LP Long Distance IR Vision Robot
Dependencies: max77650_charger_sample BufferedSerial SX1276GenericLib Adafruit-MotorShield NEO-6m-GPS MAX17055_EZconfig Adafruit_GFX USBDeviceHT Adafruit-PWM-Servo-Driver
UARTService_custom.h@30:66f9750cc44c, 2018-07-24 (annotated)
- Committer:
- dev_alexander
- Date:
- Tue Jul 24 16:58:04 2018 +0000
- Revision:
- 30:66f9750cc44c
- Parent:
- 29:f7a0e49b826b
Changed the way that the program handles the ble connection. Converted functions that were deprecated to function correctly using the new ble methods of a newer version of mbed-os.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dev_alexander | 29:f7a0e49b826b | 1 | /* mbed Microcontroller Library |
dev_alexander | 29:f7a0e49b826b | 2 | * Copyright (c) 2006-2013 ARM Limited |
dev_alexander | 29:f7a0e49b826b | 3 | * |
dev_alexander | 29:f7a0e49b826b | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
dev_alexander | 29:f7a0e49b826b | 5 | * you may not use this file except in compliance with the License. |
dev_alexander | 29:f7a0e49b826b | 6 | * You may obtain a copy of the License at |
dev_alexander | 29:f7a0e49b826b | 7 | * |
dev_alexander | 29:f7a0e49b826b | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
dev_alexander | 29:f7a0e49b826b | 9 | * |
dev_alexander | 29:f7a0e49b826b | 10 | * Unless required by applicable law or agreed to in writing, software |
dev_alexander | 29:f7a0e49b826b | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
dev_alexander | 29:f7a0e49b826b | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
dev_alexander | 29:f7a0e49b826b | 13 | * See the License for the specific language governing permissions and |
dev_alexander | 29:f7a0e49b826b | 14 | * limitations under the License. |
dev_alexander | 29:f7a0e49b826b | 15 | */ |
dev_alexander | 29:f7a0e49b826b | 16 | |
dev_alexander | 29:f7a0e49b826b | 17 | #ifndef __BLE_UART_SERVICE_H__ |
dev_alexander | 29:f7a0e49b826b | 18 | #define __BLE_UART_SERVICE_H__ |
dev_alexander | 29:f7a0e49b826b | 19 | |
dev_alexander | 29:f7a0e49b826b | 20 | #ifdef YOTTA_CFG_MBED_OS |
dev_alexander | 29:f7a0e49b826b | 21 | #include "mbed-drivers/mbed.h" |
dev_alexander | 29:f7a0e49b826b | 22 | #include "mbed-drivers/Stream.h" |
dev_alexander | 29:f7a0e49b826b | 23 | #else |
dev_alexander | 29:f7a0e49b826b | 24 | #include "mbed.h" |
dev_alexander | 29:f7a0e49b826b | 25 | #include "Stream.h" |
dev_alexander | 29:f7a0e49b826b | 26 | #endif |
dev_alexander | 29:f7a0e49b826b | 27 | |
dev_alexander | 29:f7a0e49b826b | 28 | #include "ble/UUID.h" |
dev_alexander | 29:f7a0e49b826b | 29 | #include "ble/BLE.h" |
dev_alexander | 29:f7a0e49b826b | 30 | |
dev_alexander | 29:f7a0e49b826b | 31 | extern const uint8_t UARTServiceBaseUUID[UUID::LENGTH_OF_LONG_UUID]; |
dev_alexander | 29:f7a0e49b826b | 32 | extern const uint16_t UARTServiceShortUUID; |
dev_alexander | 29:f7a0e49b826b | 33 | extern const uint16_t UARTServiceTXCharacteristicShortUUID; |
dev_alexander | 29:f7a0e49b826b | 34 | extern const uint16_t UARTServiceRXCharacteristicShortUUID; |
dev_alexander | 29:f7a0e49b826b | 35 | |
dev_alexander | 29:f7a0e49b826b | 36 | extern const uint8_t UARTServiceUUID[UUID::LENGTH_OF_LONG_UUID]; |
