1.fix the problem that the electronic compass Mecompass is hung on th…

…e Orion mainboard 7 or 8 ports and communication will be hung dead.

2.fix the problem that the function getPointFast() in MeHumitureSensor.cpp does not normally output the value.
3.fix the problem that compile smartservo_test.ino firmware error report using the arduino1.6.5 environment with mBlock V3.4.12.
4.remove MeSuperVariable.cpp/MeSuperVariable.h.
5.fix the problem that ultrasonic module can only measure the maximum range of 375cm,and the maximum range of normal requirements is 400cm.

README.md

@@ -1,4 +1,4 @@
-# Makeblock Library v3.26
+# Makeblock Library v3.27
 
 Arduino Library for Makeblock Electronic Modules
 
@@ -60,5 +60,6 @@ If you have a discussion about licensing issues, please contact me (myan@makeblo
 |Mark Yan    |     2016/07/27  |   3.2.4      |    fix some JIRA issue, add PID motion for Megapi/Auriga on board encoder motor.|
 |Mark Yan    |     2018/05/16  |   3.2.5      |    Correct copyright information.|
 |Vincent He  |     2019/01/04  |   3.2.6      |    1.Mbot /ranger adds the function of communication variables. 2.Solve the blocking problem of 9g steering gear. 3.Solve the problem that the intelligent steering gear cannot read back the parameters. 4.Add version number function. 5.High power code motor reinforcement version query function. 6.Solve the problem of SetColor (uint8_t index, long value) function error in mergharp.cpp. 7.The mBot board cannot extinguish the RGB. First upload the program with the RGB in any color, and then upload the program with the RGB in all colors. The RGB cannot extinguish (MeRGBLed bled. CPP file). 8.In the MegaPi firmware, SLOT1 is changed to slot_num instead of parameter transmission in the command processing stepper motor.|
+|Vincent He  |     2019/09/02  |   3.2.7      |    1.fix the problem that the electronic compass Mecompass is hung on the Orion mainboard 7 or 8 ports and communication will be hung dead. 2.fix the problem that the function getPointFast() in MeHumitureSensor.cpp does not normally output the value. 3.fix the problem that compile smartservo_test.ino firmware error report using the arduino1.6.5 environment with mBlock V3.4.12. 4.remove MeSuperVariable.cpp/MeSuperVariable.h. 5.fix the problem that ultrasonic module can only measure the maximum range of 375cm,and the maximum range of normal requirements is 400cm.|
 
 ### Learn more from Makeblock official website: www.makeblock.com

library.properties

@@ -1,5 +1,5 @@
 name=MakeBlockDrive
-version=3.26
+version=3.27
 author=Mark Yan, Makeblock
 maintainer=MakeBlock <www.makeblock.cc>
 sentence= Use to drive all devices provided by Makeblock company.

src/MeAuriga.h

@@ -76,7 +76,6 @@
 #include "MePS2.h"
 #include "MePm25Sensor.h"
 #include "MeColorSensor.h"
-#include "MeSuperVariable.h"
 /*********************  Auriga Board GPIO Map *********************************/
 // struct defined in MeAuriga.h
  MePort_Sig mePort[17] =

src/MeColorSensor.h

@@ -72,7 +72,7 @@
 #include <stdbool.h>
 #include <Arduino.h>
 #include "MeConfig.h"
-#include "Wire.h"
+
  #ifdef ME_PORT_DEFINED
 #include "MePort.h"
  #endif // ME_PORT_DEFINED

src/MeCompass.cpp

@@ -40,6 +40,7 @@
  * `<Author>`         `<Time>`        `<Version>`        `<Descr>`
  * Lawrence         2015/09/03           1.0.0       Rebuild the old lib.
  * Lawrence         2015/09/08           1.0.1       Added some comments and macros.
+ * Vincent He       2019/03/01           1.0.2       fix issue: In the Orion board, the electronic compass was hung in ports 7 and 8. To avoid the crash and added timeout processing.
  * </pre>
  *
  * @example MeCompassTest.ino
@@ -188,6 +189,11 @@ void MeCompass::begin(void)
   writeReg(COMPASS_RA_MODE, Measurement_Mode);
 
   read_EEPROM_Buffer();
+
+#ifdef COMPASS_SERIAL_DEBUG
+  Serial.println("Compass begin !!!");
+#endif
+
   deviceCalibration();
 }
 
