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MbitMoreService.cpp
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MbitMoreService.cpp
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/**
* Class definition for the Scratch MicroBit More Service.
* Provides a BLE service to remotely controll Micro:bit from Scratch3.
*/
#include "MbitMoreService.h"
int gpio[] = {0, 1, 2, 8, 13, 14, 15, 16};
int analogIn[] = {0, 1, 2};
int digitalIn[] = {0, 1, 2}; // PullUp at connected to be same behaviour as the standard extension.
/**
* Get voltage of the power supply [mV].
*/
int getPowerVoltage(void)
{
// configuration
NRF_ADC->ENABLE = ADC_ENABLE_ENABLE_Enabled;
NRF_ADC->CONFIG = (ADC_CONFIG_RES_10bit << ADC_CONFIG_RES_Pos) |
(ADC_CONFIG_INPSEL_SupplyOneThirdPrescaling << ADC_CONFIG_INPSEL_Pos) |
(ADC_CONFIG_REFSEL_VBG << ADC_CONFIG_REFSEL_Pos) |
(ADC_CONFIG_PSEL_Disabled << ADC_CONFIG_PSEL_Pos) |
(ADC_CONFIG_EXTREFSEL_None << ADC_CONFIG_EXTREFSEL_Pos);
// read analog value from power supply
NRF_ADC->CONFIG &= ~ADC_CONFIG_PSEL_Msk;
NRF_ADC->CONFIG |= ADC_CONFIG_PSEL_Disabled << ADC_CONFIG_PSEL_Pos;
NRF_ADC->TASKS_START = 1;
while (((NRF_ADC->BUSY & ADC_BUSY_BUSY_Msk) >> ADC_BUSY_BUSY_Pos) == ADC_BUSY_BUSY_Busy)
{
};
return (int)(((float)NRF_ADC->RESULT * 3600.0f) / 1023.0f);
}
/**
* Constructor.
* Create a representation of the MbitMoreService
* @param _uBit The instance of a MicroBit runtime.
*/
MbitMoreService::MbitMoreService(MicroBit &_uBit)
: uBit(_uBit)
{
// Calibrate the compass before start bluetooth service.
if (!uBit.compass.isCalibrated())
{
uBit.compass.calibrate();
}
// Create the data structures that represent each of our characteristics in Soft Device.
GattCharacteristic txCharacteristic(
MBIT_MORE_BASIC_TX,
(uint8_t *)&txData,
0,
sizeof(txData),
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
GattCharacteristic rxCharacteristic(
MBIT_MORE_BASIC_RX,
(uint8_t *)&rxBuffer,
0,
sizeof(rxBuffer),
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
// Set default security requirements
txCharacteristic.requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
rxCharacteristic.requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
GattCharacteristic *characteristics[] = {&txCharacteristic, &rxCharacteristic};
GattService service(
MBIT_MORE_BASIC_SERVICE, characteristics,
sizeof(characteristics) / sizeof(GattCharacteristic *));
uBit.ble->addService(service);
txCharacteristicHandle = txCharacteristic.getValueHandle();
rxCharacteristicHandle = rxCharacteristic.getValueHandle();
uBit.ble->gattServer().write(
txCharacteristicHandle,
(uint8_t *)&txData,
sizeof(txData));
// Advertise this service.
const uint16_t uuid16_list[] = {MBIT_MORE_BASIC_SERVICE};
uBit.ble->gap().accumulateAdvertisingPayload(GapAdvertisingData::INCOMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
// Mbit More Service
// Create the data structures that represent each of our characteristics in Soft Device.