dev_alexander | 29:f7a0e49b826b | 37 | extern const uint8_t UARTServiceUUID_reversed[UUID::LENGTH_OF_LONG_UUID]; |
dev_alexander | 29:f7a0e49b826b | 38 | |
dev_alexander | 29:f7a0e49b826b | 39 | extern const uint8_t UARTServiceTXCharacteristicUUID[UUID::LENGTH_OF_LONG_UUID]; |
dev_alexander | 29:f7a0e49b826b | 40 | extern const uint8_t UARTServiceRXCharacteristicUUID[UUID::LENGTH_OF_LONG_UUID]; |
dev_alexander | 29:f7a0e49b826b | 41 | |
dev_alexander | 29:f7a0e49b826b | 42 | /** |
dev_alexander | 29:f7a0e49b826b | 43 | * @class UARTService. |
dev_alexander | 29:f7a0e49b826b | 44 | * @brief BLE Service to enable UART over BLE. |
dev_alexander | 29:f7a0e49b826b | 45 | */ |
dev_alexander | 29:f7a0e49b826b | 46 | class UARTService { |
dev_alexander | 29:f7a0e49b826b | 47 | public: |
dev_alexander | 29:f7a0e49b826b | 48 | /**< Maximum length of data (in bytes) that the UART service module can transmit to the peer. */ |
dev_alexander | 29:f7a0e49b826b | 49 | static const unsigned BLE_UART_SERVICE_MAX_DATA_LEN = (BLE_GATT_MTU_SIZE_DEFAULT - 18); |
dev_alexander | 29:f7a0e49b826b | 50 | |
dev_alexander | 29:f7a0e49b826b | 51 | public: |
dev_alexander | 29:f7a0e49b826b | 52 | |
dev_alexander | 29:f7a0e49b826b | 53 | /** |
dev_alexander | 29:f7a0e49b826b | 54 | * @param[ref] ble |
dev_alexander | 29:f7a0e49b826b | 55 | * BLE object for the underlying controller. |
dev_alexander | 29:f7a0e49b826b | 56 | */ |
dev_alexander | 29:f7a0e49b826b | 57 | UARTService(BLE &_ble) : |
dev_alexander | 29:f7a0e49b826b | 58 | ble(_ble), |
dev_alexander | 29:f7a0e49b826b | 59 | receiveBuffer(), |
dev_alexander | 29:f7a0e49b826b | 60 | sendBuffer(), |
dev_alexander | 29:f7a0e49b826b | 61 | sendBufferIndex(0), |
dev_alexander | 29:f7a0e49b826b | 62 | numBytesReceived(0), |
dev_alexander | 29:f7a0e49b826b | 63 | receiveBufferIndex(0), |
dev_alexander | 29:f7a0e49b826b | 64 | txCharacteristic(UARTServiceTXCharacteristicUUID, receiveBuffer, 1, BLE_UART_SERVICE_MAX_DATA_LEN, |
dev_alexander | 29:f7a0e49b826b | 65 | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE), |
dev_alexander | 29:f7a0e49b826b | 66 | rxCharacteristic(UARTServiceRXCharacteristicUUID, sendBuffer, 1, BLE_UART_SERVICE_MAX_DATA_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY) { |
dev_alexander | 29:f7a0e49b826b | 67 | GattCharacteristic *charTable[] = {&txCharacteristic, &rxCharacteristic}; |
dev_alexander | 29:f7a0e49b826b | 68 | GattService uartService(UARTServiceUUID, charTable, sizeof(charTable) / sizeof(GattCharacteristic *)); |
dev_alexander | 29:f7a0e49b826b | 69 | |
dev_alexander | 30:66f9750cc44c | 70 | ble.gattServer().addService(uartService); |
dev_alexander | 30:66f9750cc44c | 71 | ble.gattServer().onDataWritten(this, &UARTService::onDataWritten); |
dev_alexander | 29:f7a0e49b826b | 72 | } |
dev_alexander | 29:f7a0e49b826b | 73 | |
dev_alexander | 29:f7a0e49b826b | 74 | /** |
dev_alexander | 29:f7a0e49b826b | 75 | * Note: TX and RX characteristics are to be interpreted from the viewpoint of the GATT client using this service. |
dev_alexander | 29:f7a0e49b826b | 76 | */ |
dev_alexander | 29:f7a0e49b826b | 77 | uint16_t getTXCharacteristicHandle() { |
dev_alexander | 29:f7a0e49b826b | 78 | return txCharacteristic.getValueAttribute().getHandle(); |
