├── COPYING ├── COPYING.LESSER ├── Makefile ├── README.md ├── bitalino.cpp ├── bitalino.h └── test.cpp /COPYING: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. 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If the Library as you 157 | received it does not specify a version number of the GNU Lesser 158 | General Public License, you may choose any version of the GNU Lesser 159 | General Public License ever published by the Free Software Foundation. 160 | 161 | If the Library as you received it specifies that a proxy can decide 162 | whether future versions of the GNU Lesser General Public License shall 163 | apply, that proxy's public statement of acceptance of any version is 164 | permanent authorization for you to choose that version for the 165 | Library. 166 | -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- 1 | ifeq ($(shell uname), Linux) 2 | LINUX_BT = 1 # remove or comment this line if compiling in Linux without BlueZ development files 3 | endif 4 | 5 | ifdef LINUX_BT 6 | CFLAGS = -DHASBLUETOOTH 7 | LIBS = -lbluetooth 8 | endif 9 | 10 | all: test 11 | 12 | test: bitalino.o test.o 13 | g++ $^ $(LIBS) -o $@ 14 | 15 | bitalino.o: bitalino.cpp 16 | g++ $(CFLAGS) -c $< -o $@ 17 | 18 | test.o: test.cpp 19 | g++ -std=c++0x -c $< -o $@ -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | The BITalino C++ API documentation is available at http://bitalino.com/docs/cpp-api 2 | -------------------------------------------------------------------------------- /bitalino.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | * \copyright Copyright 2014-2016 PLUX - Wireless Biosignals, S.A. 3 | * \author Filipe Silva 4 | * \version 2.1 5 | * \date February 2016 6 | * 7 | * \section LICENSE 8 | 9 | This program is free software: you can redistribute it and/or modify 10 | it under the terms of the GNU Lesser General Public License as published by 11 | the Free Software Foundation, either version 3 of the License, or 12 | (at your option) any later version. 13 | 14 | This program is distributed in the hope that it will be useful, 15 | but WITHOUT ANY WARRANTY; without even the implied warranty of 16 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 17 | GNU Lesser General Public License for more details. 18 | 19 | You should have received a copy of the GNU Lesser General Public License 20 | along with this program. If not, see . 21 | 22 | */ 23 | 24 | /*****************************************************************************/ 25 | 26 | #ifdef _WIN32 // 32-bit or 64-bit Windows 27 | 28 | #define HASBLUETOOTH 29 | 30 | #define _WINSOCK_DEPRECATED_NO_WARNINGS 31 | 32 | #include 33 | #include 34 | 35 | #else // Linux or Mac OS 36 | 37 | #include 38 | #include 39 | #include 40 | #include 41 | #include 42 | 43 | #ifdef HASBLUETOOTH // Linux only 44 | 45 | #include 46 | #include 47 | #include 48 | #include 49 | #include 50 | 51 | #endif // HASBLUETOOTH 52 | 53 | void Sleep(int millisecs) 54 | { 55 | usleep(millisecs*1000); 56 | } 57 | 58 | #endif // Linux or Mac OS 59 | 60 | 61 | #include "bitalino.h" 62 | 63 | /*****************************************************************************/ 64 | 65 | // CRC4 check function 66 | 67 | static const unsigned char CRC4tab[16] = {0, 3, 6, 5, 12, 15, 10, 9, 11, 8, 13, 14, 7, 4, 1, 2}; 68 | 69 | static bool checkCRC4(const unsigned char *data, int len) 70 | { 71 | unsigned char crc = 0; 72 | 73 | for (int i = 0; i < len-1; i++) 74 | { 75 | const unsigned char b = data[i]; 76 | crc = CRC4tab[crc] ^ (b >> 4); 77 | crc = CRC4tab[crc] ^ (b & 0x0F); 78 | } 79 | 80 | // CRC for last byte 81 | crc = CRC4tab[crc] ^ (data[len-1] >> 4); 82 | crc = CRC4tab[crc]; 83 | 84 | return (crc == (data[len-1] & 0x0F)); 85 | } 86 | 87 | /*****************************************************************************/ 88 | 89 | // BITalino public methods 90 | 91 | BITalino::VDevInfo BITalino::find(void) 92 | { 93 | VDevInfo devs; 94 | DevInfo devInfo; 95 | 96 | #ifdef _WIN32 97 | char addrStr[40]; 98 | WSADATA m_data; 99 | 100 | if (WSAStartup(0x202, &m_data) != 0) throw Exception(Exception::PORT_INITIALIZATION); 101 | 102 | WSAQUERYSETA querySet; 103 | ZeroMemory(&querySet, sizeof querySet); 104 | querySet.dwSize = sizeof(querySet); 105 | querySet.dwNameSpace = NS_BTH; 106 | 107 | HANDLE hLookup; 108 | DWORD flags = LUP_CONTAINERS | LUP_RETURN_ADDR | LUP_RETURN_NAME | LUP_FLUSHCACHE; 109 | bool tryempty = true; 110 | bool again; 111 | 112 | do 113 | { 114 | again = false; 115 | if (WSALookupServiceBeginA(&querySet, flags, &hLookup) != 0) 116 | { 117 | WSACleanup(); 118 | throw Exception(Exception::BT_ADAPTER_NOT_FOUND); 119 | } 120 | 121 | while (1) 122 | { 123 | BYTE buffer[1500]; 124 | DWORD bufferLength = sizeof(buffer); 125 | WSAQUERYSETA *pResults = (WSAQUERYSETA*)&buffer; 126 | if (WSALookupServiceNextA(hLookup, flags, &bufferLength, pResults) != 0) break; 127 | if (pResults->lpszServiceInstanceName[0] == 0 && tryempty) 128 | { // empty name : may happen on the first inquiry after the device was connected 129 | tryempty = false; // redo the inquiry a second time only (there may be a device with a real empty name) 130 | again = true; 131 | break; 132 | } 133 | 134 | DWORD strSiz = sizeof addrStr; 135 | if (WSAAddressToStringA(pResults->lpcsaBuffer->RemoteAddr.lpSockaddr, pResults->lpcsaBuffer->RemoteAddr.iSockaddrLength, 136 | NULL, addrStr, &strSiz) == 0) 137 | { 138 | addrStr[strlen(addrStr)-1] = 0; // remove trailing ')' 139 | devInfo.macAddr = addrStr+1; // remove leading '(' 140 | devInfo.name = pResults->lpszServiceInstanceName; 141 | devs.push_back(devInfo); 142 | } 143 | } 144 | 145 | WSALookupServiceEnd(hLookup); 146 | } while (again); 147 | 148 | WSACleanup(); 149 | 150 | #else // Linux or Mac OS 151 | 152 | #ifdef HASBLUETOOTH 153 | 154 | #define MAX_DEVS 255 155 | 156 | int dev_id = hci_get_route(NULL); 157 | int sock = hci_open_dev(dev_id); 158 | if (dev_id < 0 || sock < 0) 159 | throw Exception(Exception::PORT_INITIALIZATION); 160 | 161 | inquiry_info ii[MAX_DEVS]; 162 | inquiry_info *pii = ii; 163 | 164 | int num_rsp = hci_inquiry(dev_id, 8, MAX_DEVS, NULL, &pii, IREQ_CACHE_FLUSH); 165 | if(num_rsp < 0) 166 | { 167 | ::close(sock); 168 | throw Exception(Exception::PORT_INITIALIZATION); 169 | } 170 | 171 | for (int i = 0; i < num_rsp; i++) 172 | { 173 | char addr[19], name[248]; 174 | 175 | ba2str(&ii[i].bdaddr, addr); 176 | if (hci_read_remote_name(sock, &ii[i].bdaddr, sizeof name, name, 0) >= 0) 177 | { 178 | devInfo.macAddr = addr; 179 | devInfo.name = name; 180 | devs.push_back(devInfo); 181 | } 182 | } 183 | 184 | ::close(sock); 185 | if (pii != ii) free(pii); 186 | 187 | #else 188 | 189 | throw Exception(Exception::BT_ADAPTER_NOT_FOUND); 190 | 191 | #endif // HASBLUETOOTH 192 | 193 | #endif // Linux or Mac OS 194 | 195 | return devs; 196 | } 197 | 198 | /*****************************************************************************/ 199 | 200 | BITalino::BITalino(const char *address) : nChannels(0), isBitalino2(false) 201 | { 202 | #ifdef _WIN32 203 | if (_memicmp(address, "COM", 3) == 0) 204 | { 205 | fd = INVALID_SOCKET; 206 | 207 | char xport[40] = "\\\\.\\"; // preppend "\\.\" 208 | 209 | strcat_s(xport, 40, address); 210 | 211 | hCom = CreateFileA(xport, // comm port name 212 | GENERIC_READ | GENERIC_WRITE, 213 | 0, // comm devices must be opened w/exclusive-access 214 | NULL, // no security attributes 215 | OPEN_EXISTING, // comm devices must use OPEN_EXISTING 216 | 0, // not overlapped I/O 217 | NULL); // hTemplate must be NULL for comm devices 218 | 219 | if (hCom == INVALID_HANDLE_VALUE) 220 | throw Exception(Exception::PORT_COULD_NOT_BE_OPENED); 221 | 222 | DCB dcb; 223 | if (!GetCommState(hCom, &dcb)) 224 | { 225 | close(); 226 | throw Exception(Exception::PORT_INITIALIZATION); 227 | } 228 | dcb.BaudRate = CBR_115200; 229 | dcb.fBinary = TRUE; 230 | dcb.fParity = FALSE; 231 | dcb.fOutxCtsFlow = FALSE; 232 | dcb.fOutxDsrFlow = FALSE; 233 | dcb.fDtrControl = DTR_CONTROL_DISABLE; 234 | dcb.fDsrSensitivity = FALSE; 235 | dcb.fOutX = FALSE; 236 | dcb.fInX = FALSE; 237 | dcb.fNull = FALSE; 238 | dcb.fRtsControl = RTS_CONTROL_ENABLE; 239 | dcb.ByteSize = 8; 240 | dcb.Parity = NOPARITY; 241 | dcb.StopBits = ONESTOPBIT; 242 | if (!SetCommState(hCom, &dcb)) 243 | { 244 | close(); 245 | throw Exception(Exception::PORT_INITIALIZATION); 246 | } 247 | 248 | COMMTIMEOUTS ct; 249 | ct.ReadIntervalTimeout = 0; 250 | ct.ReadTotalTimeoutConstant = 5000; // 5 s 251 | ct.ReadTotalTimeoutMultiplier = 0; 252 | ct.WriteTotalTimeoutConstant = 5000; // 5 s 253 | ct.WriteTotalTimeoutMultiplier = 0; 254 | 255 | if (!SetCommTimeouts(hCom, &ct)) 256 | { 257 | close(); 258 | throw Exception(Exception::PORT_INITIALIZATION); 259 | } 260 | } 261 | else // address is a Bluetooth MAC address 262 | { 263 | hCom = INVALID_HANDLE_VALUE; 264 | 265 | WSADATA m_data; 266 | if (WSAStartup(0x202, &m_data) != 0) 267 | throw Exception(Exception::PORT_INITIALIZATION); 268 | 269 | SOCKADDR_BTH so_bt; 270 | int siz = sizeof so_bt; 271 | if (WSAStringToAddressA((LPSTR)address, AF_BTH, NULL, (sockaddr*)&so_bt, &siz) != 0) 272 | { 273 | WSACleanup(); 274 | throw Exception(Exception::INVALID_ADDRESS); 275 | } 276 | so_bt.port = 1; 277 | 278 | fd = socket(AF_BTH, SOCK_STREAM, BTHPROTO_RFCOMM); 279 | if (fd == INVALID_SOCKET) 280 | { 281 | WSACleanup(); 282 | throw Exception(Exception::PORT_INITIALIZATION); 283 | } 284 | 285 | DWORD rcvbufsiz = 128*1024; // 128k 286 | setsockopt(fd, SOL_SOCKET, SO_RCVBUF, (char*) &rcvbufsiz, sizeof rcvbufsiz); 287 | 288 | if (connect(fd, (const sockaddr*)&so_bt, sizeof so_bt) != 0) 289 | { 290 | int err = WSAGetLastError(); 291 | close(); 292 | 293 | switch(err) 294 | { 295 | case WSAENETDOWN: 296 | throw Exception(Exception::BT_ADAPTER_NOT_FOUND); 297 | 298 | case WSAETIMEDOUT: 299 | throw Exception(Exception::DEVICE_NOT_FOUND); 300 | 301 | default: 302 | throw Exception(Exception::PORT_COULD_NOT_BE_OPENED); 303 | } 304 | } 305 | 306 | readtimeout.tv_sec = 5; 307 | readtimeout.tv_usec = 0; 308 | } 309 | 310 | #else // Linux or Mac OS 311 | 312 | if (memcmp(address, "/dev/", 5) == 0) 313 | { 314 | fd = open(address, O_RDWR | O_NOCTTY | O_NDELAY); 315 | if (fd < 0) 316 | throw Exception(Exception::PORT_COULD_NOT_BE_OPENED); 317 | 318 | if (fcntl(fd, F_SETFL, 0) == -1) // remove the O_NDELAY flag 319 | { 320 | close(); 321 | throw Exception(Exception::PORT_INITIALIZATION); 322 | } 323 | 324 | termios term; 325 | if (tcgetattr(fd, &term) != 0) 326 | { 327 | close(); 328 | throw Exception(Exception::PORT_INITIALIZATION); 329 | } 330 | 331 | cfmakeraw(&term); 332 | term.c_oflag &= ~(OPOST); 333 | 334 | term.c_cc[VMIN] = 1; 335 | term.c_cc[VTIME] = 1; 336 | 337 | term.c_iflag &= ~(INPCK | PARMRK | ISTRIP | IGNCR | ICRNL | INLCR | IXON | IXOFF | IMAXBEL); // no flow control 338 | term.c_iflag |= (IGNPAR | IGNBRK); 339 | 340 | term.c_cflag &= ~(CRTSCTS | PARENB | CSTOPB | CSIZE); // no parity, 1 stop bit 341 | term.c_cflag |= (CLOCAL | CREAD | CS8); // raw mode, 8 bits 342 | 343 | term.c_lflag &= ~(ICANON | ECHO | ECHOE | ECHOPRT | ECHOK | ECHOKE | ECHONL | ECHOCTL | ISIG | IEXTEN | TOSTOP); // raw mode 344 | 345 | if (cfsetspeed(&term, B115200) != 0) 346 | { 347 | close(); 348 | throw Exception(Exception::PORT_INITIALIZATION); 349 | } 350 | 351 | if (tcsetattr(fd, TCSANOW, &term) != 0) 352 | { 353 | close(); 354 | throw Exception(Exception::PORT_INITIALIZATION); 355 | } 356 | 357 | isTTY = true; 358 | } 359 | else // address is a Bluetooth MAC address 360 | #ifdef HASBLUETOOTH 361 | { 362 | sockaddr_rc so_bt; 363 | so_bt.rc_family = AF_BLUETOOTH; 364 | if (str2ba(address, &so_bt.rc_bdaddr) < 0) 365 | throw Exception(Exception::INVALID_ADDRESS); 366 | 367 | so_bt.rc_channel = 1; 368 | 369 | fd = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); 370 | if (fd < 0) 371 | throw Exception(Exception::PORT_INITIALIZATION); 372 | 373 | if (connect(fd, (const sockaddr*)&so_bt, sizeof so_bt) != 0) 374 | { 375 | close(); 376 | throw Exception(Exception::PORT_COULD_NOT_BE_OPENED); 377 | } 378 | 379 | isTTY = false; 380 | } 381 | #else 382 | throw Exception(Exception::PORT_COULD_NOT_BE_OPENED); 383 | #endif // HASBLUETOOTH 384 | 385 | #endif // Linux or Mac OS 386 | 387 | // check if device is BITalino2 388 | const std::string ver = version(); 389 | const std::string::size_type pos = ver.find("_v"); 390 | if (pos != std::string::npos) 391 | { 392 | const char *xver = ver.c_str() + pos+2; 393 | if (atoi(xver) >= 5) isBitalino2 = true; 394 | } 395 | } 396 | 397 | /*****************************************************************************/ 398 | 399 | BITalino::~BITalino(void) 400 | { 401 | try 402 | { 403 | if (nChannels != 0) stop(); 404 | } 405 | catch (Exception) {} // if stop() fails, close anyway 406 | 407 | close(); 408 | } 409 | 410 | /*****************************************************************************/ 411 | 412 | std::string BITalino::version(void) 413 | { 414 | if (nChannels != 0) throw Exception(Exception::DEVICE_NOT_IDLE); 415 | 416 | const char *header = "BITalino"; 417 | 418 | const size_t headerLen = strlen(header); 419 | 420 | send(0x07); // 0 0 0 0 0 1 1 1 - Send version string 421 | 422 | std::string str; 423 | while(1) 424 | { 425 | char chr; 426 | if (recv(&chr, sizeof chr) != sizeof chr) // a timeout has occurred 427 | throw Exception(Exception::CONTACTING_DEVICE); 428 | 429 | const size_t len = str.size(); 430 | if (len >= headerLen) 431 | { 432 | if (chr == '\n') return str; 433 | str.push_back(chr); 434 | } 435 | else 436 | if (chr == header[len]) 437 | str.push_back(chr); 438 | else 439 | { 440 | str.clear(); // discard all data before version header 441 | if (chr == header[0]) str.push_back(chr); 442 | } 443 | } 444 | } 445 | 446 | /*****************************************************************************/ 447 | 448 | void BITalino::start(int samplingRate, const Vint &channels, bool simulated) 449 | { 450 | if (nChannels != 0) throw Exception(Exception::DEVICE_NOT_IDLE); 451 | 452 | unsigned char cmd; 453 | switch (samplingRate) 454 | { 455 | case 1: 456 | cmd = 0x03; 457 | break; 458 | case 10: 459 | cmd = 0x43; 460 | break; 461 | case 100: 462 | cmd = 0x83; 463 | break; 464 | case 1000: 465 | cmd = 0xC3; 466 | break; 467 | default: 468 | throw Exception(Exception::INVALID_PARAMETER); 469 | } 470 | 471 | char chMask; 472 | if (channels.empty()) 473 | { 474 | chMask = 0x3F; // all 6 analog channels 475 | nChannels = 6; 476 | } 477 | else 478 | { 479 | chMask = 0; 480 | nChannels = 0; 481 | for(Vint::const_iterator it = channels.begin(); it != channels.end(); it++) 482 | { 483 | int ch = *it; 484 | if (ch < 0 || ch > 5) throw Exception(Exception::INVALID_PARAMETER); 485 | const char mask = 1 << ch; 486 | if (chMask & mask) throw Exception(Exception::INVALID_PARAMETER); 487 | chMask |= mask; 488 | nChannels++; 489 | } 490 | } 491 | 492 | send(cmd); // 0 0 0 0 1 1 - Set sampling rate 493 | 494 | // A6 A5 A4 A3 A2 A1 0 1 - Start live mode with analog channel selection 495 | // A6 A5 A4 A3 A2 A1 1 0 - Start simulated mode with analog channel selection 496 | send((chMask << 2) | (simulated ? 0x02 : 0x01)); 497 | } 498 | 499 | /*****************************************************************************/ 500 | 501 | void BITalino::stop(void) 502 | { 503 | if (nChannels == 0) throw Exception(Exception::DEVICE_NOT_IN_ACQUISITION); 504 | 505 | send(0x00); // 0 0 0 0 0 0 0 0 - Go to idle mode 506 | 507 | nChannels = 0; 508 | 509 | version(); // to flush pending frames in input buffer 510 | } 511 | 512 | /*****************************************************************************/ 513 | 514 | int BITalino::read(VFrame &frames) 515 | { 516 | if (nChannels == 0) throw Exception(Exception::DEVICE_NOT_IN_ACQUISITION); 517 | 518 | unsigned char buffer[8]; // frame maximum size is 8 bytes 519 | 520 | if (frames.empty()) frames.resize(100); 521 | 522 | char nBytes = nChannels + 2; 523 | if (nChannels >= 3 && nChannels <= 5) nBytes++; 524 | 525 | for(VFrame::iterator it = frames.begin(); it != frames.end(); it++) 526 | { 527 | if (recv(buffer, nBytes) != nBytes) return int(it - frames.begin()); // a timeout has occurred 528 | 529 | while (!checkCRC4(buffer, nBytes)) 530 | { // if