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microBitBLE.js
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/**
micro:bit BLE I2C and GPIO and sensors driver for Chromium / WebBluetooth or WebUSB
Through Web Bluetooth, you can easily use micro:bit I2C , GPIO I/F from Chromium|Chrome which supported bluetooth.
Supports WebI2C and WebGPIO APIs, so this is one of the CHIRIMEN implementation ;)
Also Supports micro:bit's embedded Buttons, matrixLEDs, Accelerometer, Magnetometer, Thermometer, Lightmeter with special APIs
=======================================================================================================
Programmed by Satoru Takagi
Copyright 2019 by Satoru Takagi All Rights Reserved
=======================================================================================================
License: (GPL v3)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License version 3 as
published by the Free Software Foundation.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
=======================================================================================================
History:
(このドライバの更新履歴)
2019.03.07: Rev6: micro:bitのファームをリファクタリング(結局メモリが足りなくなる・・・)、それに伴いこちらのコードもリファクタリング・・
2019.06.18: Rev7: ついにファームメモリオーバーフロー解消？ GPIOもサポート あとはonChange系と終了時処理系
2019.06.21: GPIO analog INをサポートする、pullModeを設定可能に・・
2019.06.25: onchangeを実装。 ただしこのドライバがBLE経由でポーリングしている・・・
2019.07.12: 外的要因によるonDisconnectedでnotificationsが出なくなる問題があるようなので、そのエラー処理をしました
2019.07.16: readBytes(<9bytes)をサポート ( for S11059.... )
2019.07.19: readBytes(<33bytes)をサポート
2019.08.09: キューを実装 Now sending command....エラーを出さなくした
2019.08.20: 例外処理を少し強化(processNextQueue()周り)
2019.08.20: showIconLED()
2019.08.30: sendCmd2MicroBit()タイムアウト処理 を実装中 (テスト用ファーム(エラーをあえて出すので実用は×):https://makecode.microbit.org/_Uf7d6eL1WYDb)
2020.07.13: AB両押しに対応/非対応環境向けエラーメッセージをより詳細にする/エラーハンドリングプロセスの整理など by @kou029w
2020.08.17: readByte()サポート ( for VEML6070 driver )
2020.09.07: webUSB経由でも接続できる機能の実装を行った！ connect(true)でUSB経由・・もうちょっときれいにしたいね
=======================================================================================================
FirmWares on micro:bit:
for Bluetooth Connection:
(以下の中の最新リビジョンのファームとのペアで本ドライバは動作するようになっています)
この版では、完全にリファクタリングした・・
https://makecode.microbit.org/_8PsJJmh5F1W3 "W"コマンドのみ
https://makecode.microbit.org/_C30W7EP3shUP "W"及び"R"サポート： だいぶ進んだがまだ不安定、readとwriteを混在させるとおかしくなったり、動かしつつけるとconnection切れたりする。
https://makecode.microbit.org/_cmbD852LJ4Wv 2019/5/27 リファクタリング ほとんどをcustom ns下に移動し buffer関連のメモリリーク？エラーを解決しようとしてる
https://makecode.microbit.org/_cKR1R7M9ee4w 2019/5/28 内蔵センサをイネーブルに ただし、一度でも内蔵センサを使うと、これでNeopixel I2Cで LED 64個を併用するとERR020が必ず起きる メモリーが足りない... 打つ手はないような気がする 192バイトBufferが取れない。micro:bit側のi2cwritebufferでcontinueを入れても分割送信は無理だった・・
==ここでようやくメモリオーバーフローの長いトンネルを抜けました・・・
2019.06.18: Rev11 : WebGPIO https://makecode.microbit.org/_Uuxca6Mp0Cr2 ついに結構安定板ができた！！！
2019.06.19: https://makecode.microbit.org/_XrUF6yJbg6Fp 少し綺麗に？
2019.06.21: https://makecode.microbit.org/_9uyik75iiXMF GPIOの動作をチェック pullModeの指定を可能にしてanalogIn動くように・・
2019.06.25: https://makecode.microbit.org/_d4hA9cWMz5rC 少しきれいにした程度 本当はネイティブonchangeを入れようとしたが020ERR...
