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pestolink.py
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from micropython import const
import bluetooth
import random
import struct
import time
_IRQ_CENTRAL_CONNECT = const(1)
_IRQ_CENTRAL_DISCONNECT = const(2)
_IRQ_GATTS_WRITE = const(3)
_FLAG_READ = const(0x0002)
_FLAG_WRITE_NO_RESPONSE = const(0x0004)
_FLAG_WRITE = const(0x0008)
_FLAG_NOTIFY = const(0x0010)
_UART_UUID = bluetooth.UUID("27df26c5-83f4-4964-bae0-d7b7cb0a1f54")
_UART_TX = (
bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E"),
_FLAG_READ | _FLAG_NOTIFY,
)
_UART_RX = (
bluetooth.UUID("452af57e-ad27-422c-88ae-76805ea641a9"),
_FLAG_WRITE | _FLAG_WRITE_NO_RESPONSE,
)
_UART_SERVICE = (
_UART_UUID,
(_UART_TX, _UART_RX),
)
_ADV_TYPE_FLAGS = const(0x01)
_ADV_TYPE_NAME = const(0x09)
_ADV_TYPE_UUID16_COMPLETE = const(0x3)
_ADV_TYPE_UUID32_COMPLETE = const(0x5)
_ADV_TYPE_UUID128_COMPLETE = const(0x7)
_ADV_TYPE_UUID16_MORE = const(0x2)
_ADV_TYPE_UUID32_MORE = const(0x4)
_ADV_TYPE_UUID128_MORE = const(0x6)
_ADV_TYPE_APPEARANCE = const(0x19)
# Generate a payload to be passed to gap_advertise(adv_data=...).
def advertising_payload(limited_disc=False, br_edr=False, name=None, services=None, appearance=0):
payload = bytearray()
def _append(adv_type, value):
nonlocal payload
payload += struct.pack("BB", len(value) + 1, adv_type) + value
_append(
_ADV_TYPE_FLAGS,
struct.pack("B", (0x01 if limited_disc else 0x02) + (0x18 if br_edr else 0x04)),
)
if name:
_append(_ADV_TYPE_NAME, name)
if services:
for uuid in services:
b = bytes(uuid)
if len(b) == 2:
_append(_ADV_TYPE_UUID16_COMPLETE, b)
elif len(b) == 4:
_append(_ADV_TYPE_UUID32_COMPLETE, b)
elif len(b) == 16:
_append(_ADV_TYPE_UUID128_COMPLETE, b)
# See org.bluetooth.characteristic.gap.appearance.xml
if appearance:
_append(_ADV_TYPE_APPEARANCE, struct.pack("<h", appearance))
return payload
def decode_field(payload, adv_type):
i = 0
result = []
while i + 1 < len(payload):
if payload[i + 1] == adv_type:
result.append(payload[i + 2 : i + payload[i] + 1])
i += 1 + payload[i]
return result
def decode_name(payload):
n = decode_field(payload, _ADV_TYPE_NAME)
return str(n[0], "utf-8") if n else ""
def decode_services(payload):
services = []
for u in decode_field(payload, _ADV_TYPE_UUID16_COMPLETE):
services.append(bluetooth.UUID(struct.unpack("<h", u)[0]))
for u in decode_field(payload, _ADV_TYPE_UUID32_COMPLETE):
services.append(bluetooth.UUID(struct.unpack("<d", u)[0]))
for u in decode_field(payload, _ADV_TYPE_UUID128_COMPLETE):
services.append(bluetooth.UUID(u))
return services
class PestoLinkAgent:
def __init__(self, name):
sliced_name = name[:8] #only use the first 8 characters in the name, otherwise code will crash
self._ble = bluetooth.BLE()
self._ble.active(True)
self._ble.irq(self._irq)
((self._handle_tx, self._handle_rx),) = self._ble.gatts_register_services((_UART_SERVICE,))
self._connections = set()
self._payload = advertising_payload(name=sliced_name, services=[_UART_UUID])
self._byte_list = [1,127,127,127,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
self._advertise()
def _irq(self, event, data):
# Track connections so we can send notifications.
if event == _IRQ_CENTRAL_CONNECT:
conn_handle, _, _ = data
#print("New connection")
self._connections.add(conn_handle)
elif event == _IRQ_CENTRAL_DISCONNECT:
conn_handle, _, _ = data
#print("Disconnected")
self._connections.remove(conn_handle)
# Start advertising again to allow a new connection.
self._advertise()
elif event == _IRQ_GATTS_WRITE:
conn_handle, value_handle = data
value = self._ble.gatts_read(value_handle)
if value_handle == self._handle_rx:
self.on_write(value)
def send(self, data):
for conn_handle in self._connections:
self._ble.gatts_notify(conn_handle, self._handle_tx, data)
def is_connected(self):
return len(self._connections) > 0
def _advertise(self, interval_us=500000):
#print("Starting advertising")
self._ble.gap_advertise(interval_us, adv_data=self._payload)
def on_write(self, value):
_raw_byte_list = [byte for byte in value]
if (_raw_byte_list[0] == 0x01):
self._byte_list = _raw_byte_list
else:
self._byte_list = [1,127,127,127,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
def get_raw_axis(self, axis_num):
if axis_num < 0 or axis_num > 3 or self._byte_list == None:
return 127
else:
return self._byte_list[1 + axis_num]
def get_axis(self, axis_num):
raw_axis = self.get_raw_axis(axis_num)
if raw_axis == 127:
return 0
else:
return (raw_axis / 127.5) - 1
def get_button(self, button_num):
if self._byte_list == None:
return False
raw_buttons = (self._byte_list[6] << 8) + self._byte_list[5]
if ((raw_buttons >> (button_num)) & 0x01):
return True
else:
return False