dev_alexander | 29:f7a0e49b826b | 79 | } |
dev_alexander | 29:f7a0e49b826b | 80 | |
dev_alexander | 29:f7a0e49b826b | 81 | /** |
dev_alexander | 29:f7a0e49b826b | 82 | * Note: TX and RX characteristics are to be interpreted from the viewpoint of the GATT client using this service. |
dev_alexander | 29:f7a0e49b826b | 83 | */ |
dev_alexander | 29:f7a0e49b826b | 84 | uint16_t getRXCharacteristicHandle() { |
dev_alexander | 29:f7a0e49b826b | 85 | return rxCharacteristic.getValueAttribute().getHandle(); |
dev_alexander | 29:f7a0e49b826b | 86 | } |
dev_alexander | 29:f7a0e49b826b | 87 | |
dev_alexander | 29:f7a0e49b826b | 88 | /** |
dev_alexander | 29:f7a0e49b826b | 89 | * We attempt to collect bytes before pushing them to the UART RX |
dev_alexander | 29:f7a0e49b826b | 90 | * characteristic; writing to the RX characteristic then generates |
dev_alexander | 29:f7a0e49b826b | 91 | * notifications for the client. Updates made in quick succession to a |
dev_alexander | 29:f7a0e49b826b | 92 | * notification-generating characteristic result in data being buffered |
dev_alexander | 29:f7a0e49b826b | 93 | * in the Bluetooth stack as notifications are sent out. The stack has |
dev_alexander | 29:f7a0e49b826b | 94 | * its limits for this buffering - typically a small number under 10. |
dev_alexander | 29:f7a0e49b826b | 95 | * Collecting data into the sendBuffer buffer helps mitigate the rate of |
dev_alexander | 29:f7a0e49b826b | 96 | * updates. But we shouldn't buffer a large amount of data before updating |
dev_alexander | 29:f7a0e49b826b | 97 | * the characteristic, otherwise the client needs to turn around and make |
dev_alexander | 29:f7a0e49b826b | 98 | * a long read request; this is because notifications include only the first |
dev_alexander | 29:f7a0e49b826b | 99 | * 20 bytes of the updated data. |
dev_alexander | 29:f7a0e49b826b | 100 | * |
dev_alexander | 29:f7a0e49b826b | 101 | * @param buffer The received update. |
dev_alexander | 29:f7a0e49b826b | 102 | * @param length Number of characters to be appended. |
dev_alexander | 29:f7a0e49b826b | 103 | * @return Number of characters appended to the rxCharacteristic. |
dev_alexander | 29:f7a0e49b826b | 104 | */ |
dev_alexander | 29:f7a0e49b826b | 105 | size_t write(const void *_buffer, size_t length) { |
dev_alexander | 29:f7a0e49b826b | 106 | size_t origLength = length; |
dev_alexander | 29:f7a0e49b826b | 107 | const uint8_t *buffer = static_cast<const uint8_t *>(_buffer); |
dev_alexander | 29:f7a0e49b826b | 108 | |
dev_alexander | 30:66f9750cc44c | 109 | if (ble.gap().getState().connected) { |
dev_alexander | 29:f7a0e49b826b | 110 | unsigned bufferIndex = 0; |
dev_alexander | 29:f7a0e49b826b | 111 | while (length) { |
dev_alexander | 29:f7a0e49b826b | 112 | unsigned bytesRemainingInSendBuffer = BLE_UART_SERVICE_MAX_DATA_LEN - sendBufferIndex; |
dev_alexander | 29:f7a0e49b826b | 113 | unsigned bytesToCopy = (length < bytesRemainingInSendBuffer) ? length : bytesRemainingInSendBuffer; |
dev_alexander | 29:f7a0e49b826b | 114 | |
dev_alexander | 29:f7a0e49b826b | 115 | /* Copy bytes into sendBuffer. */ |