2019.07.02: https://makecode.microbit.org/_gozVrxVwyUhf micro:bitのinput.lightLevelとpins.analogReadPinはコンフリクトしてる。 led.setDisplayMode(DisplayMode.BlackAndWhite)とpins.digitalWritePin(DigitalPin.P2, 0)を双方呼ぶとなんとかリセットされるので"P"にそれを入れた ( test: https://makecode.microbit.org/_YLeAM8JDAF5x )
2019.07.16: https://makecode.microbit.org/_DEy9fTMpreEu readBytes(<9bytes)をサポート
2019.07.19: https://makecode.microbit.org/_chw6fvg6KW2m readBytes(<33bytes)をサポート
2019.08.20: https://makecode.microbit.org/_0jhPcA3iX0gC showIconLEDサポート
2020.07.13: https://makecode.microbit.org/_Jh51P7beW6Kb コード整理 AB両押し対応 by @kou029w
for USB Connection:
2020.09.07: https://makecode.microbit.org/_FCyPDq5kUhzr
2020.09.08: https://makecode.microbit.org/_gmeAtmHXJ1yP すこし・・
2020.09.09: https://makecode.microbit.org/_XPuM8WFsKR2E ビットレートを明記（不要だと思うんだけど)
=======================================================================================================
References:
Customを使わないとヒープ減らせないか作戦・・https://makecode.microbit.org/_iXdKFUieAWFz
https://github.com/lancaster-university/microbit-dal/issues/390 これは参考になる 2.1.0はほとんどBLE使い物にならないらしい https://github.com/lancaster-university/microbit-dal/issues/390#issuecomment-426156052 はいろいろdisableにすると使える！
BT省メモリ化可能な開発(コンパイル)環境：https://makecode.microbit.org/app/ceebbcc016c631523a6f1ea8d5ba9523b0e5c213-c728c358f3
上のツールで設定される値をpxt.jsonに直接書けばうまく動くようになる？
https://makecode.microbit.org/_Te0UcjJDRVfR rev8はこれをやってるだけ ->うまく動くかんじ！！！
see also
https://lancaster-university.github.io/microbit-docs/ble/profile/
https://lancaster-university.github.io/microbit-docs/resources/bluetooth/bluetooth_profile.html
https://relativelayout.hatenablog.com/entry/2018/02/03/013251
https://github.com/edrosten/bluez/blob/master/monitor/uuid.c (Huge Dicts!)
https://tknc.jp/tp_detail.php?id=360
https://makecode.microbit.org/v0/06016-09825-51608-35581
micro:bitでADT7410
https://yamamoto-works.hatenablog.com/entry/2018/12/23/233953
i2cWriteNumber
i2cReadNumber
i2cWriteBuffer (ブロックとしてはない)
i2cReadBuffer (ブロックとしてはない)
https://makecode.microbit.org/reference/pins/i2c-write-buffer
https://github.com/Microsoft/pxt-microbit/blob/master/libs/core/pins.ts
https://github.com/adafruit/pxt-seesaw/blob/master/seesaw.ts
I2Cのwriteはなんかi2cWriteNumberをtrue,false連続で送る方法は効かない感じがする・・
8bitなら、これで送る感じ？
http://robert-fromm.info/?post=elec_i2c_calliope
pins.i2cWriteNumber(addr, reg * 256 + value, NumberFormat.UInt16BE)
I2Cについて
http://www.picfun.com/f1/f06.html 基本
http://s-ajisaka.hatenablog.com/entry/2017/06/29/003636 レジスタについて
micro:bit UART側がこちらに一度に送れる文字列長は20文字！！
I2Cはこのへん
https://makecode.microbit.org/reference/pins/i2c-read-number
https://yamamoto-works.hatenablog.com/entry/2018/12/23/233953
これも使えるはず
https://makecode.microbit.org/reference/pins/i2c-write-buffer
https://makecode.microbit.org/reference/pins/i2c-read-buffer
USBはこれをすごく参考にさせてもらいました
https://github.com/bsiever/microbit-webusb
**/
(function (window) {
var navigator = window.navigator;
var usbMode = false;
var prevConnectedDevices = [];
var debugLog = false;
var microBitBleFactory = (function () {
var pollingInterval = 250;
var microBitUUIDs = {
//micro:bit BLE UUID
/* BBC micro:bit Bluetooth Profiles */
"MicroBit Accelerometer Service": "e95d0753-251d-470a-a062-fa1922dfa9a8",
"MicroBit Accelerometer Data": "e95dca4b-251d-470a-a062-fa1922dfa9a8",
"MicroBit Accelerometer Period": "e95dfb24-251d-470a-a062-fa1922dfa9a8",
"MicroBit Magnetometer Service": "e95df2d8-251d-470a-a062-fa1922dfa9a8",
"MicroBit Magnetometer Data": "e95dfb11-251d-470a-a062-fa1922dfa9a8",
"MicroBit Magnetometer Period": "e95d386c-251d-470a-a062-fa1922dfa9a8",
"MicroBit Magnetometer Bearing": "e95d9715-251d-470a-a062-fa1922dfa9a8",
"MicroBit Button Service": "e95d9882-251d-470a-a062-fa1922dfa9a8",
"MicroBit Button A State": "e95dda90-251d-470a-a062-fa1922dfa9a8",
"MicroBit Button B State": "e95dda91-251d-470a-a062-fa1922dfa9a8",
"MicroBit IO PIN Service": "e95d127b-251d-470a-a062-fa1922dfa9a8",
"MicroBit PIN Data": "e95d8d00-251d-470a-a062-fa1922dfa9a8", // e95d8d00251d470aa062fa1922dfa9a8
"MicroBit PIN AD Configuration": "e95d5899-251d-470a-a062-fa1922dfa9a8", // e95d5899251d470aa062fa1922dfa9a8
"MicroBit PIN IO Configuration": "e95db9fe-251d-470a-a062-fa1922dfa9a8", // e95db9fe251d470aa062fa1922dfa9a8
"MicroBit PWM Control": "e95dd822-251d-470a-a062-fa1922dfa9a8", // e95dd822251d470aa062fa1922dfa9a8
"MicroBit LED Service": "e95dd91d-251d-470a-a062-fa1922dfa9a8",
"MicroBit LED Matrix state": "e95d7b77-251d-470a-a062-fa1922dfa9a8",
