From 83946b14a0fd49883d9c609d39fd18b8ecbdc41c Mon Sep 17 00:00:00 2001
From: johanhvdb <78906149+johanhvdb@users.noreply.github.com>
Date: Mon, 21 Oct 2024 23:08:17 +0200
Subject: [PATCH 1/4] add files
---
LICENSE | 1348 +++++++++++++++++++--------------------
QBeadVisualisation.html | 129 +++-
README.md | 16 +-
library.properties | 20 +-
notifications.html | 528 +++++++--------
5 files changed, 1056 insertions(+), 985 deletions(-)
diff --git a/LICENSE b/LICENSE
index f288702..3877ae0 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,674 +1,674 @@
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- How to Apply These Terms to Your New Programs
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-Also add information on how to contact you by electronic and paper mail.
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- Copyright (C)
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-For more information on this, and how to apply and follow the GNU GPL, see
-.
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- The GNU General Public License does not permit incorporating your program
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+ GNU GENERAL PUBLIC LICENSE
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+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+
+ Copyright (C)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ 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 .
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
diff --git a/QBeadVisualisation.html b/QBeadVisualisation.html
index 62486b1..d2d6c37 100644
--- a/QBeadVisualisation.html
+++ b/QBeadVisualisation.html
@@ -23,7 +23,6 @@
Live Output
@@ -51,6 +50,11 @@ Live Output
window.x = 0;
window.y = 0;
window.z = 1;
+ window.r = 0;
+ window.g = 1;
+ window.b = 0;
+
+ window.extra_lights = [];
const nlegs = 12;
const nsections = 6
@@ -96,7 +100,7 @@ Live Output
createBands();
createLigths();
- function render() {
+ async function render() {
x = window.x;
y = window.y;
z = window.z;
@@ -106,7 +110,11 @@ Live Output
for (const object of lightsArray) {
object.material.color = {r: 0, g: 0, b: 0};
}
- setBloch_deg_smooth(spher[0], spher[1], {r: 0, g: 1, b: 0} );
+ setBloch_deg_smooth(spher[0], spher[1], {r: window.r, g: window.g, b: window.b} );
+ window.extra_lights.forEach((item, index) => {
+ let sph = cartesianToSpherical(item[0], item[1], item[2]);
+ setBloch_deg_smooth(sph[0], sph[1], {r: item[3], g: item[4], b: item[5]} );
+ })
requestAnimationFrame(render);
}
@@ -116,6 +124,7 @@ Live Output
function createBands() {
+ const groupBand = new THREE.Group();
const latRange = 4;
const materialBand = new THREE.MeshBasicMaterial( { color: 0x000000, wireframe:true } );
@@ -123,32 +132,34 @@ Live Output
const band1 = new THREE.Mesh( geometryBand, materialBand );
band1.rotation.z = Math.PI/2;
- scene.add( band1 );
+ groupBand.add(band1);
const band2 = new THREE.Mesh( geometryBand, materialBand );
band2.rotation.z = Math.PI/2;
band2.rotation.y = Math.PI / 2;
- scene.add( band2 );
+ groupBand.add(band2);
const band3 = new THREE.Mesh( geometryBand, materialBand );
band3.rotation.z = Math.PI/2;
band3.rotation.y = Math.PI / 3;
- scene.add( band3 );
+ groupBand.add(band3);
const band4 = new THREE.Mesh( geometryBand, materialBand );
band4.rotation.z = Math.PI/2;
band4.rotation.y = Math.PI / 2 / 3;
- scene.add( band4 );
+ groupBand.add(band4);
const band5 = new THREE.Mesh( geometryBand, materialBand );
band5.rotation.z = Math.PI/2;
band5.rotation.y = - Math.PI / 3;
- scene.add( band5 );
+ groupBand.add(band5);
const band6 = new THREE.Mesh( geometryBand, materialBand );
band6.rotation.z = Math.PI/2;
band6.rotation.y = - Math.PI / 2 / 3;
- scene.add( band6 );
+ groupBand.add(band6);
+
+ scene.add(groupBand);
}
@@ -239,20 +250,40 @@ Live Output
}
let theta_section = theta / theta_quant;
let phi_leg = phi / phi_quant;
- let theta_int = Math.floor(theta_section + 0.5);
+ let theta_int = Math.round(theta_section);
theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int;
- let phi_int = Math.floor(phi_leg + 0.5);
+ let phi_int = Math.round(phi_leg);
phi_int = phi_int % nlegs;
- let p = (theta_section - theta_int);
- let theta_direction = Math.sign(p);
- p = Math.abs(p);
- let q = 1 - p;
- p = p * p;
- q = q * q;
+ let phi_direction = 0;
+ let theta_direction = 0;
+ let theta_diff = Math.abs(theta_int - theta_section);
+ let phi_diff = Math.abs(phi_int - phi_leg);
+ let theta_c1 = 1;
+ let theta_c2 = 0;
+ let phi_c1 = 1;
+ let phi_c2 = 0;
+ if (theta_diff > 0.1) {
+ theta_direction = 1;