eventChar = new GattCharacteristic(
MBIT_MORE_EVENT,
(uint8_t *)&eventBuffer,
0,
sizeof(eventBuffer),
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
ioChar = new GattCharacteristic(
MBIT_MORE_IO,
(uint8_t *)&ioBuffer,
0,
sizeof(ioBuffer),
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
analogInChar = new GattCharacteristic(
MBIT_MORE_ANALOG_IN,
(uint8_t *)&analogInBuffer,
0,
sizeof(analogInBuffer),
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
analogInChar->setReadAuthorizationCallback(this, &MbitMoreService::onReadAnalogIn);
sensorsChar = new GattCharacteristic(
MBIT_MORE_SENSORS,
(uint8_t *)&sensorsBuffer,
0,
sizeof(sensorsBuffer),
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
sharedDataChar = new GattCharacteristic(
MBIT_MORE_SHARED_DATA,
(uint8_t *)&sharedBuffer,
0,
sizeof(sharedBuffer),
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
// Set default security requirements
analogInChar->requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
eventChar->requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
ioChar->requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
sensorsChar->requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
sharedDataChar->requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
GattCharacteristic *mbitMoreChars[] = {
eventChar,
ioChar,
analogInChar,
sensorsChar,
sharedDataChar};
GattService mbitMoreService(
MBIT_MORE_SERVICE, mbitMoreChars,
sizeof(mbitMoreChars) / sizeof(GattCharacteristic *));
uBit.ble->addService(mbitMoreService);
eventCharHandle = eventChar->getValueHandle();
ioCharHandle = ioChar->getValueHandle();
sensorsCharHandle = sensorsChar->getValueHandle();
sharedDataCharHandle = sharedDataChar->getValueHandle();
// Initialize buffers.
sharedBuffer[DATA_FORMAT_INDEX] = MBitMoreDataFormat::SHARED_DATA;
eventBuffer[DATA_FORMAT_INDEX] = MBitMoreDataFormat::EVENT;
// Advertise this service.
const uint8_t *mbitMoreServices[] = {MBIT_MORE_SERVICE};
uBit.ble->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, (uint8_t *)mbitMoreServices, sizeof(mbitMoreServices));
// Setup callbacks for events.
uBit.ble->onDataWritten(this, &MbitMoreService::onDataWritten);
uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_CONNECTED, this, &MbitMoreService::onBLEConnected, MESSAGE_BUS_LISTENER_IMMEDIATE);
uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_DISCONNECTED, this, &MbitMoreService::onBLEDisconnected, MESSAGE_BUS_LISTENER_IMMEDIATE);
uBit.messageBus.listen(MICROBIT_ID_BUTTON_A, MICROBIT_EVT_ANY, this, &MbitMoreService::onButtonChanged, MESSAGE_BUS_LISTENER_IMMEDIATE);
uBit.messageBus.listen(MICROBIT_ID_BUTTON_B, MICROBIT_EVT_ANY, this, &MbitMoreService::onButtonChanged, MESSAGE_BUS_LISTENER_IMMEDIATE);
uBit.messageBus.listen(MICROBIT_ID_GESTURE, MICROBIT_EVT_ANY, this, &MbitMoreService::onGestureChanged, MESSAGE_BUS_LISTENER_IMMEDIATE);
}
void MbitMoreService::initConfiguration()
{
// Initialize pin configuration.
for (size_t i = 0; i < sizeof(digitalIn) / sizeof(digitalIn[0]); i++)
{
setPullMode(digitalIn[i], PinMode::PullUp);
}
// Initialize microbit more protocol.
mbitMoreProtocol = 0;
}
/**
* Callback. Invoked when AnalogIn is read via BLE.
*/
void MbitMoreService::onReadAnalogIn(GattReadAuthCallbackParams *authParams)
{
updateAnalogValues();
// analog value (0 to 1023) is sent as uint16_t little-endian.
memcpy(&(analogInBuffer[0]), &(analogValues[0]), 2);
memcpy(&(analogInBuffer[2]), &(analogValues[1]), 2);
memcpy(&(analogInBuffer[4]), &(analogValues[2]), 2);
// voltage of power supply [mV] is sent as uint16_t little-endian.
memcpy(&(analogInBuffer[6]), &powerVoltage, 2);
authParams->data = (uint8_t *)&analogInBuffer;
authParams->offset = 0;
authParams->len = sizeof(analogInBuffer) / sizeof(analogInBuffer[0]);
authParams->authorizationReply = AUTH_CALLBACK_REPLY_SUCCESS;
}
/**
* Callback. Invoked when any of our attributes are written via BLE.
*/
void MbitMoreService::onDataWritten(const GattWriteCallbackParams *params)
{
uint8_t *data = (uint8_t *)params->data;
if (params->handle == rxCharacteristicHandle && params->len > 0)
{
if (data[0] == ScratchBLECommand::CMD_DISPLAY_TEXT)
{
char text[params->len];
memcpy(text, &(data[1]), (params->len) - 1);
text[(params->len) - 1] = '\0';
ManagedString mstr(text);
uBit.display.stopAnimation(); // Do not wait the end of current animation as same as the standard extension.
uBit.display.scrollAsync(mstr, 120); // Interval is corresponding with the standard extension.
