This is a for debugging \\\\\\\"BLUE USB\\\\\\\". You can connect with HCI mode. How to connect White Wizard Board TANK *White Wizard Board - Motor Driver Board * p 21 - IN_R1 * p 22 - IN_R2 * p 23 - IN_L2 * p 24 - IN_L1
hci.h@0:a6476c138e84, 2011-07-10 (annotated)
- Committer:
- halfpitch
- Date:
- Sun Jul 10 01:31:52 2011 +0000
- Revision:
- 0:a6476c138e84
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
halfpitch | 0:a6476c138e84 | 1 | /* |
halfpitch | 0:a6476c138e84 | 2 | Copyright (c) 2010 Peter Barrett |
halfpitch | 0:a6476c138e84 | 3 | |
halfpitch | 0:a6476c138e84 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
halfpitch | 0:a6476c138e84 | 5 | of this software and associated documentation files (the "Software"), to deal |
halfpitch | 0:a6476c138e84 | 6 | in the Software without restriction, including without limitation the rights |
halfpitch | 0:a6476c138e84 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
halfpitch | 0:a6476c138e84 | 8 | copies of the Software, and to permit persons to whom the Software is |
halfpitch | 0:a6476c138e84 | 9 | furnished to do so, subject to the following conditions: |
halfpitch | 0:a6476c138e84 | 10 | |
halfpitch | 0:a6476c138e84 | 11 | The above copyright notice and this permission notice shall be included in |
halfpitch | 0:a6476c138e84 | 12 | all copies or substantial portions of the Software. |
halfpitch | 0:a6476c138e84 | 13 | |
halfpitch | 0:a6476c138e84 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
halfpitch | 0:a6476c138e84 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
halfpitch | 0:a6476c138e84 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
halfpitch | 0:a6476c138e84 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
halfpitch | 0:a6476c138e84 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
halfpitch | 0:a6476c138e84 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
halfpitch | 0:a6476c138e84 | 20 | THE SOFTWARE. |
halfpitch | 0:a6476c138e84 | 21 | */ |
halfpitch | 0:a6476c138e84 | 22 | |
halfpitch | 0:a6476c138e84 | 23 | #ifndef HCI_H_INCLUDED |
halfpitch | 0:a6476c138e84 | 24 | #define HCI_H_INCLUDED |
halfpitch | 0:a6476c138e84 | 25 | |
halfpitch | 0:a6476c138e84 | 26 | #include "Socket.h" |
halfpitch | 0:a6476c138e84 | 27 | |
halfpitch | 0:a6476c138e84 | 28 | #pragma pack(1) |
halfpitch | 0:a6476c138e84 | 29 | |
halfpitch | 0:a6476c138e84 | 30 | #define ERR_HCI_DEVICE_NOT_FOUND -300 |
halfpitch | 0:a6476c138e84 | 31 | |
halfpitch | 0:a6476c138e84 | 32 | //bool SetLocalName_complite = false; |
halfpitch | 0:a6476c138e84 | 33 | |
halfpitch | 0:a6476c138e84 | 34 | class HCI; |
halfpitch | 0:a6476c138e84 | 35 | class HCITransport; |
halfpitch | 0:a6476c138e84 | 36 | class BTDevice; |
halfpitch | 0:a6476c138e84 | 37 | |
halfpitch | 0:a6476c138e84 | 38 | typedef struct |
halfpitch | 0:a6476c138e84 | 39 | { |
halfpitch | 0:a6476c138e84 | 40 | u8 addr[6]; |
halfpitch | 0:a6476c138e84 | 41 | } BD_ADDR; |
