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/L2CAP.cpp

Committer:
DrewSchaef
Date:
2017-11-01
Revision:
0:bcad524c1856

File content as of revision 0:bcad524c1856:

/*
Copyright (c) 2010 Peter Barrett

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/


#include <stdio.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>

#include "Utils.h"
#include "hci.h"

#define L2CAP_COMMAND_REJ       0x01
#define L2CAP_CONN_REQ          0x02
#define L2CAP_CONN_RSP          0x03
#define L2CAP_CONF_REQ          0x04
#define L2CAP_CONF_RSP          0x05
#define L2CAP_DISCONN_REQ       0x06
#define L2CAP_DISCONN_RSP       0x07
#define L2CAP_ECHO_REQ          0x08
#define L2CAP_ECHO_RSP          0x09
#define L2CAP_INFO_REQ          0x0a
#define L2CAP_INFO_RSP          0x0b


 /* L2CAP command codes */
 const char* L2CAP_ComandCodeStr(int c)
 {
     switch (c)
     {
        case L2CAP_COMMAND_REJ:    return "L2CAP_COMMAND_REJ";
        case L2CAP_CONN_REQ:    return "L2CAP_CONN_REQ";
        case L2CAP_CONN_RSP:    return "L2CAP_CONN_RSP";
        case L2CAP_CONF_REQ:    return "L2CAP_CONF_REQ";
        case L2CAP_CONF_RSP:    return "L2CAP_CONF_RSP";
        case L2CAP_DISCONN_REQ:    return "L2CAP_DISCONN_REQ";
        case L2CAP_DISCONN_RSP:    return "L2CAP_DISCONN_RSP";
        case L2CAP_ECHO_REQ:    return "L2CAP_ECHO_REQ";
        case L2CAP_ECHO_RSP:    return "L2CAP_ECHO_RSP";
        case L2CAP_INFO_REQ:    return "L2CAP_INFO_REQ";
        case L2CAP_INFO_RSP:    return "L2CAP_INFO_RSP";
     }
     return "unknown";
 }

typedef struct
{
    u16    handle;
    u16    length;            // total
    u16    l2capLength;    // length -4
    u16    cid;            // Signaling packet CID = 1
    u8  data[64];       // Largest thing to send!!! todo
} L2CAPData;

typedef struct
{
    u16    handle;
    u16    length;            // total
    u16    l2capLength;    // length -4
    u16    cid;            // Signaling packet CID = 1

    // Payload
    u8    cmd;            //
    u8    id;
    u16    cmdLength;        // total-8
    u16 params[4];      // Params
} L2CAPCmd;

//
void BTDevice::Init()
{
    memset(&_info,0,sizeof(inquiry_info));
    _handle = 0;
    _name[0] = 0;
    _state = 0;
}

// virtual SocketHandler
int BTDevice::Open(SocketInternal* sock, SocketAddrHdr* addr)
{
    L2CAPSocket* s = (L2CAPSocket*)sock;
    L2CAPAddr* a = (L2CAPAddr*)addr;
    s->scid = 0x40 + sock->ID-1;   // are these reserved?
    s->dcid = 0;
    Connect(s->scid,a->psm);
    return sock->ID;
}

// virtual SocketHandler
int BTDevice::Send(SocketInternal* sock, const u8* data, int len)
{
    L2CAPData d;
    L2CAPSocket* s = (L2CAPSocket*)sock;

    d.handle = _handle | 0x2000;
    d.length = 4 + len;
    d.l2capLength = len;
    d.cid = s->dcid;

    if (len > 64)
        return -1;
    memcpy(d.data,data,len);
    return Send((u8*)&d,len+8);
}

// virtual SocketHandler
int BTDevice::Close(SocketInternal* sock)
{
    printf("L2CAP close %d\n",sock->ID);
    L2CAPSocket* s = (L2CAPSocket*)sock;
    return Disconnect(s->scid,s->dcid);
}