CRC check failed, try to resynchronize with the next valid frame 531 | // checking with one new byte at a time 532 | memmove(buffer, buffer+1, nBytes-1); 533 | if (recv(buffer+nBytes-1, 1) != 1) return int(it - frames.begin()); // a timeout has occurred 534 | } 535 | 536 | Frame &f = *it; 537 | f.seq = buffer[nBytes-1] >> 4; 538 | for(int i = 0; i < 4; i++) 539 | f.digital[i] = ((buffer[nBytes-2] & (0x80 >> i)) != 0); 540 | 541 | f.analog[0] = (short(buffer[nBytes-2] & 0x0F) << 6) | (buffer[nBytes-3] >> 2); 542 | if (nChannels > 1) 543 | f.analog[1] = (short(buffer[nBytes-3] & 0x03) << 8) | buffer[nBytes-4]; 544 | if (nChannels > 2) 545 | f.analog[2] = (short(buffer[nBytes-5]) << 2) | (buffer[nBytes-6] >> 6); 546 | if (nChannels > 3) 547 | f.analog[3] = (short(buffer[nBytes-6] & 0x3F) << 4) | (buffer[nBytes-7] >> 4); 548 | if (nChannels > 4) 549 | f.analog[4] = ((buffer[nBytes-7] & 0x0F) << 2) | (buffer[nBytes-8] >> 6); 550 | if (nChannels > 5) 551 | f.analog[5] = buffer[nBytes-8] & 0x3F; 552 | } 553 | 554 | return (int) frames.size(); 555 | } 556 | 557 | /*****************************************************************************/ 558 | 559 | void BITalino::battery(int value) 560 | { 561 | if (nChannels != 0) throw Exception(Exception::DEVICE_NOT_IDLE); 562 | 563 | if (value < 0 || value > 63) throw Exception(Exception::INVALID_PARAMETER); 564 | 565 | send(value << 2); // 0 0 - Set battery threshold 566 | } 567 | 568 | /*****************************************************************************/ 569 | 570 | void BITalino::trigger(const Vbool &digitalOutput) 571 | { 572 | unsigned char cmd; 573 | const size_t len = digitalOutput.size(); 574 | 575 | if (isBitalino2) 576 | { 577 | if (len != 0 && len != 2) throw Exception(Exception::INVALID_PARAMETER); 578 | 579 | cmd = 0xB3; // 1 0 1 1 O2 O1 1 1 - Set digital outputs 580 | } 581 | else 582 | { 583 | if (len != 0 && len != 4) throw Exception(Exception::INVALID_PARAMETER); 584 | 585 | if (nChannels == 0) throw Exception(Exception::DEVICE_NOT_IN_ACQUISITION); 586 | 587 | cmd = 0x03; // 0 0 O4 O3 O2 O1 1 1 - Set digital outputs 588 | } 589 | 590 | for(size_t i = 0; i < len; i++) 591 | if (digitalOutput[i]) 592 | cmd |= (0x04 << i); 593 | 594 | send(cmd); 595 | } 596 | 597 | /*****************************************************************************/ 598 | 599 | void BITalino::pwm(int pwmOutput) 600 | { 601 | if (!isBitalino2) throw Exception(Exception::NOT_SUPPORTED); 602 | 603 | if (pwmOutput < 0 || pwmOutput > 255) throw Exception(Exception::INVALID_PARAMETER); 604 | 605 | send((char) 0xA3); // 1 0 1 0 0 0 1 1 - Set analog output (1 byte follows: 0..255) 606 | send(pwmOutput); 607 | } 608 | 609 | /*****************************************************************************/ 610 | 611 | BITalino::State BITalino::state(void) 612 | { 613 | #pragma pack(1) // byte-aligned structure 614 | 615 | struct StateX 616 | { 617 | unsigned short analog[6], battery; 618 | unsigned char batThreshold, portsCRC; 619 | } statex; 620 | 621 | #pragma pack() // restore default alignment 622 | 623 | 624 | if (!isBitalino2) throw Exception(Exception::NOT_SUPPORTED); 625 | 626 | if (nChannels != 0) throw Exception(Exception::DEVICE_NOT_IDLE); 627 | 628 | send(0x0B); // 0 0 0 0 1 0 1 1 - Send device status 629 | 630 | if (recv(&statex, sizeof statex) != sizeof statex) // a timeout has occurred 631 | throw Exception(Exception::CONTACTING_DEVICE); 632 | 633 | if (!checkCRC4((unsigned char *) &statex, sizeof statex)) 634 | throw Exception(Exception::CONTACTING_DEVICE); 635 | 636 | State state; 637 | 638 | for(int i = 0; i < 6; i++) 639 | state.analog[i] = statex.analog[i]; 640 | 641 | state.battery = statex.battery; 642 | state.batThreshold = statex.batThreshold; 643 | 644 | for(int i = 0; i < 4; i++) 645 | state.digital[i] = ((statex.portsCRC & (0x80 >> i)) != 0); 646 | 647 | return state; 648 | } 649 | 650 | /*****************************************************************************/ 651 | 652 | const char* BITalino::Exception::getDescription(void) 653 | { 654 | switch (code) 655 | { 656 | case INVALID_ADDRESS: 657 | return "The specified address is invalid."; 658 | 659 | case BT_ADAPTER_NOT_FOUND: 660 | return "No Bluetooth adapter was found."; 661 | 662 | case DEVICE_NOT_FOUND: 663 | return "The device could not be found."; 664 | 665 | case CONTACTING_DEVICE: 666 | return "The computer lost communication with the device."; 667 | 668 | case PORT_COULD_NOT_BE_OPENED: 669 | return "The communication port does not exist or it is already being used."; 670 | 671 | case PORT_INITIALIZATION: 672 | return "The communication port could not be initialized."; 673 | 674 | case DEVICE_NOT_IDLE: 675 | return "The device is not idle."; 676 | 677 | case DEVICE_NOT_IN_ACQUISITION: 678 | return "The device is not in acquisition mode."; 679 | 680 | case INVALID_PARAMETER: 681 | return "Invalid parameter."; 682 | 683 | case NOT_SUPPORTED: 684 | return "Operation not supported by the device."; 685 | 686 | default: 687 | return "Unknown error."; 688 | } 689 | } 690 | 691 | /*****************************************************************************/ 692 | 693 | // BITalino private methods 694 | 695 | void BITalino::send(char cmd) 696 | { 697 | Sleep(150); 698 | 699 | #ifdef _WIN32 700 | if (fd == INVALID_SOCKET) 701 | { 702 | DWORD nbytwritten = 0; 703 | if (!WriteFile(hCom, &cmd, sizeof