halfpitch | 0:a6476c138e84 | 42 | |
halfpitch | 0:a6476c138e84 | 43 | typedef struct |
halfpitch | 0:a6476c138e84 | 44 | { |
halfpitch | 0:a6476c138e84 | 45 | BD_ADDR bdaddr; |
halfpitch | 0:a6476c138e84 | 46 | u8 pscan_rep_mode; |
halfpitch | 0:a6476c138e84 | 47 | u8 pscan_period_mode; |
halfpitch | 0:a6476c138e84 | 48 | u8 pscan_mode; |
halfpitch | 0:a6476c138e84 | 49 | u8 dev_class[3]; |
halfpitch | 0:a6476c138e84 | 50 | u16 clock_offset; |
halfpitch | 0:a6476c138e84 | 51 | } inquiry_info; |
halfpitch | 0:a6476c138e84 | 52 | |
halfpitch | 0:a6476c138e84 | 53 | typedef struct |
halfpitch | 0:a6476c138e84 | 54 | { |
halfpitch | 0:a6476c138e84 | 55 | u8 status; |
halfpitch | 0:a6476c138e84 | 56 | u16 handle; |
halfpitch | 0:a6476c138e84 | 57 | BD_ADDR bdaddr; |
halfpitch | 0:a6476c138e84 | 58 | u8 link_type; |
halfpitch | 0:a6476c138e84 | 59 | u8 encr_mode; |
halfpitch | 0:a6476c138e84 | 60 | } connection_info; |
halfpitch | 0:a6476c138e84 | 61 | |
halfpitch | 0:a6476c138e84 | 62 | // Address struct for creating L2CAP sockets |
halfpitch | 0:a6476c138e84 | 63 | typedef struct { |
halfpitch | 0:a6476c138e84 | 64 | SocketAddrHdr hdr; |
halfpitch | 0:a6476c138e84 | 65 | BD_ADDR bdaddr; |
halfpitch | 0:a6476c138e84 | 66 | u16 psm; |
halfpitch | 0:a6476c138e84 | 67 | } L2CAPAddr; |
halfpitch | 0:a6476c138e84 | 68 | |
halfpitch | 0:a6476c138e84 | 69 | #pragma pack(4) |
halfpitch | 0:a6476c138e84 | 70 | |
halfpitch | 0:a6476c138e84 | 71 | class BTDevice; |
halfpitch | 0:a6476c138e84 | 72 | typedef struct |
halfpitch | 0:a6476c138e84 | 73 | { |
halfpitch | 0:a6476c138e84 | 74 | public: |
halfpitch | 0:a6476c138e84 | 75 | SocketInternal si; |
halfpitch | 0:a6476c138e84 | 76 | BTDevice* btdevice; |
halfpitch | 0:a6476c138e84 | 77 | u16 scid; |
halfpitch | 0:a6476c138e84 | 78 | u16 dcid; |
halfpitch | 0:a6476c138e84 | 79 | } L2CAPSocket; |
halfpitch | 0:a6476c138e84 | 80 | |
halfpitch | 0:a6476c138e84 | 81 | #define MAX_HCL_NAME_LENGTH 20 // TODO - BTDevice wants to be a multiple of 4 |
halfpitch | 0:a6476c138e84 | 82 | |
halfpitch | 0:a6476c138e84 | 83 | // BTDevice encapsulates individual device state |
halfpitch | 0:a6476c138e84 | 84 | // It provides L2CAP layer sockets |
halfpitch | 0:a6476c138e84 | 85 | |
halfpitch | 0:a6476c138e84 | 86 | class BTDevice : public SocketHandler |
halfpitch | 0:a6476c138e84 | 87 | { |
halfpitch | 0:a6476c138e84 | 88 | public: |
halfpitch | 0:a6476c138e84 | 89 | HCITransport* _transport; |
halfpitch | 0:a6476c138e84 | 90 | inquiry_info _info; |
halfpitch | 0:a6476c138e84 | 91 | u16 _handle; // acl connection handle |
halfpitch | 0:a6476c138e84 | 92 | u8 _state; // connection state |
halfpitch | 0:a6476c138e84 | 93 | u8 _txid; |
halfpitch | 0:a6476c138e84 | 94 | char _name[MAX_HCL_NAME_LENGTH]; |
halfpitch | 0:a6476c138e84 | 95 | |
halfpitch | 0:a6476c138e84 | 96 | void Init(); |
halfpitch | 0:a6476c138e84 | 97 | |