dev_alexander | 29:f7a0e49b826b | 116 | memcpy(&sendBuffer[sendBufferIndex], &buffer[bufferIndex], bytesToCopy); |
dev_alexander | 29:f7a0e49b826b | 117 | length -= bytesToCopy; |
dev_alexander | 29:f7a0e49b826b | 118 | sendBufferIndex += bytesToCopy; |
dev_alexander | 29:f7a0e49b826b | 119 | bufferIndex += bytesToCopy; |
dev_alexander | 29:f7a0e49b826b | 120 | |
dev_alexander | 29:f7a0e49b826b | 121 | /* Have we collected enough? */ |
dev_alexander | 29:f7a0e49b826b | 122 | if ((sendBufferIndex == BLE_UART_SERVICE_MAX_DATA_LEN) || |
dev_alexander | 29:f7a0e49b826b | 123 | // (sendBuffer[sendBufferIndex - 1] == '\r') || |
dev_alexander | 29:f7a0e49b826b | 124 | (sendBuffer[sendBufferIndex - 1] == '\n')) { |
dev_alexander | 29:f7a0e49b826b | 125 | ble.gattServer().write(getRXCharacteristicHandle(), static_cast<const uint8_t *>(sendBuffer), sendBufferIndex); |
dev_alexander | 29:f7a0e49b826b | 126 | sendBufferIndex = 0; |
dev_alexander | 29:f7a0e49b826b | 127 | } |
dev_alexander | 29:f7a0e49b826b | 128 | } |
dev_alexander | 29:f7a0e49b826b | 129 | } |
dev_alexander | 29:f7a0e49b826b | 130 | |
dev_alexander | 29:f7a0e49b826b | 131 | return origLength; |
dev_alexander | 29:f7a0e49b826b | 132 | } |
dev_alexander | 29:f7a0e49b826b | 133 | |
dev_alexander | 29:f7a0e49b826b | 134 | /** |
dev_alexander | 29:f7a0e49b826b | 135 | * Helper function to write out strings. |
dev_alexander | 29:f7a0e49b826b | 136 | * @param str The received string. |
dev_alexander | 29:f7a0e49b826b | 137 | * @return Number of characters appended to the rxCharacteristic. |
dev_alexander | 29:f7a0e49b826b | 138 | */ |
dev_alexander | 29:f7a0e49b826b | 139 | size_t writeString(const char *str) { |
dev_alexander | 29:f7a0e49b826b | 140 | return write(str, strlen(str)); |
dev_alexander | 29:f7a0e49b826b | 141 | } |
dev_alexander | 29:f7a0e49b826b | 142 | |
dev_alexander | 29:f7a0e49b826b | 143 | /** |
dev_alexander | 29:f7a0e49b826b | 144 | * Override for Stream::_putc(). |
dev_alexander | 29:f7a0e49b826b | 145 | * @param c |
dev_alexander | 29:f7a0e49b826b | 146 | * This function writes the character c, cast to an unsigned char, to stream. |
dev_alexander | 29:f7a0e49b826b | 147 | * @return |
dev_alexander | 29:f7a0e49b826b | 148 | * The character written as an unsigned char cast to an int or EOF on error. |
dev_alexander | 29:f7a0e49b826b | 149 | */ |
dev_alexander | 29:f7a0e49b826b | 150 | int _putc(int c) { |
dev_alexander | 29:f7a0e49b826b | 151 | return (write(&c, 1) == 1) ? 1 : EOF; |
dev_alexander | 29:f7a0e49b826b | 152 | } |
dev_alexander | 29:f7a0e49b826b | 153 | |
dev_alexander | 29:f7a0e49b826b | 154 | /** |
dev_alexander | 29:f7a0e49b826b | 155 | * Override for Stream::_getc(). |
dev_alexander | 29:f7a0e49b826b | 156 | * @return |
dev_alexander | 29:f7a0e49b826b | 157 | * The character read. |
dev_alexander | 29:f7a0e49b826b | 158 | */ |
dev_alexander | 29:f7a0e49b826b | 159 | int _getc() { |
dev_alexander | 29:f7a0e49b826b | 160 | if (receiveBufferIndex == numBytesReceived) { |
dev_alexander | 29:f7a0e49b826b | 161 | return EOF; |
dev_alexander | 29:f7a0e49b826b | 162 | } |
dev_alexander | 29:f7a0e49b826b | 163 | |
dev_alexander | 29:f7a0e49b826b | 164 | return receiveBuffer[receiveBufferIndex++]; |