cmd, &nbytwritten, NULL)) 704 | throw Exception(Exception::CONTACTING_DEVICE); 705 | 706 | if (nbytwritten != sizeof cmd) 707 | throw Exception(Exception::CONTACTING_DEVICE); 708 | } 709 | else 710 | if (::send(fd, &cmd, sizeof cmd, 0) != sizeof cmd) 711 | throw Exception(Exception::CONTACTING_DEVICE); 712 | 713 | #else // Linux or Mac OS 714 | 715 | if (write(fd, &cmd, sizeof cmd) != sizeof cmd) 716 | throw Exception(Exception::CONTACTING_DEVICE); 717 | #endif 718 | } 719 | 720 | /*****************************************************************************/ 721 | 722 | int BITalino::recv(void *data, int nbyttoread) 723 | { 724 | #ifdef _WIN32 725 | if (fd == INVALID_SOCKET) 726 | { 727 | for(int n = 0; n < nbyttoread;) 728 | { 729 | DWORD nbytread = 0; 730 | if (!ReadFile(hCom, (char *) data+n, nbyttoread-n, &nbytread, NULL)) 731 | throw Exception(Exception::CONTACTING_DEVICE); 732 | 733 | if (nbytread == 0) 734 | { 735 | DWORD stat; 736 | if (!GetCommModemStatus(hCom, &stat) || !(stat & MS_DSR_ON)) 737 | throw Exception(Exception::CONTACTING_DEVICE); // connection is lost 738 | 739 | return n; // a timeout occurred 740 | } 741 | 742 | n += nbytread; 743 | } 744 | 745 | return nbyttoread; 746 | } 747 | #endif 748 | 749 | #ifndef _WIN32 // Linux or Mac OS 750 | timeval readtimeout; 751 | readtimeout.tv_sec = 5; 752 | readtimeout.tv_usec = 0; 753 | #endif 754 | 755 | fd_set readfds; 756 | FD_ZERO(&readfds); 757 | FD_SET(fd, &readfds); 758 | 759 | for(int n = 0; n < nbyttoread;) 760 | { 761 | int state = select(FD_SETSIZE, &readfds, NULL, NULL, &readtimeout); 762 | if(state < 0) throw Exception(Exception::CONTACTING_DEVICE); 763 | 764 | if (state == 0) return n; // a timeout occurred 765 | 766 | #ifdef _WIN32 767 | int ret = ::recv(fd, (char *) data+n, nbyttoread-n, 0); 768 | #else // Linux or Mac OS 769 | ssize_t ret = ::read(fd, (char *) data+n, nbyttoread-n); 770 | #endif 771 | 772 | if(ret <= 0) throw Exception(Exception::CONTACTING_DEVICE); 773 | n += ret; 774 | } 775 | 776 | return nbyttoread; 777 | } 778 | 779 | /*****************************************************************************/ 780 | 781 | void BITalino::close(void) 782 | { 783 | #ifdef _WIN32 784 | if (fd == INVALID_SOCKET) 785 | CloseHandle(hCom); 786 | else 787 | { 788 | closesocket(fd); 789 | WSACleanup(); 790 | } 791 | 792 | #else // Linux or Mac OS 793 | 794 | ::close(fd); 795 | 796 | #endif 797 | } 798 | 799 | /*****************************************************************************/ 800 | -------------------------------------------------------------------------------- /bitalino.h: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \copyright Copyright 2014-2015 PLUX - Wireless Biosignals, S.A. 4 | * \author Filipe Silva 5 | * \version 2.0 6 | * \date November 2015 7 | * 8 | * \section LICENSE 9 | 10 | This program is free software: you can redistribute it and/or modify 11 | it under the terms of the GNU Lesser General Public License as published by 12 | the Free Software Foundation, either version 3 of the License, or 13 | (at your option) any later version. 14 | 15 | This program is distributed in the hope that it will be useful, 16 | but WITHOUT ANY WARRANTY; without even the implied warranty of 17 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 18 | GNU Lesser General Public License for more details. 19 | 20 | You should have received a copy of the GNU Lesser General Public License 21 | along with this program. If not, see . 22 | 23 | */ 24 | 25 | 26 | /** 27 | \mainpage 28 | 29 | The %BITalino C++ API (available at http://github.com/BITalinoWorld/cpp-api) is a cross-platform library which enables C++ applications to communicate 30 | with a %BITalino device through a simple interface. 31 | The API is composed of a header file (bitalino.h) 32 | and an implementation file ([bitalino.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/bitalino.cpp)). 33 | A sample test application in C++ ([test.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/test.cpp)) is also provided. 34 | 35 | There are three ways to connect to a %BITalino device: 36 | - direct Bluetooth connection using the device Bluetooth MAC address (Windows and Linux); 37 | - indirect Bluetooth connection using a virtual serial port (all platforms); 38 | - wired UART connection using a serial port (all platforms). 39 | 40 | The API exposes a single class (BITalino). Each instance of this class represents a connection 41 | to a %BITalino device. The connection is established in the constructor and released in the destructor, 42 | thus following the RAII paradigm. An application can create several instances (to distinct devices). 43 | The library is thread-safe between distinct instances. Each instance can be a local variable 44 | (as in the sample application) or it can be allocated on the heap (using new and delete operators). 45 | 46 | \section sampleapp About the sample application 47 | 48 | The sample application ([test.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/test.cpp)) creates an instance to a %BITalino device. 49 | Then it starts acquiring all channels on the device at 1000 Hz and enters a loop while dumping 50 | one frame out of 100 and toggling the device green LED. Pressing the Enter key exits the loop, 51 | destroys the instance and closes the application. 52 | 53 | One of the provided constructor calls must be used to connect to the device. 