+ theta_c1 = theta_diff;
+ theta_c2 = 1-theta_diff;
+ }
+
+ if (phi_diff > 0.1) {
+ phi_direction = 1;
+ phi_c1 = phi_diff;
+ phi_c2 = 1-phi_diff;
+ }
+
+ let avg_1 = theta_c1*phi_c1 + theta_c2*phi_c1;
+ let avg_2 = theta_c1*phi_c2 + theta_c2*phi_c2;
+ console.log(avg_1, avg_2);
+
+
+ // console.log(avg_pt, avg_qr);
//In this order otherwise at the top the colour is reset if it is called for exactly the top twice
- setLegPixelColor(phi_int, theta_int + theta_direction, {r: p * c.r, g: p * c.g, b: p * c.b});
- setLegPixelColor(phi_int, theta_int, {r: q * c.r, g: q * c.g, b: q * c.b});
+ setLegPixelColor(phi_int + phi_direction, theta_int + theta_direction, {r: avg_2 * c.r, g: avg_2 * c.g, b: avg_2 * c.b});
+ setLegPixelColor(phi_int, theta_int, {r: avg_1 * c.r, g: avg_1 * c.g, b: avg_1 * c.b});
}
// Set the color of a specific LED
@@ -274,7 +305,16 @@ Live Output
function setPixelColor(pixel, color) {
const light = lightsArray[pixel];
- light.material.color = color
+ var old = light.material.color;
+ //curve colors
+ var r = Math.pow(1-Math.pow(1-color.r, 2), 0.5);
+ var b = Math.pow(1-Math.pow(1-color.b, 2), 0.5);
+ var g = Math.pow(1-Math.pow(1-color.g, 2), 0.5);
+ //mix
+ if (old.r > 0.01) r = (r + old.r)/2;
+ if (old.g > 0.01) g = (g + old.g)/2;
+ if (old.b > 0.01) b = (b + old.b)/2
+ light.material.color = {r: r, g: g, b: b};
}
@@ -313,6 +353,9 @@ Live Output
var accCharacteristic;
var sphCharacteristic;
var colCharacteristic;
+
+ var cur_msg_num = 0;
+ var count = 0;
function onStartButtonClick() {
let serviceUuid = "e30c1fc6-359c-12be-2544-63d6aa088d45";
@@ -395,18 +438,46 @@ Live Output
function handleNotifications(event) {
new Uint8Array(event.target.value.buffer).reverse();
let value = event.target.value;
- let z = value.getFloat32(0);
- let y = value.getFloat32(4);
- let x = value.getFloat32(8);
+ let num = value.getFloat32(0);
+ let c = value.getFloat32(4);
+ let z = value.getFloat32(8);
+ let y = value.getFloat32(12);
+ let x = value.getFloat32(16);
+ let b = ((c >> (0)) & 0xff)/255;
+ let g = ((c >> (8)) & 0xff)/255;
+ let r = ((c >> (16)) & 0xff)/255;
+ if (cur_msg_num != num) {
+ //set first value to the arrow
+ //leave only as much array elements as there were last message cycle
+ let temp = []
+ for (let i = 0; i < count; i++) {
+ temp.push(window.extra_lights[i]);
+ }
+ window.extra_lights = temp;
+ count = 0;
+ cur_msg_num = num;
+ let t = theta(x, y, z)*180/3.14159;
+ let p = phi(x, y, z)*180/3.14159;
+ window.x = x;
+ window.y = y;
+ window.z = z;
+ window.r = r;
+ window.g = g;
+ window.b = b;
+ log(`> ${x.toFixed(3)} ${y.toFixed(3)} ${z.toFixed(3)} ${t.toFixed(0)} ${p.toFixed(0)} `);
+ } else {
+ //overwrite each array element
+ if (window.extra_lights[count]) {
+ window.extra_lights[count] = [x, y, z, r, g, b]
+ } else {
+ window.extra_lights.push([x, y, z, r, g, b]);
+ }
+ count = count + 1;
+ }
+
// Convert raw data bytes to hex values just for the sake of showing something.
// In the "real" world, you'd use data.getUint8, data.getUint16 or even
// TextDecoder to process raw data bytes.
- let t = theta(x, y, z)*180/3.14159;
- let p = phi(x, y, z)*180/3.14159;
- window.x = x;
- window.y = y;
- window.z = z;
- log(`> ${x.toFixed(3)} ${y.toFixed(3)} ${z.toFixed(3)} ${t.toFixed(0)} ${p.toFixed(0)} `);
}
diff --git a/README.md b/README.md
index 26a5282..62bff22 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,8 @@
-# firmware
-
-## Required board files
-
-```
-https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
-https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json
-```
+# firmware
+
+## Required board files
+
+```
+https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
+https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json
+```
diff --git a/library.properties b/library.properties
index 4413e85..7c44305 100644
--- a/library.properties
+++ b/library.properties
@@ -1,10 +1,10 @@
-name=Qbead
-version=0.1.0
-author=Qbead
-maintainer=Qbead
-sentence=A library for controlling the Qbead device.
-paragraph=The Qbead library provides functionalities to control the Qbead device, including state management, LED control, and IMU interaction.
-url=https://qbead.org
-architectures=nrf52
-includes=Qbead.h
-depends=Adafruit NeoPixel, Seeed Arduino LSM6DS3
+name=Qbead
+version=0.1.0
+author=Qbead
+maintainer=Qbead
+sentence=A library for controlling the Qbead device.
+paragraph=The Qbead library provides functionalities to control the Qbead device, including state management, LED control, and IMU interaction.
