Martin Woolley / microbit-dal-x

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Dependencies:   BLE_API mbed-dev-bin nRF51822

Fork of microbit-dal by Lancaster University

source/bluetooth/MicroBitMagnetometerService.cpp@74:6e04fcba715d, 2017-06-06 (annotated)

Committer:
bluetooth_mdw
Date:
Tue Jun 06 08:41:02 2017 +0000
Revision:
74:6e04fcba715d
Parent:
23:6055f6c19fa6 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jonathan Austin 1:8aa5cdb4ab67 1 /*
Jonathan Austin 1:8aa5cdb4ab67 2 The MIT License (MIT)
Jonathan Austin 1:8aa5cdb4ab67 3
Jonathan Austin 1:8aa5cdb4ab67 4 Copyright (c) 2016 British Broadcasting Corporation.
Jonathan Austin 1:8aa5cdb4ab67 5 This software is provided by Lancaster University by arrangement with the BBC.
Jonathan Austin 1:8aa5cdb4ab67 6
Jonathan Austin 1:8aa5cdb4ab67 7 Permission is hereby granted, free of charge, to any person obtaining a
Jonathan Austin 1:8aa5cdb4ab67 8 copy of this software and associated documentation files (the "Software"),
Jonathan Austin 1:8aa5cdb4ab67 9 to deal in the Software without restriction, including without limitation
Jonathan Austin 1:8aa5cdb4ab67 10 the rights to use, copy, modify, merge, publish, distribute, sublicense,
Jonathan Austin 1:8aa5cdb4ab67 11 and/or sell copies of the Software, and to permit persons to whom the
Jonathan Austin 1:8aa5cdb4ab67 12 Software is furnished to do so, subject to the following conditions:
Jonathan Austin 1:8aa5cdb4ab67 13
Jonathan Austin 1:8aa5cdb4ab67 14 The above copyright notice and this permission notice shall be included in
Jonathan Austin 1:8aa5cdb4ab67 15 all copies or substantial portions of the Software.
Jonathan Austin 1:8aa5cdb4ab67 16
Jonathan Austin 1:8aa5cdb4ab67 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Jonathan Austin 1:8aa5cdb4ab67 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Jonathan Austin 1:8aa5cdb4ab67 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
Jonathan Austin 1:8aa5cdb4ab67 20 THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
Jonathan Austin 1:8aa5cdb4ab67 22 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 23 DEALINGS IN THE SOFTWARE.
Jonathan Austin 1:8aa5cdb4ab67 24 */
Jonathan Austin 1:8aa5cdb4ab67 25
Jonathan Austin 1:8aa5cdb4ab67 26 /**
Jonathan Austin 1:8aa5cdb4ab67 27 * Class definition for the MicroBit BLE Magnetometer Service.
Jonathan Austin 1:8aa5cdb4ab67 28 * Provides access to live magnetometer data via BLE, and provides basic configuration options.
Jonathan Austin 1:8aa5cdb4ab67 29 */
Jonathan Austin 1:8aa5cdb4ab67 30 #include "MicroBitConfig.h"
Jonathan Austin 1:8aa5cdb4ab67 31 #include "ble/UUID.h"
Jonathan Austin 1:8aa5cdb4ab67 32
Jonathan Austin 1:8aa5cdb4ab67 33 #include "MicroBitMagnetometerService.h"
Jonathan Austin 1:8aa5cdb4ab67 34
Jonathan Austin 1:8aa5cdb4ab67 35 /**
Jonathan Austin 1:8aa5cdb4ab67 36 * Constructor.
Jonathan Austin 1:8aa5cdb4ab67 37 * Create a representation of the MagnetometerService.
Jonathan Austin 1:8aa5cdb4ab67 38 * @param _ble The instance of a BLE device that we're running on.
Jonathan Austin 1:8aa5cdb4ab67 39 * @param _compass An instance of MicroBitCompass to use as our Magnetometer source.
Jonathan Austin 1:8aa5cdb4ab67 40 */
Jonathan Austin 1:8aa5cdb4ab67 41 MicroBitMagnetometerService::MicroBitMagnetometerService(BLEDevice &_ble, MicroBitCompass &_compass) :
Jonathan Austin 1:8aa5cdb4ab67 42 ble(_ble), compass(_compass)
Jonathan Austin 1:8aa5cdb4ab67 43 {
Jonathan Austin 1:8aa5cdb4ab67 44 // Create the data structures that represent each of our characteristics in Soft Device.
