikula/hawkmoth

		Dependencies
		------------

		- Python 3.4
		- Sphinx 1.8
		- Clang 6.0
		- Python 3 Bindings for Clang 6.0
		- sphinx-testing 1.0.0 (for development)

		These are the versions Hawkmoth is currently being developed and tested
		against. Other versions might work, but no guarantees.

		License
		-------

		Hawkmoth is free software, released under the `2-Clause BSD License`_.

		.. _2-Clause BSD License: https://opensource.org/licenses/BSD-2-Clause

		Contact
		-------

		IRC channel ``#hawkmoth`` on freenode_.

		Mailing list hawkmoth@freelists.org. Subscription information at the `list home
		page`_.

		.. _freenode: https://freenode.net/

		.. _list home page: https://www.freelists.org/list/hawkmoth

Documentation/hawkmoth/VERSION

+1 −1

Original line number	Diff line number	Diff line
		0.4
		0.7.0

Documentation/hawkmoth/init.py

+5 −2

Original line number	Diff line number	Diff line
		@@ -52,7 +52,10 @@ class CAutoDocDirective(Directive):
		env = self.state.document.settings.env

		for (severity, filename, lineno, msg) in errors:
		if filename:
		toprint = '{}:{}: {}'.format(filename, lineno, msg)
		else:
		toprint = '{}'.format(msg)

		if severity.value <= env.app.verbosity:
		self.logger.log(self._log_lvl[severity], toprint,
		@@ -109,7 +112,7 @@ class CAutoDocDirective(Directive):
		return node.children

		def setup(app):
		app.require_sphinx('1.8')
		app.require_sphinx('3.0')
		app.add_config_value('cautodoc_root', app.confdir, 'env')
		app.add_config_value('cautodoc_compat', None, 'env')
		app.add_config_value('cautodoc_clang', None, 'env')

Documentation/hawkmoth/main.py

+5 −2

Original line number	Diff line number	Diff line
		@@ -39,7 +39,10 @@ def main():
		print(doc)

		for (severity, filename, lineno, msg) in errors:
		if filename:
		print('{}: {}:{}: {}'.format(severity.name,
		filename, lineno, msg), file=sys.stderr)
		else:
		print('{}: {}'.format(severity.name, msg), file=sys.stderr)

		main()

Documentation/hawkmoth/parser.py

+48 −23

Original line number	Diff line number	Diff line
		# Copyright (c) 2016-2017 Jani Nikula <jani@nikula.org>
		# Copyright (c) 2018-2019 Bruno Santos <brunomanuelsantos@tecnico.ulisboa.pt>
		# Copyright (c) 2018-2020 Bruno Santos <brunomanuelsantos@tecnico.ulisboa.pt>
		# Licensed under the terms of BSD 2-Clause, see LICENSE for details.
		"""
		Documentation comment extractor
		@@ -34,7 +34,7 @@ Otherwise, documentation comments are passed through verbatim.
		"""

		import enum
		import itertools
		import re
		import sys

		from clang.cindex import CursorKind, TypeKind
		@@ -75,18 +75,22 @@ def comment_extract(tu):
		current_comment = token
		continue

		# Store off the token's cursor for a slight performance improvement
		# instead of accessing the `cursor` property multiple times.
		token_cursor = token.cursor

		# cursors that are 1) never documented themselves, and 2) allowed
		# between comment and the actual cursor being documented
		if (token.cursor.kind == CursorKind.INVALID_FILE or
		token.cursor.kind == CursorKind.TYPE_REF or
		token.cursor.kind == CursorKind.PREPROCESSING_DIRECTIVE or
		token.cursor.kind == CursorKind.MACRO_INSTANTIATION):
		if (token_cursor.kind == CursorKind.INVALID_FILE or
		token_cursor.kind == CursorKind.TYPE_REF or
		token_cursor.kind == CursorKind.PREPROCESSING_DIRECTIVE or
		token_cursor.kind == CursorKind.MACRO_INSTANTIATION):
		continue

		if cursor is not None and token.cursor == cursor:
		if cursor is not None and token_cursor == cursor:
		continue

		cursor = token.cursor
		cursor = token_cursor

		# Note: current_comment may be None
		if current_comment != None and docstr.is_doc(current_comment.spelling):
		@@ -125,16 +129,18 @@ def _get_macro_args(cursor):
		if cursor.kind != CursorKind.MACRO_DEFINITION:
		return None

		tokens = cursor.get_tokens()

