Andrew Schaeffer / Mbed 2 deprecated OU_Davis_Old_Robot

This is the project for the Old Model Robots for OU's Dr. Davis's Configurable Robots Research. This is being published so future robots can be set up easily.

Dependencies:   FatFileSystem MCP3008 Motor PinDetect QTR_8A SRF05 SSD1308_128x64_I2C mbed

blueusb/hci.h@0:bcad524c1856, 2017-11-01 (annotated)

Committer:
DrewSchaef
Date:
Wed Nov 01 15:57:59 2017 +0000
Revision:
0:bcad524c1856
Published the project to allow access for future work on the Configurable Robots Research Project(s).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DrewSchaef 0:bcad524c1856 1 /*
DrewSchaef 0:bcad524c1856 2 Copyright (c) 2010 Peter Barrett
DrewSchaef 0:bcad524c1856 3
DrewSchaef 0:bcad524c1856 4 Permission is hereby granted, free of charge, to any person obtaining a copy
DrewSchaef 0:bcad524c1856 5 of this software and associated documentation files (the "Software"), to deal
DrewSchaef 0:bcad524c1856 6 in the Software without restriction, including without limitation the rights
DrewSchaef 0:bcad524c1856 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
DrewSchaef 0:bcad524c1856 8 copies of the Software, and to permit persons to whom the Software is
DrewSchaef 0:bcad524c1856 9 furnished to do so, subject to the following conditions:
DrewSchaef 0:bcad524c1856 10
DrewSchaef 0:bcad524c1856 11 The above copyright notice and this permission notice shall be included in
DrewSchaef 0:bcad524c1856 12 all copies or substantial portions of the Software.
DrewSchaef 0:bcad524c1856 13
DrewSchaef 0:bcad524c1856 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
DrewSchaef 0:bcad524c1856 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
DrewSchaef 0:bcad524c1856 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
DrewSchaef 0:bcad524c1856 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
DrewSchaef 0:bcad524c1856 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
DrewSchaef 0:bcad524c1856 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
DrewSchaef 0:bcad524c1856 20 THE SOFTWARE.
DrewSchaef 0:bcad524c1856 21 */
DrewSchaef 0:bcad524c1856 22
DrewSchaef 0:bcad524c1856 23 #ifndef HCI_H_INCLUDED
DrewSchaef 0:bcad524c1856 24 #define HCI_H_INCLUDED
DrewSchaef 0:bcad524c1856 25
DrewSchaef 0:bcad524c1856 26 #include "Socket.h"
DrewSchaef 0:bcad524c1856 27
DrewSchaef 0:bcad524c1856 28 #pragma pack(1)
DrewSchaef 0:bcad524c1856 29
DrewSchaef 0:bcad524c1856 30 #define ERR_HCI_DEVICE_NOT_FOUND -300
DrewSchaef 0:bcad524c1856 31
DrewSchaef 0:bcad524c1856 32 class HCI;
DrewSchaef 0:bcad524c1856 33 class HCITransport;
DrewSchaef 0:bcad524c1856 34 class BTDevice;
DrewSchaef 0:bcad524c1856 35
DrewSchaef 0:bcad524c1856 36 typedef struct
DrewSchaef 0:bcad524c1856 37 {
DrewSchaef 0:bcad524c1856 38 u8 addr[6];
DrewSchaef 0:bcad524c1856 39 } BD_ADDR;
DrewSchaef 0:bcad524c1856 40
DrewSchaef 0:bcad524c1856 41 typedef struct
DrewSchaef 0:bcad524c1856 42 {
DrewSchaef 0:bcad524c1856 43 BD_ADDR bdaddr;
DrewSchaef 0:bcad524c1856 44 u8 pscan_rep_mode;
DrewSchaef 0:bcad524c1856 45 u8 pscan_period_mode;
DrewSchaef 0:bcad524c1856 46 u8 pscan_mode;
DrewSchaef 0:bcad524c1856 47 u8 dev_class[3];