Jonathan Austin 1:8aa5cdb4ab67 45 GattCharacteristic magnetometerDataCharacteristic(MicroBitMagnetometerServiceDataUUID, (uint8_t *)magnetometerDataCharacteristicBuffer, 0,
Jonathan Austin 1:8aa5cdb4ab67 46 sizeof(magnetometerDataCharacteristicBuffer), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
Jonathan Austin 1:8aa5cdb4ab67 47
Jonathan Austin 1:8aa5cdb4ab67 48 GattCharacteristic magnetometerBearingCharacteristic(MicroBitMagnetometerServiceBearingUUID, (uint8_t *)&magnetometerBearingCharacteristicBuffer, 0,
Jonathan Austin 1:8aa5cdb4ab67 49 sizeof(magnetometerBearingCharacteristicBuffer), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
Jonathan Austin 1:8aa5cdb4ab67 50
Jonathan Austin 1:8aa5cdb4ab67 51 GattCharacteristic magnetometerPeriodCharacteristic(MicroBitMagnetometerServicePeriodUUID, (uint8_t *)&magnetometerPeriodCharacteristicBuffer, 0,
Jonathan Austin 1:8aa5cdb4ab67 52 sizeof(magnetometerPeriodCharacteristicBuffer),
Jonathan Austin 1:8aa5cdb4ab67 53 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE);
Jonathan Austin 1:8aa5cdb4ab67 54
Jonathan Austin 1:8aa5cdb4ab67 55 // Initialise our characteristic values.
Jonathan Austin 1:8aa5cdb4ab67 56 magnetometerDataCharacteristicBuffer[0] = 0;
Jonathan Austin 1:8aa5cdb4ab67 57 magnetometerDataCharacteristicBuffer[1] = 0;
Jonathan Austin 1:8aa5cdb4ab67 58 magnetometerDataCharacteristicBuffer[2] = 0;
Jonathan Austin 1:8aa5cdb4ab67 59 magnetometerBearingCharacteristicBuffer = 0;
Jonathan Austin 1:8aa5cdb4ab67 60 magnetometerPeriodCharacteristicBuffer = compass.getPeriod();
Jonathan Austin 1:8aa5cdb4ab67 61
Jonathan Austin 1:8aa5cdb4ab67 62 // Set default security requirements
Jonathan Austin 1:8aa5cdb4ab67 63 magnetometerDataCharacteristic.requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
Jonathan Austin 1:8aa5cdb4ab67 64 magnetometerBearingCharacteristic.requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
Jonathan Austin 1:8aa5cdb4ab67 65 magnetometerPeriodCharacteristic.requireSecurity(SecurityManager::MICROBIT_BLE_SECURITY_LEVEL);
Jonathan Austin 1:8aa5cdb4ab67 66
Jonathan Austin 1:8aa5cdb4ab67 67 GattCharacteristic *characteristics[] = {&magnetometerDataCharacteristic, &magnetometerBearingCharacteristic, &magnetometerPeriodCharacteristic};
Jonathan Austin 1:8aa5cdb4ab67 68 GattService service(MicroBitMagnetometerServiceUUID, characteristics, sizeof(characteristics) / sizeof(GattCharacteristic *));
Jonathan Austin 1:8aa5cdb4ab67 69
Jonathan Austin 1:8aa5cdb4ab67 70 ble.addService(service);
Jonathan Austin 1:8aa5cdb4ab67 71
Jonathan Austin 1:8aa5cdb4ab67 72 magnetometerDataCharacteristicHandle = magnetometerDataCharacteristic.getValueHandle();
Jonathan Austin 1:8aa5cdb4ab67 73 magnetometerBearingCharacteristicHandle = magnetometerBearingCharacteristic.getValueHandle();
Jonathan Austin 1:8aa5cdb4ab67 74 magnetometerPeriodCharacteristicHandle = magnetometerPeriodCharacteristic.getValueHandle();
Jonathan Austin 1:8aa5cdb4ab67 75
Jonathan Austin 1:8aa5cdb4ab67 76 ble.gattServer().notify(magnetometerDataCharacteristicHandle,(uint8_t *)magnetometerDataCharacteristicBuffer, sizeof(magnetometerDataCharacteristicBuffer));
LancasterUniversity 23:6055f6c19fa6 77 ble.gattServer().notify(magnetometerBearingCharacteristicHandle,(uint8_t *)&magnetometerBearingCharacteristicBuffer, sizeof(magnetometerBearingCharacteristicBuffer));
Jonathan Austin 1:8aa5cdb4ab67 78 ble.gattServer().write(magnetometerPeriodCharacteristicHandle, (const uint8_t *)&magnetometerPeriodCharacteristicBuffer, sizeof(magnetometerPeriodCharacteristicBuffer));
