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Working BLE on S3

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osiu97
2026-07-06 19:26:50 +02:00
parent 2e3780cb0b
commit ea4530a5e4
7 changed files with 327 additions and 239 deletions
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.gitignore
+27
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@@ -0,0 +1,27 @@
# PlatformIO
.pio/
.pioenvs/
.piolibdeps/
lib/readme.txt
# Python Virtual Environments
venv/
env/
.venv/
__pycache__/
*.pyc
# IDEs and Editors
.vscode/
.idea/
*.swp
*.swo
# OS Generated Files
.DS_Store
.DS_Store?
._*
.Spotlight-V100
.Trashes
ehthumbs.db
Thumbs.db
gemini.md
+7 -16
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@@ -75,9 +75,9 @@ STEP_ANGLE = 360/2048 ≈ 0.17578125 °/step
### UUIDs (must be identical in firmware AND `web/js/ble.js`)
```
Service: a0b1c2d3-e4f5-6789-abcd-ef0123456700
Command: a0b1c2d3-e4f5-6789-abcd-ef0123456701 (WRITE | WRITE_NR)
Status: a0b1c2d3-e4f5-6789-abcd-ef0123456702 (NOTIFY)
Service: 18f3b235-9831-4c75-8ec0-210469b820a0
Command: cd083b06-4447-4cf3-a7c3-322ecf802ce4 (WRITE)
Status: 82e38c5b-d3ab-41d1-861c-b84dc6bb1e03 (NOTIFY)
Name: WijiBoard
```
@@ -127,19 +127,8 @@ esp32s3-wiji/
### Module loading (index.html)
All ES modules are loaded with a **cache-buster** to prevent stale code on refresh:
```javascript
const V = Date.now();
const { default: Router } = await import(`./web/js/router.js?v=${V}`);
const { default: BLE } = await import(`./web/js/ble.js?v=${V}`);
const { default: UI } = await import(`./web/js/ui.js?v=${V}`);
const { default: HomeSection } = await import(`./web/js/sections/home.js?v=${V}`);
const { default: StepperSection } = await import(`./web/js/sections/stepper-test.js?v=${V}`);
```
> The `?v=${V}` suffix on ES module imports is mandatory. Without it, browsers aggressively
> cache modules and you will see stale code running despite file changes.
All ES modules are loaded with static imports in `index.html`.
**CRITICAL**: Do NOT use dynamic cache-busting imports (e.g. `import('./ble.js?v=123')`) for the BLE module. Doing so causes the browser to instantiate multiple copies of the `BLE` singleton, breaking the event emitter (UI will not update when BLE connects).
---
@@ -414,6 +403,8 @@ To add a new section:
| **M1 at +d2, M2 at -d2** | This is the PositionControl.cpp convention. Reversing it causes visual arm crossing. Verified by tracing `xmd = x - d2` (offset from +d2 pivot) and `xpd = x + d2` (offset from -d2 pivot). |
| **`forward()` picks upward EE** | Two circle-circle intersections exist; the mechanism always operates in the "above" configuration. The lower solution is physically blocked by the board. |
| **`armsCrossed()` guard** | Prevents IK moves that would drive an elbow into the mechanism housing from the wrong side. Tunable via `LIMITS.ELBOW_BOX_X_INNER` and `ELBOW_BOX_Y_MAX`. |
| **Linux/BlueZ stability** | `pAdv->setMaxPreferred(0x0C)` is mandatory in firmware. Without it, Linux/ChromeOS will drop the connection immediately after the handshake. |
| **No dynamic BLE imports**| `index.html` must import `ble.js` via static `import`. Dynamic cache-busters create multiple instances of the BLE singleton, isolating UI event listeners! |
| **`fivebarIKGame.js` is reference only** | The original site's game uses a different angle convention (absolute degrees, different home, with `ikElbowSigns` tracking). We use the C++ IK formula instead because it directly produces step deltas from home. `fivebarIKGame.js` is kept in the repo for reference and understanding, not imported. |
| **Hash-based routing** | Keeps the SPA working from `file://` and simple static servers without needing a history API setup |
index.html
+8 -8
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@@ -121,12 +121,11 @@
<!-- ── App bootstrap (ES module entry point) ─────────────────── -->
<script type="module">
const V = Date.now(); // cache-buster – ensures fresh module load on every page refresh
const { default: Router } = await import(`./web/js/router.js?v=${V}`);
const { default: BLE } = await import(`./web/js/ble.js?v=${V}`);
const { default: UI } = await import(`./web/js/ui.js?v=${V}`);
const { default: HomeSection } = await import(`./web/js/sections/home.js?v=${V}`);
const { default: StepperSection } = await import(`./web/js/sections/stepper-test.js?v=${V}`);
import Router from './web/js/router.js';
import BLE from './web/js/ble.js';
import UI from './web/js/ui.js';
import HomeSection from './web/js/sections/home.js';
import StepperSection from './web/js/sections/stepper-test.js';
// ── Register routes ────────────────────────────────────────────
Router.register('home', HomeSection);
@@ -177,8 +176,9 @@
BLE.disconnect();
} else {
BLE.connect().catch(e => {
if (!e.message?.includes('cancelled') && !e.name?.includes('NotFound')) {