"MicroBit LED Text": "e95d93ee-251d-470a-a062-fa1922dfa9a8",
"MicroBit Scrolling Delay": "e95d0d2d-251d-470a-a062-fa1922dfa9a8",
"MicroBit Event Service": "e95d93af-251d-470a-a062-fa1922dfa9a8",
"MicroBit Requirements": "e95db84c-251d-470a-a062-fa1922dfa9a8",
"MicroBit Event Data": "e95d9775-251d-470a-a062-fa1922dfa9a8",
"MicroBit Client Requirements": "e95d23c4-251d-470a-a062-fa1922dfa9a8",
"MicroBit Client Events": "e95d5404-251d-470a-a062-fa1922dfa9a8",
"MicroBit DFU Control Service": "e95d93b0-251d-470a-a062-fa1922dfa9a8",
"MicroBit DFU Control": "e95d93b1-251d-470a-a062-fa1922dfa9a8",
"MicroBit Temperature Service": "e95d6100-251d-470a-a062-fa1922dfa9a8",
"MicroBit Temperature Data": "e95d9250-251d-470a-a062-fa1922dfa9a8",
"MicroBit Temperature Period": "e95d1b25-251d-470a-a062-fa1922dfa9a8",
/* Nordic UART Port Emulation */
"Nordic UART Service": "6e400001-b5a3-f393-e0a9-e50e24dcca9e",
"Nordic UART TX": "6e400002-b5a3-f393-e0a9-e50e24dcca9e",
"Nordic UART RX": "6e400003-b5a3-f393-e0a9-e50e24dcca9e",
};
async function connectBluetooth() {
return connect();
}
async function connectUSB() {
return connect(true);
}
async function connect(isUsbMode) {
usbMode = isUsbMode;
var primaryDevice = false; // navigator.*に登録されてたらtrure
var dt = new Date();
console.log("mbBLE connect");
function pinCallBack() {
console.log("called pinCallBack", this);
}
/**
function uartCallBack(e){
console.log("called uartCallBack",this);
var str_arr=[];
for(var i=0;i<this.value.byteLength;i++){
str_arr[i]=this.value.getUint8(i);
}
var str= String.fromCharCode.apply(null,str_arr);
console.log("uartCallBack:",str);
}
**/
var uartCallBackObj = {
cmdQueue: [], // ここには、処理待ちの、cbFunc:func、blmsg:stringを入れる 2019/8/9
uartCallBack: null,
sending: false,
mbCmdReturnValue: [],
conn: false,
};
async function onCharacteristicValueChanged(e) {
// Data Receive Func for Bluetooth
// console.log("onCharacteristicValueChanged: DT:",dt,this.value);
var str_arr = [];
if (this.value && this.value.byteLength) {
for (var i = 0; i < this.value.byteLength; i++) {
str_arr[i] = this.value.getUint8(i);
}
var str = String.fromCharCode.apply(null, str_arr);
if (debugLog) {
console.log("btStr:", str);
}
uartCallBackObj.mbCmdReturnValue.push(str);
if (str.startsWith("END")) {
clearTimeout(uartCallBackObj.timoutTimer);
uartCallBackObj.sending = false;
uartCallBackObj.uartCallBack(uartCallBackObj.mbCmdReturnValue);
uartCallBackObj.mbCmdReturnValue = [];
if (uartCallBackObj.cmdQueue.length > 0) {
// キューにたまっている場合、次のコマンドを処理
mbBleUart.processNextQueue();
}
} else {
// uartCallBackObj.mbCmdReturnValue.push(str);
}
}
}
function usbDataRecieved(rcv) {
var str = rcv;
uartCallBackObj.mbCmdReturnValue.push(str);
if (str.startsWith("END")) {
clearTimeout(uartCallBackObj.timoutTimer);
uartCallBackObj.sending = false;
uartCallBackObj.uartCallBack(uartCallBackObj.mbCmdReturnValue);
uartCallBackObj.mbCmdReturnValue = [];
if (uartCallBackObj.cmdQueue.length > 0) {
// キューにたまっている場合、次のコマンドを処理
mbBleUart.processNextQueue();
}
} else {
// uartCallBackObj.mbCmdReturnValue.push(str);
}
}
// onCharacteristicValueChanged(null);
console.log("prev mbBLE:", mbBLE);
var mbBLE, mbUSB, mbBleUart;
if (usbMode) {
mbUSB = await connectMicroBitUSB(usbDataRecieved);
await sleep(2000);
// mbBLE = cu.device;
// DAPOutReportRequest = cu.DAPOutReportRequest;
uartCallBackObj.conn = true;
mbBleUart = getMbUsbService(mbUSB, uartCallBackObj);
// 接続完了したらLEDを◇表示にする
// 最初のコマンドはうまく返答が来ないことがあり、ちょっと冗長に入れている
await sleep(100);
await showIconLED("36"); // 小さい◇
await sleep(100);
await showIconLED("31"); // 中が半分埋まった◇
await sleep(100);
await showIconLED("35"); // ◇
} else {
mbBLE = await connectMicroBit(
pinCallBack,
onCharacteristicValueChanged
);
var conn = mbBLE != null;
if (!conn) {
const message = [
"接続に失敗しました。",
"Web Bluetooth APIに対応していないか、Bluetoothデバイスへのアクセスが許可されていない可能性があります。",
" https://caniuse.com/#feat=web-bluetooth ",
"デスクトップ環境のChrome/Chromiumの場合、試験的なWebプラットフォーム機能を有効化してください。",
" chrome://flags/#enable-experimental-web-platform-features",
].join("");
console.error(message);
alert(message);
return {
connected: conn,
disconnect: () => Promise.reject(),
requestI2CAccess: () => Promise.reject(),
requestGPIOAccess: () => Promise.reject(),
readSensor: () => Promise.reject(),
printLED: () => Promise.reject(),
showIconLED: () => Promise.reject(),
};
}
console.log("connected MicroBit mbBLE:", mbBLE);
var mbBleDevice = mbBLE.device;
// var mbBlePin ...... // for WebGPIO and switches? err020....