		# Use the first two tokens to make sure this starts with 'IDENTIFIER('
		x = [token for token in itertools.islice(cursor.get_tokens(), 2)]
		if (len(x) != 2 or x[0].spelling != cursor.spelling or
		x[1].spelling != '(' or x[0].extent.end != x[1].extent.start):
		one = next(tokens)
		two = next(tokens, None)
		if two is None or one.extent.end != two.extent.start or two.spelling != '(':
		return None

		# Naïve parsing of macro arguments
		# FIXME: This doesn't handle GCC named vararg extension FOO(vararg...)
		args = []
		for token in itertools.islice(cursor.get_tokens(), 2, None):
		for token in tokens:
		if token.spelling == ')':
		return args
		elif token.spelling == ',':
		@@ -161,8 +167,26 @@ def _recursive_parse(comments, cursor, nest, compat):
		return _result(comment, cursor=cursor, fmt=fmt,
		nest=nest, name=name, args=args, compat=compat)

		elif cursor.kind == CursorKind.VAR_DECL:
		elif cursor.kind in [CursorKind.VAR_DECL, CursorKind.FIELD_DECL]:
		if cursor.kind == CursorKind.VAR_DECL:
		fmt = docstr.Type.VAR
		else:
		fmt = docstr.Type.MEMBER

		# If this is an array, the dimensions should be applied to the name, not
		# the type.
		dims = ttype.rsplit(' ', 1)[-1]
		if dims.startswith('[') and dims.endswith(']'):
		ttype = ttype.rsplit(' ', 1)[0]
		name = name + dims

		# If this is a function pointer, or an array of function pointers, the
		# name should be within the parenthesis as in (name) or (name[N]).
		fptr_type = re.sub(r'$(\+)(\[[^]]\])?$', r'(\1{}\2)'.format(name),
		ttype, count=1)
		if fptr_type != ttype:
		name = fptr_type
		ttype = ''

		return _result(comment, cursor=cursor, fmt=fmt,
		nest=nest, name=name, ttype=ttype, compat=compat)
		@@ -188,9 +212,15 @@ def _recursive_parse(comments, cursor, nest, compat):

		# FIXME: Handle anonymous enumerators.

		fmt = docstr.Type.TYPE
		fmts = {CursorKind.STRUCT_DECL: docstr.Type.STRUCT,
		CursorKind.UNION_DECL: docstr.Type.UNION,
		CursorKind.ENUM_DECL: docstr.Type.ENUM}

		fmt = fmts[cursor.kind]

		# name may be empty for typedefs
		result = _result(comment, cursor=cursor, fmt=fmt,
		nest=nest, name=ttype, compat=compat)
		nest=nest, name=name if name else ttype, compat=compat)

		nest += 1
		for c in cursor.get_children():
		@@ -205,12 +235,6 @@ def _recursive_parse(comments, cursor, nest, compat):
		return _result(comment, cursor=cursor, fmt=fmt,
		nest=nest, name=name, compat=compat)

		elif cursor.kind == CursorKind.FIELD_DECL:
		fmt = docstr.Type.MEMBER

		return _result(comment, cursor=cursor, fmt=fmt,
		nest=nest, name=name, ttype=ttype, compat=compat)

		elif cursor.kind == CursorKind.FUNCTION_DECL:
		# FIXME: check args against comment
		# FIXME: children may contain extra stuff if the return type is a
		@@ -261,7 +285,8 @@ def clang_diagnostics(errors, diagnostics):
		4: ErrorLevel.ERROR}

		for diag in diagnostics:
		errors.extend([(sev[diag.severity], diag.location.file.name,
		filename = diag.location.file.name if diag.location.file else None
		errors.extend([(sev[diag.severity], filename,
		diag.location.line, diag.spelling)])

