Switched transport to ArduinoBLE library instead of previously used E…

…SP-32 specific code

README.adoc

@@ -1,7 +1,7 @@
-= uMyo_BLE Library for ESP32 =
+= uMyo_BLE Library for nRF52x and ESP32 based Arduinos =
+
+This library allows to receive data from uMyo devices using BLE This library allows to receive data from uMyo devices using BLE enabled Arduinos (both nRF52x and ESP32 based), providing muscle activity readings, roll, pitch, yaw angles and 4-bins spectrum
 
-This library allows to receive data from uMyo devices using BLE mode of ESP32 radio,
-providing muscle activity readings, roll, pitch, yaw angles and 4-bins spectrum
 
 == License ==
 

README.md

@@ -1,7 +1,7 @@
 
 # uMyo Library for Arduino
 
-This library allows to receive data from uMyo devices using BLE mode of ESP32 radio,
+This library allows to receive data from uMyo devices using BLE enabled Arduinos (both nRF52x and ESP32 based),
 providing muscle activity readings, roll, pitch, yaw angles and 4-bins spectrum
 
 # License 

examples/umyo_IMU/umyo_IMU.ino

@@ -1,6 +1,6 @@
 /*
-Obtaining orientation data from uMyo via BLE on ESP32
-Usage: run the code on ESP32 device
+Obtaining orientation data from uMyo via BLE on various Arduino boards
+Usage: install ArduinoBLE library, run the code on BLE enabled Arduino (nRF52 or ESP32 core)
  - open Serial Plotter (or Serial Monitor) at 115200 speed
  - turn on uMyo device
  - switch it into BLE mode if necessary (to switch, press button once or twice, depending on current mode)
@@ -16,6 +16,7 @@ void setup() {
 
 void loop() 
 {
+  uMyo.run();
   int dev_count = uMyo.getDeviceCount(); //if more than one device is present, show all of them
   for(int d = 0; d < dev_count; d++)
   {

examples/umyo_LED_strip/umyo_LED_strip.ino

@@ -1,6 +1,6 @@
 /*
-Obtaining muscle data from uMyo via BLE on ESP32 and showing 
-activity level on a connected WS2812 LED strip
+Obtaining muscle data from uMyo via BLE on various Arduino boards
+and showing activity level on a connected WS2812 LED strip
 */
 
 #include <uMyo_BLE.h>
@@ -22,6 +22,7 @@ void setup() {
 
 void loop() 
 {
+  uMyo.run();
   int dev_count = uMyo.getDeviceCount(); //if more than one device is present, show all of them
   float muscle_level = 0;
   if(dev_count > 0) muscle_level = uMyo.getMuscleLevel(0); //take data from the 1st connected device if more than 1 is connected

examples/umyo_basic/umyo_basic.ino

@@ -1,6 +1,6 @@
 /*
-Obtaining muscle data from uMyo via BLE on ESP32
-Usage: run the code on ESP32 device
+Obtaining muscle data from uMyo via BLE on various Arduino boards
+Usage: install ArduinoBLE library, run the code on BLE enabled Arduino (nRF52 or ESP32 core)
  - open Serial Plotter (or Serial Monitor) at 115200 speed
  - turn on uMyo device
  - switch it into BLE mode if necessary (to switch, press button once or twice, depending on current mode)
@@ -16,6 +16,7 @@ void setup() {
 
 void loop() 
 {
+  uMyo.run();
   int dev_count = uMyo.getDeviceCount(); //if more than one device is present, show all of them
   for(int d = 0; d < dev_count; d++)
   {

library.properties

@@ -1,9 +1,9 @@
 name=uMyo_BLE
-version=1.0.2
+version=1.1.0
 author=the_3d6 from Ultimate Robotics
 category=Sensors
 maintainer=hi@ultimaterobotics.com.ua
-sentence=Allows to get data from uMyo devices using ESP32 device via BLE.
+sentence=Allows to get data from uMyo devices using BLE-enabled Arduinos (nRF52x and ESP32).
 paragraph=Receives data from uMyo devices using BLE radio and makes them available
 url=https://github.com/ultimaterobotics/uMyo_BLE
-architectures=esp32
+architectures=samd,megaavr,mbed,apollo3,mbed_nano,mbed_portenta,mbed_nicla,esp32,mbed_giga,renesas,renesas_portenta

src/uMyo_BLE.cpp

@@ -1,7 +1,7 @@
 /*
   uMyo_BLE.cpp
 
-  Copyright (c) 2022, Ultimate Robotics
+  Copyright (c) 2023, Ultimate Robotics
 