// for WebI2C and embedded sendors,LEDs
var mbBleUartTx = mbBLE.characteristics[0];
var mbBleUartRx = mbBLE.characteristics[1];
var mbBleUart = getMbUartService(
mbBleDevice,
uartCallBackObj,
mbBleUartRx
);
mbBleDevice.addEventListener("gattserverdisconnected", onDisconnected);
if (
prevConnectedDevices[mbBleDevice.id] &&
prevConnectedDevices[mbBleDevice.id] == "diconnectFromDevice"
) {
// このwebAppsのライフサイクル中で、過去に接続したことがあり、しかも何かデバイス側から切られたことがある。
// この場合にChromeのバグらしきものが出る・・ see onDisconnected() 2019/7/12
prevConnectedDevices[mbBleDevice.id] = "diconnectFromWebApps";
await mbBleDevice.gatt.disconnect();
alert(
"残念ながら、うまくNotificationが出ないので一度切断します・・・・・\nもう一度繋ぐとうまく使えると思います\nそれでも失敗する時は chrome://bluetooth-internals/#devices でデバイスをForgetしてみてください。"
);
throw Error("Please re connect because of Chrome's issue....");
}
prevConnectedDevices[mbBleDevice.id] = "yes";
}
uartCallBackObj.conn = conn;
console.log("uartCallBackObj:", uartCallBackObj);
async function readSensor() {
return await readSensorInt(mbBleUart);
}
async function printLED(ptext) {
return await printLedInt(mbBleUart, ptext);
}
async function showIconLED(iconNumber) {
return await showIconLedInt(mbBleUart, iconNumber);
}
var requestI2CAccess = requestI2CAccessGenerator(mbBleUart);
var requestGPIOAccess = requestGPIOAccessGenerator(mbBleUart);
async function onDisconnected() {
mbBleDevice.removeEventListener(
"gattserverdisconnected",
onDisconnected
);
conn = false;
if (primaryDevice) {
delete navigator.requestI2CAccess;
delete navigator.requestGPIOAccess;
primaryDevice = false;
}
if (prevConnectedDevices[mbBleDevice.id] != "diconnectFromWebApps") {
prevConnectedDevices[mbBleDevice.id] = "diconnectFromDevice";
}
console.log(
"DISCONNECTED",
dt,
" by WebApps?:",
prevConnectedDevices[mbBleDevice.id]
);
uartCallBackObj.conn = conn;
uartCallBackObj.sending = false;
console.log("mbBLE:", mbBLE);
var charas = mbBLE.characteristics;
console.log("charas:", charas);
for (var i = 0; i < charas.length; i++) {
// await charas[i].stopNotifications();
// BTデバイス側が強制切断時・・
// 再接続してもNotificationsがやってこないという問題を抱えてしまっている。
// 多分これができれば良いはずだと思うが、切断しているのでもうできない・・(Exeptionになる)
//
// ただし、一度繋げて、再度切断・接続すれば復帰するようです・・
// また、強制切断後、chrome://bluetooth-internals/#devices でinspect forgotしてから接続してもOK
// バグ踏んでるかも 参考:(https://stackoverflow.com/questions/45577219/web-bluetooth-notification-only-few-response)
}
console.log("mbBleDevice.gatt:", mbBleDevice.gatt);
// await mbBleDevice.gatt.disconnect(); // これはさすがに意味がなかった
console.log("DISCONNECTED", dt);
}
async function disconnect() {
conn = false;
uartCallBackObj.conn = conn;
if (usbMode) {
var device = mbUSB.device;
if (device && device.opened) {
device.close();
}
} else {
console.log("mbBLE:", mbBLE);
if (mbBleDevice && mbBleDevice.gatt.connected) {
var charas = mbBLE.characteristics;
for (var i = 0; i < charas.length; i++) {
try {
console.log("notify:", charas[i].properties.notify);
await charas[i].stopNotifications(); // これを動かさないと、いつまでもイベントリスナが残ったままになってしまう挙動？？？ そうでもない感じもするが・・ 2019.7.12
} catch (e) {
console.log("Fail..");
}
}
prevConnectedDevices[mbBleDevice.id] = "diconnectFromWebApps";
await mbBleDevice.gatt.disconnect();
console.log("charas:", charas);
}
}
}
if (!navigator.requestI2CAccess) {