		# return a list of (comment, metadata) tuples

Documentation/hawkmoth/util/docstr.py

+10 −4

Original line number	Diff line number	Diff line
		# Copyright (c) 2016-2017 Jani Nikula <jani@nikula.org>
		# Copyright (c) 2018-2019 Bruno Santos <brunomanuelsantos@tecnico.ulisboa.pt>
		# Copyright (c) 2016-2020 Jani Nikula <jani@nikula.org>
		# Copyright (c) 2018-2020 Bruno Santos <brunomanuelsantos@tecnico.ulisboa.pt>
		# Licensed under the terms of BSD 2-Clause, see LICENSE for details.
		"""
		Documentation strings manipulation library
		@@ -17,6 +17,9 @@ class Type(Enum):
		TEXT = auto()
		VAR = auto()
		TYPE = auto()
		STRUCT = auto()
		UNION = auto()
		ENUM = auto()
		ENUM_VAL = auto()
		MEMBER = auto()
		MACRO = auto()
		@@ -31,10 +34,13 @@ _doc_fmt = {
		Type.TEXT: (0, '\n{text}\n'),
		Type.VAR: (1, '\n.. c:var:: {ttype} {name}\n\n{text}\n'),
		Type.TYPE: (1, '\n.. c:type:: {name}\n\n{text}\n'),
		Type.ENUM_VAL: (1, '\n.. c:macro:: {name}\n\n{text}\n'),
		Type.STRUCT: (1, '\n.. c:struct:: {name}\n\n{text}\n'),
		Type.UNION: (1, '\n.. c:union:: {name}\n\n{text}\n'),
		Type.ENUM: (1, '\n.. c:enum:: {name}\n\n{text}\n'),
		Type.ENUM_VAL: (1, '\n.. c:enumerator:: {name}\n\n{text}\n'),
		Type.MEMBER: (1, '\n.. c:member:: {ttype} {name}\n\n{text}\n'),
		Type.MACRO: (1, '\n.. c:macro:: {name}\n\n{text}\n'),
		Type.MACRO_FUNC: (1, '\n.. c:function:: {name}({args})\n\n{text}\n'),
		Type.MACRO_FUNC: (1, '\n.. c:macro:: {name}({args})\n\n{text}\n'),
		Type.FUNC: (1, '\n.. c:function:: {ttype} {name}({args})\n\n{text}\n')
		}

Documentation/hawkmoth/util/readthedocs.py

0 → 100644

+25 −0

Original line number	Diff line number	Diff line
		# Copyright (c) 2021, Jani Nikula <jani@nikula.org>
		# Licensed under the terms of BSD 2-Clause, see LICENSE for details.
		"""
		Read the Docs Helpers
		=====================

		Helpers for setting up and using Hawkmoth on Read the Docs.
		"""

		import os
		import subprocess

		def clang_setup(force=False):
		"""Try to find and configure libclang location on RTD."""
		if 'READTHEDOCS' in os.environ or force:
		try:
		result = subprocess.run(['llvm-config', '--libdir'],
		check=True, capture_output=True, encoding='utf-8')
		libdir = result.stdout.strip()

		# For some reason there is no plain libclang.so symlink on RTD.
		from clang.cindex import Config
		Config.set_library_file(os.path.join(libdir, 'libclang.so.1'))
		except Exception as e:
		print(e)

Documentation/how-to-build.rst

+63 −13

Original line number	Diff line number	Diff line
		@@ -71,14 +71,42 @@ Dependencies
		brew install ninja
		pip3 install --user meson # see https://mesonbuild.com/Getting-meson.html - you will have to add ~/.local/bin to your PATH.

		* python3-crc16: Install with ``pip3 install --user crc16``.
		* python3-pillow: Python Image Library ``pip3 install --user pillow``.
		* One of two CRC packages is required. Pick one:

		- Ubuntu / Debian / macOS

		.. code-block:: shell-session

		pip3 install --user crc16

		or

		.. code-block:: shell-session

		apt install python3-crcmod

		or

		.. code-block:: shell-session

		pip3 install --user crcmod

		- Arch

		.. code-block:: shell-session

		pacman -S python-crc16 python-pillow
		pacman -S python-crc16

		* python3-pillow: Python Image Library
		.. code-block:: shell-session

		pip3 install --user pillow

		- Arch

		.. code-block:: shell-session

		pacman -S python-pillow

		.. _ARM's GNU toolchain: https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads

		@@ -161,3 +189,25 @@ Otherwise, rerunning ``./bootstrap.sh`` will also clean the build-directory.
		(it's supposed to create a large file with 0xff in it) - this requires the
		LC_ALL environment variable to be not set, or set to "C"
		(but not UTF8 or similar).

		Docker
		======
		Alternatively, clone the ``master`` branch of the firmware repository and enter it:

		.. code-block:: shell-session

		$ git clone https://git.card10.badge.events.ccc.de/card10/firmware.git
		$ cd firmware

		Afterwards, build a docker-container which will build the firmware via:

		.. code-block:: shell-session

		$ docker build -f docker/Dockerfile_fwbuild -t card10-firmware-builder .