UI.log(`Connect error: ${e.message}`, 'error');
console.error('[BLE Connect Error]', e);
if (!e.message?.includes('cancelled')) {
UI.log(`Connect error: ${e.message} (${e.name})`, 'error');
}
});
}
platformio.ini
+3
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@@ -12,6 +12,9 @@ build_flags =
-D ARDUINO_USB_MODE=1
-D ARDUINO_USB_CDC_ON_BOOT=1
board_upload.flash_size = 4MB
board_build.partitions = default.csv
; Adjust to your COM port
monitor_speed = 115200
upload_protocol = esptool
src/main.cpp
+22 -23
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@@ -26,12 +26,12 @@
* Status : a0b1c2d3-e4f5-6789-abcd-ef0123456702
*/
#include <Arduino.h>
#include <AccelStepper.h>
#include <Arduino.h>
#include <BLE2902.h>
#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>
// ─── Motor pin mapping (28BYJ-48 / ULN2003) ──────────────────────
// Motor 1 – Shoulder
@@ -52,9 +52,9 @@
#define DEFAULT_ACCEL 100.0f // steps/sec²
// ─── BLE UUIDs ────────────────────────────────────────────────────
#define SERVICE_UUID "a0b1c2d3-e4f5-6789-abcd-ef0123456700"
#define CMD_UUID "a0b1c2d3-e4f5-6789-abcd-ef0123456701"
#define STATUS_UUID "a0b1c2d3-e4f5-6789-abcd-ef0123456702"
#define SERVICE_UUID "18f3b235-9831-4c75-8ec0-210469b820a0"
#define CMD_UUID "cd083b06-4447-4cf3-a7c3-322ecf802ce4"
#define STATUS_UUID "82e38c5b-d3ab-41d1-861c-b84dc6bb1e03"
#define DEVICE_NAME "WijiBoard"
// ─── Stepper objects ──────────────────────────────────────────────
@@ -96,7 +96,8 @@ class CmdCallbacks : public BLECharacteristicCallbacks {
void onWrite(BLECharacteristic *pChar) override {
String val = pChar->getValue().c_str();
val.trim();
if (val.length() == 0) return;
if (val.length() == 0)
return;
Serial.printf("[CMD] Received: '%s'\n", val.c_str());
parseCommand(val);
}
@@ -106,7 +107,8 @@ class CmdCallbacks : public BLECharacteristicCallbacks {
void parseCommand(const String &cmd) {
// S1+<n> or S1-<n>
if (cmd.startsWith("S1") && cmd.length() > 2) {
long steps = cmd.substring(2).toInt(); // '+' or '-' prefix handled by toInt()
long steps =
cmd.substring(2).toInt(); // '+' or '-' prefix handled by toInt()
stepper1.move(steps);
Serial.printf("[S1] Move %+ld steps\n", steps);
return;
@@ -165,9 +167,10 @@ void parseCommand(const String& cmd) {
// ─── Send current positions via BLE NOTIFY ────────────────────────
void sendPosition() {
if (!bleConnected || !pStatusChar) return;
String pos = "P:" + String(stepper1.currentPosition()) +
"," + String(stepper2.currentPosition());
if (!bleConnected || !pStatusChar)
return;
String pos = "P:" + String(stepper1.currentPosition()) + "," +
String(stepper2.currentPosition());
pStatusChar->setValue(pos.c_str());
pStatusChar->notify();
Serial.printf("[POS] %s\n", pos.c_str());
@@ -175,10 +178,9 @@ void sendPosition() {
// ─── Setup ────────────────────────────────────────────────────────
void setup() {
// Fix: zero TX buffer to eliminate CDC post-write stall
Serial.setTxBufferSize(0);
Serial.setTxTimeoutMs(0);
Serial.begin(115200);
delay(500);
delay(1000); // Wait for USB CDC to enumerate
Serial.println("\n[BOOT] WijiBoard Stepper Controller");
// ── Init steppers ──────────────────────────────────────────
@@ -202,19 +204,15 @@ void setup() {
BLEService *pService = pServer->createService(SERVICE_UUID);
// Command characteristic (Write without response)
pCmdChar = pService->createCharacteristic(
CMD_UUID,
BLECharacteristic::PROPERTY_WRITE |
BLECharacteristic::PROPERTY_WRITE_NR
);
pCmdChar = pService->createCharacteristic(CMD_UUID,
BLECharacteristic::PROPERTY_WRITE);
pCmdChar->setCallbacks(new CmdCallbacks());
// Status characteristic (Notify)
pStatusChar = pService->createCharacteristic(
STATUS_UUID,
BLECharacteristic::PROPERTY_NOTIFY
);
pStatusChar->addDescriptor(new BLE2902());
STATUS_UUID, BLECharacteristic::PROPERTY_NOTIFY);
// pStatusChar->addDescriptor(new BLE2902()); // Removed due to
// deprecation/NimBLE conflicts
pService->start();
@@ -222,7 +220,8 @@ void setup() {
BLEAdvertising *pAdv = BLEDevice::getAdvertising();
pAdv->addServiceUUID(SERVICE_UUID);
pAdv->setScanResponse(true);
pAdv->setMinPreferred(0x06);
pAdv->setMinPreferred(0x06); // 7.5ms
pAdv->setMaxPreferred(0x0C); // 15ms - CRITICAL for Linux/BlueZ stability
BLEDevice::startAdvertising();
Serial.printf("[BLE] Advertising as '%s' – ready!\n", DEVICE_NAME);
test_ble.py
+55
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@@ -0,0 +1,55 @@
import asyncio
import sys
try:
from bleak import BleakScanner, BleakClient
except ImportError:
print("Please install bleak first: pip install bleak")
sys.exit(1)
DEVICE_NAME = "WijiBoard"
SERVICE_UUID = "18f3b235-9831-4c75-8ec0-210469b820a0"
CMD_UUID = "cd083b06-4447-4cf3-a7c3-322ecf802ce4"
STATUS_UUID = "82e38c5b-d3ab-41d1-861c-b84dc6bb1e03"
async def main():
print(f"Scanning for {DEVICE_NAME}...")