}
else if (data[0] == ScratchBLECommand::CMD_DISPLAY_LED)
{
uBit.display.stopAnimation();
for (int y = 1; y < params->len; y++)
{
for (int x = 0; x < 5; x++)
{
uBit.display.image.setPixelValue(x, y - 1, (data[y] & (0x01 << x)) ? 255 : 0);
}
}
}
else if (data[0] == ScratchBLECommand::CMD_PIN)
{
if (data[1] == MBitMorePinCommand::SET_PULL)
{
switch (data[3])
{
case MBitMorePinMode::PullNone:
setPullMode(data[2], PinMode::PullNone);
break;
case MBitMorePinMode::PullUp:
setPullMode(data[2], PinMode::PullUp);
break;
case MBitMorePinMode::PullDown:
setPullMode(data[2], PinMode::PullDown);
break;
default:
break;
}
}
else if (data[1] == MBitMorePinCommand::SET_TOUCH)
{
setPinModeTouch(data[2]);
}
else if (data[1] == MBitMorePinCommand::SET_OUTPUT)
{
setDigitalValue(data[2], data[3]);
}
else if (data[1] == MBitMorePinCommand::SET_PWM)
{
// value is read as uint16_t little-endian.
int value;
memcpy(&value, &(data[3]), 2);
setAnalogValue(data[2], value);
}
else if (data[1] == MBitMorePinCommand::SET_SERVO)
{
int pinIndex = (int)data[2];
// angle is read as uint16_t little-endian.
uint16_t angle;
memcpy(&angle, &(data[3]), 2);
// range is read as uint16_t little-endian.
uint16_t range;
memcpy(&range, &(data[5]), 2);
// center is read as uint16_t little-endian.
uint16_t center;
memcpy(¢er, &(data[7]), 2);
if (range == 0)
{
uBit.io.pin[pinIndex].setServoValue(angle);
}
else if (center == 0)
{
uBit.io.pin[pinIndex].setServoValue(angle, range);
}
else
{
uBit.io.pin[pinIndex].setServoValue(angle, range, center);
}
}
else if (data[1] == MBitMorePinCommand::SET_EVENT)
{
listenPinEventOn((int)data[2], (int)data[3]);
}
}
else if (data[0] == ScratchBLECommand::CMD_SHARED_DATA)
{
// value is read as int16_t little-endian.
int16_t value;
memcpy(&value, &(data[2]), 2);
sharedData[data[1]] = value;
}
else if (data[0] == ScratchBLECommand::CMD_PROTOCOL)
{
mbitMoreProtocol = data[1];
}
else if (data[0] == ScratchBLECommand::CMD_LIGHT_SENSING)
{
setLightSensingDuration(data[1]);
}
}
}
/**
* Make it listen events of the event type on the pin.
* Remove listener if the event type is MICROBIT_PIN_EVENT_NONE.
*/
void MbitMoreService::listenPinEventOn(int pinIndex, int eventType)
{
int componentID; // ID of the MicroBit Component that generated the event.
switch (pinIndex) // Index of pin to set event.
{
case 0:
componentID = MICROBIT_ID_IO_P0;
break;
case 1:
componentID = MICROBIT_ID_IO_P1;
break;
case 2:
componentID = MICROBIT_ID_IO_P2;
break;
case 8:
componentID = MICROBIT_ID_IO_P8;
break;
case 13:
componentID = MICROBIT_ID_IO_P13;
break;
case 14:
componentID = MICROBIT_ID_IO_P14;
break;
case 15:
componentID = MICROBIT_ID_IO_P15;
break;
case 16:
componentID = MICROBIT_ID_IO_P16;
break;
default:
return;
}
if (eventType == MBitMorePinEventType::NONE)
{
uBit.messageBus.ignore(componentID, MICROBIT_EVT_ANY, this, &MbitMoreService::onPinEvent);
uBit.io.pin[pinIndex].eventOn(MICROBIT_PIN_EVENT_NONE);
}
else
{
uBit.messageBus.listen(componentID, MICROBIT_EVT_ANY, this, &MbitMoreService::onPinEvent, MESSAGE_BUS_LISTENER_DROP_IF_BUSY);
if (eventType == MBitMorePinEventType::ON_EDGE)
{
uBit.io.pin[pinIndex].eventOn(MICROBIT_PIN_EVENT_ON_EDGE);
}
else if (eventType == MBitMorePinEventType::ON_PULSE)
{
uBit.io.pin[pinIndex].eventOn(MICROBIT_PIN_EVENT_ON_PULSE);
}
else if (eventType == MBitMorePinEventType::ON_TOUCH)
{
uBit.io.pin[pinIndex].eventOn(MICROBIT_PIN_EVENT_ON_TOUCH);
}
}
}
/**
* Callback. Invoked when a pin event sent.
