Driver for the JY-MCU v1.06 HC-06 Bluetooth module.
Dependents: DISCO-F746NG_rtos_test MbedTableControl
Diff: HC06Bluetooth.h
- Revision:
- 15:6a0aeaa39291
- Parent:
- 12:5ba022adbbfb
- Child:
- 16:1030b80a28f4
--- a/HC06Bluetooth.h Wed Aug 03 18:05:49 2016 +0000 +++ b/HC06Bluetooth.h Wed Aug 03 18:18:05 2016 +0000 @@ -1,74 +1,142 @@ -/** - * @file HC06Bluetooth.hpp - * @date June 4th, 2016 - * @author Weimen Li - * @class HC06Bluetooth - * @brief This class creates an object representing the HC06 Bluetooth Module - * The baud rate for the device is configured to be 115200. +/* + * HC06Bluetooth.cpp + * + * Created on: Jun 4, 2016 + * Author: Developer */ +#include <HC06Bluetooth.h> +#include <algorithm> -#ifndef HC06BLUETOOTH_H_ -#define HC06BLUETOOTH_H_ -#include "mbed.h" -#include <string> +/* Static methods used to help configure the Baudrate. */ + +// WARNING: DO NOT CHANGE THESE VALUES, AS THEY ARE USED TO INDEX INTO AN ARRAY FOR IMPLEMENTATION. +const char* BaudATString[] = {"AT+BAUD1", "AT+BAUD2", "AT+BAUD3", "AT+BAUD4", "AT+BAUD5", "AT+BAUD6", "AT+BAUD7", "AT+BAUD8", "AT+BAUD9", "AT+BAUDA", "AT+BAUDB", "AT+BAUDC"}; +const int32_t BaudATReplyLength[] = {6, 6, 6, 6, 7, 7, 7, 8, 8, 8, 8, 9}; +//const char* BaudATReplyPattern[] = {"OK1200", "OK2400", "OK4800","OK9600","OK19200","OK38400","OK57600","OK115200","OK230400","OK460800","OK921600","OK1382400"}; +const int32_t BaudValue[] = {1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600, 1382400}; + +/* HC06 Bluetooth Class Implementation: */ +HC06Bluetooth::HC06Bluetooth(PinName TX, PinName RX, Baudrate baudrate, void (*lineCallbackFunc) (const char* readString, size_t strlen), void (*charCallbackFunc) (char readChar)) +: btSerialObj(TX, RX), baudrate(baudrate), lineCallbackFunc(lineCallbackFunc), charCallbackFunc(charCallbackFunc), dataReceivedBufferPos(0) { + btSerialObj.baud(BaudValue[baudrate]); + + // Set the interrupt to be called when a byte is received. + if ((lineCallbackFunc != NULL) || (charCallbackFunc != NULL)) { + btSerialObj.attach(this, &HC06Bluetooth::receiveByteISR); + } +} -const int dataBufferSize = 256; -// WARNING: DO NOT CHANGE THESE VALUES, AS THEY ARE USED TO INDEX INTO AN ARRAY FOR IMPLEMENTATION. -enum Baudrate {B1200, B2400, B4800, B9600, B19200, B38400, B57600, B115200, B230400, B460800, B921600, B1382400, END}; +void HC06Bluetooth::runSetup(std::string deviceName, std::string PIN) { + int numCharsReceived = 0; + // Detatch the interrupt. + btSerialObj.attach(NULL); + /* Sweep through a list of Baud rates until we find the one that the device has previously been set to. */ + bool baudFound = false; + Timer timeOut; + timeOut.start(); + // For every baud rate in the list: + for (volatile int i = 0; (i < END) && (!baudFound); i++) { + // Set the communication baud rate to it. + btSerialObj.baud(BaudValue[i]); + // Send the test command "AT" to the device. + btSerialObj.puts("AT"); + // While the time out has not been reached: + for(timeOut.reset(); timeOut.read_ms() < 1000; ) { + // If the serial object is readable, make sure the read character matches the reply string "OK". + if (btSerialObj.readable() && !baudFound) { + baudFound = true; + break; + } + } + } + // Flush whatever's in the input buffer. + while(btSerialObj.readable()) { + btSerialObj.getc(); + } + //Overwrite the Baud rate to 115200. + btSerialObj.puts(BaudATString[baudrate]); + btSerialObj.baud(BaudValue[baudrate]); + // Wait for the 8 character reply "OK115200" + for(numCharsReceived = 0 ; numCharsReceived < BaudATReplyLength[baudrate]; numCharsReceived++) { + //while(!btSerialObj.readable()); + //btSerialObj.getc(); + } + wait_ms(1000); + + // Set the name of the device. + btSerialObj.puts(("AT+NAME" + deviceName.substr(0,20)).c_str()); + // Wait for the 6 character reply "OKname" + for(numCharsReceived = 0 ; numCharsReceived < 6; numCharsReceived++) { + //while(!btSerialObj.readable()); + //btSerialObj.getc(); + } + wait_ms(1000); -class HC06Bluetooth { -public: // Public methods. - /** - * @brief Constructor for the HC06_Bluetooth class. - * @param TX The pin that the TX line is attached to. - * @param RX The pin that the RX line is attached to. - * @param deviceName The name that you want your system to be identified as when you connect to it i.e. "Weimen's MAE433Robot" - * @param password A 4-digit numeric PIN that you want your device to connect with. It defaults to "1234". - * @param lineCallbackFunc The callback