DrewSchaef 0:bcad524c1856 48 u16 clock_offset;
DrewSchaef 0:bcad524c1856 49 } inquiry_info;
DrewSchaef 0:bcad524c1856 50
DrewSchaef 0:bcad524c1856 51 typedef struct
DrewSchaef 0:bcad524c1856 52 {
DrewSchaef 0:bcad524c1856 53 u8 status;
DrewSchaef 0:bcad524c1856 54 u16 handle;
DrewSchaef 0:bcad524c1856 55 BD_ADDR bdaddr;
DrewSchaef 0:bcad524c1856 56 u8 link_type;
DrewSchaef 0:bcad524c1856 57 u8 encr_mode;
DrewSchaef 0:bcad524c1856 58 } connection_info;
DrewSchaef 0:bcad524c1856 59
DrewSchaef 0:bcad524c1856 60 // Address struct for creating L2CAP sockets
DrewSchaef 0:bcad524c1856 61 typedef struct {
DrewSchaef 0:bcad524c1856 62 SocketAddrHdr hdr;
DrewSchaef 0:bcad524c1856 63 BD_ADDR bdaddr;
DrewSchaef 0:bcad524c1856 64 u16 psm;
DrewSchaef 0:bcad524c1856 65 } L2CAPAddr;
DrewSchaef 0:bcad524c1856 66
DrewSchaef 0:bcad524c1856 67 #pragma pack(4)
DrewSchaef 0:bcad524c1856 68
DrewSchaef 0:bcad524c1856 69 class BTDevice;
DrewSchaef 0:bcad524c1856 70 typedef struct
DrewSchaef 0:bcad524c1856 71 {
DrewSchaef 0:bcad524c1856 72 public:
DrewSchaef 0:bcad524c1856 73 SocketInternal si;
DrewSchaef 0:bcad524c1856 74 BTDevice* btdevice;
DrewSchaef 0:bcad524c1856 75 u16 scid;
DrewSchaef 0:bcad524c1856 76 u16 dcid;
DrewSchaef 0:bcad524c1856 77 } L2CAPSocket;
DrewSchaef 0:bcad524c1856 78
DrewSchaef 0:bcad524c1856 79 #define MAX_HCL_NAME_LENGTH 20 // TODO - BTDevice wants to be a multiple of 4
DrewSchaef 0:bcad524c1856 80
DrewSchaef 0:bcad524c1856 81 // BTDevice encapsulates individual device state
DrewSchaef 0:bcad524c1856 82 // It provides L2CAP layer sockets
DrewSchaef 0:bcad524c1856 83
DrewSchaef 0:bcad524c1856 84 class BTDevice : public SocketHandler
DrewSchaef 0:bcad524c1856 85 {
DrewSchaef 0:bcad524c1856 86 public:
DrewSchaef 0:bcad524c1856 87 HCITransport* _transport;
DrewSchaef 0:bcad524c1856 88 inquiry_info _info;
DrewSchaef 0:bcad524c1856 89 u16 _handle; // acl connection handle
DrewSchaef 0:bcad524c1856 90 u8 _state; // connection state
DrewSchaef 0:bcad524c1856 91 u8 _txid;
DrewSchaef 0:bcad524c1856 92 char _name[MAX_HCL_NAME_LENGTH];
DrewSchaef 0:bcad524c1856 93
DrewSchaef 0:bcad524c1856 94 void Init();
DrewSchaef 0:bcad524c1856 95
DrewSchaef 0:bcad524c1856 96 BD_ADDR* GetAddress() { return &_info.bdaddr; }
DrewSchaef 0:bcad524c1856 97
DrewSchaef 0:bcad524c1856 98 // Called from HCI
DrewSchaef 0:bcad524c1856 99 void ACLRecv(const u8* data, int len);
DrewSchaef 0:bcad524c1856 100
DrewSchaef 0:bcad524c1856 101 // SocketHandler
DrewSchaef 0:bcad524c1856 102 virtual int Open(SocketInternal* sock, SocketAddrHdr* addr);
DrewSchaef 0:bcad524c1856 103 virtual int Send(SocketInternal* sock, const u8* data, int len);
DrewSchaef 0:bcad524c1856 104 virtual int Close(SocketInternal* sock);
DrewSchaef 0:bcad524c1856 105
DrewSchaef 0:bcad524c1856 106 private:
DrewSchaef 0:bcad524c1856 107 L2CAPSocket* SCIDToSocket(int scid);
DrewSchaef 0:bcad524c1856 108 int Send(const u8* data, int len);
DrewSchaef 0:bcad524c1856 109 int Send(u8 c, u8 id, u16* params, int count);
DrewSchaef 0:bcad524c1856 110 int Connect(int scid, int psm);
DrewSchaef 0:bcad524c1856 111 int Disconnect(int scid, int dcid);
DrewSchaef 0:bcad524c1856 112 int ConfigureRequest(int dcid);
