Gareth Haylings
Example ti send and receive messages between 2 Microbits
Fork of
microbit
by 
Lancaster University
source/MicroBit.cpp@15:e4c8426c5956, 2018-06-26 (annotated)
- Committer:
- themadrobot
- Date:
- Tue Jun 26 10:46:30 2018 +0000
- Revision:
- 15:e4c8426c5956
- Parent:
- 5:8052323b72d2
Microbit example to use radio sending between 2 Microbits
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Jonathan Austin |
1:af427e419320 | 1 | /* |
| Jonathan Austin |
1:af427e419320 | 2 | The MIT License (MIT) |
| Jonathan Austin |
1:af427e419320 | 3 | |
| Jonathan Austin |
1:af427e419320 | 4 | Copyright (c) 2016 British Broadcasting Corporation. |
| Jonathan Austin |
1:af427e419320 | 5 | This software is provided by Lancaster University by arrangement with the BBC. |
| Jonathan Austin |
1:af427e419320 | 6 | |
| Jonathan Austin |
1:af427e419320 | 7 | Permission is hereby granted, free of charge, to any person obtaining a |
| Jonathan Austin |
1:af427e419320 | 8 | copy of this software and associated documentation files (the "Software"), |
| Jonathan Austin |
1:af427e419320 | 9 | to deal in the Software without restriction, including without limitation |
| Jonathan Austin |
1:af427e419320 | 10 | the rights to use, copy, modify, merge, publish, distribute, sublicense, |
| Jonathan Austin |
1:af427e419320 | 11 | and/or sell copies of the Software, and to permit persons to whom the |
| Jonathan Austin |
1:af427e419320 | 12 | Software is furnished to do so, subject to the following conditions: |
| Jonathan Austin |
1:af427e419320 | 13 | |
| Jonathan Austin |
1:af427e419320 | 14 | The above copyright notice and this permission notice shall be included in |
| Jonathan Austin |
1:af427e419320 | 15 | all copies or substantial portions of the Software. |
| Jonathan Austin |
1:af427e419320 | 16 | |
| Jonathan Austin |
1:af427e419320 | 17 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| Jonathan Austin |
1:af427e419320 | 18 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| Jonathan Austin |
1:af427e419320 | 19 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL |
| Jonathan Austin |
1:af427e419320 | 20 | THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| Jonathan Austin |
1:af427e419320 | 21 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
| Jonathan Austin |
1:af427e419320 | 22 | FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| Jonathan Austin |
1:af427e419320 | 23 | DEALINGS IN THE SOFTWARE. |
| Jonathan Austin |
1:af427e419320 | 24 | */ |
| Jonathan Austin |
1:af427e419320 | 25 | |
| Jonathan Austin |
1:af427e419320 | 26 | #include "MicroBitConfig.h" |
| Jonathan Austin |
1:af427e419320 | 27 | /* |
| Jonathan Austin |
1:af427e419320 | 28 | * The underlying Nordic libraries that support BLE do not compile cleanly with the stringent GCC settings we employ |
| Jonathan Austin |
1:af427e419320 | 29 | * If we're compiling under GCC, then we suppress any warnings generated from this code (but not the rest of the DAL) |
| Jonathan Austin |
1:af427e419320 | 30 | * The ARM cc compiler is more tolerant. We don't test __GNUC__ here to detect GCC as ARMCC also typically sets this |
| Jonathan Austin |
1:af427e419320 | 31 | * as a compatability option, but does not support the options used... |
| Jonathan Austin |
1:af427e419320 | 32 | */ |
| Jonathan Austin |
1:af427e419320 | 33 | #if !defined(__arm) |
| Jonathan Austin |
1:af427e419320 | 34 | #pragma GCC diagnostic ignored "-Wunused-function" |
| Jonathan Austin |
1:af427e419320 | 35 | #pragma GCC diagnostic push |
