/**
* read callback on data characteristic.
* reads all the pins marked as inputs, and updates the data stored in the BLE stack.
*/
void MicroBitIOPinService::onDataRead(GattReadAuthCallbackParams *params)
{
if (params->handle == ioPinServiceDataCharacteristic->getValueHandle())
{
// Scan through all pins that our BLE client may be listening for. If any have changed value, update the BLE characterisitc, and NOTIFY our client.
int pairs = 0;
for (int i=0; i < MICROBIT_IO_PIN_SERVICE_PINCOUNT; i++)
{
if (isInput(i))
{
uint8_t value;
if (isDigital(i))
value = MicroBitIOPins[i]->getDigitalValue();
else
value = MicroBitIOPins[i]->getAnalogValue();
ioPinServiceIOData[i] = value;
ioPinServiceDataCharacteristicBuffer[pairs].pin = i;
ioPinServiceDataCharacteristicBuffer[pairs].value = value;
pairs++;
if (pairs >= MICROBIT_IO_PIN_SERVICE_DATA_SIZE)
break;
}
}
// If there's any data, issue a BLE notification.
if (pairs > 0)
ble.gattServer().notify(ioPinServiceDataCharacteristic->getValueHandle(), (uint8_t *)ioPinServiceDataCharacteristicBuffer, pairs * sizeof(IOData));
}
}
symbol_t readNumLit(int sign){
char *s;
int i = 0;
//float j = 0;
s = ccstring();
if(ch=='0'){
i = 0;
if(sign) s = ccstrcat(s, '-');
s = ccstrcat(s, '0');
nextchar();
}else{
while(isDigital()){
i = i*10 + (ch-'0');
s = ccstrcat(s, ch);
nextchar();
}
}
if(ch=='.'){
nextchar();
s = ccstrcat(s, '.');
if(isDigital()){
while(isDigital()){
//j = (j + (float)(ch-'0')) / (float)10.0;
s = ccstrcat(s, ch);
nextchar();
}
//return Symbol(REAL, (int)((float)i + j));
return Symbol(REAL, (int)s);
}else{
msg(ERR, "a wrong real literal",lineno+1);
}
}else{
mfree(s);
if(sign) i = -i;
return Symbol(INTEGER, i);
}
return 0;
}
void DigitalTube::invoke(long command){
if(isDigital(command)){
setTime(getDigital(command));
return;
}
if(command==KEY_BACK){
leftMove();
return;
}
if(command==KEY_FORWARD){
rightMove();
return;
}
if(command==KEY_PLAY){
startTimer();
return;
}
}
/**
* Periodic callback from MicroBit scheduler.
*
* Check if any of the pins we're watching need updating. Notify any connected
* device with any changes.
*/
void MicroBitIOPinService::idleTick()
{
// If we're not we're connected, then there's nothing to do...
if (!ble.getGapState().connected)
return;
// Scan through all pins that our BLE client may be listening for. If any have changed value, update the BLE characterisitc, and NOTIFY our client.
int pairs = 0;
for (int i=0; i < MICROBIT_IO_PIN_SERVICE_PINCOUNT; i++)
{
if (isInput(i))
{
uint8_t value;
if (isDigital(i))
value = io.pin[i].getDigitalValue();
//value = MicroBitIOPins[i]->getDigitalValue();
else
value = io.pin[i].getAnalogValue();
//value = MicroBitIOPins[i]->getAnalogValue();
// If the data has changed, send an update.
if (value != ioPinServiceIOData[i])
{
ioPinServiceIOData[i] = value;
ioPinServiceDataCharacteristicBuffer[pairs].pin = i;
ioPinServiceDataCharacteristicBuffer[pairs].value = value;
pairs++;
if (pairs >= MICROBIT_IO_PIN_SERVICE_DATA_SIZE)
break;
}
}
}
// If there were any changes, issue a BLE notification.
if (pairs > 0)
ble.gattServer().notify(ioPinServiceDataCharacteristic->getValueHandle(), (uint8_t *)ioPinServiceDataCharacteristicBuffer, pairs * sizeof(IOData));
}
/**
* Callback. Invoked when any of our attributes are written via BLE.
*/
void MicroBitIOPinService::onDataWritten(const GattWriteCallbackParams *params)
{
// Check for writes to the IO configuration characteristic
if (params->handle == ioPinServiceIOCharacteristicHandle && params->len >= sizeof(ioPinServiceIOCharacteristicBuffer))
{
uint32_t *value = (uint32_t *)params->data;
// Our IO configuration may be changing... read the new value, and push it back into the BLE stack.