+url=https://qbead.org
+architectures=nrf52
+includes=Qbead.h
+depends=Adafruit NeoPixel, Seeed Arduino LSM6DS3
diff --git a/notifications.html b/notifications.html
index 52a6e92..985465b 100644
--- a/notifications.html
+++ b/notifications.html
@@ -1,264 +1,264 @@
-
-
-
-
-
-
-
-
- Web Bluetooth / Notifications Sample
-
-
-
-
-
-
-
-
-
-
-
-Live Output
-
-
-Acceleration Sensor
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+ Web Bluetooth / Notifications Sample
+
+
+
+
+
+
+
+
+
+
+
+Live Output
+
+
+Acceleration Sensor
+
+
+
+
+
+
+
+
+
+
+
From 08cb0c8a065bd9f43e668bde4f2938461531eea1 Mon Sep 17 00:00:00 2001
From: johanhvdb <78906149+johanhvdb@users.noreply.github.com>
Date: Mon, 21 Oct 2024 23:09:26 +0200
Subject: [PATCH 2/4] Add files via upload
---
examples/BLE_reader/BLE_reader.ino | 65 +++++++++++++++++-------------
1 file changed, 37 insertions(+), 28 deletions(-)
diff --git a/examples/BLE_reader/BLE_reader.ino b/examples/BLE_reader/BLE_reader.ino
index 055191a..d9a33a3 100644
--- a/examples/BLE_reader/BLE_reader.ino
+++ b/examples/BLE_reader/BLE_reader.ino
@@ -1,29 +1,38 @@
-#include
-
-Qbead::Qbead bead;
-
-void setup() {
- bead.begin();
- bead.setBrightness(25); // way too bright
- Serial.println("testing all pixels discretely");
- for (int i = 0; i < bead.pixels.numPixels(); i++) {
- bead.pixels.setPixelColor(i, color(255, 255, 255));
- bead.pixels.show();
- delay(5);
- }
- Serial.println("testing smooth transition between pixels");
- for (int phi = 0; phi < 360; phi += 30) {
- for (int theta = 0; theta < 180; theta += 3) {
- bead.clear();
- bead.setBloch_deg(theta, phi, colorWheel(phi));
- bead.show();
- }
- }
- Serial.println("starting BLE tracking");
-}
-
-void loop() {
- bead.clear();
- bead.setBloch_deg_smooth(bead.t_ble, bead.p_ble, bead.c_ble);
- bead.show();
+#include
+
+Qbead::Qbead bead;
+
+void setup() {
+ bead.begin();
+ bead.setBrightness(25); // way too bright
+ Serial.println("testing all pixels discretely");
+ for (int i = 0; i < bead.pixels.numPixels(); i++) {
+ bead.pixels.setPixelColor(i, color(255, 255, 255));
+ bead.pixels.show();
+ delay(5);
+ }
+ Serial.println("testing smooth transition between pixels");
+ for (int phi = 0; phi < 360; phi += 30) {
+ for (int theta = 0; theta < 180; theta += 3) {
+ bead.clear();
+ bead.setBloch_deg(theta, phi, colorWheel(phi));
+ bead.show();
+ }
+ }
+ Serial.println("starting BLE tracking");
+}
+
+void loop() {
+ bead.readIMU();
+ bead.clear();
+ bead.setBloch_deg_smooth(bead.t_acc, bead.p_acc, color(255, 255, 255));
+ bead.setBloch_deg_smooth(90, 0, color(255, 0, 0));
+ bead.setBloch_deg_smooth(90, 45, color(255, 0, 0));
+ bead.setBloch_deg_smooth(90, 90, color(255, 0, 0));
+ bead.setBloch_deg_smooth(90, 135, color(255, 0, 0));
+ bead.setBloch_deg_smooth(90, 180, color(0, 255, 0));
+ bead.setBloch_deg_smooth(90, 225, color(0, 255, 0));
+ bead.setBloch_deg_smooth(90, 270, color(0, 255, 0));
+ bead.setBloch_deg_smooth(90, 315, color(0, 255, 0));
+ bead.show();
}
\ No newline at end of file
From 125f838c480f44090ae263fec50e41e12821d3e5 Mon Sep 17 00:00:00 2001
From: johanhvdb <78906149+johanhvdb@users.noreply.github.com>
Date: Mon, 21 Oct 2024 23:10:19 +0200
Subject: [PATCH 3/4] add
---
src/Qbead.h | 771 +++++++++++++++++++++++++++-------------------------
1 file changed, 402 insertions(+), 369 deletions(-)
diff --git a/src/Qbead.h b/src/Qbead.h
index 1666328..1ed7bb9 100644
--- a/src/Qbead.h
+++ b/src/Qbead.h
@@ -1,369 +1,402 @@
-#ifndef QBEAD_H
-#define QBEAD_H
-
-
-#include
-#include
-#include
-#include
-
-#include
-
-// default configs
-#define QB_LEDPIN 0
-#define QB_PIXELCONFIG NEO_BRG + NEO_KHZ800
-#define QB_NSECTIONS 6
-#define QB_NLEGS 12
-#define QB_IMU_ADDR 0x6A
-#define QB_IX 0
-#define QB_IY 2
-#define QB_IZ 1
-#define QB_SX 0
-#define QB_SY 0
-#define QB_SZ 1
-
-#define QB_MAX_PRPH_CONNECTION 2
-
-const uint8_t QB_UUID_SERVICE[] =
-{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6,0x1f,0x0c,0xe3};
-const uint8_t QB_UUID_COL_CHAR[] =
-{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+1,0x1f,0x0c,0xe3};
-const uint8_t QB_UUID_SPH_CHAR[] =
-{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+2,0x1f,0x0c,0xe3};
-const uint8_t QB_UUID_ACC_CHAR[] =
-{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+3,0x1f,0x0c,0xe3};
-