		Now, you can start the container with the firmware directory mounted, which will build the
		firmware into the firmware/build directory:

		.. code-block:: shell-session

		$ docker run -v $(pwd):/firmware card10-firmware-builder

Documentation/index.rst

+10 −0

Original line number	Diff line number	Diff line
		@@ -23,16 +23,20 @@ Last but not least, if you want to start hacking the lower-level firmware, the
		pycardium/overview
		pycardium/stdlib
		pycardium/bhi160
		pycardium/ble_hid
		pycardium/bme680
		pycardium/max30001
		pycardium/max86150
		pycardium/buttons
		pycardium/color
		pycardium/config
		pycardium/display
		pycardium/gpio
		pycardium/leds
		pycardium/light-sensor
		pycardium/os
		pycardium/personal_state
		pycardium/png
		pycardium/power
		pycardium/pride
		pycardium/simple_menu
		@@ -52,6 +56,7 @@ Last but not least, if you want to start hacking the lower-level firmware, the
		debugger
		pycardium-guide
		memorymap
		epicardium/mutex
		epicardium/sensor-streams

		.. toctree::
		@@ -61,13 +66,18 @@ Last but not least, if you want to start hacking the lower-level firmware, the
		epicardium/overview
		epicardium/api
		epicardium-guide
		epicardium/internal

		.. toctree::
		:maxdepth: 1
		:caption: Bluetooth

		bluetooth/overview
		bluetooth/ess
		bluetooth/file-transfer
		bluetooth/card10
		bluetooth/ecg
		bluetooth/nimble

		Indices and tables
		==================

Documentation/overview.rst

+23 −20

Original line number	Diff line number	Diff line
		@@ -14,31 +14,32 @@ Epicardium
		Epicardium is based on `FreeRTOS <https://www.freertos.org/>`_. There are a
		number of tasks that will have been keeping card10 running. These are:

		+-------------------+-------------------------------+----------+-------------------------------------------+
		+--------------------+-------------------------------+----------+-------------------------------------------+
		\| Name \| ID Global \| Priority \| Description \|
		+===================+===============================+==========+===========================================+
		+====================+===============================+==========+===========================================+
		\| `vPmicTask`_ \| ``pmic_task_id`` (static) \| +4 \| Power Management (and Reset Button) \|
		+-------------------+-------------------------------+----------+-------------------------------------------+
		+--------------------+-------------------------------+----------+-------------------------------------------+
		\| `vLifecycleTask`_ \| ``lifecycle_task`` (static) \| +3 \| Control of the payload running on core 1. \|
		+-------------------+-------------------------------+----------+-------------------------------------------+
		+--------------------+-------------------------------+----------+-------------------------------------------+
		\| `vBleTask`_ \| ``ble_task_id`` (static) \| +3 \| Bluetooth Low Energy Stack \|
		+-------------------+-------------------------------+----------+-------------------------------------------+
		+--------------------+-------------------------------+----------+-------------------------------------------+
		\| `vSerialTask`_ \| ``serial_task_id`` \| +3 \| Serial Output via UART/CDC-ACM/BLE \|
		+-------------------+-------------------------------+----------+-------------------------------------------+
		+--------------------+-------------------------------+----------+-------------------------------------------+
		\| `vApiDispatcher`_ \| ``dispatcher_task_id`` \| +2 \| Epicardium API dispatcher \|
		+-------------------+-------------------------------+----------+-------------------------------------------+
		\| `vLedTask`_ \| -/- \| +1 \| LED Animations \|
		+-------------------+-------------------------------+----------+-------------------------------------------+
		+--------------------+-------------------------------+----------+-------------------------------------------+
		\| `vInterruptsTask`_ \| ``interrupts_task`` (static) \| +2 \| Interrupt dispatcher worker \|
		+--------------------+-------------------------------+----------+-------------------------------------------+
		\| `vMAX30001Task`_ \| ``max30001_task_id`` (static) \| +1 \| `MAX30001`_ ECG driver \|
		+-------------------+-------------------------------+----------+-------------------------------------------+
		+--------------------+-------------------------------+----------+-------------------------------------------+
		\| `vBhi160Task`_ \| ``bhi160_task_id`` (static) \| +1 \| `BHI160`_ sensor fusion driver \|
		+-------------------+-------------------------------+----------+-------------------------------------------+
		+--------------------+-------------------------------+----------+-------------------------------------------+

		.. _vPmicTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/pmic.c#L281
		.. _vLifecycleTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/lifecycle.c#L361
		.. _vBleTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/ble/ble.c#L237
		.. _vSerialTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/serial.c#L289
		.. _vApiDispatcher: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/dispatcher.c#L25
		.. _vInterruptsTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/interrupts.c#L119
		.. _vLedTask: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/personal_state.c#L58
		.. _vMAX30001Task: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/max30001.c#L378
		.. _vBhi160Task: https://git.card10.badge.events.ccc.de/card10/firmware/blob/master/epicardium/modules/bhi.c#L419
		@@ -72,11 +73,13 @@ interface with the :ref:`epicardium_api`.