primaryDevice = true;
console.log("set navigator.requestI2CAccess");
navigator.requestI2CAccess = requestI2CAccess;
console.log("set navigator.requestGPIOAccess");
navigator.requestGPIOAccess = requestGPIOAccess;
}
return {
get connected() {
return conn;
},
disconnect: disconnect,
// reConnect: reConnect,
requestI2CAccess: requestI2CAccess,
requestGPIOAccess: requestGPIOAccess,
readSensor: readSensor,
printLED: printLED,
showIconLED: showIconLED,
};
}
async function connectMicroBitUSB(usbDataRecieved) {
// based on https://bsiever.github.io/microbit-webusb/ubitwebusb.js
var MICROBIT_VENDOR_ID = 0x0d28;
var MICROBIT_PRODUCT_ID = 0x0204;
var MICROBIT_DAP_INTERFACE = 4;
var controlTransferGetReport = 0x01;
var controlTransferSetReport = 0x09;
var controlTransferOutReport = 0x200;
var controlTransferInReport = 0x100;
var DAPOutReportRequest = {
requestType: "class",
recipient: "interface",
request: controlTransferSetReport,
value: controlTransferOutReport,
index: MICROBIT_DAP_INTERFACE,
};
var DAPInReportRequest = {
requestType: "class",
recipient: "interface",
request: controlTransferGetReport,
value: controlTransferInReport,
index: MICROBIT_DAP_INTERFACE,
};
var uBitBadMessageDelay = 500; // Delay if message failed
var uBitIncompleteMessageDelay = 150; // Delay if no message ready now
// var uBitGoodMessageDelay = 20; // Time to try again if message was good
var uBitGoodMessageDelay = 30; // Time to try again if message was good
var md = await navigator.usb.requestDevice({
filters: [
{ vendorId: MICROBIT_VENDOR_ID, productId: MICROBIT_PRODUCT_ID },
],
});
await md.open();
await md.selectConfiguration(1);
await md.claimInterface(4);
if (true) {
await doMbitUSBinitSeq(md, DAPOutReportRequest, DAPInReportRequest);
} else {
// Connect in default mode: https://arm-software.github.io/CMSIS_5/DAP/html/group__DAP__Connect.html
await md.controlTransferOut(
DAPOutReportRequest,
Uint8Array.from([2, 0])
);
// Set Clock: 0x989680 = 10MHz : https://arm-software.github.io/CMSIS_5/DAP/html/group__DAP__SWJ__Clock.html
await md.controlTransferOut(
DAPOutReportRequest,
Uint8Array.from([0x11, 0x80, 0x96, 0x98, 0])
);
// SWD Configure (1 clock turn around; no wait/fault): https://arm-software.github.io/CMSIS_5/DAP/html/group__DAP__SWD__Configure.html
await md.controlTransferOut(
DAPOutReportRequest,
Uint8Array.from([0x13, 0])
);
// Vendor Specific command 2 (ID_DAP_Vendor2): https://github.com/ARMmbed/DAPLink/blob/0711f11391de54b13dc8a628c80617ca5d25f070/source/daplink/cmsis-dap/DAP_vendor.c ; 0x0001c200 = 115,200kBps
await md.controlTransferOut(
DAPOutReportRequest,
Uint8Array.from([0x82, 0x00, 0xc2, 0x01, 0x00])
// Uint8Array.from([0x82, 0x00, 0xe1, 0x00, 0x00])
);
//115200 1C200
// Uint8Array.from([0x82, 0x00, 0xc2, 0x01, 0x00])
//57600 E100
// Uint8Array.from([0x82, 0x00, 0xe1, 0x00, 0x00])
}
var decoder = new TextDecoder("utf-8");
// var transmitting=false; // これはさすがに不要かな・・・
async function dataRecieveLoop() {
var rs = "";
while (md.opened) {
if (readBufferClearFlg) {
rs = "";
readBufferClearFlg = false;
}
/**
if ( transmitting ){
await sleep(uBitGoodMessageDelay);
continue;
}
**/
await md.controlTransferOut(
DAPOutReportRequest,
Uint8Array.from([0x83])
);
var data;
if (md.opened) {