function that will be called once a newline character is encountered on the receiving data. - * The callback function takes as an argument a string containing the line that has been read. - * @remark The callback function is run within within an interrupt service routine, so it should be written to be safe for ISRs. - * @param charCallbackFunc A function that will be called once a new character has been read. It should return void and take as an argument - * the character that has been read. - * @remark The callback function is run within within an interrupt service routine, so it should be written to be safe for ISRs. - */ - HC06Bluetooth(PinName TX, PinName RX, Baudrate baudrate = B115200, void (*lineCallbackFunc) (const char* readString, size_t strlen) = NULL, void (*charCallbackFunc) (char readChar) = NULL); - virtual ~HC06Bluetooth(); - /** - * @brief Run the setup routine to configure the device name and the device pin. - * @remark: You only need to run this once during the entire time you have the module, since the device name and PIN are saved - * by the module itself! However, you may run the function again if you would like to change the deviceName or PIN. - * @param deviceName The name of the device, as a string. It must only contain alphanumeric characters - no spaces allowed. - * @param PIN The device PIN. - */ - void runSetup(std::string deviceName, std::string PIN = "1234"); - /** - * @brief Print information in buffer to the output. - * @param buffer A null-terminated buffer containing the data you want to send. - */ - void print(const char *buffer); - /** - * @brief Print information in buffer to the output followed by a newline - * @param buffer A null-terminated buffer containing the data you want to send. - */ - void println(const char *buffer); - /** - * @brief Print a character to output. - * @param char The character you want to print to output. - */ - void print(char c); + //Set the password of the device. + btSerialObj.puts(("AT+PIN" + PIN.substr(0, 4)).c_str()); + // Wait for the 8 character reply "OKsetpin" + for(numCharsReceived = 0 ; numCharsReceived < 8; numCharsReceived++) { + //while(!btSerialObj.readable()); + //btSerialObj.getc(); + } + wait_ms(1000); + // Reattach the interrupt. + btSerialObj.attach(this, &HC06Bluetooth::receiveByteISR); +} + +HC06Bluetooth::~HC06Bluetooth() { + // TODO Auto-generated destructor stub +} + +void HC06Bluetooth::print(const char* buffer) { + // TODO: Code hangs if buffer is too long! Not sure why. + btSerialObj.puts(buffer); +} + +void HC06Bluetooth::println(const char* buffer) { + btSerialObj.puts(buffer); + btSerialObj.putc('\n'); +} + +void HC06Bluetooth::print(char c) { + btSerialObj.putc(c); +} -private: - RawSerial btSerialObj; - Baudrate baudrate; - void receiveByteISR(); - /// Pointer to a callback function the client provides when a line is received. - void (*lineCallbackFunc) (const char*, size_t strlen); - /// Pointer to a callback function the client provides when a character is received. - void (*charCallbackFunc) (char); - char dataReceivedBuffer[dataBufferSize]; - int32_t dataReceivedBufferPos; - char dataReceivedBufferCopy[dataBufferSize]; -}; +void HC06Bluetooth::receiveByteISR() { + while(btSerialObj.readable()) { + // Get the character from the input. + char receivedChar = btSerialObj.getc(); + + // Call the character callback function if it is not null. + if (charCallbackFunc != NULL) { + charCallbackFunc(receivedChar); + } -#endif /* HC06BLUETOOTH_H_ */ + if (lineCallbackFunc != NULL) { + // If the character is a newline or carriage return, then call the line callback function. + if ((receivedChar == '\n') || (receivedChar == '\r')) { + // Terminate the buffer with a null character, since that is what strings end with. + receivedChar = '\0'; + dataReceivedBuffer[dataReceivedBufferPos] = receivedChar; + dataReceivedBufferPos++; + // Copy data from the buffer to a copy. + std::copy(dataReceivedBuffer, dataReceivedBuffer + dataReceivedBufferPos, dataReceivedBufferCopy); + // Call the callback function. + if (lineCallbackFunc != NULL) { + lineCallbackFunc((const char*)dataReceivedBuffer, dataReceivedBufferPos); + } + // Reset the buffer position. + dataReceivedBufferPos = 0; + } + // Otherwise, just place it in the buffer and move on. + else { + if (dataReceivedBufferPos < dataBufferSize) { + dataReceivedBuffer[dataReceivedBufferPos] = receivedChar; + dataReceivedBufferPos++; + } + } + } + } +} +