| Jonathan Austin |
1:af427e419320 | 36 | #pragma GCC diagnostic ignored "-Wunused-parameter" |
| Jonathan Austin |
1:af427e419320 | 37 | #endif |
| Jonathan Austin |
1:af427e419320 | 38 | |
| Jonathan Austin |
1:af427e419320 | 39 | #include "MicroBit.h" |
| Jonathan Austin |
1:af427e419320 | 40 | |
| Jonathan Austin |
1:af427e419320 | 41 | #include "nrf_soc.h" |
| Jonathan Austin |
1:af427e419320 | 42 | |
| Jonathan Austin |
1:af427e419320 | 43 | /* |
| Jonathan Austin |
1:af427e419320 | 44 | * Return to our predefined compiler settings. |
| Jonathan Austin |
1:af427e419320 | 45 | */ |
| Jonathan Austin |
1:af427e419320 | 46 | #if !defined(__arm) |
| Jonathan Austin |
1:af427e419320 | 47 | #pragma GCC diagnostic pop |
| Jonathan Austin |
1:af427e419320 | 48 | #endif |
| Jonathan Austin |
1:af427e419320 | 49 | |
| Jonathan Austin |
1:af427e419320 | 50 | #if CONFIG_ENABLED(MICROBIT_DBG) |
| Jonathan Austin |
1:af427e419320 | 51 | // We create and initialize to NULL here, but MicroBitSerial will automatically update this as needed in its constructor. |
| Jonathan Austin |
1:af427e419320 | 52 | RawSerial* SERIAL_DEBUG = NULL; |
| Jonathan Austin |
1:af427e419320 | 53 | #endif |
| Jonathan Austin |
1:af427e419320 | 54 | |
| Jonathan Austin |
1:af427e419320 | 55 | /** |
| Jonathan Austin |
1:af427e419320 | 56 | * Constructor. |
| Jonathan Austin |
1:af427e419320 | 57 | * |
| Jonathan Austin |
1:af427e419320 | 58 | * Create a representation of a MicroBit device, which includes member variables |
| Jonathan Austin |
1:af427e419320 | 59 | * that represent various device drivers used to control aspects of the micro:bit. |
| Jonathan Austin |
1:af427e419320 | 60 | */ |
| Jonathan Austin |
1:af427e419320 | 61 | MicroBit::MicroBit() : |
| Jonathan Austin |
1:af427e419320 | 62 | serial(USBTX, USBRX), |
| Jonathan Austin |
1:af427e419320 | 63 | resetButton(MICROBIT_PIN_BUTTON_RESET), |
| Jonathan Austin |
1:af427e419320 | 64 | storage(), |
| Jonathan Austin |
1:af427e419320 | 65 | i2c(I2C_SDA0, I2C_SCL0), |
| Jonathan Austin |
1:af427e419320 | 66 | messageBus(), |
| Jonathan Austin |
1:af427e419320 | 67 | display(), |
| Jonathan Austin |
1:af427e419320 | 68 | buttonA(MICROBIT_PIN_BUTTON_A, MICROBIT_ID_BUTTON_A), |
| Jonathan Austin |
1:af427e419320 | 69 | buttonB(MICROBIT_PIN_BUTTON_B, MICROBIT_ID_BUTTON_B), |
| Jonathan Austin |
1:af427e419320 | 70 | buttonAB(MICROBIT_ID_BUTTON_A,MICROBIT_ID_BUTTON_B, MICROBIT_ID_BUTTON_AB), |
| Jonathan Austin |
1:af427e419320 | 71 | accelerometer(i2c), |
| Jonathan Austin |
1:af427e419320 | 72 | compass(i2c, accelerometer, storage), |
| Jonathan Austin |
1:af427e419320 | 73 | compassCalibrator(compass, accelerometer, display), |
| Jonathan Austin |
1:af427e419320 | 74 | thermometer(storage), |
| Jonathan Austin |
1:af427e419320 | 75 | io(MICROBIT_ID_IO_P0,MICROBIT_ID_IO_P1,MICROBIT_ID_IO_P2, |
| Jonathan Austin |
1:af427e419320 | 76 | MICROBIT_ID_IO_P3,MICROBIT_ID_IO_P4,MICROBIT_ID_IO_P5, |
| Jonathan Austin |
1:af427e419320 | 77 | MICROBIT_ID_IO_P6,MICROBIT_ID_IO_P7,MICROBIT_ID_IO_P8, |
| Jonathan Austin |
1:af427e419320 | 78 | MICROBIT_ID_IO_P9,MICROBIT_ID_IO_P10,MICROBIT_ID_IO_P11, |
| Jonathan Austin |
1:af427e419320 | 79 | MICROBIT_ID_IO_P12,MICROBIT_ID_IO_P13,MICROBIT_ID_IO_P14, |
| Jonathan Austin |
1:af427e419320 | 80 | MICROBIT_ID_IO_P15,MICROBIT_ID_IO_P16,MICROBIT_ID_IO_P19, |
| Jonathan Austin |
1:af427e419320 | 81 | MICROBIT_ID_IO_P20), |
| Jonathan Austin |
1:af427e419320 | 82 | bleManager(storage), |
| Jonathan Austin |
1:af427e419320 | 83 | radio(), |