devices = await BleakScanner.discover(timeout=5.0)
target_device = None
for d in devices:
if d.name == DEVICE_NAME:
target_device = d
break
if not target_device:
print(f"Could not find {DEVICE_NAME}. Make sure it is powered on and advertising.")
return
print(f"Found {DEVICE_NAME} at {target_device.address}. Connecting...")
async with BleakClient(target_device.address) as client:
print(f"Connected: {client.is_connected}")
# Setup notifications
def notification_handler(sender, data):
print(f"[STATUS UPDATE] {data.decode('utf-8')}")
print("Subscribing to status characteristic...")
try:
await client.start_notify(STATUS_UUID, notification_handler)
print("Successfully subscribed!")
except Exception as e:
print(f"Failed to subscribe: {e}")
# Send a test command
test_cmd = "S1+100"
print(f"Sending test command: '{test_cmd}'...")
await client.write_gatt_char(CMD_UUID, test_cmd.encode('utf-8'), response=False)
print("Waiting 5 seconds to receive any status updates...")
await asyncio.sleep(5.0)
print("Disconnecting...")
if __name__ == "__main__":
asyncio.run(main())
web/js/ble.js
+18 -5
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@@ -25,9 +25,9 @@
*/
// ── UUIDs – must match src/main.cpp exactly ──────────────────────
const SERVICE_UUID = 'a0b1c2d3-e4f5-6789-abcd-ef0123456700';
const CMD_UUID = 'a0b1c2d3-e4f5-6789-abcd-ef0123456701';
const STATUS_UUID = 'a0b1c2d3-e4f5-6789-abcd-ef0123456702';
const SERVICE_UUID = '18f3b235-9831-4c75-8ec0-210469b820a0';
const CMD_UUID = 'cd083b06-4447-4cf3-a7c3-322ecf802ce4';
const STATUS_UUID = '82e38c5b-d3ab-41d1-861c-b84dc6bb1e03';
const DEVICE_NAME = 'WijiBoard';
const BLE = (() => {
@@ -75,34 +75,47 @@ const BLE = (() => {
// ── connect() ───────────────────────────────────────────────
async function connect() {
console.log('[BLE] connect() called');
if (!navigator.bluetooth) {
throw new Error('Web Bluetooth API not available. Use Chrome/Edge over HTTPS or localhost.');
}
emit('connecting');
console.log('[BLE] Requesting device...');
device = await navigator.bluetooth.requestDevice({
filters: [{ name: DEVICE_NAME }],
optionalServices: [SERVICE_UUID],
});
console.log('[BLE] Device selected:', device.name);
device.addEventListener('gattserverdisconnected', onDisconnected);
console.log('[BLE] Connecting to GATT server...');
server = await device.gatt.connect();
console.log('[BLE] GATT server connected');
console.log('[BLE] Getting primary service:', SERVICE_UUID);
const service = await server.getPrimaryService(SERVICE_UUID);
console.log('[BLE] Primary service found');
console.log('[BLE] Getting command characteristic:', CMD_UUID);
cmdChar = await service.getCharacteristic(CMD_UUID);
console.log('[BLE] Command characteristic found');
// Status notifications (optional – firmware may not have this char yet)
try {
console.log('[BLE] Getting status characteristic:', STATUS_UUID);
statusChar = await service.getCharacteristic(STATUS_UUID);
console.log('[BLE] Starting notifications...');
await statusChar.startNotifications();
statusChar.addEventListener('characteristicvaluechanged', onStatusNotification);
} catch {
console.warn('[BLE] Status characteristic not available – notifications disabled');
console.log('[BLE] Notifications started');
} catch (err) {
console.warn('[BLE] Status characteristic not available – notifications disabled', err);
}
console.log('[BLE] Connection fully established, emitting connected');
emit('connected', device.name);
}