*/
void MbitMoreService::onPinEvent(MicroBitEvent evt)
{
uint8_t pinIndex;
switch (evt.source) // ID of the MicroBit Component that generated the event. (uint16_t)
{
case MICROBIT_ID_IO_P0:
eventBuffer[0] = 0;
break;
case MICROBIT_ID_IO_P1:
eventBuffer[0] = 1;
break;
case MICROBIT_ID_IO_P2:
eventBuffer[0] = 2;
break;
case MICROBIT_ID_IO_P8:
eventBuffer[0] = 8;
break;
case MICROBIT_ID_IO_P13:
eventBuffer[0] = 13;
break;
case MICROBIT_ID_IO_P14:
eventBuffer[0] = 14;
break;
case MICROBIT_ID_IO_P15:
eventBuffer[0] = 15;
break;
case MICROBIT_ID_IO_P16:
eventBuffer[0] = 16;
break;
default:
break;
}
// event ID is sent as uint16_t little-endian.
// #define MICROBIT_PIN_EVT_RISE 2
// #define MICROBIT_PIN_EVT_FALL 3
// #define MICROBIT_PIN_EVT_PULSE_HI 4
// #define MICROBIT_PIN_EVT_PULSE_LO 5
memcpy(&(eventBuffer[1]), &(evt.value), 2);
// event timestamp is sent as uint32_t little-endian coerced from uint64_t value.
uint32_t timestamp = (uint32_t)evt.timestamp;
memcpy(&(eventBuffer[3]), ×tamp, 4);
uBit.ble->gattServer().notify(
eventCharHandle,
(uint8_t *)&eventBuffer,
sizeof(eventBuffer) / sizeof(eventBuffer[0]));
}
/**
* Button update callback
*/
void MbitMoreService::onButtonChanged(MicroBitEvent e)
{
int state;
if (e.value == MICROBIT_BUTTON_EVT_UP)
{
state = 0;
}
if (e.value == MICROBIT_BUTTON_EVT_DOWN)
{
state = 1;
}
if (e.value == MICROBIT_BUTTON_EVT_HOLD)
{
state = 5;
}
// if (e.value == MICROBIT_BUTTON_EVT_CLICK)
// {
// state = 3;
// }
// if (e.value == MICROBIT_BUTTON_EVT_LONG_CLICK)
// {
// state = 4;
// }
// if (e.value == MICROBIT_BUTTON_EVT_DOUBLE_CLICK)
// {
// state = 6;
// }
if (e.source == MICROBIT_ID_BUTTON_A)
{
buttonAState = state;
}
if (e.source == MICROBIT_ID_BUTTON_B)
{
buttonBState = state;
}
}
void MbitMoreService::onGestureChanged(MicroBitEvent e)
{
if (e.value == MICROBIT_ACCELEROMETER_EVT_SHAKE)
{
gesture = gesture | 1;
}
if (e.value == MICROBIT_ACCELEROMETER_EVT_FREEFALL)
{
gesture = gesture | 1 << 1;
}
}
/**
* Normalize angle in upside down.
*/
int MbitMoreService::normalizeCompassHeading(int heading)
{
if (uBit.accelerometer.getZ() > 0)
{
if (heading <= 180)
{
heading = 180 - heading;
}
else
{
heading = 360 - (heading - 180);
}
}
return heading;
}
/**
* Convert roll/pitch radians to Scratch extension value (-1000 to 1000).
