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+#define CHARACTERISTIC_UUID "1ab2c9f4-19c0-48dd-8932-ed72558ec593" + +MPU6050 accelgyro; +BLECharacteristic *pCharacteristic; +BLEServer *pServer; +bool deviceConnected = false; + +int16_t ax, ay, az; +int16_t gx, gy, gz; + +class MyServerCallbacks : public BLEServerCallbacks { + void onConnect(BLEServer *pServer) { + Serial.println("Device connected"); + deviceConnected = true; + } + + void onDisconnect(BLEServer *pServer) { + Serial.println("Device disconnected"); + deviceConnected = false; + BLEDevice::startAdvertising(); // Restart advertising + } +}; + +void setup_ble() { + BLEDevice::init("ESP32"); + BLEServer *pServer = BLEDevice::createServer(); + BLEService *pService = pServer->createService(SERVICE_UUID); + BLECharacteristic *pCharacteristic = pService->createCharacteristic( + CHARACTERISTIC_UUID, + BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_NOTIFY); + + pService->start(); + // BLEAdvertising *pAdvertising = pServer->getAdvertising(); // this still is working for backward compatibility + BLEAdvertising *pAdvertising = BLEDevice::getAdvertising(); + pAdvertising->addServiceUUID(SERVICE_UUID); + pAdvertising->setScanResponse(true); + pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue + pAdvertising->setMinPreferred(0x12); + + uint8_t gyroData[] = { 1, 2, 3, 4, 5, 6 }; + pCharacteristic->setValue(gyroData, sizeof(gyroData)); + pCharacteristic->notify(); + BLEDevice::startAdvertising(); + Serial.println("Characteristic defined! Now you can read it in your phone!"); +} + +void setup() { + Wire.begin(); + + // initialize serial communication + // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but + // it's really up to you depending on your project) + Serial.begin(115200); + + // initialize device + Serial.println("Initializing I2C devices..."); + accelgyro.initialize(); + + // verify connection + Serial.println("Testing device connections..."); + Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed"); + + // use the code below to change accel/gyro offset values + Serial.println("Updating internal sensor offsets..."); + // -76 -2359 1688 0 0 0 + Serial.print(accelgyro.getXAccelOffset()); + Serial.print("\t"); // -76 + Serial.print(accelgyro.getYAccelOffset()); + Serial.print("\t"); // -2359 + Serial.print(accelgyro.getZAccelOffset()); + Serial.print("\t"); // 1688 + Serial.print(accelgyro.getXGyroOffset()); + Serial.print("\t"); // 0 + Serial.print(accelgyro.getYGyroOffset()); + Serial.print("\t"); // 0 + Serial.print(accelgyro.getZGyroOffset()); + Serial.print("\t"); // 0 + Serial.print("\n"); + accelgyro.setXGyroOffset(220); + accelgyro.setYGyroOffset(76); + accelgyro.setZGyroOffset(-85); + Serial.print(accelgyro.getXAccelOffset()); + Serial.print("\t"); // -76 + Serial.print(accelgyro.getYAccelOffset()); + Serial.print("\t"); // -2359 + Serial.print(accelgyro.getZAccelOffset()); + Serial.print("\t"); // 1688 + Serial.print(accelgyro.getXGyroOffset()); + Serial.print("\t"); // 0 + Serial.print(accelgyro.getYGyroOffset()); + Serial.print("\t"); // 0 + Serial.print(accelgyro.getZGyroOffset()); + Serial.print("\t"); // 0 + Serial.print("\n"); + + + setup_ble(); +} + +void loop() { + // read raw accel/gyro measurements from device + accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); + + // these methods (and a few others) are also available + //accelgyro.getAcceleration(&ax, &ay, &az); + //accelgyro.getRotation(&gx, &gy, &gz); + + // display tab-separated accel/gyro x/y/z values + Serial.print("a/g:\t"); + Serial.print(ax); + Serial.print("\t"); + Serial.print(ay); + Serial.print("\t"); + Serial.print(az); + Serial.print("\t"); + Serial.print(gx); + Serial.print("\t"); + Serial.print(gy); + Serial.print("\t"); + Serial.println(gz); + + if (deviceConnected) { + + uint8_t encodedData[12]; + + encodedData[0] = static_cast(ax & 0xFF); + encodedData[1] = static_cast((ax >> 8) & 0xFF); + + encodedData[2] = static_cast(ay & 0xFF); + encodedData[3] = static_cast((ay >> 8) & 0xFF); + + encodedData[4] = static_cast(az & 0xFF); + encodedData[5] = static_cast((az >> 8) & 0xFF); + + encodedData[6] = static_cast(gx & 0xFF); + encodedData[7] = static_cast((gx >> 8) & 0xFF); + + encodedData[8] = static_cast(gy & 0xFF); + encodedData[9] = static_cast((gy >> 8) & 0xFF); + + encodedData[10] = static_cast(gz & 0xFF); + encodedData[11] = static_cast((gz >> 8) & 0xFF); + + pCharacteristic->setValue(encodedData, sizeof(encodedData)); + pCharacteristic->notify(); + } + + + delay(50); +} diff --git a/main.py b/main.py new file mode 100644 index 0000000..eb8e56f --- /dev/null +++ b/main.py @@ -0,0 +1,39 @@ +import asyncio +from bleak import BleakClient + +# Specify the MAC address and service UUID +device_address = "64:E8:33:DA:A2:B6" +service_uuid = "9b9f77c6-7e68-4109-b987-b096233d9525" +characteristic_uuid = "1ab2c9f4-19c0-48dd-8932-ed72558ec593" + +async def connect_to_ble_device(address, uuid): + async with BleakClient(address) as client: + print(f"Connected: {client.is_connected}") + + # Discover services + services = await client.get_services() + for service in services: + if service.uuid.lower() == uuid.lower(): + print(f"Found Service: {service.uuid}") + + # You can further explore characteristics within the service if needed + for char in service.characteristics: + if char.uuid.lower() == characteristic_uuid.lower(): + print(f"Found Characteristic: {char.uuid}") + + while True: + # Read the value of the characteristic + value = await client.read_gatt_char(char.uuid) + integers = [int(byte) for byte in value] + print(f"Characteristic Value as Integers: {integers}") + + # Wait for the specified interval + await asyncio.sleep(10 / 1000.0) + +async def main(): + await connect_to_ble_device(device_address, service_uuid) + +if __name__ == "__main__": + loop = asyncio.get_event_loop() + loop.run_until_complete(main()) + diff --git a/main.rs b/main.rs new file mode 100644 index 0000000..5faae5a --- /dev/null +++ b/main.rs @@ -0,0 +1,95 @@ +use btleplug::api::{Central, CharPropFlags, Manager as _, Peripheral, ScanFilter}; +use btleplug::platform::Manager; +use futures::stream::StreamExt; +use std::error::Error; +use std::time::Duration; +use tokio::time; +use uuid::Uuid; + +const DEVICE_ADDR: &str = "64:E8:33:DA:A2:B6"; +const NOTIFY_CHARACTERISTIC_UUID: Uuid = Uuid::from_u128(0x1ab2c9f4_19c0_48dd_8932_ed72558ec593); + +async fn find_adapter() -> Result> { + let manager = Manager::new().await?; + let adapters = manager.adapters().await?; + for adapter in adapters { + return Ok(adapter); + } + Err("No powered adapters found".into()) +} + +#[tokio::main] +async fn main() -> Result<(), Box> { + let adapter = find_adapter().await?; + + println!("Starting scan..."); + adapter + .start_scan(ScanFilter::default()) + .await + .expect("Can't scan BLE adapter for connected devices..."); + time::sleep(Duration::from_secs(2)).await; + let peripherals = adapter.peripherals().await?; + + if peripherals.is_empty() { + eprintln!("->>> BLE peripheral devices were not found, sorry. Exiting..."); + return Ok(()); + } + + if let Some(esp32) = peripherals + .iter() + .find(|peripheral| peripheral.address().to_string() == DEVICE_ADDR) + { + let properties = esp32.properties().await?; + let is_connected = esp32.is_connected().await?; + // let address = esp32.address().to_string(); + let local_name = properties + .unwrap() + .local_name + .unwrap_or(String::from("(peripheral name unknown)")); + + println!("Found matching peripheral {:?}...", "ESP32"); + if !is_connected { + // Connect if we aren't already connected. + if let Err(err) = esp32.connect().await { + eprintln!("Error connecting to peripheral, skipping: {}", err); + } + } + let is_connected = esp32.is_connected().await?; + println!( + "Now connected ({:?}) to peripheral {:?}.", + is_connected, &local_name + ); + + println!("Discover peripheral {:?} services...", local_name); + esp32.discover_services().await?; + for characteristic in esp32.characteristics() { + println!("Checking characteristic {:?}", characteristic); + // Subscribe to notifications from the characteristic with the selected + // UUID. + if characteristic.uuid == NOTIFY_CHARACTERISTIC_UUID + && characteristic.properties.contains(CharPropFlags::NOTIFY) + { + println!("Subscribing to characteristic {:?}", characteristic.uuid); + esp32.subscribe(&characteristic).await?; + let mut notification_stream = esp32.notifications().await?; + let mut old_time = time::Instant::now(); + while let Some(data) = notification_stream.next().await { + let delta = time::Instant::now() - old_time; + let delta_ms = delta.as_millis() as f64; // Convert Duration to milliseconds + let rounded_delta = (delta_ms * 10.0).round() / 10.0; // Round to one decimal place + println!( + "Received data from {:?} [{:?}ms]: {:?}", + local_name, rounded_delta, data.value + ); + old_time = time::Instant::now(); + } + } + } + println!("Disconnecting from peripheral {:?}...", local_name); + esp32.disconnect().await?; + } else { + println!("ESP Not found") + } + + Ok(()) +} diff --git a/sketch.yaml b/sketch.yaml new file mode 100644 index 0000000..852e462 --- /dev/null +++ b/sketch.yaml @@ -0,0 +1,2 @@ +default_port: /dev/ttyACM0 +default_fqbn: esp32:esp32:XIAO_ESP32C3 diff --git a/test.md b/test.md new file mode 100644 index 0000000..933b4dc --- /dev/null +++ b/test.md @@ -0,0 +1 @@ +-11788 11200 -4100 712 512 -300