Jonathan Austin 1:8aa5cdb4ab67 79
Jonathan Austin 1:8aa5cdb4ab67 80 ble.onDataWritten(this, &MicroBitMagnetometerService::onDataWritten);
Jonathan Austin 1:8aa5cdb4ab67 81 if (EventModel::defaultEventBus)
Jonathan Austin 1:8aa5cdb4ab67 82 {
Jonathan Austin 1:8aa5cdb4ab67 83 EventModel::defaultEventBus->listen(MICROBIT_ID_COMPASS, MICROBIT_COMPASS_EVT_DATA_UPDATE, this, &MicroBitMagnetometerService::magnetometerUpdate, MESSAGE_BUS_LISTENER_IMMEDIATE);
Jonathan Austin 1:8aa5cdb4ab67 84 EventModel::defaultEventBus->listen(MICROBIT_ID_COMPASS, MICROBIT_COMPASS_EVT_CONFIG_NEEDED, this, &MicroBitMagnetometerService::samplePeriodUpdateNeeded);
Jonathan Austin 1:8aa5cdb4ab67 85 }
Jonathan Austin 1:8aa5cdb4ab67 86 }
Jonathan Austin 1:8aa5cdb4ab67 87
Jonathan Austin 1:8aa5cdb4ab67 88 /**
Jonathan Austin 1:8aa5cdb4ab67 89 * Callback. Invoked when any of our attributes are written via BLE.
Jonathan Austin 1:8aa5cdb4ab67 90 */
Jonathan Austin 1:8aa5cdb4ab67 91 void MicroBitMagnetometerService::onDataWritten(const GattWriteCallbackParams *params)
Jonathan Austin 1:8aa5cdb4ab67 92 {
Jonathan Austin 1:8aa5cdb4ab67 93 if (params->handle == magnetometerPeriodCharacteristicHandle && params->len >= sizeof(magnetometerPeriodCharacteristicBuffer))
Jonathan Austin 1:8aa5cdb4ab67 94 {
Jonathan Austin 1:8aa5cdb4ab67 95 magnetometerPeriodCharacteristicBuffer = *((uint16_t *)params->data);
Jonathan Austin 1:8aa5cdb4ab67 96 MicroBitEvent evt(MICROBIT_ID_COMPASS, MICROBIT_COMPASS_EVT_CONFIG_NEEDED);
Jonathan Austin 1:8aa5cdb4ab67 97 }
Jonathan Austin 1:8aa5cdb4ab67 98 }
Jonathan Austin 1:8aa5cdb4ab67 99
Jonathan Austin 1:8aa5cdb4ab67 100 /**
Jonathan Austin 1:8aa5cdb4ab67 101 * Magnetometer update callback
Jonathan Austin 1:8aa5cdb4ab67 102 */
Jonathan Austin 1:8aa5cdb4ab67 103 void MicroBitMagnetometerService::magnetometerUpdate(MicroBitEvent)
Jonathan Austin 1:8aa5cdb4ab67 104 {
Jonathan Austin 1:8aa5cdb4ab67 105 if (ble.getGapState().connected)
Jonathan Austin 1:8aa5cdb4ab67 106 {
Jonathan Austin 1:8aa5cdb4ab67 107 magnetometerDataCharacteristicBuffer[0] = compass.getX();
Jonathan Austin 1:8aa5cdb4ab67 108 magnetometerDataCharacteristicBuffer[1] = compass.getY();
Jonathan Austin 1:8aa5cdb4ab67 109 magnetometerDataCharacteristicBuffer[2] = compass.getZ();
Jonathan Austin 1:8aa5cdb4ab67 110 magnetometerPeriodCharacteristicBuffer = compass.getPeriod();
Jonathan Austin 1:8aa5cdb4ab67 111
Jonathan Austin 1:8aa5cdb4ab67 112 ble.gattServer().write(magnetometerPeriodCharacteristicHandle, (const uint8_t *)&magnetometerPeriodCharacteristicBuffer, sizeof(magnetometerPeriodCharacteristicBuffer));
Jonathan Austin 1:8aa5cdb4ab67 113 ble.gattServer().notify(magnetometerDataCharacteristicHandle,(uint8_t *)magnetometerDataCharacteristicBuffer, sizeof(magnetometerDataCharacteristicBuffer));
Jonathan Austin 1:8aa5cdb4ab67 114
Jonathan Austin 1:8aa5cdb4ab67 115 if (compass.isCalibrated())
Jonathan Austin 1:8aa5cdb4ab67 116 {
Jonathan Austin 1:8aa5cdb4ab67 117 magnetometerBearingCharacteristicBuffer = (uint16_t) compass.heading();
Jonathan Austin 1:8aa5cdb4ab67 118 ble.gattServer().notify(magnetometerBearingCharacteristicHandle,(uint8_t *)&magnetometerBearingCharacteristicBuffer, sizeof(magnetometerBearingCharacteristicBuffer));
Jonathan Austin 1:8aa5cdb4ab67 119 }
Jonathan Austin 1:8aa5cdb4ab67 120 }
Jonathan Austin 1:8aa5cdb4ab67 121 }
Jonathan Austin 1:8aa5cdb4ab67 122
Jonathan Austin 1:8aa5cdb4ab67 123 /**
Jonathan Austin 1:8aa5cdb4ab67 124 * Sample Period Change Needed callback.