| Jonathan Austin |
1:af427e419320 | 84 | ble(NULL) |
| Jonathan Austin |
1:af427e419320 | 85 | { |
| Jonathan Austin |
1:af427e419320 | 86 | // Clear our status |
| Jonathan Austin |
1:af427e419320 | 87 | status = 0; |
| Jonathan Austin |
1:af427e419320 | 88 | |
| Jonathan Austin |
1:af427e419320 | 89 | // Bring up soft reset functionality as soon as possible. |
| Jonathan Austin |
1:af427e419320 | 90 | resetButton.mode(PullUp); |
| Jonathan Austin |
1:af427e419320 | 91 | resetButton.fall(this, &MicroBit::reset); |
| Jonathan Austin |
1:af427e419320 | 92 | } |
| Jonathan Austin |
1:af427e419320 | 93 | |
| Jonathan Austin |
1:af427e419320 | 94 | /** |
| Jonathan Austin |
1:af427e419320 | 95 | * Post constructor initialisation method. |
| Jonathan Austin |
1:af427e419320 | 96 | * |
| Jonathan Austin |
1:af427e419320 | 97 | * This call will initialised the scheduler, memory allocator and Bluetooth stack. |
| Jonathan Austin |
1:af427e419320 | 98 | * |
| Jonathan Austin |
1:af427e419320 | 99 | * This is required as the Bluetooth stack can't be brought up in a |
| Jonathan Austin |
1:af427e419320 | 100 | * static context i.e. in a constructor. |
| Jonathan Austin |
1:af427e419320 | 101 | * |
| Jonathan Austin |
1:af427e419320 | 102 | * @code |
| Jonathan Austin |
1:af427e419320 | 103 | * uBit.init(); |
| Jonathan Austin |
1:af427e419320 | 104 | * @endcode |
| Jonathan Austin |
1:af427e419320 | 105 | * |
| Jonathan Austin |
1:af427e419320 | 106 | * @note This method must be called before user code utilises any functionality |
| Jonathan Austin |
1:af427e419320 | 107 | * contained by uBit. |
| Jonathan Austin |
1:af427e419320 | 108 | */ |
| Jonathan Austin |
1:af427e419320 | 109 | void MicroBit::init() |
| Jonathan Austin |
1:af427e419320 | 110 | { |
| Jonathan Austin |
1:af427e419320 | 111 | if (status & MICROBIT_INITIALIZED) |
| Jonathan Austin |
1:af427e419320 | 112 | return; |
| Jonathan Austin |
1:af427e419320 | 113 | |
| Jonathan Austin |
1:af427e419320 | 114 | #if CONFIG_ENABLED(MICROBIT_HEAP_ALLOCATOR) |
| Jonathan Austin |
1:af427e419320 | 115 | // Bring up a nested heap allocator. |
| Jonathan Austin |
1:af427e419320 | 116 | microbit_create_nested_heap(MICROBIT_NESTED_HEAP_SIZE); |
| Jonathan Austin |
1:af427e419320 | 117 | #endif |
| Jonathan Austin |
1:af427e419320 | 118 | |
| Jonathan Austin |
1:af427e419320 | 119 | // Bring up fiber scheduler. |
| Jonathan Austin |
1:af427e419320 | 120 | scheduler_init(messageBus); |
| Jonathan Austin |
1:af427e419320 | 121 | |
| Jonathan Austin |
1:af427e419320 | 122 | // Seed our random number generator |
| Jonathan Austin |
1:af427e419320 | 123 | seedRandom(); |
| Jonathan Austin |
1:af427e419320 | 124 | |
| Jonathan Austin |
1:af427e419320 | 125 | // Create an event handler to trap any handlers being created for I2C services. |
| Jonathan Austin |
1:af427e419320 | 126 | // We do this to enable initialisation of those services only when they're used, |
| Jonathan Austin |
1:af427e419320 | 127 | // which saves processor time, memeory and battery life. |
| Jonathan Austin |
1:af427e419320 | 128 | messageBus.listen(MICROBIT_ID_MESSAGE_BUS_LISTENER, MICROBIT_EVT_ANY, this, &MicroBit::onListenerRegisteredEvent); |
| Jonathan Austin |
1:af427e419320 | 129 | |
| Jonathan Austin |
1:af427e419320 | 130 | status |= MICROBIT_INITIALIZED; |
| Jonathan Austin |
1:af427e419320 | 131 | |
| Jonathan Austin |
1:af427e419320 | 132 | #if CONFIG_ENABLED(MICROBIT_BLE_PAIRING_MODE) |
| Jonathan Austin |
1:af427e419320 | 133 | // Test if we need to enter BLE pairing mode... |