-const uint8_t zerobuffer20[] = {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0};
-
-// TODO manage namespaces better
-static uint32_t color(uint8_t r, uint8_t g, uint8_t b) {
- return ((uint32_t)r << 16) | ((uint32_t)g << 8) | b;
-}
-
-static uint8_t redch(uint32_t rgb) {
- return rgb >> 16;
-}
-
-static uint8_t greench(uint32_t rgb) {
- return (0x00ff00 & rgb) >> 8;
-}
-
-static uint8_t bluech(uint32_t rgb) {
- return 0x0000ff & rgb;
-}
-
-uint32_t colorWheel(uint8_t wheelPos) {
- wheelPos = 255 - wheelPos;
- if (wheelPos < 85) {
- return color(255 - wheelPos * 3, 0, wheelPos * 3);
- }
- if (wheelPos < 170) {
- wheelPos -= 85;
- return color(0, wheelPos * 3, 255 - wheelPos * 3);
- }
- wheelPos -= 170;
- return color(wheelPos * 3, 255 - wheelPos * 3, 0);
-}
-
-uint32_t colorWheel_deg(float wheelPos) {
- return colorWheel(wheelPos * 255 / 360);
-}
-
-float sign(float x) {
- if (x > 0) return +1;
- else return -1;
-}
-
-// z = cos(t)
-// x = cos(p)sin(t)
-// y = sin(p)sin(t)
-float phi(float x, float y, float z) {
- float ll = x * x + y * y + z * z;
- float l = sqrt(ll);
- float phi = atan2(y, x);
- return phi;
-}
-
-float theta(float x, float y, float z) {
- float ll = x * x + y * y + z * z;
- float l = sqrt(ll);
- float theta = acos(z / l);
- return theta;
-}
-
-void connect_callback(uint16_t conn_handle)
-{
- // Get the reference to current connection
- BLEConnection* connection = Bluefruit.Connection(conn_handle);
-
- char central_name[32] = { 0 };
- connection->getPeerName(central_name, sizeof(central_name));
-
- Serial.print("Connected to "); // TODO take care of cases where Serial is not available
- Serial.println(central_name);
-}
-
-namespace Qbead {
-
-class Qbead {
-public:
- Qbead(const uint16_t pin00 = QB_LEDPIN,
- const uint16_t pixelconfig = QB_PIXELCONFIG,
- const uint16_t nsections = QB_NSECTIONS,
- const uint16_t nlegs = QB_NLEGS,
- const uint8_t imu_addr = QB_IMU_ADDR,
- const uint8_t ix = QB_IX,
- const uint8_t iy = QB_IY,
- const uint8_t iz = QB_IZ,
- const bool sx = QB_SX,
- const bool sy = QB_SY,
- const bool sz = QB_SZ)
- : imu(LSM6DS3(I2C_MODE, imu_addr)),
- pixels(Adafruit_NeoPixel(nlegs * (nsections - 1) + 2, pin00, pixelconfig)),
- nsections(nsections),
- nlegs(nlegs),
- theta_quant(180 / nsections),
- phi_quant(360 / nlegs),
- ix(ix), iy(iy), iz(iz),
- sx(sx), sy(sy), sz(sz),
- bleservice(QB_UUID_SERVICE),
- blecharcol(QB_UUID_COL_CHAR),
- blecharsph(QB_UUID_SPH_CHAR),
- blecharacc(QB_UUID_ACC_CHAR)
- {}
-
- static Qbead *singletoninstance; // we need a global singleton static instance because bluefruit callbacks do not support context variables -- thankfully this is fine because there is indeed only one Qbead in existence at any time
-
- LSM6DS3 imu;
- Adafruit_NeoPixel pixels;
-
- BLEService bleservice;
- BLECharacteristic blecharcol;
- BLECharacteristic blecharsph;
- BLECharacteristic blecharacc;
- uint8_t connection_count = 0;
-
- const uint8_t nsections;
- const uint8_t nlegs;
- const uint8_t theta_quant;
- const uint8_t phi_quant;
- const uint8_t ix, iy, iz;
- const bool sx, sy, sz;
- float rbuffer[3];
- float x, y, z, rx, ry, rz; // filtered and raw acc, in units of g
- float t_acc, p_acc; // theta and phi according to gravity
- float T_imu; // last update from the IMU
-
- float t_ble, p_ble; // theta and phi
- uint32_t c_ble; // color
-
- static void ble_callback_color(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len) {
- singletoninstance->c_ble = (data[2] << 16) | (data[1] << 8) | data[0];
- }
-
- static void ble_callback_theta_phi(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len){
- singletoninstance->t_ble = data[0]*180/255;
- singletoninstance->p_ble = data[1]*360/255;
- }
-
- void begin() {
- singletoninstance = this;
- Serial.begin(9600);
- while (!Serial); // TODO some form of warning or a way to give up if Serial never becomes available
-
- pixels.begin();
- clear();
- setBrightness(10);
-
- Serial.println("qbead on XIAO BLE Sense + LSM6DS3 compiled on " __DATE__ " at " __TIME__);
- if (!imu.begin()) {
- Serial.println("IMU error");
- } else {
- Serial.println("IMU OK");
- }
-
- Bluefruit.begin(QB_MAX_PRPH_CONNECTION, 0);
- Bluefruit.setName("qbead | " __DATE__ " " __TIME__);
- Bluefruit.Periph.setConnectCallback(connect_callback);
- bleservice.begin();
- blecharcol.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE);