*/
int MbitMoreService::convertToTilt(float radians)
{
float degrees = (360.0f * radians) / (2.0f * PI);
float tilt = degrees * 1.0f / 90.0f;
if (degrees > 0)
{
if (tilt > 1.0f)
tilt = 2.0f - tilt;
}
else
{
if (tilt < -1.0f)
tilt = -2.0f - tilt;
}
return (int)(tilt * 1000.0f);
}
void MbitMoreService::updateGesture()
{
int old[] = {lastAcc[0], lastAcc[1], lastAcc[2]};
lastAcc[0] = uBit.accelerometer.getX();
lastAcc[1] = uBit.accelerometer.getY();
lastAcc[2] = uBit.accelerometer.getZ();
if ((gesture >> 2) & 1)
{
gesture = gesture ^ (1 << 2);
return;
}
int threshold = 50;
if ((abs(lastAcc[0] - old[0]) > threshold) || (abs(lastAcc[1] - old[1]) > threshold) || (abs(lastAcc[2] - old[2]) > threshold))
{
// Moved
gesture = gesture | (1 << 2);
}
}
void MbitMoreService::resetGesture()
{
gesture = gesture & (1 << 2); // Save moved state to detect continuous movement.
}
void MbitMoreService::updateDigitalValues()
{
digitalValues = 0;
for (size_t i = 0; i < sizeof(gpio) / sizeof(gpio[0]); i++)
{
if (uBit.io.pin[gpio[i]].isDigital())
{
if (uBit.io.pin[gpio[i]].isInput())
{
digitalValues =
digitalValues | (uBit.io.pin[gpio[i]].getDigitalValue() << gpio[i]);
}
}
}
}
void MbitMoreService::updatePowerVoltage()
{
powerVoltage = getPowerVoltage();
}
void MbitMoreService::updateAnalogValues()
{
for (size_t i = 0; i < sizeof(analogIn) / sizeof(analogIn[0]); i++)
{
updatePowerVoltage();
int samplingCount;
int prevValue;
int value;
if (uBit.io.pin[analogIn[i]].isInput())
{
uBit.io.pin[analogIn[i]].setPull(PinMode::PullNone);
// for accuracy, read more than 2 times to get same values continuously
do
{
prevValue = value;
value = (uint16_t)uBit.io.pin[analogIn[i]].getAnalogValue();
samplingCount++;
} while (prevValue != value || samplingCount < 4);
analogValues[i] = value;
setPullMode(analogIn[i], pullMode[analogIn[i]]);
}
}
//// It will cause flickering LED.
// uBit.display.disable();
// analogValues[3] = (uint16_t)uBit.io.P3.getAnalogValue();
// analogValues[4] = (uint16_t)uBit.io.P4.getAnalogValue();
// analogValues[5] = (uint16_t)uBit.io.P10.getAnalogValue();
// uBit.display.enable();
}
void MbitMoreService::updateLightSensor()
{
if (lightSensingDuration <= 0)
{
uBit.display.setDisplayMode(DisplayMode::DISPLAY_MODE_BLACK_AND_WHITE);
return;
}
lightLevel = uBit.display.readLightLevel();
if (lightSensingDuration < 255) // over 255 means no-limited.
{
lightSensingDuration--;
}
}
void MbitMoreService::updateAccelerometer()
{
acceleration[0] = -uBit.accelerometer.getX(); // Face side is positive in Z-axis.
acceleration[1] = uBit.accelerometer.getY();
acceleration[2] = -uBit.accelerometer.getZ(); // Face side is positive in Z-axis.
rotation[0] = uBit.accelerometer.getPitchRadians();
rotation[1] = uBit.accelerometer.getRollRadians();
}
void MbitMoreService::updateMagnetometer()
{
compassHeading = uBit.compass.heading();
magneticForce[0] = uBit.compass.getX();
magneticForce[1] = uBit.compass.getY();
magneticForce[2] = uBit.compass.getZ();
}
void MbitMoreService::setPullMode(int pinIndex, PinMode pull)
{
uBit.io.pin[pinIndex].getDigitalValue(pull);
pullMode[pinIndex] = pull;
}
void MbitMoreService::setDigitalValue(int pinIndex, int value)
{
uBit.io.pin[pinIndex].setDigitalValue(value);
}
void MbitMoreService::setAnalogValue(int pinIndex, int value)
{
uBit.io.pin[pinIndex].setAnalogValue(value);
}
void MbitMoreService::setServoValue(int pinIndex, int angle, int range, int center)
{
uBit.io.pin[pinIndex].setServoValue(angle, range, center);
}
void MbitMoreService::setPinModeTouch(int pinIndex)
{
uBit.io.pin[pinIndex].isTouched(); // Configure to touch mode then the return value is not used.