		Note: this feature is disabled by default and has to be enabled in :ref:`card10_cfg`. A :ref:`card10_cfg` file dropped into the :ref:`usb_file_transfer` of the badge containing ``execute_elf = true`` is enough.

		l0dables are currently built within the source tree of the main repository. See ``l0dables/blinky`` for an example of a hello-world-like program. Within those programs, you can access the :ref:`epicardium_api` to control the hardware and behaviour of the badge.
		l0dables are currently built within the source tree of the main repository. See \|l0dables_blinky\|_ for an example of a hello-world-like program. Within those programs, you can access the :ref:`epicardium_api` to control the hardware and behaviour of the badge.

		Once you have a built ELF file, you can drop it into the FAT filesystem of the flash (eg. via :ref:`usb_file_transfer`) and it will be available from the menu program of the badge.

		.. _Rustcardium: https://git.card10.badge.events.ccc.de/astro/rust-card10
		.. \|l0dables_blinky\| replace:: ``l0dables/blinky``
		.. _l0dables_blinky: https://git.card10.badge.events.ccc.de/card10/firmware/-/tree/master/l0dables

		Program Flow Diagram
		--------------------

Documentation/pycardium/bhi160.rst

+21 −7

Original line number	Diff line number	Diff line
		@@ -12,42 +12,56 @@ The coordinate system of the BHI160 sensor data looks like this:

		.. image:: ../static/bhi160-coordinates.png

		All angles and angular velocities (like gyroscope, orientation) rotate counter
		clockwise around their respective axis.
		* The accelerometer axes are just the ones shown in the picture.
		* The gyroscope's angular velocities rotate counter clockwise around
		their respective axis.
		* The orientation sensor uses the following mapping:

		+---------------------+----------------------+-------------------+
		\| X \| Y \| Z \|
		+=====================+======================+===================+
		\| Azimuth (0° - 360°) \| Pitch (-180° - 180°) \| Roll (-90° - 90°) \|
		+---------------------+----------------------+-------------------+

		Example:

		.. code-block:: python

		import bhi160
		import utime
		import time

		bhi = bhi160.BHI160Orientation()

		while True:
		samples = bhi.read()
		if len(samples) == 0:
		utime.sleep(0.25)
		time.sleep(0.25)
		continue
		# print the latest sample
		print(samples[-1])
		utime.sleep(0.25)

		time.sleep(0.25)

		.. autoclass:: bhi160.BHI160

		Orientation
		-----------
		.. autoclass:: bhi160.BHI160Orientation
		:members:
		:inherited-members:

		Accelerometer
		-------------
		.. autoclass:: bhi160.BHI160Accelerometer
		:members:
		:inherited-members:

		Gyroscope
		---------
		.. autoclass:: bhi160.BHI160Gyroscope
		:members:
		:inherited-members:

		Magnetometer
		------------
		.. autoclass:: bhi160.BHI160Magnetometer
		:members:
		:inherited-members:

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CHANGELOG.md

Documentation/bluetooth/card10.rst

Documentation/bluetooth/ecg.rst

Documentation/bluetooth/ess.rst

Documentation/bluetooth/file-transfer.rst

Documentation/bluetooth/nimble.rst

Documentation/bluetooth/overview.rst

Documentation/build-docs.sh

Documentation/card10-cfg.rst

Documentation/conf.py

Documentation/debugger.rst

Documentation/epicardium/internal.rst

Documentation/epicardium/mutex.rst

Documentation/hawkmoth/README.rst

Documentation/hawkmoth/README.txt

Documentation/hawkmoth/VERSION

Documentation/hawkmoth/init.py

Documentation/hawkmoth/main.py

Documentation/hawkmoth/parser.py

Documentation/hawkmoth/util/docstr.py

Documentation/hawkmoth/util/readthedocs.py

Documentation/how-to-build.rst

Documentation/index.rst

Documentation/overview.rst

Documentation/pycardium/bhi160.rst