   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
@@ -19,127 +19,71 @@
 */
 #include "uMyo_BLE.h"
 
-int uMyo_BLE_::scanTime = 5;
-BLEScan* uMyo_BLE_::pBLEScan = NULL;
-
-class UMyoAdvertisedDeviceCallbacks : public BLEAdvertisedDeviceCallbacks
-{
-	void onResult(BLEAdvertisedDevice advertisedDevice)
-	{
-		uint8_t *pack = advertisedDevice.getPayload();
-		int len = advertisedDevice.getPayloadLength();
-		int pp = 0;
-		while(pp < len-5)
-		{
-			pp++;
-			if(pack[pp] != 8) continue;
-			if(pack[pp+1] != 'u') continue;
-			if(pack[pp+2] != 'M') continue;
-			if(pack[pp+3] != 'y') continue;
-			if(pack[pp+4] != 'o') continue;
-			while(pack[pp] != 255 && pp < len) pp++;
-			if(pp >= len) return;
-			pp++;
-
-			int adc_id = pack[pp++];
-			int batt_level = pack[pp++];
-			int16_t sp0 = pack[pp++]<<8; //component 0 is sent at reduced precision
-			int muscle_avg = pack[pp++];
-			int16_t sp1 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
-			int16_t sp2 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
-			int16_t sp3 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
-			int16_t qw = (pack[pp]<<8) | pack[pp+1]; pp += 2;
-			int16_t qx = (pack[pp++]<<8);
-			int16_t qy = (pack[pp++]<<8);
-			int16_t qz = (pack[pp++]<<8);
-			sQ Qsg;
-			Qsg.w = qw;
-			Qsg.x = qx;
-			Qsg.y = qy;
-			Qsg.z = qz;
-			q_renorm(&Qsg);
-
-			uint8_t *mac = *advertisedDevice.getAddress().getNative();
-			uint32_t unit_id = (mac[1]<<24) | (mac[2]<<16) | (mac[3]<<8) | mac[4];
-			uMyo_data *device = uMyo.getDeviceByID(unit_id);
-			device->last_data_id = adc_id;
-			device->batt_mv = 2000 + batt_level*10;
-			device->device_avg_muscle_level = (muscle_avg*muscle_avg)>>3;
-			device->cur_spectrum[0] = sp0;
-			device->cur_spectrum[1] = sp1;
-			device->cur_spectrum[2] = sp2;
-			device->cur_spectrum[3] = sp3;
-			device->Qsg = Qsg;
-
-		}
-		return;
-	}
-};
-
-//'void (* (*)(esp_gap_ble_cb_event_t, esp_ble_gap_cb_param_t*))(esp_gap_ble_cb_event_t, esp_ble_gap_cb_param_t*)' to 'esp_gap_ble_cb_t' {aka 'void (*)(esp_gap_ble_cb_event_t, esp_ble_gap_cb_param_t*)'} [-fpermissive]
-
-void scan_cb(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param)
+void bleCentralDiscoverHandler(BLEDevice peripheral) 
 {
-	Serial.println("evt");
-	if(event == ESP_GAP_BLE_SCAN_RESULT_EVT)
+	uint8_t pack[40];
+	int len = peripheral.advertisementData(pack, 40);
+	if(len < 20) return;
+	int pp = 0;
+	while(pp < len-5)
 	{
-		Serial.println("scan res");
-		esp_ble_gap_cb_param_t::ble_scan_result_evt_param *par = (esp_ble_gap_cb_param_t::ble_scan_result_evt_param *)param;
-		uint8_t *pack = par->ble_adv;
-		int len = par->adv_data_len;
-		int pp = 0;
-		while(pp < len-5)
+		pp++;
+		if(pack[pp] != 8) continue;
+		if(pack[pp+1] != 'u') continue;
+		if(pack[pp+2] != 'M') continue;
+		if(pack[pp+3] != 'y') continue;
+		if(pack[pp+4] != 'o') continue;
+		while(pack[pp] != 255 && pp < len) pp++;