| Jonathan Austin |
1:af427e419320 | 134 | int i=0; |
| Jonathan Austin |
1:af427e419320 | 135 | sleep(100); |
| Jonathan Austin |
1:af427e419320 | 136 | while (buttonA.isPressed() && buttonB.isPressed() && i<10) |
| Jonathan Austin |
1:af427e419320 | 137 | { |
| Jonathan Austin |
1:af427e419320 | 138 | sleep(100); |
| Jonathan Austin |
1:af427e419320 | 139 | i++; |
| Jonathan Austin |
1:af427e419320 | 140 | |
| Jonathan Austin |
1:af427e419320 | 141 | if (i == 10) |
| Jonathan Austin |
1:af427e419320 | 142 | { |
| Jonathan Austin |
1:af427e419320 | 143 | #if CONFIG_ENABLED(MICROBIT_HEAP_ALLOCATOR) && CONFIG_ENABLED(MICROBIT_HEAP_REUSE_SD) |
| Jonathan Austin |
1:af427e419320 | 144 | microbit_create_heap(MICROBIT_SD_GATT_TABLE_START + MICROBIT_SD_GATT_TABLE_SIZE, MICROBIT_SD_LIMIT); |
| Jonathan Austin |
1:af427e419320 | 145 | #endif |
| Jonathan Austin |
1:af427e419320 | 146 | // Start the BLE stack, if it isn't already running. |
| Jonathan Austin |
1:af427e419320 | 147 | if (!ble) |
| Jonathan Austin |
1:af427e419320 | 148 | { |
| Jonathan Austin |
1:af427e419320 | 149 | bleManager.init(getName(), getSerial(), messageBus, true); |
| Jonathan Austin |
1:af427e419320 | 150 | ble = bleManager.ble; |
| Jonathan Austin |
1:af427e419320 | 151 | } |
| Jonathan Austin |
1:af427e419320 | 152 | |
| Jonathan Austin |
1:af427e419320 | 153 | // Enter pairing mode, using the LED matrix for any necessary pairing operations |
| Jonathan Austin |
1:af427e419320 | 154 | bleManager.pairingMode(display, buttonA); |
| Jonathan Austin |
1:af427e419320 | 155 | } |
| Jonathan Austin |
1:af427e419320 | 156 | } |
| Jonathan Austin |
1:af427e419320 | 157 | #endif |
| Jonathan Austin |
1:af427e419320 | 158 | |
| Jonathan Austin |
1:af427e419320 | 159 | // Attempt to bring up a second heap region, using unused memory normally reserved for Soft Device. |
| Jonathan Austin |
1:af427e419320 | 160 | #if CONFIG_ENABLED(MICROBIT_HEAP_ALLOCATOR) && CONFIG_ENABLED(MICROBIT_HEAP_REUSE_SD) |
| Jonathan Austin |
1:af427e419320 | 161 | #if CONFIG_ENABLED(MICROBIT_BLE_ENABLED) |
| Jonathan Austin |
1:af427e419320 | 162 | microbit_create_heap(MICROBIT_SD_GATT_TABLE_START + MICROBIT_SD_GATT_TABLE_SIZE, MICROBIT_SD_LIMIT); |
| Jonathan Austin |
1:af427e419320 | 163 | #else |
| Jonathan Austin |
1:af427e419320 | 164 | microbit_create_heap(MICROBIT_SRAM_BASE, MICROBIT_SD_LIMIT); |
| Jonathan Austin |
1:af427e419320 | 165 | #endif |
| Jonathan Austin |
1:af427e419320 | 166 | #endif |
| Jonathan Austin |
1:af427e419320 | 167 | |
| Jonathan Austin |
1:af427e419320 | 168 | #if CONFIG_ENABLED(MICROBIT_BLE_ENABLED) |
| Jonathan Austin |
1:af427e419320 | 169 | // Start the BLE stack, if it isn't already running. |
| Jonathan Austin |
1:af427e419320 | 170 | if (!ble) |
| Jonathan Austin |
1:af427e419320 | 171 | { |
| Jonathan Austin |
1:af427e419320 | 172 | bleManager.init(getName(), getSerial(), messageBus, false); |
| Jonathan Austin |
1:af427e419320 | 173 | ble = bleManager.ble; |
| Jonathan Austin |
1:af427e419320 | 174 | } |
| Jonathan Austin |
1:af427e419320 | 175 | #endif |
| Jonathan Austin |
1:af427e419320 | 176 | } |
| Jonathan Austin |
1:af427e419320 | 177 | |
| Jonathan Austin |
1:af427e419320 | 178 | /** |
| Jonathan Austin |
1:af427e419320 | 179 | * A listener to perform actions as a result of Message Bus reflection. |
| Jonathan Austin |
1:af427e419320 | 180 | * |
| Jonathan Austin |
1:af427e419320 | 181 | * In some cases we want to perform lazy instantiation of components, such as |