54 | The string passed to the constructor can be a Bluetooth MAC address (you must change the one provided) 55 | or a serial port. The serial port string format depends on the platform. 56 | 57 | In order to have a more compact and readable code, the sample test code uses C++11 vector initializer lists. 58 | This new C++ feature is supported only in Visual Studio 2013 or later (on Windows), GCC 4.4 or later and Clang 3.1 59 | or later. If you are using an older compiler, use the commented alternative code for the `start()` and 60 | `trigger()` methods calls. 61 | 62 | \section windows Compiling on Windows 63 | 64 | The API was tested in Windows 7 (32-bit and 64-bit). 65 | 66 | To compile the library and the sample application: 67 | - create a C++ Empty Project in Visual Studio; 68 | - copy [bitalino.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/bitalino.cpp), 69 | [bitalino.h](http://github.com/BITalinoWorld/cpp-api/tree/master/bitalino.h) and 70 | [test.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/test.cpp) to the project directory; 71 | - add bitalino.cpp and test.cpp files to the project at the “Source Files” folder; 72 | - edit test.cpp as described \ref sampleapp "above"; 73 | - add a reference to `ws2_32.lib` in Project Properties → Configuration Properties → Linker → Input → Additional Dependencies; 74 | - build the solution and run the application. 75 | 76 | \section linux Compiling on Linux 77 | 78 | The API was tested in Ubuntu (32-bit and 64-bit) and Raspberry Pi (Raspbian). 79 | 80 | To compile the library and the sample application: 81 | - `make` and `g++` must be installed; 82 | - packages `bluez`, `libbluetooth3` and `libbluetooth-dev` must be installed if you want to 83 | compile the library with Bluetooth functionality (to search for Bluetooth devices and 84 | to make direct Bluetooth connections); 85 | - copy [bitalino.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/bitalino.cpp), 86 | [bitalino.h](http://github.com/BITalinoWorld/cpp-api/tree/master/bitalino.h), 87 | [test.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/test.cpp) and 88 | [Makefile](http://github.com/BITalinoWorld/cpp-api/tree/master/Makefile) into a new directory; 89 | - if you want to compile the library without Bluetooth functionality, disable the line in 90 | Makefile where `LINUX_BT` is defined; 91 | - if your compiler doesn't support vector initializer lists, remove the flag `-std=c++0x` 92 | from the test.cpp compiling rule in Makefile; 93 | - edit test.cpp as described \ref sampleapp "above"; 94 | - enter command `make` in the command line to build the library and the application; 95 | - enter command `./test` in the command line to run the application. 96 | 97 | \section macosx Compiling on Mac OS X 98 | 99 | The API was tested in Mac OS X 10.6 and 10.9. 100 | 101 | On Mac OS X, the %BITalino API Bluetooth functionality is not available, so it is only possible 102 | to connect to a %BITalino device through a serial port for indirect Bluetooth connections or for wired UART connections. 103 | 104 | To compile the library and the sample application: 105 | - copy [bitalino.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/bitalino.cpp), 106 | [bitalino.h](http://github.com/BITalinoWorld/cpp-api/tree/master/bitalino.h), 107 | [test.cpp](http://github.com/BITalinoWorld/cpp-api/tree/master/test.cpp) and 108 | [Makefile](http://github.com/BITalinoWorld/cpp-api/tree/master/Makefile) into a new directory; 109 | - if your compiler doesn't support vector initializer lists, remove the flag `-std=c++0x` from 110 | the test.cpp compiling rule in Makefile; 111 | - edit test.cpp as described \ref sampleapp "above"; 112 | - enter command `make` in the command line to build the library and the application; 113 | - enter command `./test` in the command line to run the application. 114 | */ 115 | 116 | #ifndef _BITALINOHEADER_ 117 | #define _BITALINOHEADER_ 118 | 119 | #include 120 | #include 121 | 122 | #ifdef _WIN32 // 32-bit or 64-bit Windows 123 | 124 | #include 125 | 126 | #endif 127 | 128 | /// The %BITalino device class. 129 | class BITalino 130 | { 131 | public: 132 | // Type definitions 133 | 134 | typedef std::vector Vbool; ///< Vector of bools. 135 | typedef std::vector Vint; ///< Vector of ints. 136 | 137 | /// Information about a Bluetooth device found by BITalino::find(). 138 | struct DevInfo 139 | { 140 | std::string macAddr; ///< MAC address of a Bluetooth device 141 | std::string name; ///< Name of a Bluetooth device 142 | }; 143 | typedef std::vector VDevInfo; ///< Vector of DevInfo's. 144 | 145 | /// A frame returned by BITalino::read() 146 | struct Frame 147 | { 148 | /// %Frame sequence number (0...15). 149 | /// This number is incremented by 1 on each consecutive frame, and it overflows to 0 after 15 (it is a 4-bit number). 150 | /// This number can be used to detect if frames were dropped while transmitting data. 151 | char seq; 152 | 153 | /// Array of digital ports states (false for low level or true for high level). 154 | /// On original %BITalino, the array contents are: I1 I2 I3 I4. 155 | /// On %BITalino 2, the array contents are: I1 I2 O1 O2. 