halfpitch | 0:a6476c138e84 | 98 | BD_ADDR* GetAddress() { return &_info.bdaddr; } |
halfpitch | 0:a6476c138e84 | 99 | |
halfpitch | 0:a6476c138e84 | 100 | // Called from HCI |
halfpitch | 0:a6476c138e84 | 101 | void ACLRecv(const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 102 | |
halfpitch | 0:a6476c138e84 | 103 | // SocketHandler |
halfpitch | 0:a6476c138e84 | 104 | virtual int Open(SocketInternal* sock, SocketAddrHdr* addr); |
halfpitch | 0:a6476c138e84 | 105 | virtual int Send(SocketInternal* sock, const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 106 | virtual int Close(SocketInternal* sock); |
halfpitch | 0:a6476c138e84 | 107 | |
halfpitch | 0:a6476c138e84 | 108 | private: |
halfpitch | 0:a6476c138e84 | 109 | L2CAPSocket* SCIDToSocket(int scid); |
halfpitch | 0:a6476c138e84 | 110 | int Send(const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 111 | int Send(u8 c, u8 id, u16* params, int count); |
halfpitch | 0:a6476c138e84 | 112 | int Connect(int scid, int psm); |
halfpitch | 0:a6476c138e84 | 113 | int Disconnect(int scid, int dcid); |
halfpitch | 0:a6476c138e84 | 114 | int ConfigureRequest(int dcid); |
halfpitch | 0:a6476c138e84 | 115 | int ConfigureResponse(u8 rxid, int dcid); |
halfpitch | 0:a6476c138e84 | 116 | int DisconnectResponse(u8 rxid, int scid, int dcid); |
halfpitch | 0:a6476c138e84 | 117 | void Control(const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 118 | }; |
halfpitch | 0:a6476c138e84 | 119 | |
halfpitch | 0:a6476c138e84 | 120 | enum HCI_CALLBACK_EVENT |
halfpitch | 0:a6476c138e84 | 121 | { |
halfpitch | 0:a6476c138e84 | 122 | CALLBACK_NONE, |
halfpitch | 0:a6476c138e84 | 123 | CALLBACK_READY, |
halfpitch | 0:a6476c138e84 | 124 | CALLBACK_INQUIRY_RESULT, |
halfpitch | 0:a6476c138e84 | 125 | CALLBACK_INQUIRY_DONE, |
halfpitch | 0:a6476c138e84 | 126 | CALLBACK_REMOTE_NAME, |
halfpitch | 0:a6476c138e84 | 127 | CALLBACK_CONNECTION_COMPLETE, |
halfpitch | 0:a6476c138e84 | 128 | CALLBACK_CONNECTION_FAILED, |
halfpitch | 0:a6476c138e84 | 129 | CALLBACK_SET_LOCAL_NAME |
halfpitch | 0:a6476c138e84 | 130 | }; |
halfpitch | 0:a6476c138e84 | 131 | |
halfpitch | 0:a6476c138e84 | 132 | // L2CAP Protocol/Service Multiplexor (PSM) values |
halfpitch | 0:a6476c138e84 | 133 | |
halfpitch | 0:a6476c138e84 | 134 | #define L2CAP_PSM_ANY 0x0000 /* Any/Invalid PSM */ |
halfpitch | 0:a6476c138e84 | 135 | #define L2CAP_PSM_SDP 0x0001 /* Service Discovery Protocol */ |
halfpitch | 0:a6476c138e84 | 136 | #define L2CAP_PSM_RFCOMM 0x0003 /* RFCOMM protocol */ |
halfpitch | 0:a6476c138e84 | 137 | #define L2CAP_PSM_TCP 0x0005 /* Telephony Control Protocol */ |
halfpitch | 0:a6476c138e84 | 138 | #define L2CAP_PSM_TCS 0x0007 /* TCS cordless */ |
halfpitch | 0:a6476c138e84 | 139 | #define L2CAP_PSM_BNEP 0x000f /* Bluetooth Network Encapsulation Protocol*/ |
halfpitch | 0:a6476c138e84 | 140 | #define L2CAP_PSM_HID_CNTL 0x0011 /* HID Control */ |