dev_alexander | 29:f7a0e49b826b | 165 | } |
dev_alexander | 29:f7a0e49b826b | 166 | |
dev_alexander | 29:f7a0e49b826b | 167 | protected: |
dev_alexander | 29:f7a0e49b826b | 168 | /** |
dev_alexander | 29:f7a0e49b826b | 169 | * This callback allows the UART service to receive updates to the |
dev_alexander | 29:f7a0e49b826b | 170 | * txCharacteristic. The application should forward the call to this |
dev_alexander | 29:f7a0e49b826b | 171 | * function from the global onDataWritten() callback handler; if that's |
dev_alexander | 29:f7a0e49b826b | 172 | * not used, this method can be used as a callback directly. |
dev_alexander | 29:f7a0e49b826b | 173 | */ |
dev_alexander | 29:f7a0e49b826b | 174 | void onDataWritten(const GattWriteCallbackParams *params) { |
dev_alexander | 29:f7a0e49b826b | 175 | if (params->handle == getTXCharacteristicHandle()) { |
dev_alexander | 29:f7a0e49b826b | 176 | uint16_t bytesRead = params->len; |
dev_alexander | 29:f7a0e49b826b | 177 | if (bytesRead <= BLE_UART_SERVICE_MAX_DATA_LEN) { |
dev_alexander | 29:f7a0e49b826b | 178 | numBytesReceived = bytesRead; |
dev_alexander | 29:f7a0e49b826b | 179 | receiveBufferIndex = 0; |
dev_alexander | 29:f7a0e49b826b | 180 | memcpy(receiveBuffer, params->data, numBytesReceived); |
dev_alexander | 29:f7a0e49b826b | 181 | } |
dev_alexander | 29:f7a0e49b826b | 182 | } |
dev_alexander | 29:f7a0e49b826b | 183 | } |
dev_alexander | 29:f7a0e49b826b | 184 | |
dev_alexander | 29:f7a0e49b826b | 185 | protected: |
dev_alexander | 29:f7a0e49b826b | 186 | BLE &ble; |
dev_alexander | 29:f7a0e49b826b | 187 | |
dev_alexander | 29:f7a0e49b826b | 188 | uint8_t receiveBuffer[BLE_UART_SERVICE_MAX_DATA_LEN]; /**< The local buffer into which we receive |
dev_alexander | 29:f7a0e49b826b | 189 | * inbound data before forwarding it to the |
dev_alexander | 29:f7a0e49b826b | 190 | * application. */ |
dev_alexander | 29:f7a0e49b826b | 191 | |
dev_alexander | 29:f7a0e49b826b | 192 | uint8_t sendBuffer[BLE_UART_SERVICE_MAX_DATA_LEN]; /**< The local buffer into which outbound data is |
dev_alexander | 29:f7a0e49b826b | 193 | * accumulated before being pushed to the |
dev_alexander | 29:f7a0e49b826b | 194 | * rxCharacteristic. */ |
dev_alexander | 29:f7a0e49b826b | 195 | uint8_t sendBufferIndex; |
dev_alexander | 29:f7a0e49b826b | 196 | uint8_t numBytesReceived; |
dev_alexander | 29:f7a0e49b826b | 197 | uint8_t receiveBufferIndex; |
dev_alexander | 29:f7a0e49b826b | 198 | |
dev_alexander | 29:f7a0e49b826b | 199 | GattCharacteristic txCharacteristic; /**< From the point of view of the external client, this is the characteristic |
dev_alexander | 29:f7a0e49b826b | 200 | * they'd write into in order to communicate with this application. */ |
dev_alexander | 29:f7a0e49b826b | 201 | GattCharacteristic rxCharacteristic; /**< From the point of view of the external client, this is the characteristic |
dev_alexander | 29:f7a0e49b826b | 202 | * they'd read from in order to receive the bytes transmitted by this |
dev_alexander | 29:f7a0e49b826b | 203 | * application. */ |
dev_alexander | 29:f7a0e49b826b | 204 | }; |
dev_alexander | 29:f7a0e49b826b | 205 | |
dev_alexander | 29:f7a0e49b826b | 206 | #endif /* #ifndef __BLE_UART_SERVICE_H__*/ |