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@@ -17,6 +17,7 @@ jobs: | |
| fail-fast: false | ||
| matrix: | ||
| board: | ||
| - esp32dev | ||
| - adafruit_feather_m0 | ||
| - teensylc | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| /* | ||
| * Pano Controller Configuration File for ESP32 board | ||
| * https://github.com/espressif/arduino-esp32/blob/master/docs/esp32_pinmap.png | ||
| * https://desire.giesecke.tk/index.php/2018/07/06/reserved-gpios/ | ||
| */ | ||
| #include <Arduino.h> | ||
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| /* SPI (for display) | ||
| SPI2 and SPI3 are general purpose SPI controllers, sometimes referred to as HSPI and VSPI | ||
| SDA = IO 23 | ||
| SCLK = IO 18 | ||
| D/C = IO 21 | ||
| RST = IO 22 | ||
| CS = IO 5 | ||
| */ | ||
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| // Camera shutter controls | ||
| #define CAMERA_FOCUS GPIO_NUM_16 | ||
| #define CAMERA_SHUTTER GPIO_NUM_17 | ||
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| // Battery measurement pin R1/R2 | ||
| #define BATTERY GPIO_NUM_34 //34 # ADC1 CH0 | ||
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| // MPU (accel/gyro) | ||
| // GPIO_NUM_21 I2C SDA | ||
| // GPIO_NUM_22 I2C SCL | ||
| #define MPU_INT GPIO_NUM_2 | ||
| #define MPU_VCC GPIO_NUM_4 | ||
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| // Future devices | ||
| //#define COMPASS_DRDY xx | ||
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| // Stepper drivers control | ||
| #define DIR GPIO_NUM_27 | ||
| #define VERT_STEP GPIO_NUM_25 | ||
| #define HORIZ_STEP GPIO_NUM_26 | ||
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| // this should be hooked up to nENABLE on both drivers | ||
| #define nENABLE GPIO_NUM_14 |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,109 @@ | ||
| #if defined(ESP32) | ||
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| #include "ble_esp32.h" | ||
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| // Nordic UART uuids | ||
| #define UART_SERVICE_UUID "6E400001-B5A3-F393-E0A9-E50E24DCCA9E" | ||
| #define UART_RX_CHAR_UUID "6E400002-B5A3-F393-E0A9-E50E24DCCA9E" | ||
| #define UART_TX_CHAR_UUID "6E400003-B5A3-F393-E0A9-E50E24DCCA9E" | ||
| #define PANO_SERVICE_UUID (uint16_t)2017 | ||
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| // How many bytes we can send at once | ||
| #define BLOCK_SIZE 128 | ||
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| void Bluetooth::begin(const char *name) { | ||
| BLEDevice::init(name); | ||
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| pServer = BLEDevice::createServer(); | ||
| pServer->setCallbacks(&serverCallbacks); | ||
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| pServer->createService(PANO_SERVICE_UUID)->start(); | ||
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| BLEService *pService = pServer->createService(UART_SERVICE_UUID); | ||
| rx = pService->createCharacteristic(UART_RX_CHAR_UUID, BLECharacteristic::PROPERTY_WRITE); | ||
| rx->setCallbacks(&rxCallbacks); | ||
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| tx = pService->createCharacteristic(UART_TX_CHAR_UUID, BLECharacteristic::PROPERTY_NOTIFY); | ||
| tx->addDescriptor(new BLE2902()); // 0x2902: org.bluetooth.descriptor.gatt.client_characteristic_configuration | ||
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| pService->start(); | ||
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| pServer->startAdvertising(); | ||
| } | ||
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| bool Bluetooth::isConnected(void) { | ||
| return ((ServerCallbacks *)&serverCallbacks)->isConnected(); // FIXME: temporary | ||
| } | ||
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| void RXCallbacks::onWrite(BLECharacteristic *pCharacteristic) { | ||
| std::string val = pCharacteristic->getValue(); | ||
| int len = val.length(); | ||
| if (len > 0 && abs(writeAt - readAt) < len ) { | ||
| if (writeAt + len < buf + FIFO_SIZE) { // no wrap | ||
| std::copy(val.begin(), val.end(), writeAt); | ||
| writeAt += len; | ||
| } else { | ||
| int wrapLen = buf + FIFO_SIZE - writeAt; | ||
| std::copy(val.begin(), val.begin() + wrapLen, writeAt); | ||
| std::copy(val.begin() + wrapLen, val.end(), buf); | ||
| writeAt = buf + len - wrapLen; | ||
| } | ||
| } | ||
| }; | ||
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| int RXCallbacks::read(void) { | ||
| return available() ? (int)(*readAt++) : EOF; | ||
| } | ||
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| int RXCallbacks::peek(void) { | ||
| return available() ? (int)(*readAt) : EOF; | ||
| } | ||
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| void RXCallbacks::flush(void) { | ||
| writeAt = readAt = buf; | ||
| } | ||
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| /* | ||
| * Implement Stream interface | ||
| */ | ||
| size_t Bluetooth::write(uint8_t c) { | ||
| if (isConnected()) { | ||
| tx->setValue(&c, 1); | ||
| tx->notify(); | ||
| ets_delay_us(10000); // bluetooth stack will go into congestion, if too many packets are sent | ||
| return 1; | ||
| } | ||
| return 0; | ||
| }; | ||
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| size_t Bluetooth::write(const uint8_t *buf, size_t size) { | ||
| size_t remain = size; | ||
| while (isConnected() && remain > 0) { | ||
| if (remain > BLOCK_SIZE){ | ||
| tx->setValue((uint8_t*)buf, BLOCK_SIZE); | ||
| remain -= BLOCK_SIZE; | ||
| buf += BLOCK_SIZE; | ||
| } else { | ||
| tx->setValue((uint8_t*)buf, remain); | ||
| remain = 0; | ||
| } | ||
| tx->notify(); | ||
| ets_delay_us(10000); | ||
| } | ||
| return size - remain; | ||
| } | ||
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| int Bluetooth::available(void) { | ||
| return rxCallbacks.available(); | ||
| }; | ||
| int Bluetooth::read(void) { | ||
| return rxCallbacks.read(); | ||
| }; | ||
| int Bluetooth::peek(void) { | ||
| return rxCallbacks.peek(); | ||
| }; | ||
| void Bluetooth::flush(void) { | ||
| rxCallbacks.flush(); | ||
| }; | ||
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| #endif // defined(ESP32) |
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