| Jonathan Austin |
1:af427e419320 | 182 | * the compass and the accelerometer, where we only want to add them to the idle |
| Jonathan Austin |
1:af427e419320 | 183 | * fiber when someone has the intention of using these components. |
| Jonathan Austin |
1:af427e419320 | 184 | */ |
| Jonathan Austin |
1:af427e419320 | 185 | void MicroBit::onListenerRegisteredEvent(MicroBitEvent evt) |
| Jonathan Austin |
1:af427e419320 | 186 | { |
| Jonathan Austin |
1:af427e419320 | 187 | switch(evt.value) |
| Jonathan Austin |
1:af427e419320 | 188 | { |
| Jonathan Austin |
1:af427e419320 | 189 | case MICROBIT_ID_BUTTON_AB: |
| Jonathan Austin |
1:af427e419320 | 190 | // A user has registered to receive events from the buttonAB multibutton. |
| Jonathan Austin |
1:af427e419320 | 191 | // Disable click events from being generated by ButtonA and ButtonB, and defer the |
| Jonathan Austin |
1:af427e419320 | 192 | // control of this to the multibutton handler. |
| Jonathan Austin |
1:af427e419320 | 193 | // |
| Jonathan Austin |
1:af427e419320 | 194 | // This way, buttons look independent unless a buttonAB is requested, at which |
| Jonathan Austin |
1:af427e419320 | 195 | // point button A+B clicks can be correclty handled without breaking |
| Jonathan Austin |
1:af427e419320 | 196 | // causal ordering. |
| Jonathan Austin |
1:af427e419320 | 197 | buttonA.setEventConfiguration(MICROBIT_BUTTON_SIMPLE_EVENTS); |
| Jonathan Austin |
1:af427e419320 | 198 | buttonB.setEventConfiguration(MICROBIT_BUTTON_SIMPLE_EVENTS); |
| Jonathan Austin |
1:af427e419320 | 199 | buttonAB.setEventConfiguration(MICROBIT_BUTTON_ALL_EVENTS); |
| Jonathan Austin |
1:af427e419320 | 200 | break; |
| Jonathan Austin |
1:af427e419320 | 201 | |
| Jonathan Austin |
1:af427e419320 | 202 | case MICROBIT_ID_COMPASS: |
| Jonathan Austin |
1:af427e419320 | 203 | // A listener has been registered for the compass. |
| Jonathan Austin |
1:af427e419320 | 204 | // The compass uses lazy instantiation, we just need to read the data once to start it running. |
| Jonathan Austin |
1:af427e419320 | 205 | // Touch the compass through the heading() function to ensure it is calibrated. if it isn't this will launch any associated calibration algorithms. |
| Jonathan Austin |
1:af427e419320 | 206 | compass.heading(); |
| Jonathan Austin |
1:af427e419320 | 207 | |
| Jonathan Austin |
1:af427e419320 | 208 | break; |
| Jonathan Austin |
1:af427e419320 | 209 | |
| Jonathan Austin |
1:af427e419320 | 210 | case MICROBIT_ID_ACCELEROMETER: |
| LancasterUniversity | 5:8052323b72d2 | 211 | case MICROBIT_ID_GESTURE: |
| Jonathan Austin |
1:af427e419320 | 212 | // A listener has been registered for the accelerometer. |
| Jonathan Austin |
1:af427e419320 | 213 | // The accelerometer uses lazy instantiation, we just need to read the data once to start it running. |
| Jonathan Austin |
1:af427e419320 | 214 | accelerometer.updateSample(); |
| Jonathan Austin |
1:af427e419320 | 215 | break; |
| Jonathan Austin |
1:af427e419320 | 216 | |
| Jonathan Austin |
1:af427e419320 | 217 | case MICROBIT_ID_THERMOMETER: |
| Jonathan Austin |
1:af427e419320 | 218 | // A listener has been registered for the thermometer. |
| Jonathan Austin |
1:af427e419320 | 219 | // The thermometer uses lazy instantiation, we just need to read the data once to start it running. |
| Jonathan Austin |
1:af427e419320 | 220 | thermometer.updateSample(); |
| Jonathan Austin |
1:af427e419320 | 221 | break; |
| Jonathan Austin |
1:af427e419320 | 222 | } |
| LancasterUniversity | 5:8052323b72d2 | 223 | } |