- blecharcol.setPermission(SECMODE_OPEN, SECMODE_OPEN);
- blecharcol.setUserDescriptor("rgb color");
- blecharcol.setFixedLen(3);
- blecharcol.setWriteCallback(ble_callback_color);
- blecharcol.begin();
- blecharcol.write(zerobuffer20, 3);
- blecharsph.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE);
- blecharsph.setPermission(SECMODE_OPEN, SECMODE_OPEN);
- blecharsph.setUserDescriptor("spherical coordinates");
- blecharsph.setFixedLen(2);
- blecharsph.setWriteCallback(ble_callback_theta_phi);
- blecharsph.begin();
- blecharsph.write(zerobuffer20, 2);
- blecharacc.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
- blecharacc.setPermission(SECMODE_OPEN, SECMODE_OPEN);
- blecharacc.setUserDescriptor("xyz acceleration");
- blecharacc.setFixedLen(3*sizeof(float));
- blecharacc.begin();
- blecharacc.write(zerobuffer20, 3*sizeof(float));
- startBLEadv();
- }
-
- void clear() {
- pixels.clear();
- }
-
- void show() {
- pixels.show();
- }
-
- void setLegPixelColor(int leg, int pixel, uint32_t color) {
- leg = nlegs - leg; // invert direction for the phi angle, because the PCB is set up as a left-handed coordinate system
- leg = leg % nlegs;
- if (leg == 0) {
- pixels.setPixelColor(pixel, color);
- } else if (pixel == 0) {
- pixels.setPixelColor(0, color);
- } else if (pixel == 6) {
- pixels.setPixelColor(6, color);
- } else {
- pixels.setPixelColor(7 + (leg - 1) * (nsections - 1) + pixel - 1, color);
- }
- }
-
- void setBrightness(uint8_t b) {
- pixels.setBrightness(b);
- }
-
- void setBloch_deg(float theta, float phi, uint32_t color) {
- if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
- return;
- }
- float theta_section = theta / theta_quant;
- if (theta_section < 0.5) {
- setLegPixelColor(0, 0, color);
- } else if (theta_section > nsections - 0.5) {
- setLegPixelColor(0, nsections, color);
- } else {
- float phi_leg = phi / phi_quant;
- int theta_int = theta_section + 0.5;
- theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
- int phi_int = phi_leg + 0.5;
- phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
- setLegPixelColor(phi_int, theta_int, color);
- }
- }
-
- void setBloch_deg_smooth(float theta, float phi, uint32_t c) {
- if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
- return;
- }
- float theta_section = theta / theta_quant;
- float phi_leg = phi / phi_quant;
- int theta_int = theta_section + 0.5;
- theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
- int phi_int = phi_leg + 0.5;
- phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
-
- float p = (theta_section - theta_int);
- int theta_direction = sign(p);
- p = abs(p);
- float q = 1 - p;
- p = p * p;
- q = q * q;
-
- uint8_t rc = redch(c);
- uint8_t bc = bluech(c);
- uint8_t gc = greench(c);
-
- setLegPixelColor(phi_int, theta_int, color(q * rc, q * bc, q * gc));
- setLegPixelColor(phi_int, theta_int + theta_direction, color(p * rc, p * bc, p * gc));
- }
-
- void readIMU() {
- rbuffer[0] = imu.readFloatAccelX();
- rbuffer[1] = imu.readFloatAccelY();
- rbuffer[2] = imu.readFloatAccelZ();
- rx = (1-2*sx)*rbuffer[ix];
- ry = (1-2*sy)*rbuffer[iy];
- rz = (1-2*sz)*rbuffer[iz];
-
- float T_new = micros();
- float delta = T_new - T_imu;
- T_imu = T_new;
- const float T = 100000; // 100 ms // TODO make the filter timeconstant configurable
- if (delta > 100000) {
- x = rx;
- y = ry;
- z = rz;
- } else {
- float d = delta/T;
- x = d*rx+(1-d)*x;
- y = d*ry+(1-d)*y;
- z = d*rz+(1-d)*z;
- }
-
- t_acc = theta(x, y, z)*180/3.14159;
- p_acc = phi(x, y, z)*180/3.14159;
- if (p_acc<0) {p_acc+=360;}// to bring it to [0,360] range
-
- Serial.print(x);
- Serial.print("\t");
- Serial.print(y);
- Serial.print("\t");
- Serial.print(z);
- Serial.print("\t-1\t1\t");
- Serial.print(t_acc);
- Serial.print("\t");
- Serial.print(p_acc);
- Serial.print("\t-360\t360\t");
- Serial.println();
-
- rbuffer[0] = x;
- rbuffer[1] = y;
- rbuffer[2] = z;
- blecharacc.write(rbuffer, 3*sizeof(float));
- for (uint16_t conn_hdl=0; conn_hdl < QB_MAX_PRPH_CONNECTION; conn_hdl++)
- {
- if ( Bluefruit.connected(conn_hdl) && blecharacc.notifyEnabled(conn_hdl) )
- {
- blecharacc.notify(rbuffer, 3*sizeof(float));
- }
- }
- }
-
- void startBLEadv(void)
- {
- // Advertising packet
- Bluefruit.Advertising.addFlags(BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE);
- Bluefruit.Advertising.addTxPower();