DrewSchaef 0:bcad524c1856 113 int ConfigureResponse(u8 rxid, int dcid);
DrewSchaef 0:bcad524c1856 114 int DisconnectResponse(u8 rxid, int scid, int dcid);
DrewSchaef 0:bcad524c1856 115 void Control(const u8* data, int len);
DrewSchaef 0:bcad524c1856 116 };
DrewSchaef 0:bcad524c1856 117
DrewSchaef 0:bcad524c1856 118 enum HCI_CALLBACK_EVENT
DrewSchaef 0:bcad524c1856 119 {
DrewSchaef 0:bcad524c1856 120 CALLBACK_NONE,
DrewSchaef 0:bcad524c1856 121 CALLBACK_READY,
DrewSchaef 0:bcad524c1856 122 CALLBACK_INQUIRY_RESULT,
DrewSchaef 0:bcad524c1856 123 CALLBACK_INQUIRY_DONE,
DrewSchaef 0:bcad524c1856 124 CALLBACK_REMOTE_NAME,
DrewSchaef 0:bcad524c1856 125 CALLBACK_CONNECTION_COMPLETE,
DrewSchaef 0:bcad524c1856 126 CALLBACK_CONNECTION_FAILED
DrewSchaef 0:bcad524c1856 127 };
DrewSchaef 0:bcad524c1856 128
DrewSchaef 0:bcad524c1856 129 // L2CAP Protocol/Service Multiplexor (PSM) values
DrewSchaef 0:bcad524c1856 130
DrewSchaef 0:bcad524c1856 131 #define L2CAP_PSM_ANY 0x0000 /* Any/Invalid PSM */
DrewSchaef 0:bcad524c1856 132 #define L2CAP_PSM_SDP 0x0001 /* Service Discovery Protocol */
DrewSchaef 0:bcad524c1856 133 #define L2CAP_PSM_RFCOMM 0x0003 /* RFCOMM protocol */
DrewSchaef 0:bcad524c1856 134 #define L2CAP_PSM_TCP 0x0005 /* Telephony Control Protocol */
DrewSchaef 0:bcad524c1856 135 #define L2CAP_PSM_TCS 0x0007 /* TCS cordless */
DrewSchaef 0:bcad524c1856 136 #define L2CAP_PSM_BNEP 0x000f /* Bluetooth Network Encapsulation Protocol*/
DrewSchaef 0:bcad524c1856 137 #define L2CAP_PSM_HID_CNTL 0x0011 /* HID Control */
DrewSchaef 0:bcad524c1856 138 #define L2CAP_PSM_HID_INTR 0x0013 /* HID Interrupt */
DrewSchaef 0:bcad524c1856 139 #define L2CAP_PSM_ESDP 0x0015 /* Extended Service Discovery Profile */
DrewSchaef 0:bcad524c1856 140 #define L2CAP_PSM_AVCTP 0x0017 /* Audio/Visual Control Transport Protocol */
DrewSchaef 0:bcad524c1856 141 #define L2CAP_PSM_AVDTP 0x0019 /* Audio/Visual Distribution */
DrewSchaef 0:bcad524c1856 142
DrewSchaef 0:bcad524c1856 143 // Callback from inquiry
DrewSchaef 0:bcad524c1856 144 typedef int (*HCICallback)(HCI* hci, HCI_CALLBACK_EVENT evt, const u8* data, int len);
DrewSchaef 0:bcad524c1856 145
DrewSchaef 0:bcad524c1856 146 #define MAX_BTDEVICES 8
DrewSchaef 0:bcad524c1856 147
DrewSchaef 0:bcad524c1856 148 class HCITransport;
DrewSchaef 0:bcad524c1856 149 class HCI : public SocketHandler
DrewSchaef 0:bcad524c1856 150 {
DrewSchaef 0:bcad524c1856 151 HCITransport* _transport;
DrewSchaef 0:bcad524c1856 152 HCICallback _callback;
DrewSchaef 0:bcad524c1856 153 BD_ADDR _localAddr;
DrewSchaef 0:bcad524c1856 154
DrewSchaef 0:bcad524c1856 155 BTDevice _devices[MAX_BTDEVICES];
DrewSchaef 0:bcad524c1856 156 int _deviceCount;
DrewSchaef 0:bcad524c1856 157
DrewSchaef 0:bcad524c1856 158 int _acl_mtu;
DrewSchaef 0:bcad524c1856 159 int _acl_max_pkt;
DrewSchaef 0:bcad524c1856 160 int _sco_mtu;
DrewSchaef 0:bcad524c1856 161 int _sco_max_pkt;
DrewSchaef 0:bcad524c1856 162
DrewSchaef 0:bcad524c1856 163 int _state;
DrewSchaef 0:bcad524c1856 164
DrewSchaef 0:bcad524c1856 165 public:
DrewSchaef 0:bcad524c1856 166
DrewSchaef 0:bcad524c1856 167 // Open a local adapter
DrewSchaef 0:bcad524c1856 168 int Open(HCITransport* transport, HCICallback callback);