@@ -565,7 +571,7 @@ void MeCompass::deviceCalibration(void)
 #endif
         return;
       }  
-      long time_num,cal_time;
+      long time_num,cal_time,start_time;
       bool LED_state = 0;
       int16_t X_num,Y_num,Z_num;
       int16_t X_max = -32768;
@@ -578,7 +584,7 @@ void MeCompass::deviceCalibration(void)
 #ifdef COMPASS_SERIAL_DEBUG
       Serial.println("Compass calibration !!!");
 #endif  
-      time_num = millis();
+      start_time = time_num = millis();
 #ifdef ME_PORT_DEFINED
       while(dRead1(INPUT_PULLUP) == 0)
 #else  // ME_PORT_DEFINED
@@ -598,8 +604,16 @@ void MeCompass::deviceCalibration(void)
           digitalWrite(_ledPin, LED_state);
 #endif
 #ifdef COMPASS_SERIAL_DEBUG
-          Serial.println("You can free the KEY now ");
+          //Serial.println("You can free the KEY now ");
+#endif
+        }
+#ifdef COMPASS_SERIAL_DEBUG
+        Serial.println(millis(),DEC);
+        Serial.println(start_time,DEC);
 #endif
+        if( millis() - start_time > 300 )   //timeout!
+        {
+          break;
         }
       }  
 #ifdef COMPASS_SERIAL_DEBUG
@@ -610,6 +624,7 @@ void MeCompass::deviceCalibration(void)
 #ifndef ME_PORT_DEFINED 
       pinMode(_keyPin, INPUT_PULLUP);
 #endif
+      start_time = millis();
       do
       {
         if(millis() - time_num > 200)   //control the LED
@@ -653,12 +668,23 @@ void MeCompass::deviceCalibration(void)
             Z_max = Z_num;
           }
         }
+        if( millis() - start_time > 300 )   //timeout!
+        {
+          break;
+        }
       }
 #ifdef ME_PORT_DEFINED
-      while(dRead1(INPUT_PULLUP)==1);
+      while(dRead1(INPUT_PULLUP) == 1);
       dWrite2(LOW);  //turn off the LED
 #else  // ME_PORT_DEFINED
-      while(digitalRead(_keyPin) == 1);
+      start_time = millis();
+      while(digitalRead(_keyPin) == 1)
+      {
+        if( millis() - start_time > 10 )   //timeout!
+        {
+          break;
+        }
+      }
       pinMode(_ledPin, OUTPUT);
       digitalWrite(_ledPin, LOW);
 #endif
@@ -697,15 +723,27 @@ void MeCompass::deviceCalibration(void)
       write_EEPROM_Buffer(&Cal_parameter);  
 #ifdef ME_PORT_DEFINED
       dWrite2(HIGH);   //turn on the LED
+      start_time = millis();
       while(dRead1(INPUT_PULLUP) == 0)
-	  {
-        wdt_reset();
-	  };
+      {
+          wdt_reset();
+          if( millis() - start_time > 10 )   //timeout!
+          {
+            break;
+          }
+      }
 #else  // ME_PORT_DEFINED
       pinMode(_ledPin, OUTPUT);
       digitalWrite(_ledPin, HIGH);
       pinMode(_keyPin, INPUT_PULLUP);
-      while(digitalRead(_keyPin) == 0);
+      start_time = millis();
+      while(digitalRead(_keyPin) == 0)
+      {
+        if( millis() - start_time > 10 )   //timeout!
+        {
+          break;
+        }
+      }
 #endif
       wdt_reset();
       delay(100);

src/MeHumitureSensor.cpp

@@ -417,7 +417,7 @@ double MeHumiture::getPointFast()
 {
   double a = 17.271;
   double b = 237.7;
-  double temp = (a * Temperature) / (b + Temperature) + log(Humidity/100);
+  double temp = (a * Temperature) / (b + Temperature) + log((double)Humidity/100);
   //double Td = (b * temp) / (a - temp);
   return ((b * temp) / (a - temp));
 }

src/MeMCore.h

@@ -73,7 +73,6 @@
 #include "MeGasSensor.h"
 #include "MePS2.h"
 #include "MeColorSensor.h"
-#include "MeSuperVariable.h"
 /*********************  Mbot Board GPIO Map *********************************/
 MePort_Sig mePort[17] =
 {