ioPinServiceIOCharacteristicBuffer = *value;
ble.gattServer().write(ioPinServiceIOCharacteristicHandle, (const uint8_t *)&ioPinServiceIOCharacteristicBuffer, sizeof(ioPinServiceIOCharacteristicBuffer));
// Also, drop any selected pins into input mode, so we can pick up changes later
for (int i=0; i < MICROBIT_IO_PIN_SERVICE_PINCOUNT; i++)
{
if(isDigital(i) && isInput(i))
io.pin[i].getDigitalValue();
//MicroBitIOPins[i]->getDigitalValue();
if(isAnalog(i) && isInput(i))
io.pin[i].getAnalogValue();
//MicroBitIOPins[i]->getAnalogValue();
}
}
// Check for writes to the IO configuration characteristic
if (params->handle == ioPinServiceADCharacteristicHandle && params->len >= sizeof(ioPinServiceADCharacteristicBuffer))
{
uint32_t *value = (uint32_t *)params->data;
// Our IO configuration may be changing... read the new value, and push it back into the BLE stack.
ioPinServiceADCharacteristicBuffer = *value;
ble.gattServer().write(ioPinServiceADCharacteristicHandle, (const uint8_t *)&ioPinServiceADCharacteristicBuffer, sizeof(ioPinServiceADCharacteristicBuffer));
// Also, drop any selected pins into input mode, so we can pick up changes later
for (int i=0; i < MICROBIT_IO_PIN_SERVICE_PINCOUNT; i++)
{
if(isDigital(i) && isInput(i))
io.pin[i].getDigitalValue();
//MicroBitIOPins[i]->getDigitalValue();
if(isAnalog(i) && isInput(i))
io.pin[i].getAnalogValue();
//MicroBitIOPins[i]->getAnalogValue();
}
}
if (params->handle == ioPinServiceDataCharacteristic->getValueHandle())
{
// We have some pin data to change...
uint16_t len = params->len;
IOData *data = (IOData *)params->data;
// There may be multiple write operaitons... take each in turn and update the pin values
while (len >= sizeof(IOData))
{
if (isOutput(data->pin))
{
if (isDigital(data->pin))
io.pin[data->pin].setDigitalValue(data->value);
//MicroBitIOPins[data->pin]->setDigitalValue(data->value);
else
io.pin[data->pin].setAnalogValue(data->value*4);
//MicroBitIOPins[data->pin]->setAnalogValue(data->value*4);
}
data++;
len -= sizeof(IOData);
}
}
}
symbol_t readSym(){
char *s, tch;
symtype_t i;
while(isBlank())nextchar();
if(isAlpha()){
s = ccstring();
s = ccstrcat(s,ch);
nextchar();
while(isAlpha() || isDigital()){
s = ccstrcat(s,ch);
nextchar();
}
for(i = CONST; i<=RETURN; i ++)
if(ccstrcmp(s,keywords[i-1])==0){
return Symbol(i, 0);
}
return Symbol(ID, (int)s);
}else if(isDigital()){
return readNumLit(0);
}else if(ch=='\''){
nextchar();
if(isAlpha() || isDigital() || ch=='+' || ch=='-' || ch=='*' || ch=='/'){
tch = ch;
nextchar();
if(ch=='\''){
nextchar();
return Symbol(CHARLIT, (int)tch);
}
}
msg(ERR, "a wrong char literal",lineno+1);
}else if(ch=='\"'){
nextchar();
s = ccstring();
while(ch!='\"' && ch!=EOF){
s = ccstrcat(s, ch);
nextchar();
}
if(ch!=EOF){
nextchar();
return Symbol(STRLIT, (int)s);
}
msg(ERR, "a wrong string literal",lineno+1);
}else if(ch=='+'){
nextchar();
//if(isDigital())
// return readNumLit(0);
//else
return Symbol(PLUS, 0);
}else if(ch=='-'){
nextchar();
//if(isDigital())
// return readNumLit(1);
//else
return Symbol(MINUS, 0);
}else if(ch=='*'){
nextchar();
return Symbol(MULTI, 0);
}else if(ch=='/'){
nextchar();
return Symbol(DIVIDE, 0);
}else if(ch=='<'){
nextchar();
if(ch=='='){
nextchar();
return Symbol(LEQU, 0);
}else
return Symbol(LESS, 0);
}else if(ch=='>'){
nextchar();
if(ch=='='){
nextchar();
return Symbol(GEQU, 0);
}else
return Symbol(GREATER, 0);
}else if(ch=='!'){
nextchar();
if(ch=='='){
nextchar();
return Symbol(UNEQU, 0);
}
msg(ERR, "unexpected char \'!\'",lineno+1);
}else if(ch=='='){
nextchar();
if(ch=='='){
nextchar();
return Symbol(EQU, 0);
}else
return Symbol(ASN, 0);
}else if(ch=='('){
nextchar();
return Symbol(LPAREN, 0);
}else if(ch==')'){
nextchar();
return Symbol(RPAREN, 0);
}else if(ch=='{'){
nextchar();
return Symbol(LBRACE, 0);
}else if(ch=='}'){
nextchar();
return Symbol(RBRACE, 0);
}else if(ch==';'){
nextchar();
return Symbol(SEMIC, 0);
}else if(ch==':'){
nextchar();
return Symbol(COLON, 0);
}else if(ch==','){
nextchar();
return Symbol(COMMA, 0);
}else if(ch==EOF){
return Symbol(SEOF, 0);
}
msg(ERR, "unknown lexer error",lineno+1);
return 0;
}