// transmitting=true;
data = await md.controlTransferIn(DAPInReportRequest, 64);
// console.log("data:",data.status," msg:",new Uint8Array(data.data.buffer));
// transmitting=false;
}
if (data.status == "ok") {
var arr = new Uint8Array(data.data.buffer);
var len = arr[1];
// if ( len > 0 ){console.log("data:",data.status," msg:",arr);}
var msg = arr.slice(2, 2 + len);
var string = decoder.decode(msg);
var len0 = string.length;
if (msg.length > 0) {
// なんかlength==1の奴は怪しい。原因不明・・
rs += string;
// console.log("msg:",msg," str:",string);
if (msg[msg.length - 1] == 10) {
// console.log("received:",new TextEncoder().encode(rs));
rs = rs.split("\n");
for (var i = 0; i < rs.length; i++) {
if (rs[i] != "") {
// console.log("recv:",rs[i].trim());
usbDataRecieved(rs[i].trim());
}
}
rs = "";
}
}
}
await sleep(uBitGoodMessageDelay);
}
}
var readBufferClearFlg = false;
function clearReadBuffer() {
// なんかゴミが出る感じなので・・・・
readBufferClearFlg = true;
}
setTimeout(dataRecieveLoop, 50);
return {
device: md,
DAPOutReportRequest: DAPOutReportRequest,
clearReadBuffer: clearReadBuffer,
// transmitting: transmitting
};
}
async function doMbitUSBinitSeq(
md,
DAPOutReportRequest,
DAPInReportRequest
) {
// Makecode本家の初期化手順をそのまま倣ったものを用意してみ
// prettier-ignore
var initCmd = [
[0, 254],
[17, 128, 150, 152, 0],
[2, 0],
[17, 128, 150, 152, 0],
[4, 0, 80, 0, 0, 0],
[19, 0],
[18, 56, 255, 255, 255, 255, 255, 255, 255],
[18, 16, 158, 231],
[18, 56, 255, 255, 255, 255, 255, 255, 255],
[18, 8, 0],
[5, 0, 1, 2],
[5, 0, 4, 0, 4, 0, 0, 0, 8, 0, 0, 0, 0, 4, 0, 0, 0, 80, 6],
[5, 0, 4, 4, 0, 15, 0, 80, 8, 0, 0, 0, 0, 8, 240, 0, 0, 0, 15],
[5, 0, 4, 8, 0, 0, 0, 0, 1, 82, 0, 0, 35, 5, 0, 32, 0, 224, 15],
[5, 0, 4, 8, 0, 0, 0, 0, 1, 82, 0, 0, 35, 5, 0, 32, 0, 224, 13, 2, 0, 0, 0],
[5, 0, 4, 8, 0, 0, 0, 0, 1, 82, 0, 0, 35, 5, 8, 32, 0, 224, 13, 0, 0, 0, 0],
[5, 0, 4, 8, 0, 0, 0, 0, 1, 82, 0, 0, 35, 5, 12, 32, 0, 224, 13, 0, 0, 0, 0],
[5, 0, 4, 8, 0, 0, 0, 0, 1, 82, 0, 0, 35, 5, 16, 32, 0, 224, 13, 0, 0, 0, 0],
[5, 0, 4, 8, 0, 0, 0, 0, 1, 82, 0, 0, 35, 5, 20, 32, 0, 224, 13, 0, 0, 0, 0],
[5, 0, 4, 8, 0, 0, 0, 0, 1, 82, 0, 0, 35, 5, 0, 237, 0, 224, 15],
[128],
[5, 0, 3, 8, 0, 0, 0, 0, 1, 82, 0, 0, 35, 5, 16, 0, 0, 16],
[5, 0, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15],
[130, 0, 194, 1, 0]
];
for (var i = 0; i < initCmd.length; i++) {
await md.controlTransferOut(
DAPOutReportRequest,
Uint8Array.from(initCmd[i])
);
var data = await md.controlTransferIn(DAPInReportRequest, 64);
// console.log("data:",data.status," msg:",new Uint8Array(data.data.buffer));
await sleep(20);
}
}
async function connectMicroBit(pinGate, uartTxGate) {
var characteristicSet = [];
// Pin Services Characteristics[0:UART_TX,1:UART_RX,2:data,3:ADconf,4:IOconf,5:PWMconf]
characteristicSet.push({
serviceUUID: microBitUUIDs["Nordic UART Service"],
dataUUID: microBitUUIDs["Nordic UART TX"],
callback: uartTxGate,
});
characteristicSet.push({
serviceUUID: microBitUUIDs["Nordic UART Service"],
dataUUID: microBitUUIDs["Nordic UART RX"],
});
var mbBLE = await connectBLE(characteristicSet);
return mbBLE;
}
async function connectBLE(characteristicSet) {
// characteristicSet = [{serviceUUID:serviceUUID, dataUUID:dataUUID, callBack:callBackFunc},...]