-
- // Include HRM Service UUID
- Bluefruit.Advertising.addService(bleservice);
-
- // Secondary Scan Response packet (optional)
- // Since there is no room for 'Name' in Advertising packet
- Bluefruit.ScanResponse.addName();
-
- /* Start Advertising
- * - Enable auto advertising if disconnected
- * - Interval: fast mode = 20 ms, slow mode = 152.5 ms
- * - Timeout for fast mode is 30 seconds
- * - Start(timeout) with timeout = 0 will advertise forever (until connected)
- *
- * For recommended advertising interval
- * https://developer.apple.com/library/content/qa/qa1931/_index.html
- */
- Bluefruit.Advertising.restartOnDisconnect(true);
- Bluefruit.Advertising.setInterval(32, 244); // in unit of 0.625 ms
- Bluefruit.Advertising.setFastTimeout(30); // number of seconds in fast mode
- Bluefruit.Advertising.start(0); // 0 = Don't stop advertising after n seconds
- }
-
-}; // end class
-
-Qbead *Qbead::singletoninstance = nullptr;
-
-} // end namespace
-
-#endif // QBEAD_H
+#ifndef QBEAD_H
+#define QBEAD_H
+
+
+#include
+#include
+#include
+#include
+
+#include
+
+
+// default configs
+#define QB_LEDPIN 0
+#define QB_PIXELCONFIG NEO_BRG + NEO_KHZ800
+#define QB_NSECTIONS 6
+#define QB_NLEGS 12
+#define QB_IMU_ADDR 0x6A
+#define QB_IX 0
+#define QB_IY 2
+#define QB_IZ 1
+#define QB_SX 0
+#define QB_SY 0
+#define QB_SZ 1
+
+#define QB_MAX_PRPH_CONNECTION 2
+
+const uint8_t QB_UUID_SERVICE[] =
+{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6,0x1f,0x0c,0xe3};
+const uint8_t QB_UUID_COL_CHAR[] =
+{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+1,0x1f,0x0c,0xe3};
+const uint8_t QB_UUID_SPH_CHAR[] =
+{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+2,0x1f,0x0c,0xe3};
+const uint8_t QB_UUID_ACC_CHAR[] =
+{0x45,0x8d,0x08,0xaa,0xd6,0x63,0x44,0x25,0xbe,0x12,0x9c,0x35,0xc6+3,0x1f,0x0c,0xe3};
+
+const uint8_t zerobuffer20[] = {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0};
+
+// TODO manage namespaces better
+static uint32_t color(uint8_t r, uint8_t g, uint8_t b) {
+ return ((uint32_t)r << 16) | ((uint32_t)g << 8) | b;
+}
+
+static uint8_t redch(uint32_t rgb) {
+ return rgb >> 16;
+}
+
+static uint8_t greench(uint32_t rgb) {
+ return (0x00ff00 & rgb) >> 8;
+}
+
+static uint8_t bluech(uint32_t rgb) {
+ return 0x0000ff & rgb;
+}
+
+uint32_t colorWheel(uint8_t wheelPos) {
+ wheelPos = 255 - wheelPos;
+ if (wheelPos < 85) {
+ return color(255 - wheelPos * 3, 0, wheelPos * 3);
+ }
+ if (wheelPos < 170) {
+ wheelPos -= 85;
+ return color(0, wheelPos * 3, 255 - wheelPos * 3);
+ }
+ wheelPos -= 170;
+ return color(wheelPos * 3, 255 - wheelPos * 3, 0);
+}
+
+uint32_t colorWheel_deg(float wheelPos) {
+ return colorWheel(wheelPos * 255 / 360);
+}
+
+float sign(float x) {
+ if (x > 0) return +1;
+ else return -1;
+}
+
+float phi(float x, float y, float z) {
+ float ll = x * x + y * y + z * z;
+ float l = sqrt(ll);
+ float phi = atan2(y, x);
+ return phi;
+}
+
+float theta(float x, float y, float z) {
+ float ll = x * x + y * y + z * z;
+ float l = sqrt(ll);
+ float theta = acos(z / l);
+ return theta;
+}
+
+void connect_callback(uint16_t conn_handle)
+{
+ // Get the reference to current connection
+ BLEConnection* connection = Bluefruit.Connection(conn_handle);
+
+ char central_name[32] = { 0 };
+ connection->getPeerName(central_name, sizeof(central_name));
+
+ Serial.print("Connected to "); // TODO take care of cases where Serial is not available
+ Serial.println(central_name);
+}
+
+namespace Qbead {
+
+class Qbead {
+public:
+ Qbead(const uint16_t pin00 = QB_LEDPIN,
+ const uint16_t pixelconfig = QB_PIXELCONFIG,
+ const uint16_t nsections = QB_NSECTIONS,
+ const uint16_t nlegs = QB_NLEGS,
+ const uint8_t imu_addr = QB_IMU_ADDR,
+ const uint8_t ix = QB_IX,
+ const uint8_t iy = QB_IY,
+ const uint8_t iz = QB_IZ,
+ const bool sx = QB_SX,
+ const bool sy = QB_SY,
+ const bool sz = QB_SZ)
+ : imu(LSM6DS3(I2C_MODE, imu_addr)),
+ pixels(Adafruit_NeoPixel(nlegs * (nsections - 1) + 2, pin00, pixelconfig)),
+ nsections(nsections),
+ nlegs(nlegs),
+ theta_quant(180 / nsections),
+ phi_quant(360 / nlegs),
+ ix(ix), iy(iy), iz(iz),
+ sx(sx), sy(sy), sz(sz),
+ bleservice(QB_UUID_SERVICE),
+ blecharcol(QB_UUID_COL_CHAR),
+ blecharsph(QB_UUID_SPH_CHAR),
+ blecharacc(QB_UUID_ACC_CHAR)
+ {}
+