}
void MbitMoreService::setLightSensingDuration(int duration)
{
lightSensingDuration = duration;
}
void MbitMoreService::composeDefaultData(uint8_t *buff)
{
// Tilt value is sent as int16_t big-endian.
int16_t tiltX = (int16_t)convertToTilt(rotation[1]);
buff[0] = (tiltX >> 8) & 0xFF;
buff[1] = tiltX & 0xFF;
int16_t tiltY = (int16_t)convertToTilt(rotation[0]);
buff[2] = (tiltY >> 8) & 0xFF;
buff[3] = tiltY & 0xFF;
buff[4] = (uint8_t)buttonAState;
buff[5] = (uint8_t)buttonBState;
buff[6] = (uint8_t)(((digitalValues >> 0) & 1) ^ 1);
buff[7] = (uint8_t)(((digitalValues >> 1) & 1) ^ 1);
buff[8] = (uint8_t)(((digitalValues >> 2) & 1) ^ 1);
buff[9] = (uint8_t)gesture;
}
/**
* Notify shared data to Scratch3
*/
void MbitMoreService::notifySharedData()
{
for (size_t i = 0; i < sizeof(sharedData) / sizeof(sharedData[0]); i++)
{
memcpy(&(sharedBuffer[(i * 2)]), &sharedData[i], 2);
}
uBit.ble->gattServer().notify(
sharedDataCharHandle,
(uint8_t *)&sharedBuffer,
sizeof(sharedBuffer) / sizeof(sharedBuffer[0]));
}
/**
* Notify default micro:bit data to Scratch.
*/
void MbitMoreService::notifyDefaultData()
{
composeDefaultData(txData);
uBit.ble->gattServer().notify(
txCharacteristicHandle,
(uint8_t *)&txData,
sizeof(txData) / sizeof(txData[0]));
}
/**
* Notify data to Scratch3
*/
void MbitMoreService::notify()
{
if (uBit.ble->gap().getState().connected)
{
updateGesture();
notifyDefaultData();
resetGesture();
}
else
{
displayFriendlyName();
}
}
/**
* Set value to shared data.
* shared data (0, 1, 2, 3)
*/
void MbitMoreService::setSharedData(int index, int value)
{
// value (-32768 to 32767) is sent as int16_t little-endian.
int16_t data = (int16_t)value;
sharedData[index] = data;
notifySharedData();
}
/**
* Get value of a shared data.
* shared data (0, 1, 2, 3)
*/
int MbitMoreService::getSharedData(int index)
{
return (int)(sharedData[index]);
}
void MbitMoreService::onBLEConnected(MicroBitEvent _e)
{
uBit.display.stopAnimation(); // To stop display friendly name.
initConfiguration();
uBit.display.scrollAsync("v.0.5.0");
lightSensingDuration = 255; // Continuous light sensing for GUI v0.4.2
}
void MbitMoreService::onBLEDisconnected(MicroBitEvent _e)
{
lightSensingDuration = 0;
}
/**
* Update sensors.
*/
void MbitMoreService::update()
{
updateDigitalValues();
writeIo();
updateLightSensor();
updateAccelerometer();
updateMagnetometer();
writeSensors();
}
/**
* Write IO characteristics.
*/
void MbitMoreService::writeIo()
{
memcpy(&(ioBuffer[0]), &digitalValues, 4);
uBit.ble->gattServer().write(
ioCharHandle,
(uint8_t *)&ioBuffer,
sizeof(ioBuffer) / sizeof(ioBuffer[0]));
}
/**
* Write shared data characteristics.
*/
void MbitMoreService::writeSharedData()
{
for (size_t i = 0; i < sizeof(sharedData) / sizeof(sharedData[0]); i++)
{
memcpy(&(sharedBuffer[(i * 2)]), &sharedData[i], 2);
}
uBit.ble->gattServer().write(
sharedDataCharHandle,
(uint8_t *)&sharedBuffer,
sizeof(sharedBuffer) / sizeof(sharedBuffer[0]));
}
/**
* Write data of all sensors to the characteristic.