halfpitch | 0:a6476c138e84 | 141 | #define L2CAP_PSM_HID_INTR 0x0013 /* HID Interrupt */ |
halfpitch | 0:a6476c138e84 | 142 | #define L2CAP_PSM_ESDP 0x0015 /* Extended Service Discovery Profile */ |
halfpitch | 0:a6476c138e84 | 143 | #define L2CAP_PSM_AVCTP 0x0017 /* Audio/Visual Control Transport Protocol */ |
halfpitch | 0:a6476c138e84 | 144 | #define L2CAP_PSM_AVDTP 0x0019 /* Audio/Visual Distribution */ |
halfpitch | 0:a6476c138e84 | 145 | |
halfpitch | 0:a6476c138e84 | 146 | // Callback from inquiry |
halfpitch | 0:a6476c138e84 | 147 | typedef int (*HCICallback)(HCI* hci, HCI_CALLBACK_EVENT evt, const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 148 | |
halfpitch | 0:a6476c138e84 | 149 | #define MAX_BTDEVICES 8 |
halfpitch | 0:a6476c138e84 | 150 | |
halfpitch | 0:a6476c138e84 | 151 | class HCITransport; |
halfpitch | 0:a6476c138e84 | 152 | class HCI : public SocketHandler |
halfpitch | 0:a6476c138e84 | 153 | { |
halfpitch | 0:a6476c138e84 | 154 | HCITransport* _transport; |
halfpitch | 0:a6476c138e84 | 155 | HCICallback _callback; |
halfpitch | 0:a6476c138e84 | 156 | BD_ADDR _localAddr; |
halfpitch | 0:a6476c138e84 | 157 | |
halfpitch | 0:a6476c138e84 | 158 | BTDevice _devices[MAX_BTDEVICES]; |
halfpitch | 0:a6476c138e84 | 159 | int _deviceCount; |
halfpitch | 0:a6476c138e84 | 160 | |
halfpitch | 0:a6476c138e84 | 161 | int _acl_mtu; |
halfpitch | 0:a6476c138e84 | 162 | int _acl_max_pkt; |
halfpitch | 0:a6476c138e84 | 163 | int _sco_mtu; |
halfpitch | 0:a6476c138e84 | 164 | int _sco_max_pkt; |
halfpitch | 0:a6476c138e84 | 165 | |
halfpitch | 0:a6476c138e84 | 166 | int _state; |
halfpitch | 0:a6476c138e84 | 167 | |
halfpitch | 0:a6476c138e84 | 168 | public: |
halfpitch | 0:a6476c138e84 | 169 | |
halfpitch | 0:a6476c138e84 | 170 | // Open a local adapter |
halfpitch | 0:a6476c138e84 | 171 | int Open(HCITransport* transport, HCICallback callback); |
halfpitch | 0:a6476c138e84 | 172 | |
halfpitch | 0:a6476c138e84 | 173 | // Return list of discovered addreses |
halfpitch | 0:a6476c138e84 | 174 | int GetDevices(BTDevice** devices, int maxDevices); |
halfpitch | 0:a6476c138e84 | 175 | |
halfpitch | 0:a6476c138e84 | 176 | // Lookup a device by address or handle |
halfpitch | 0:a6476c138e84 | 177 | BTDevice* Find(const BD_ADDR* addr); |
halfpitch | 0:a6476c138e84 | 178 | BTDevice* Find(int handle); |
halfpitch | 0:a6476c138e84 | 179 | |
halfpitch | 0:a6476c138e84 | 180 | // Disconnect from a remote device |
halfpitch | 0:a6476c138e84 | 181 | int Disconnect(const BD_ADDR* addr); |
halfpitch | 0:a6476c138e84 | 182 | int DisconnectAll(); |
halfpitch | 0:a6476c138e84 | 183 | |
halfpitch | 0:a6476c138e84 | 184 | //-----y.k----- |
halfpitch | 0:a6476c138e84 | 185 | void Setlocalname(void); |
halfpitch | 0:a6476c138e84 | 186 | void Setdevice(void); |
halfpitch | 0:a6476c138e84 | 187 | void Scanenable(void); |
halfpitch | 0:a6476c138e84 | 188 | //-----y.k----- |
halfpitch | 0:a6476c138e84 | 189 | |