// というデータ構造を作って、投入する。
// 生成された.deviceおよび、上記に対応するcharacteristicが入った.characteristics配列が、返却される
// If requestDevice() is called without HM interaction (input button event etc) then throw exception
// If you already get device then set device option , for bypassing requestDevice()
// console.log("navigator.bluetooth:",navigator.bluetooth);
var optionalServicesArray = [];
for (var i = 0; i < characteristicSet.length; i++) {
optionalServicesArray.push(characteristicSet[i].serviceUUID);
}
try {
var device = await navigator.bluetooth.requestDevice({
filters: [
{
namePrefix: "BBC micro:bit",
},
],
optionalServices: optionalServicesArray, // Trap!!!: This option is mandatory
});
// console.log("Get micro:bit device : ", device);
if (device.gatt.connected) {
console.log("Already connected");
return false;
}
var server = await (async function (device) {
return device.gatt.connect();
})(device);
console.log("Get micro:bit server : ", server);
var characteristics = [];
for (var i = 0; i < characteristicSet.length; i++) {
var service = await (async function (server) {
return server.getPrimaryService(characteristicSet[i].serviceUUID);
})(server);
// console.log("service No:",i," : ", service)
var chara = await (async function (service) {
return service.getCharacteristic(characteristicSet[i].dataUUID);
})(service);
// console.log("chara:", chara)
await (async function (chara) {
// alert("BLE接続が完了しました。");
// console.log("callBack?:",characteristicSet[i].callback, characteristicSet[i]);
if (characteristicSet[i].callback) {
// chara.stopNotifications();
// console.log("SET CALLBACK : : : ",characteristicSet[i].callback, await characteristicSet[i].callback(null) );
chara.startNotifications();
chara.addEventListener(
"characteristicvaluechanged",
characteristicSet[i].callback
);
// chara.oncharacteristicvaluechanged =characteristicSet[i].callback;
} else {
// console.log("NO CALLBACK, no NOTIFICATION");
// chara.addEventListener('characteristicvaluechanged',function(ev){console.log("no NOTIF:",ev)});
}
})(chara);
characteristics.push(chara);
}
console.log("OK: ", device, characteristics);
return {
device: device,
characteristics: characteristics,
};
} catch (error) {
console.error(error);
}
}
function getMbUsbService(mbUSB, uartCallBackObj) {
// mbUSB { device: md, DAPOutReportRequest: DAPOutReportRequest }
var conn = uartCallBackObj.conn;
var firstTime = 3;
console.log("getMbUsbService: conn:", conn);
async function sendCmd2MicroBit(sendValue) {
return new Promise(async function (resolve) {
await sendCmd2MicroBitS2(sendValue, resolve);
});
}
async function sendCmd2MicroBitS2(sendValue, cbFunc) {
if (debugLog) {
console.log("sendVal:", sendValue);
}
var timeOutMsec = 500;
if (sendValue.charAt(0) == "L") {
timeOutMsec = 20000;
} // LEDにtextを出す場合はスクロール完了までの時間がかかるのでtimeOutを長くする・・・(TBD)
// var blmsg = string_to_buffer(sendValue + "\n");
var blmsg = sendValue;
uartCallBackObj.cmdQueue.push({
blmsg: blmsg,
cbFunc: cbFunc,
timeOutMsec: timeOutMsec,
});
// console.log(uartCallBackObj.cmdQueue.length);
if (uartCallBackObj.cmdQueue.length == 1 && !uartCallBackObj.sending) {
await processNextQueue();
} else {
if (debugLog) {
console.log(
"ADD QUEUE:",
sendValue,
" queueL:",
uartCallBackObj.cmdQueue.length,
" sending:",
uartCallBackObj.sending
);
}
}
}
async function processNextQueue() {
if (conn) {
if (firstTime > 0) {
--firstTime;
}
const nextCmd = uartCallBackObj.cmdQueue.shift();
uartCallBackObj.mbCmdReturnValue = [];
uartCallBackObj.uartCallBack = nextCmd.cbFunc;
uartCallBackObj.sending = true;
uartCallBackObj.timoutTimer = setTimeout(
checkCmdCompleted,
nextCmd.timeOutMsec
);
try {
// console.log("sendCmd:",nextCmd);
await uBitSend(
nextCmd.blmsg,
mbUSB.device,
mbUSB.DAPOutReportRequest
);
// この後、microBitから返事が返ると、onCharacteristicValueChanged()がn回連続で呼び出され、最後に"END"の値が返ったものが来る
} catch (err) {
// まだ原因がよくわからないがエラーが起きる時があるので、その時はそのコマンド処理をスキップしnullを返す・・・(console.log出し過ぎが問題だった？？？出さなくしたらそもそもエラーが出なくなった感がある・・・) 2019/8/20
console.error("[[[ERROR]]] on calling uBitSend : ", err);
uartCallBackObj.sending = false;
uartCallBackObj.uartCallBack(null);
uartCallBackObj.mbCmdReturnValue = [];
if (uartCallBackObj.cmdQueue.length > 0) {
processNextQueue();
}
}
} else {
console.log("uartCallBackObj:", uartCallBackObj);
throw Error("Bluetooth is not connected..");
}
}
function checkCmdCompleted() {
console.log("called checkCmdCompleted", uartCallBackObj.sending);
if (uartCallBackObj.sending == true) {
uartCallBackObj.sending = false;
uartCallBackObj.mbCmdReturnValue = [];
uartCallBackObj.cmdQueue = [];
if (firstTime > 0) {
// 電源投入直後の最初の1-2回だけ、ちゃんとレスポンスが返ってこない挙動がある？
//（最初の一回目のリクエストはLEDを◇表示する命令なので放置する）
uartCallBackObj.uartCallBack(true);
console.log("firstTime ERR BUT SKIP");
} else {
console.error("[[[ERROR]]] No micro:bit response.");