+		if(pp >= len) return;
+		pp++;
+
+		int adc_id = pack[pp++];
+		int batt_level = pack[pp++];
+		int16_t sp0 = pack[pp++]<<8; //component 0 is sent at reduced precision
+		int muscle_avg = pack[pp++];
+		int16_t sp1 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
+		int16_t sp2 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
+		int16_t sp3 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
+		int16_t qw = (pack[pp]<<8) | pack[pp+1]; pp += 2;
+		int16_t qx = (pack[pp++]<<8);
+		int16_t qy = (pack[pp++]<<8);
+		int16_t qz = (pack[pp++]<<8);
+		sQ Qsg;
+		Qsg.w = qw;
+		Qsg.x = qx;
+		Qsg.y = qy;
+		Qsg.z = qz;
+		q_renorm(&Qsg);
+
+
+		String address = peripheral.address(); //can only get string in AA:BB:CC:DD:EE:FF format
+		const char *addr = address.c_str();
+		uint8_t mac[6];
+		for(int n = 0; n < 6; n++)
 		{
-			pp++;
-			if(pack[pp] != 8) continue;
-			if(pack[pp+1] != 'u') continue;
-			if(pack[pp+2] != 'M') continue;
-			if(pack[pp+3] != 'y') continue;
-			if(pack[pp+4] != 'o') continue;
-			while(pack[pp] != 255 && pp < len) pp++;
-			if(pp >= len) return;
-			pp++;
-
-			int adc_id = pack[pp++];
-			int batt_level = pack[pp++];
-			int16_t sp0 = pack[pp++]<<8; //component 0 is sent at reduced precision
-			int muscle_avg = pack[pp++];
-			int16_t sp1 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
-			int16_t sp2 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
-			int16_t sp3 = (pack[pp]<<8) | pack[pp+1]; pp += 2;
-			int16_t qw = (pack[pp]<<8) | pack[pp+1]; pp += 2;
-			int16_t qx = (pack[pp++]<<8);
-			int16_t qy = (pack[pp++]<<8);
-			int16_t qz = (pack[pp++]<<8);
-			sQ Qsg;
-			Qsg.w = qw;
-			Qsg.x = qx;
-			Qsg.y = qy;
-			Qsg.z = qz;
-			q_renorm(&Qsg);
-
-			uint8_t *mac = par->bda;
-			uint32_t unit_id = (mac[1]<<24) | (mac[2]<<16) | (mac[3]<<8) | mac[4];
-			uMyo_data *device = uMyo.getDeviceByID(unit_id);
-			device->last_data_id = adc_id;
-			device->batt_mv = 2000 + batt_level*10;
-			device->device_avg_muscle_level = (muscle_avg*muscle_avg)>>3;
-			device->cur_spectrum[0] = sp0;
-			device->cur_spectrum[1] = sp1;
-			device->cur_spectrum[2] = sp2;
-			device->cur_spectrum[3] = sp3;
-			device->Qsg = Qsg;
-
+			mac[n] = 0;
+			for(int p = 0; p < 2; p++)
+			{
+				mac[n]<<=4;
+				char c = addr[n*3+p];
+				if(c >= '0' && c <= '9') mac[n] += c - '0';
+				if(c >= 'a' && c <= 'f') mac[n] += c + 10 - 'a';
+				if(c >= 'A' && c <= 'F') mac[n] += c + 10 - 'A';
+			}
 		}
-		return;
+		uint32_t unit_id = (mac[1]<<24) | (mac[2]<<16) | (mac[3]<<8) | mac[4];
+		uMyo_data *device = uMyo.getDeviceByID(unit_id);
+		device->last_data_id = adc_id;
+		device->batt_mv = 2000 + batt_level*10;
+		device->device_avg_muscle_level = (muscle_avg*muscle_avg)>>3;
+		device->cur_spectrum[0] = sp0;
+		device->cur_spectrum[1] = sp1;
+		device->cur_spectrum[2] = sp2;
+		device->cur_spectrum[3] = sp3;
+		device->Qsg = Qsg;
 