DrewSchaef 0:bcad524c1856 169
DrewSchaef 0:bcad524c1856 170 // Return list of discovered addreses
DrewSchaef 0:bcad524c1856 171 int GetDevices(BTDevice** devices, int maxDevices);
DrewSchaef 0:bcad524c1856 172
DrewSchaef 0:bcad524c1856 173 // Lookup a device by address or handle
DrewSchaef 0:bcad524c1856 174 BTDevice* Find(const BD_ADDR* addr);
DrewSchaef 0:bcad524c1856 175 BTDevice* Find(int handle);
DrewSchaef 0:bcad524c1856 176
DrewSchaef 0:bcad524c1856 177 // Disconnect from a remote device
DrewSchaef 0:bcad524c1856 178 int Disconnect(const BD_ADDR* addr);
DrewSchaef 0:bcad524c1856 179 int DisconnectAll();
DrewSchaef 0:bcad524c1856 180
DrewSchaef 0:bcad524c1856 181 // see what devies are in the system
DrewSchaef 0:bcad524c1856 182 int Inquiry(int duration = 10);
DrewSchaef 0:bcad524c1856 183
DrewSchaef 0:bcad524c1856 184 // get a name, delivered in callback
DrewSchaef 0:bcad524c1856 185 int RemoteNameRequest(const BD_ADDR* addr);
DrewSchaef 0:bcad524c1856 186
DrewSchaef 0:bcad524c1856 187 // Connect to a remote device
DrewSchaef 0:bcad524c1856 188 int CreateConnection(const BD_ADDR* remoteAddr);
DrewSchaef 0:bcad524c1856 189
DrewSchaef 0:bcad524c1856 190 bool Busy();
DrewSchaef 0:bcad524c1856 191
DrewSchaef 0:bcad524c1856 192 // called from transport
DrewSchaef 0:bcad524c1856 193 void HCIRecv(const u8* data, int len);
DrewSchaef 0:bcad524c1856 194
DrewSchaef 0:bcad524c1856 195 // called from transport
DrewSchaef 0:bcad524c1856 196 void ACLRecv(const u8* data, int len);
DrewSchaef 0:bcad524c1856 197
DrewSchaef 0:bcad524c1856 198 // SocketHandler methods for maintaining L2CAP sockets
DrewSchaef 0:bcad524c1856 199 virtual int Open(SocketInternal* sock, SocketAddrHdr* addr);
DrewSchaef 0:bcad524c1856 200 virtual int Send(SocketInternal* sock, const u8* data, int len);
DrewSchaef 0:bcad524c1856 201 virtual int Close(SocketInternal* sock);
DrewSchaef 0:bcad524c1856 202
DrewSchaef 0:bcad524c1856 203 private:
DrewSchaef 0:bcad524c1856 204 void InquiryResult(const inquiry_info* info);
DrewSchaef 0:bcad524c1856 205 void RemoteName(const BD_ADDR* addr, const char* name);
DrewSchaef 0:bcad524c1856 206 void ConnectComplete(const connection_info* info);
DrewSchaef 0:bcad524c1856 207 void DisconnectComplete(int handle);
DrewSchaef 0:bcad524c1856 208 int SendCmd(int cmd, const u8* params = 0, int len = 0);
DrewSchaef 0:bcad524c1856 209 void OnCommandComplete(int cmd, const u8* data, int len);
DrewSchaef 0:bcad524c1856 210 void Callback(HCI_CALLBACK_EVENT c, const u8* data, int len);
DrewSchaef 0:bcad524c1856 211 int PinCodeReply(const u8* data);
DrewSchaef 0:bcad524c1856 212 };
DrewSchaef 0:bcad524c1856 213
DrewSchaef 0:bcad524c1856 214 class HCITransport
DrewSchaef 0:bcad524c1856 215 {
DrewSchaef 0:bcad524c1856 216 protected:
DrewSchaef 0:bcad524c1856 217 HCI* _target;
DrewSchaef 0:bcad524c1856 218 public:
DrewSchaef 0:bcad524c1856 219 void Set(HCI* target) { _target = target; };
DrewSchaef 0:bcad524c1856 220 virtual void HCISend(const u8* data, int len) = 0;
DrewSchaef 0:bcad524c1856 221 virtual void ACLSend(const u8* data, int len) = 0;
DrewSchaef 0:bcad524c1856 222 };
DrewSchaef 0:bcad524c1856 223
DrewSchaef 0:bcad524c1856 224 #endif