uartCallBackObj.uartCallBack(null);
}
}
}
async function uBitSend(data, md, DAPOutReportRequest) {
if (!md.opened) {
return;
}
// Need to send 0x84 (command), length (including newline), data's characters, newline
var fullLine = data + "\n";
var encoded = new TextEncoder("utf-8").encode(fullLine);
var message = new Uint8Array(1 + 1 + fullLine.length);
message[0] = 0x84;
message[1] = encoded.length;
message.set(encoded, 2);
// console.log("uBitSend:", message," data:",data);
// DAP ID_DAP_Vendor3: https://github.com/ARMmbed/DAPLink/blob/0711f11391de54b13dc8a628c80617ca5d25f070/source/daplink/cmsis-dap/DAP_vendor.c
mbUSB.clearReadBuffer(); //コマンド出す前に帰って来ているデータは何かゴミのデータという前提
await md.controlTransferOut(DAPOutReportRequest, message);
}
return {
sendCmd2MicroBit: sendCmd2MicroBit,
processNextQueue: processNextQueue,
};
}
function getMbUartService(mbBleDevice, uartCallBackObj, mbBleUartRx) {
async function sendCmd2MicroBit(sendValue) {
// if ( uartCallBackObj.sending ){
// throw Error("Now sending command....");
// }
// uartCallBackObj.sending = true;
return new Promise(async function (resolve) {
await sendCmd2MicroBitS2(sendValue, resolve);
});
}
async function sendCmd2MicroBitS2(sendValue, cbFunc) {
if (debugLog) {
console.log("sendVal:", sendValue);
}
var timeOutMsec = 500;
if (sendValue.charAt(0) == "L") {
timeOutMsec = 20000;
} // LEDにtextを出す場合はスクロール完了までの時間がかかるのでtimeOutを長くする・・・(TBD)
var blmsg = string_to_buffer(sendValue + "\n");
uartCallBackObj.cmdQueue.push({
blmsg: blmsg,
cbFunc: cbFunc,
timeOutMsec: timeOutMsec,
});
// console.log(uartCallBackObj.cmdQueue.length);
if (uartCallBackObj.cmdQueue.length == 1 && !uartCallBackObj.sending) {
await processNextQueue();
} else {
if (debugLog) {
console.log(
"ADD QUEUE:",
sendValue,
" queueL:",
uartCallBackObj.cmdQueue.length,
" sending:",
uartCallBackObj.sending
);
}
}
}
async function processNextQueue() {
if (uartCallBackObj.conn) {
const nextCmd = uartCallBackObj.cmdQueue.shift();
uartCallBackObj.mbCmdReturnValue = [];
uartCallBackObj.uartCallBack = nextCmd.cbFunc;
uartCallBackObj.sending = true;
uartCallBackObj.timoutTimer = setTimeout(
checkCmdCompleted,
nextCmd.timeOutMsec
);
try {
await mbBleUartRx.writeValue(nextCmd.blmsg);
// この後、microBitから返事が返ると、onCharacteristicValueChanged()がn回連続で呼び出され、最後に"END"の値が返ったものが来る
} catch (err) {
// まだ原因がよくわからないがエラーが起きる時があるので、その時はそのコマンド処理をスキップしnullを返す・・・(console.log出し過ぎが問題だった？？？出さなくしたらそもそもエラーが出なくなった感がある・・・) 2019/8/20
console.error(
"[[[ERROR]]] on calling mbBleUartRx.writeValue : ",
err
);
uartCallBackObj.sending = false;
uartCallBackObj.uartCallBack(null);
uartCallBackObj.mbCmdReturnValue = [];
if (uartCallBackObj.cmdQueue.length > 0) {
processNextQueue();
}
}
} else {
console.log("uartCallBackObj:", uartCallBackObj);
throw Error("Bluetooth is not connected..");
}
}
function checkCmdCompleted() {
console.log("called checkCmdCompleted", uartCallBackObj.sending);
if (uartCallBackObj.sending == true) {
console.error("[[[ERROR]]] No micro:bit response.");
uartCallBackObj.sending = false;
uartCallBackObj.uartCallBack(null);
uartCallBackObj.mbCmdReturnValue = [];
uartCallBackObj.cmdQueue = [];
}
}
return {
sendCmd2MicroBit: sendCmd2MicroBit,
processNextQueue: processNextQueue,
};
}
// webGPIOimpl
var availablePorts = [1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1]; // LED matrix ports are unavailable
var canOutPorts = [1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1]; //
var canAnalogInPorts = [1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; //
var pullModeEnum = { none: 0, down: 1, up: 2 };
function requestGPIOAccessGenerator(mbBleUart) {
async function requestGPIOAccess() {
var GPIOports = new Map();
for (var i = 0; i < availablePorts.length; i++) {
GPIOports.set(i, getGPIOPort(mbBleUart, i));
}
return {
ports: GPIOports,
unexportAll: async function () {},
};
}
return requestGPIOAccess;
}
function getGPIOPort(mbBleUart, portNumb) {
var direction = "";
var exported = false;
var pNumber = portNumb;
var out = true;
var ain = false;
async function export_port(mode, pullMode) {
// mode: "in", "out", "analogin", "analogout", (TBD"pwmout") case insensitive
// pullModeは、ポートやモードごとに決め打ちにするのがいいのかもしれません analoginはnoneでないとうまく動かない
// console.log("export_port",mode);
if (exported) {
throw Error("Already exported. Use unexport().");
}
direction = mode.toLowerCase();
exported = true;
switch (direction) {
case "in":
out = false;
ain = false;
if (!pullMode) {
pullMode = "up"; // CHIRIMEN for RPi3はしばしばpull upのサンプルがあるため・・
}
break;
case "out":
if (canOutPorts[pNumber] == 0) {
throw Error("This port is not supported digital out");
}
out = true;
ain = false;
break;
case "analogin":
if (canAnalogInPorts[pNumber] == 0) {
throw Error("This port is not supported analog in");
}
out = false;
ain = true;