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Linux BlueZ - Arduino BLE shield communication



Is there a way to read/write values from a Linux console using BlueZ?
I’m working on a program that captures transmitted (by an Arduino Uno using the BLE shield) IDs on a Raspberry Pi with a USB BLE dongle.

Currently I’m able to establish a connection between both devices but I’d like to know how to read out digital pins or transmit data from the BLE shield to the Raspberry Pi.

Thanks in advance!