156 | bool digital[4]; 157 | 158 | /// Array of analog inputs values (0...1023 on the first 4 channels and 0...63 on the remaining channels) 159 | short analog[6]; 160 | }; 161 | typedef std::vector VFrame; ///< Vector of Frame's. 162 | 163 | /// Current device state returned by BITalino::state() 164 | struct State 165 | { 166 | int analog[6], ///< Array of analog inputs values (0...1023) 167 | battery, ///< Battery voltage value (0...1023) 168 | batThreshold; ///< Low-battery LED threshold (last value set with BITalino::battery()) 169 | /// Array of digital ports states (false for low level or true for high level). 170 | /// The array contents are: I1 I2 O1 O2. 171 | bool digital[4]; 172 | }; 173 | 174 | /// %Exception class thrown from BITalino methods. 175 | class Exception 176 | { 177 | public: 178 | /// %Exception code enumeration. 179 | enum Code 180 | { 181 | INVALID_ADDRESS = 1, ///< The specified address is invalid 182 | BT_ADAPTER_NOT_FOUND, ///< No Bluetooth adapter was found 183 | DEVICE_NOT_FOUND, ///< The device could not be found 184 | CONTACTING_DEVICE, ///< The computer lost communication with the device 185 | PORT_COULD_NOT_BE_OPENED, ///< The communication port does not exist or it is already being used 186 | PORT_INITIALIZATION, ///< The communication port could not be initialized 187 | DEVICE_NOT_IDLE, ///< The device is not idle 188 | DEVICE_NOT_IN_ACQUISITION, ///< The device is not in acquisition mode 189 | INVALID_PARAMETER, ///< Invalid parameter 190 | NOT_SUPPORTED, ///< Operation not supported by the device 191 | } code; ///< %Exception code. 192 | 193 | Exception(Code c) : code(c) {} ///< Exception constructor. 194 | const char* getDescription(void); ///< Returns an exception description string 195 | }; 196 | 197 | // Static methods 198 | 199 | /** Searches for Bluetooth devices in range. 200 | * \return a list of found devices 201 | * \exception Exception (Exception::PORT_INITIALIZATION) 202 | * \exception Exception (Exception::BT_ADAPTER_NOT_FOUND) 203 | */ 204 | static VDevInfo find(void); 205 | 206 | // Instance methods 207 | 208 | /** Connects to a %BITalino device. 209 | * \param[in] address The device Bluetooth MAC address ("xx:xx:xx:xx:xx:xx") 210 | * or a serial port ("COMx" on Windows or "/dev/..." on Linux or Mac OS X) 211 | * \exception Exception (Exception::PORT_COULD_NOT_BE_OPENED) 212 | * \exception Exception (Exception::PORT_INITIALIZATION) 213 | * \exception Exception (Exception::INVALID_ADDRESS) 214 | * \exception Exception (Exception::BT_ADAPTER_NOT_FOUND) - Windows only 215 | * \exception Exception (Exception::DEVICE_NOT_FOUND) - Windows only 216 | */ 217 | BITalino(const char *address); 218 | 219 | /// Disconnects from a %BITalino device. If an aquisition is running, it is stopped. 220 | ~BITalino(); 221 | 222 | /** Returns the device firmware version string. 223 | * \remarks This method cannot be called during an acquisition. 224 | * \exception Exception (Exception::DEVICE_NOT_IDLE) 225 | * \exception Exception (Exception::CONTACTING_DEVICE) 226 | */ 227 | std::string version(void); 228 | 229 | /** Starts a signal acquisition from the device. 230 | * \param[in] samplingRate Sampling rate in Hz. Accepted values are 1, 10, 100 or 1000 Hz. Default value is 1000 Hz. 231 | * \param[in] channels Set of channels to acquire. Accepted channels are 0...5 for inputs A1...A6. 232 | * If this set is empty or if it is not given, all 6 analog channels will be acquired. 233 | * \param[in] simulated If true, start in simulated mode. Otherwise start in live mode. Default is to start in live mode. 234 | * \remarks This method cannot be called during an acquisition. 235 | * \exception Exception (Exception::DEVICE_NOT_IDLE) 236 | * \exception Exception (Exception::INVALID_PARAMETER) 237 | * \exception Exception (Exception::CONTACTING_DEVICE) 238 | */ 239 | void start(int samplingRate = 1000, const Vint &channels = Vint(), bool simulated = false); 240 | 241 | /** Stops a signal acquisition. 242 | * \remarks This method must be called only during an acquisition. 243 | * \exception Exception (Exception::DEVICE_NOT_IN_ACQUISITION) 244 | * \exception Exception (Exception::CONTACTING_DEVICE) 245 | */ 246 | void stop(void); 247 | 248 | /** Reads acquisition frames from the device. 249 | * This method returns when all requested frames are received from the device, or when 5-second receive timeout occurs. 250 | * \param[out] frames Vector of frames to be filled. If the vector is empty, it is resized to 100 frames. 251 | * \return Number of frames returned in frames vector. If a timeout occurred, this number is less than the frames vector size. 252 | * \remarks This method must be called only during an acquisition. 253 | * \exception Exception (Exception::DEVICE_NOT_IN_ACQUISITION) 254 | * \exception Exception (Exception::CONTACTING_DEVICE) 255 | */ 256 | int read(VFrame &frames); 257 | 258 | /** Sets the battery voltage threshold for the low-battery LED. 259 | * \param[in] value Battery voltage threshold. Default value is 0. 260 | * Value | Voltage Threshold 261 | * ----- | ----------------- 262 | * 0 | 3.4 V 263 | * ... | ... 264 | * 63 | 3.8 V 265 | * \remarks This method cannot be called during an acquisition. 266 | * \exception Exception (Exception::DEVICE_NOT_IDLE) 267 | * \exception Exception (Exception::INVALID_PARAMETER) 268 | * \exception Exception (Exception::CONTACTING_DEVICE) 269 | */ 270 | void battery(int value = 0); 271 | 272 | /** Assigns the digital outputs states. 273 | * \param[in] digitalOutput Vector of booleans to assign to digital outputs, starting at first output (O1). 