L2CAPSocket* BTDevice::SCIDToSocket(int scid)
{
    return (L2CAPSocket*)GetSocketInternal(scid-0x40+1);
}

int BTDevice::Send(const u8* data, int len)
{
     _transport->ACLSend(data,len);
     return 0;
}

int BTDevice::Send(u8 c, u8 id, u16* params, int count)
{
    L2CAPCmd cmd;
    cmd.handle = _handle | 0x2000;
    cmd.length = 8 + count*2;

    cmd.l2capLength = cmd.length-4;
    cmd.cid = 1;    // Signaling packet

    cmd.cmd = c;
    cmd.id = id;
    cmd.cmdLength = count*2;
    for (int i = 0; i < count; i++)
        cmd.params[i] = params[i];
    return Send((u8*)&cmd,cmd.length+4);
}

int BTDevice::Connect(int scid, int psm)
{
    u16 p[2];
    p[0] = psm;
    p[1] = scid;
    return Send(L2CAP_CONN_REQ,_txid++,p,2);
}

int BTDevice::Disconnect(int scid, int dcid)
{
    u16 p[2];
    p[0] = dcid;
    p[1] = scid;
    return Send(L2CAP_DISCONN_REQ,_txid++,p,2);
}

int BTDevice::ConfigureRequest(int dcid)
{
    u16 p[4];
    p[0] = dcid;
    p[1] = 0;
    p[2] = 0x0201;  // Options
    p[3] = 0x02A0;  // 672
    return Send(L2CAP_CONF_REQ,_txid++,p,4);
}

int BTDevice::ConfigureResponse(u8 rxid, int dcid)
{
    u16 p[3];
    p[0] = dcid;
    p[1] = 0;
    p[2] = 0;
    return Send(L2CAP_CONF_RSP,rxid,p,3);
}

int BTDevice::DisconnectResponse(u8 rxid, int scid, int dcid)
{
    u16 p[2];
    p[0] = dcid;
    p[1] = scid;
    return Send(L2CAP_DISCONN_RSP,rxid,p,2);
}

void BTDevice::Control(const u8* data, int len)
{
    int cc = data[8];
    printf(L2CAP_ComandCodeStr(cc));
    int result = LE16(data+16);
    printf(" Result %d\n",result);
    switch (cc)
    {
        case L2CAP_COMMAND_REJ:
           break;
        case L2CAP_CONN_REQ:
            break;

        // Response to our initial connect from Remote
        case L2CAP_CONN_RSP:
            {
                if (result == 0)
                {
                    int dcid = LE16(data+12);
                    int scid = LE16(data+14);
                    L2CAPSocket* s = SCIDToSocket(scid);
                    if (s)
                    {
                        s->dcid = dcid;
                        ConfigureRequest(dcid);
                    }
                } else
                    printf("Connect failed?\n");
            }
            break;

        case L2CAP_CONF_RSP:
            {
                int scid = LE16(data+12);
                SocketInternal* s = (SocketInternal*)SCIDToSocket(scid);
                if (s)
                    s->SetState(SocketState_Open);
            }
            break;

        case L2CAP_CONF_REQ:
            {
                int scid = LE16(data+12);
                L2CAPSocket* s = SCIDToSocket(scid);
                if (s)
                    ConfigureResponse(data[9],s->dcid);
            }
            break;
    }
}

void BTDevice::ACLRecv(const u8* data, int len)
{
   // printfBytes("L2CP",data,16);
    int handle = LE16(data);
    if (handle != (0x2000 | _handle))
        return;

    int cid = LE16(data+6);
    if (cid == 1)
    {
        Control(data,len);
        return;
    }

    SocketInternal* s = (SocketInternal*)SCIDToSocket(cid);
    if (s)
        s->Recv(data+8,LE16(data+2)-4);
    else
        printf("Bad event cid %d\n",cid);
}