+ static Qbead *singletoninstance; // we need a global singleton static instance because bluefruit callbacks do not support context variables -- thankfully this is fine because there is indeed only one Qbead in existence at any time
+
+ LSM6DS3 imu;
+ Adafruit_NeoPixel pixels;
+
+ BLEService bleservice;
+ BLECharacteristic blecharcol;
+ BLECharacteristic blecharsph;
+ BLECharacteristic blecharacc;
+ uint8_t connection_count = 0;
+
+ int curr_index = 0;
+ float msgsent = 0;
+ float accs[62][4];
+
+ const uint8_t nsections;
+ const uint8_t nlegs;
+ const uint8_t theta_quant;
+ const uint8_t phi_quant;
+ const uint8_t ix, iy, iz;
+ const bool sx, sy, sz;
+ float rbuffer[3];
+ float x, y, z, rx, ry, rz; // filtered and raw acc, in units of g
+ float t_acc, p_acc; // theta and phi according to gravity
+ float T_imu; // last update from the IMU
+
+ float t_ble, p_ble; // theta and phi
+ uint32_t c_ble; // color
+
+ void xyz(float theta, float phi, uint32_t c) {
+ float phib = phi/180*3.14159;
+ float thetab = theta/180*3.14159;
+ accs[curr_index][0] = sin(thetab) * cos(phib);
+ accs[curr_index][1] = sin(thetab) * sin(phib);
+ accs[curr_index][2] = cos(thetab);
+ accs[curr_index][3] = (float) c;
+ curr_index = curr_index + 1;
+ }
+
+ static void ble_callback_color(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len) {
+ singletoninstance->c_ble = (data[2] << 16) | (data[1] << 8) | data[0];
+ }
+
+ static void ble_callback_theta_phi(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len){
+ singletoninstance->t_ble = data[0]*180/255;
+ singletoninstance->p_ble = data[1]*360/255;
+ }
+
+ void begin() {
+ singletoninstance = this;
+ Serial.begin(9600);
+ while (!Serial); // TODO some form of warning or a way to give up if Serial never becomes available
+
+ pixels.begin();
+ clear();
+ setBrightness(10);
+
+ Serial.println("qbead on XIAO BLE Sense + LSM6DS3 compiled on " __DATE__ " at " __TIME__);
+ if (!imu.begin()) {
+ Serial.println("IMU error");
+ } else {
+ Serial.println("IMU OK");
+ }
+
+ Bluefruit.begin(QB_MAX_PRPH_CONNECTION, 0);
+ Bluefruit.setName("qbead | " __DATE__ " " __TIME__);
+ Bluefruit.Periph.setConnectCallback(connect_callback);
+ bleservice.begin();
+ blecharcol.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE);
+ blecharcol.setPermission(SECMODE_OPEN, SECMODE_OPEN);
+ blecharcol.setUserDescriptor("rgb color");
+ blecharcol.setFixedLen(3);
+ blecharcol.setWriteCallback(ble_callback_color);
+ blecharcol.begin();
+ blecharcol.write(zerobuffer20, 3);
+ blecharsph.setProperties(CHR_PROPS_READ | CHR_PROPS_WRITE);
+ blecharsph.setPermission(SECMODE_OPEN, SECMODE_OPEN);
+ blecharsph.setUserDescriptor("spherical coordinates");
+ blecharsph.setFixedLen(2);
+ blecharsph.setWriteCallback(ble_callback_theta_phi);
+ blecharsph.begin();
+ blecharsph.write(zerobuffer20, 2);
+ blecharacc.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
+ blecharacc.setPermission(SECMODE_OPEN, SECMODE_OPEN);
+ blecharacc.setUserDescriptor("xyz acceleration");
+ blecharacc.setFixedLen(5*sizeof(float));
+ blecharacc.begin();
+ blecharacc.write(zerobuffer20, 5*sizeof(float));
+ startBLEadv();
+ }
+
+ void clear() {
+ pixels.clear();
+ }
+
+ void show() {
+ for (int i = 0; i < curr_index; i++) {
+ float blearr[4];
+ blearr[0] = accs[i][0];
+ blearr[1] = accs[i][1];
+ blearr[2] = accs[i][2];
+ blearr[3] = accs[i][3];
+ blearr[4] = msgsent;
+ blecharacc.write(blearr, 5*sizeof(float));
+ for (uint16_t conn_hdl=0; conn_hdl < QB_MAX_PRPH_CONNECTION; conn_hdl++)
+ {
+ if ( Bluefruit.connected(conn_hdl) && blecharacc.notifyEnabled(conn_hdl) )
+ {
+ blecharacc.notify(blearr, 5*sizeof(float));
+ }
+ }
+ }
+ if (curr_index > 0) {
+ msgsent = msgsent + 1;
+ }
+
+ for (int i = 0; i < curr_index; i++)
+ {
+ accs[i][0] = 0.0;
+ accs[i][1] = 0.0;
+ accs[i][2] = 0.0;
+ accs[i][3] = 0.0;
+ }
+ curr_index = 0;
+ pixels.show();
+ }
+
+ void setLegPixelColor(uint32_t leg, uint32_t pixel, uint32_t color) {
+ leg = nlegs - leg; // invert direction for the phi angle, because the PCB is set up as a left-handed coordinate system
+ leg = leg % nlegs;
+ if (leg == 0) {
+ pixels.setPixelColor(pixel, color);
+ } else if (pixel == 0) {
+ pixels.setPixelColor(0, color);
+ } else if (pixel == 6) {
+ pixels.setPixelColor(6, color);
+ } else {
+ pixels.setPixelColor(7 + (leg - 1) * (nsections - 1) + pixel - 1, color);
+ }
+ }
+
+ void setBrightness(uint8_t b) {