halfpitch | 0:a6476c138e84 | 190 | // see what devies are in the system |
halfpitch | 0:a6476c138e84 | 191 | int Inquiry(int duration = 10); |
halfpitch | 0:a6476c138e84 | 192 | |
halfpitch | 0:a6476c138e84 | 193 | // get a name, delivered in callback |
halfpitch | 0:a6476c138e84 | 194 | int RemoteNameRequest(const BD_ADDR* addr); |
halfpitch | 0:a6476c138e84 | 195 | |
halfpitch | 0:a6476c138e84 | 196 | // Connect to a remote device |
halfpitch | 0:a6476c138e84 | 197 | int CreateConnection(const BD_ADDR* remoteAddr); |
halfpitch | 0:a6476c138e84 | 198 | |
halfpitch | 0:a6476c138e84 | 199 | bool Busy(); |
halfpitch | 0:a6476c138e84 | 200 | |
halfpitch | 0:a6476c138e84 | 201 | // called from transport |
halfpitch | 0:a6476c138e84 | 202 | void HCIRecv(const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 203 | |
halfpitch | 0:a6476c138e84 | 204 | // called from transport |
halfpitch | 0:a6476c138e84 | 205 | void ACLRecv(const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 206 | |
halfpitch | 0:a6476c138e84 | 207 | // SocketHandler methods for maintaining L2CAP sockets |
halfpitch | 0:a6476c138e84 | 208 | virtual int Open(SocketInternal* sock, SocketAddrHdr* addr); |
halfpitch | 0:a6476c138e84 | 209 | virtual int Send(SocketInternal* sock, const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 210 | virtual int Close(SocketInternal* sock); |
halfpitch | 0:a6476c138e84 | 211 | |
halfpitch | 0:a6476c138e84 | 212 | bool SetLocalName_complite; |
halfpitch | 0:a6476c138e84 | 213 | |
halfpitch | 0:a6476c138e84 | 214 | private: |
halfpitch | 0:a6476c138e84 | 215 | void InquiryResult(const inquiry_info* info); |
halfpitch | 0:a6476c138e84 | 216 | void RemoteName(const BD_ADDR* addr, const char* name); |
halfpitch | 0:a6476c138e84 | 217 | void ConnectComplete(const connection_info* info); |
halfpitch | 0:a6476c138e84 | 218 | void DisconnectComplete(int handle); |
halfpitch | 0:a6476c138e84 | 219 | int SendCmd(int cmd, const u8* params = 0, int len = 0); |
halfpitch | 0:a6476c138e84 | 220 | void OnCommandComplete(int cmd, const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 221 | void Callback(HCI_CALLBACK_EVENT c, const u8* data, int len); |
halfpitch | 0:a6476c138e84 | 222 | int PinCodeReply(const u8* data); |
halfpitch | 0:a6476c138e84 | 223 | }; |
halfpitch | 0:a6476c138e84 | 224 | |
halfpitch | 0:a6476c138e84 | 225 | class HCITransport |
halfpitch | 0:a6476c138e84 | 226 | { |
halfpitch | 0:a6476c138e84 | 227 | protected: |
halfpitch | 0:a6476c138e84 | 228 | HCI* _target; |
halfpitch | 0:a6476c138e84 | 229 | public: |
halfpitch | 0:a6476c138e84 | 230 | void Set(HCI* target) { _target = target; }; |
halfpitch | 0:a6476c138e84 | 231 | virtual void HCISend(const u8* data, int len) = 0; |
halfpitch | 0:a6476c138e84 | 232 | virtual void ACLSend(const u8* data, int len) = 0; |
halfpitch | 0:a6476c138e84 | 233 | }; |
halfpitch | 0:a6476c138e84 | 234 | |
halfpitch | 0:a6476c138e84 | 235 | #endif |