*/
void MbitMoreService::writeSensors()
{
// Accelerometer
int16_t acc;
// Acceleration X [milli-g] is sent as int16_t little-endian.
acc = (int16_t)acceleration[0];
memcpy(&(sensorsBuffer[0]), &acc, 2);
// Acceleration Y [milli-g] is sent as int16_t little-endian.
acc = (int16_t)acceleration[1];
memcpy(&(sensorsBuffer[2]), &acc, 2);
// Acceleration Z [milli-g] is sent as int16_t little-endian.
acc = (int16_t)acceleration[2];
memcpy(&(sensorsBuffer[4]), &acc, 2);
int16_t rot;
// Pitch (radians / 1000) is sent as int16_t little-endian [6..7].
rot = (int16_t)(rotation[0] * 1000);
memcpy(&(sensorsBuffer[6]), &rot, 2);
// Roll (radians / 1000) is sent as int16_t little-endian [8..9].
rot = (int16_t)(rotation[1] * 1000);
memcpy(&(sensorsBuffer[8]), &rot, 2);
// Magnetometer
uint16_t heading = (uint16_t)normalizeCompassHeading(compassHeading);
memcpy(&(sensorsBuffer[10]), &heading, 2);
int16_t force;
// Magnetic force X (micro-teslas) is sent as uint16_t little-endian [2..3].
force = (int16_t)(magneticForce[0] / 1000);
memcpy(&(sensorsBuffer[12]), &force, 2);
// Magnetic force Y (micro-teslas) is sent as uint16_t little-endian [4..5].
force = (int16_t)(magneticForce[1] / 1000);
memcpy(&(sensorsBuffer[14]), &force, 2);
// Magnetic force Z (micro-teslas) is sent as uint16_t little-endian [6..7].
force = (int16_t)(magneticForce[2] / 1000);
memcpy(&(sensorsBuffer[16]), &force, 2);
// Light sensor
sensorsBuffer[18] = (uint8_t)lightLevel;
// Temperature
sensorsBuffer[19] = (uint8_t)(uBit.thermometer.getTemperature() + 128);
uBit.ble->gattServer().write(
sensorsCharHandle,
(uint8_t *)&sensorsBuffer,
sizeof(sensorsBuffer) / sizeof(sensorsBuffer[0]));
}
void MbitMoreService::displayFriendlyName()
{
ManagedString suffix(" MORE! ");
uBit.display.scrollAsync(uBit.getName() + suffix, 120);
}
const uint16_t MBIT_MORE_BASIC_SERVICE = 0xf005;
const uint8_t MBIT_MORE_BASIC_TX[] = {0x52, 0x61, 0xda, 0x01, 0xfa, 0x7e, 0x42, 0xab, 0x85, 0x0b, 0x7c, 0x80, 0x22, 0x00, 0x97, 0xcc};
const uint8_t MBIT_MORE_BASIC_RX[] = {0x52, 0x61, 0xda, 0x02, 0xfa, 0x7e, 0x42, 0xab, 0x85, 0x0b, 0x7c, 0x80, 0x22, 0x00, 0x97, 0xcc};
const uint8_t MBIT_MORE_SERVICE[] = {0xa6, 0x2d, 0x57, 0x4e, 0x1b, 0x34, 0x40, 0x92, 0x8d, 0xee, 0x41, 0x51, 0xf6, 0x3b, 0x28, 0x65};
const uint8_t MBIT_MORE_EVENT[] = {0xa6, 0x2d, 0x00, 0x01, 0x1b, 0x34, 0x40, 0x92, 0x8d, 0xee, 0x41, 0x51, 0xf6, 0x3b, 0x28, 0x65};
const uint8_t MBIT_MORE_IO[] = {0xa6, 0x2d, 0x00, 0x02, 0x1b, 0x34, 0x40, 0x92, 0x8d, 0xee, 0x41, 0x51, 0xf6, 0x3b, 0x28, 0x65};
const uint8_t MBIT_MORE_ANALOG_IN[] = {0xa6, 0x2d, 0x00, 0x03, 0x1b, 0x34, 0x40, 0x92, 0x8d, 0xee, 0x41, 0x51, 0xf6, 0x3b, 0x28, 0x65};
const uint8_t MBIT_MORE_SENSORS[] = {0xa6, 0x2d, 0x00, 0x04, 0x1b, 0x34, 0x40, 0x92, 0x8d, 0xee, 0x41, 0x51, 0xf6, 0x3b, 0x28, 0x65};
const uint8_t MBIT_MORE_SHARED_DATA[] = {0xa6, 0x2d, 0x00, 0x10, 0x1b, 0x34, 0x40, 0x92, 0x8d, 0xee, 0x41, 0x51, 0xf6, 0x3b, 0x28, 0x65};