Jonathan Austin 1:8aa5cdb4ab67 125 * Reconfiguring the magnetometer can to a REALLY long time (sometimes even seconds to complete)
Jonathan Austin 1:8aa5cdb4ab67 126 * So we do this in the background when necessary, through this event handler.
Jonathan Austin 1:8aa5cdb4ab67 127 */
Jonathan Austin 1:8aa5cdb4ab67 128 void MicroBitMagnetometerService::samplePeriodUpdateNeeded(MicroBitEvent)
Jonathan Austin 1:8aa5cdb4ab67 129 {
Jonathan Austin 1:8aa5cdb4ab67 130 // Reconfigure the compass. This might take a while...
Jonathan Austin 1:8aa5cdb4ab67 131 compass.setPeriod(magnetometerPeriodCharacteristicBuffer);
Jonathan Austin 1:8aa5cdb4ab67 132
Jonathan Austin 1:8aa5cdb4ab67 133 // The compass will choose the nearest sample period to that we've specified.
Jonathan Austin 1:8aa5cdb4ab67 134 // Read the ACTUAL sample period back.
Jonathan Austin 1:8aa5cdb4ab67 135 magnetometerPeriodCharacteristicBuffer = compass.getPeriod();
Jonathan Austin 1:8aa5cdb4ab67 136
Jonathan Austin 1:8aa5cdb4ab67 137 // Ensure this is reflected in our BLE connection.
Jonathan Austin 1:8aa5cdb4ab67 138 ble.gattServer().write(magnetometerPeriodCharacteristicHandle, (const uint8_t *)&magnetometerPeriodCharacteristicBuffer, sizeof(magnetometerPeriodCharacteristicBuffer));
Jonathan Austin 1:8aa5cdb4ab67 139
Jonathan Austin 1:8aa5cdb4ab67 140 }
Jonathan Austin 1:8aa5cdb4ab67 141
Jonathan Austin 1:8aa5cdb4ab67 142 const uint8_t MicroBitMagnetometerServiceUUID[] = {
Jonathan Austin 1:8aa5cdb4ab67 143 0xe9,0x5d,0xf2,0xd8,0x25,0x1d,0x47,0x0a,0xa0,0x62,0xfa,0x19,0x22,0xdf,0xa9,0xa8
Jonathan Austin 1:8aa5cdb4ab67 144 };
Jonathan Austin 1:8aa5cdb4ab67 145
Jonathan Austin 1:8aa5cdb4ab67 146 const uint8_t MicroBitMagnetometerServiceDataUUID[] = {
Jonathan Austin 1:8aa5cdb4ab67 147 0xe9,0x5d,0xfb,0x11,0x25,0x1d,0x47,0x0a,0xa0,0x62,0xfa,0x19,0x22,0xdf,0xa9,0xa8
Jonathan Austin 1:8aa5cdb4ab67 148 };
Jonathan Austin 1:8aa5cdb4ab67 149
Jonathan Austin 1:8aa5cdb4ab67 150 const uint8_t MicroBitMagnetometerServicePeriodUUID[] = {
Jonathan Austin 1:8aa5cdb4ab67 151 0xe9,0x5d,0x38,0x6c,0x25,0x1d,0x47,0x0a,0xa0,0x62,0xfa,0x19,0x22,0xdf,0xa9,0xa8
Jonathan Austin 1:8aa5cdb4ab67 152 };
Jonathan Austin 1:8aa5cdb4ab67 153
Jonathan Austin 1:8aa5cdb4ab67 154 const uint8_t MicroBitMagnetometerServiceBearingUUID[] = {
Jonathan Austin 1:8aa5cdb4ab67 155 0xe9,0x5d,0x97,0x15,0x25,0x1d,0x47,0x0a,0xa0,0x62,0xfa,0x19,0x22,0xdf,0xa9,0xa8
LancasterUniversity 21:cab56b701601 156 };