+ pixels.setBrightness(b);
+ }
+
+ void setBloch_deg(float theta, float phi, uint32_t color) {
+ if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
+ return;
+ }
+ float theta_section = theta / theta_quant;
+ if (theta_section < 0.5) {
+ setLegPixelColor(0, 0, color);
+ } else if (theta_section > nsections - 0.5) {
+ setLegPixelColor(0, nsections, color);
+ } else {
+ float phi_leg = phi / phi_quant;
+ int theta_int = theta_section + 0.5;
+ theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
+ int phi_int = phi_leg + 0.5;
+ phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
+ setLegPixelColor(phi_int, theta_int, color);
+ }
+ }
+
+ void setBloch_deg_smooth(float theta, float phi, uint32_t c) {
+ if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
+ return;
+ }
+ xyz(theta, phi, c);
+ float theta_section = theta / theta_quant;
+ float phi_leg = phi / phi_quant;
+ int theta_int = theta_section + 0.5;
+ theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
+ int phi_int = phi_leg + 0.5;
+ phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
+
+ float p = (theta_section - theta_int);
+ int theta_direction = sign(p);
+ p = abs(p);
+ float q = 1 - p;
+ p = p * p;
+ q = q * q;
+
+ uint8_t rc = redch(c);
+ uint8_t bc = bluech(c);
+ uint8_t gc = greench(c);
+
+ setLegPixelColor(phi_int, theta_int, color(q * rc, q * bc, q * gc));
+ setLegPixelColor(phi_int, theta_int + theta_direction, color(p * rc, p * bc, p * gc));
+ }
+
+ void readIMU() {
+ rbuffer[0] = imu.readFloatAccelX();
+ rbuffer[1] = imu.readFloatAccelY();
+ rbuffer[2] = imu.readFloatAccelZ();
+ rx = (1-2*sx)*rbuffer[ix];
+ ry = (1-2*sy)*rbuffer[iy];
+ rz = (1-2*sz)*rbuffer[iz];
+
+ float T_new = micros();
+ float delta = T_new - T_imu;
+ T_imu = T_new;
+ const float T = 100000; // 100 ms // TODO make the filter timeconstant configurable
+ if (delta > 100000) {
+ x = rx;
+ y = ry;
+ z = rz;
+ } else {
+ float d = delta/T;
+ x = d*rx+(1-d)*x;
+ y = d*ry+(1-d)*y;
+ z = d*rz+(1-d)*z;
+ }
+
+ t_acc = theta(x, y, z)*180/3.14159;
+ p_acc = phi(x, y, z)*180/3.14159;
+ if (p_acc<0) {p_acc+=360;}// to bring it to [0,360] range
+
+ Serial.print(x);
+ Serial.print("\t");
+ Serial.print(y);
+ Serial.print("\t");
+ Serial.print(z);
+ Serial.print("\t-1\t1\t");
+ Serial.print(t_acc);
+ Serial.print("\t");
+ Serial.print(p_acc);
+ Serial.print("\t-360\t360\t");
+ Serial.println();
+
+ rbuffer[0] = x;
+ rbuffer[1] = y;
+ rbuffer[2] = z;
+ }
+
+ void startBLEadv(void)
+ {
+ // Advertising packet
+ Bluefruit.Advertising.addFlags(BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE);
+ Bluefruit.Advertising.addTxPower();
+
+ // Include HRM Service UUID
+ Bluefruit.Advertising.addService(bleservice);
+
+ // Secondary Scan Response packet (optional)
+ // Since there is no room for 'Name' in Advertising packet
+ Bluefruit.ScanResponse.addName();
+
+ /* Start Advertising
+ * - Enable auto advertising if disconnected
+ * - Interval: fast mode = 20 ms, slow mode = 152.5 ms
+ * - Timeout for fast mode is 30 seconds
+ * - Start(timeout) with timeout = 0 will advertise forever (until connected)
+ *
+ * For recommended advertising interval
+ * https://developer.apple.com/library/content/qa/qa1931/_index.html
+ */
+ Bluefruit.Advertising.restartOnDisconnect(true);
+ Bluefruit.Advertising.setInterval(32, 244); // in unit of 0.625 ms
+ Bluefruit.Advertising.setFastTimeout(30); // number of seconds in fast mode
+ Bluefruit.Advertising.start(0); // 0 = Don't stop advertising after n seconds
+ }
+
+}; // end class
+
+Qbead *Qbead::singletoninstance = nullptr;
+
+} // end namespace
+
+#endif // QBEAD_H
From 93a13dc0b05c24971dd63dcb2d9b71f208c4aa23 Mon Sep 17 00:00:00 2001
From: johanhvdb <78906149+johanhvdb@users.noreply.github.com>
Date: Mon, 21 Oct 2024 23:17:09 +0200
Subject: [PATCH 4/4] fix mistake
---
examples/BLE_reader/BLE_reader.ino | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/examples/BLE_reader/BLE_reader.ino b/examples/BLE_reader/BLE_reader.ino
index d9a33a3..034c417 100644
--- a/examples/BLE_reader/BLE_reader.ino
+++ b/examples/BLE_reader/BLE_reader.ino
@@ -1,4 +1,4 @@
-#include
+#include
Qbead::Qbead bead;
@@ -35,4 +35,4 @@ void loop() {
bead.setBloch_deg_smooth(90, 270, color(0, 255, 0));
bead.setBloch_deg_smooth(90, 315, color(0, 255, 0));
bead.show();
-}
\ No newline at end of file
+}