 	}
-}
-
-void uMyo_BLE_::rescan(BLEScanResults res)
-{
-	pBLEScan->clearResults();
-	if(scanTime > 0) pBLEScan->start(scanTime, uMyo_BLE_::rescan, true);
+	return;
 }
 
 uMyo_BLE_::uMyo_BLE_()
@@ -151,39 +95,14 @@ uMyo_BLE_::uMyo_BLE_()
 }
 void uMyo_BLE_::begin()
 {
-/*	scanTime = 85; //seconds
-	memset(&m_scan_params, 0, sizeof(m_scan_params)); // Initialize all params
-	m_scan_params.scan_type          = BLE_SCAN_TYPE_ACTIVE; // Default is a passive scan.
-	m_scan_params.own_addr_type      = BLE_ADDR_TYPE_PUBLIC;
-	m_scan_params.scan_filter_policy = BLE_SCAN_FILTER_ALLOW_ALL;
-	m_scan_params.scan_duplicate     = BLE_SCAN_DUPLICATE_DISABLE;
-	m_scan_params.scan_interval = 16; //10 ms
-	m_scan_params.scan_window = 16;
-	esp_ble_gap_set_scan_params(&m_scan_params);
-	esp_ble_gap_register_callback(&scan_cb);
-	esp_ble_gap_start_scanning(scanTime);
-	return;*/
-
-	scanTime = 1; //seconds
-	BLEDevice::init("");
-	pBLEScan = BLEDevice::getScan(); //create new scan
-	pBLEScan->setAdvertisedDeviceCallbacks(new UMyoAdvertisedDeviceCallbacks());
-	pBLEScan->setActiveScan(true); //active scan uses more power, but get results faster
-	pBLEScan->setInterval(32);
-	pBLEScan->setWindow(31); // less or equal setInterval value
-
-	pBLEScan->start(scanTime, this->rescan, false);
+	BLE.begin();
+	BLE.setEventHandler(BLEDiscovered, bleCentralDiscoverHandler);
+	BLE.scan(true);
 }
-void uMyo_BLE_::pause()
+void uMyo_BLE_::run()
 {
-	scanTime = 0; //stops rescan
+	BLE.poll();
 }
-void uMyo_BLE_::resume()
-{
-	scanTime = 5;
-	pBLEScan->start(scanTime, this->rescan, true);
-}
-
 uint8_t uMyo_BLE_::idToIdx(uint32_t id)
 {
 	uint32_t ms = millis();

src/uMyo_BLE.h

@@ -23,11 +23,8 @@
 
 #include <Arduino.h>
 
-#include <BLEAdvertisedDevice.h>
-#include <BLEClient.h>
-#include <esp_gap_ble_api.h>
+#include <ArduinoBLE.h>
 
-#include <BLEDevice.h>
 #include "quat_math.h"
 #define MAX_UMYO_DEVICES 12
 
@@ -60,16 +57,10 @@ class uMyo_BLE_
 	sV nx, ny, nz;
 	int device_count;
 	uint8_t idToIdx(uint32_t id);
-	static int scanTime;
-	static BLEScan *pBLEScan;
-	static void rescan(BLEScanResults res);
-
-	esp_ble_scan_params_t m_scan_params;
 public:
 	uMyo_BLE_(void);
 	void begin();
-	void pause();
-	void resume();
+	void run();
 	uint8_t getDeviceCount();
 	int getBattery(uint8_t devidx);
 	uint32_t getID(uint8_t devidx);