274 | * On each vector element, false sets the output to low level and true sets the output to high level. 275 | * If this vector is not empty, it must contain exactly 4 elements for original %BITalino (4 digital outputs) 276 | * or exactly 2 elements for %BITalino 2 (2 digital outputs). 277 | * If this parameter is not given or if the vector is empty, all digital outputs are set to low level. 278 | * \remarks This method must be called only during an acquisition on original %BITalino. On %BITalino 2 there is no restriction. 279 | * \exception Exception (Exception::DEVICE_NOT_IN_ACQUISITION) 280 | * \exception Exception (Exception::INVALID_PARAMETER) 281 | * \exception Exception (Exception::CONTACTING_DEVICE) 282 | */ 283 | void trigger(const Vbool &digitalOutput = Vbool()); 284 | 285 | /** Assigns the analog (PWM) output value (%BITalino 2 only). 286 | * \param[in] pwmOutput Analog output value to set (0...255). 287 | * The analog output voltage is given by: V (in Volts) = 3.3 * (pwmOutput+1)/256 288 | * \exception Exception (Exception::INVALID_PARAMETER) 289 | * \exception Exception (Exception::CONTACTING_DEVICE) 290 | * \exception Exception (Exception::NOT_SUPPORTED) 291 | */ 292 | void pwm(int pwmOutput = 100); 293 | 294 | /** Returns current device state (%BITalino 2 only). 295 | * \remarks This method cannot be called during an acquisition. 296 | * \exception Exception (Exception::DEVICE_NOT_IDLE) 297 | * \exception Exception (Exception::CONTACTING_DEVICE) 298 | * \exception Exception (Exception::NOT_SUPPORTED) 299 | */ 300 | State state(void); 301 | 302 | private: 303 | void send(char cmd); 304 | int recv(void *data, int nbyttoread); 305 | void close(void); 306 | 307 | char nChannels; 308 | bool isBitalino2; 309 | #ifdef _WIN32 310 | SOCKET fd; 311 | timeval readtimeout; 312 | HANDLE hCom; 313 | #else // Linux or Mac OS 314 | int fd; 315 | bool isTTY; 316 | #endif 317 | }; 318 | 319 | #endif // _BITALINOHEADER_ 320 | -------------------------------------------------------------------------------- /test.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include "bitalino.h" 3 | 4 | #include 5 | 6 | #ifdef _WIN32 7 | 8 | #include 9 | 10 | bool keypressed(void) 11 | { 12 | return (_kbhit() != 0); 13 | } 14 | 15 | #else // Linux or Mac OS 16 | 17 | #include 18 | 19 | bool keypressed(void) 20 | { 21 | fd_set readfds; 22 | FD_ZERO(&readfds); 23 | FD_SET(0, &readfds); 24 | 25 | timeval readtimeout; 26 | readtimeout.tv_sec = 0; 27 | readtimeout.tv_usec = 0; 28 | 29 | return (select(FD_SETSIZE, &readfds, NULL, NULL, &readtimeout) == 1); 30 | } 31 | 32 | #endif 33 | 34 | int main() 35 | { 36 | try 37 | { 38 | // uncomment this block to search for Bluetooth devices (Windows and Linux) 39 | /* 40 | BITalino::VDevInfo devs = BITalino::find(); 41 | for(int i = 0; i < devs.size(); i++) 42 | printf("%s - %s\n", devs[i].macAddr.c_str(), devs[i].name.c_str()); 43 | return 0; 44 | */ 45 | 46 | puts("Connecting to device..."); 47 | 48 | // use one of the lines below 49 | BITalino dev("98:D3:31:B2:11:6B"); // device MAC address (Windows and Linux) 50 | 51 | //BITalino dev("COM5"); // Bluetooth virtual COM port or USB-UART COM port (Windows) 52 | 53 | //BITalino dev("/dev/ttyUSB0"); // USB-UART device (Linux) 54 | //BITalino dev("/dev/rfcomm0"); // Bluetooth virtual serial port (Linux) 55 | 56 | //BITalino dev("/dev/tty.usbserial-A1000QIz"); // USB-UART device (Mac OS) 57 | //BITalino dev("/dev/tty.bitalino-DevB"); // Bluetooth virtual serial port (Mac OS) 58 | 59 | puts("Connected to device. Press Enter to exit."); 60 | 61 | std::string ver = dev.version(); // get device version string 62 | printf("BITalino version: %s\n", ver.c_str()); 63 | 64 | dev.battery(10); // set battery threshold (optional) 65 | 66 | dev.start(1000, {0, 1, 2, 3, 4, 5}); // start acquisition of all channels at 1000 Hz 67 | // use block below if your compiler doesn't support vector initializer lists 68 | /* 69 | BITalino::Vint chans; 70 | chans.push_back(0); 71 | chans.push_back(1); 72 | chans.push_back(2); 73 | chans.push_back(3); 74 | chans.push_back(4); 75 | chans.push_back(5); 76 | dev.start(1000, chans); 77 | */ 78 | 79 | //dev.trigger({false, false, true, false}); // for original BITalino 80 | //dev.trigger({true, false}); // for BITalino 2 81 | // use block below if your compiler doesn't support vector initializer lists 82 | /* 83 | BITalino::Vbool outputs; 84 | outputs.push_back(false); 85 | outputs.push_back(false); 86 | outputs.push_back(true); 87 | outputs.push_back(false); 88 | dev.trigger(outputs); 89 | */ 90 | 91 | BITalino::VFrame frames(100); // initialize the frames vector with 100 frames 92 | do 93 | { 94 | dev.read(frames); // get 100 frames from device 95 | const BITalino::Frame &f = frames[0]; // get a reference to the first frame of each 100 frames block 96 | printf("%d : %d %d %d %d ; %d %d %d %d %d %d\n", // dump the first frame 97 | f.seq, 98 | f.digital[0], f.digital[1], f.digital[2], f.digital[3], 99 | f.analog[0], f.analog[1], f.analog[2], f.analog[3], f.analog[4], f.analog[5]); 100 | 101 | } while (!keypressed()); // until a key is pressed 102 | 103 | dev.stop(); // stop acquisition 104 | } // dev is destroyed here (it goes out of scope) 105 | catch(BITalino::Exception &e) 106 | { 107 | printf("BITalino exception: %s\n", e.getDescription()); 108 | } 109 | 110 | return 0; 111 | } 112 | --------------------------------------------------------------------------------