Junichi Katsu / Mbed 2 deprecated WallbotR4_BTLE

うおーるぼっとをiPhoneでコントロールするプログラムです。 iPhoneとはBTLEで接続しています。

Dependencies:   FatFileSystem HighSpeedAnalogIn TB6612FNG2 mbed

main.cpp@0:373bcb197dc8, 2013-05-10 (annotated)

Committer:
jksoft
Date:
Fri May 10 11:48:07 2013 +0000
Revision:
0:373bcb197dc8
?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:373bcb197dc8 1 #include "mbed.h"
jksoft 0:373bcb197dc8 2 #include <btstack/hci_cmds.h>
jksoft 0:373bcb197dc8 3 #include <btstack/run_loop.h>
jksoft 0:373bcb197dc8 4 #include <btstack/sdp_util.h>
jksoft 0:373bcb197dc8 5 #include "hci.h"
jksoft 0:373bcb197dc8 6 #include "l2cap.h"
jksoft 0:373bcb197dc8 7 #include "btstack_memory.h"
jksoft 0:373bcb197dc8 8 #include "remote_device_db.h"
jksoft 0:373bcb197dc8 9 #include "rfcomm.h"
jksoft 0:373bcb197dc8 10 #include "sdp.h"
jksoft 0:373bcb197dc8 11 #include "config.h"
jksoft 0:373bcb197dc8 12 #include "debug.h"
jksoft 0:373bcb197dc8 13 #include "bd_addr.h" // class bd_addr
jksoft 0:373bcb197dc8 14 #include "att.h"
jksoft 0:373bcb197dc8 15
jksoft 0:373bcb197dc8 16 #include "TB6612.h"
jksoft 0:373bcb197dc8 17 #include "HighSpeedAnalogIn.h"
jksoft 0:373bcb197dc8 18
jksoft 0:373bcb197dc8 19 Serial pc(USBTX, USBRX);
jksoft 0:373bcb197dc8 20 DigitalOut led[] = { (LED1), (LED2), (LED3), (LED4) };
jksoft 0:373bcb197dc8 21 DigitalIn sw[] = { (p29),(p30) };
jksoft 0:373bcb197dc8 22 HighSpeedAnalogIn ain(p15, p16, p17, p18);
jksoft 0:373bcb197dc8 23 TB6612 right(p21,p12,p11);
jksoft 0:373bcb197dc8 24 TB6612 left(p22,p14,p13);
jksoft 0:373bcb197dc8 25
jksoft 0:373bcb197dc8 26 static att_connection_t att_connection;
jksoft 0:373bcb197dc8 27 static uint16_t att_response_handle = 0;
jksoft 0:373bcb197dc8 28 static uint16_t att_response_size = 0;
jksoft 0:373bcb197dc8 29 static uint8_t att_response_buffer[28];
jksoft 0:373bcb197dc8 30
jksoft 0:373bcb197dc8 31 uint8_t connection_status=0;
jksoft 0:373bcb197dc8 32
jksoft 0:373bcb197dc8 33 static void att_try_respond(void){
jksoft 0:373bcb197dc8 34 if (!att_response_size) return;
jksoft 0:373bcb197dc8 35 if (!att_response_handle) return;
jksoft 0:373bcb197dc8 36 if (!hci_can_send_packet_now(HCI_ACL_DATA_PACKET)) return;
jksoft 0:373bcb197dc8 37
jksoft 0:373bcb197dc8 38 // update state before sending packet
jksoft 0:373bcb197dc8 39 uint16_t size = att_response_size;
jksoft 0:373bcb197dc8 40 att_response_size = 0;
jksoft 0:373bcb197dc8 41 l2cap_send_connectionless(att_response_handle, L2CAP_CID_ATTRIBUTE_PROTOCOL, att_response_buffer, size);
jksoft 0:373bcb197dc8 42 }
jksoft 0:373bcb197dc8 43
jksoft 0:373bcb197dc8 44
jksoft 0:373bcb197dc8 45 static void att_packet_handler(uint8_t packet_type, uint16_t handle, uint8_t *packet, uint16_t size){
jksoft 0:373bcb197dc8 46 if (packet_type != ATT_DATA_PACKET) return;
jksoft 0:373bcb197dc8 47
jksoft 0:373bcb197dc8 48 att_response_handle = handle;
jksoft 0:373bcb197dc8 49 att_response_size = att_handle_request(&att_connection, packet, size, att_response_buffer);
jksoft 0:373bcb197dc8 50 att_try_respond();
jksoft 0:373bcb197dc8 51 }
jksoft 0:373bcb197dc8 52
jksoft 0:373bcb197dc8 53 // enable LE, setup ADV data
jksoft 0:373bcb197dc8 54 static void packet_handler (void * connection, uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size){
jksoft 0:373bcb197dc8 55 static bd_addr_t addr;
jksoft 0:373bcb197dc8 56 // uint8_t adv_data[] = { 02, 01, 05, 03, 02, 0xf0, 0xff };
jksoft 0:373bcb197dc8 57 const uint8_t adv_data[31]="\x02\x01\x05" "\x06\x09mbed";
jksoft 0:373bcb197dc8 58 switch (packet_type) {
jksoft 0:373bcb197dc8 59
jksoft 0:373bcb197dc8 60 case HCI_EVENT_PACKET:
jksoft 0:373bcb197dc8 61 switch (packet[0]) {
jksoft 0:373bcb197dc8 62
jksoft 0:373bcb197dc8 63 case BTSTACK_EVENT_STATE:
jksoft 0:373bcb197dc8 64 // bt stack activated, get started - set local name
jksoft 0:373bcb197dc8 65 if (packet[2] == HCI_STATE_WORKING) {
jksoft 0:373bcb197dc8 66 log_info("Working!\n");
jksoft 0:373bcb197dc8 67 hci_send_cmd(&hci_read_local_supported_features);
jksoft 0:373bcb197dc8 68 }
jksoft 0:373bcb197dc8 69 break;
jksoft 0:373bcb197dc8 70
jksoft 0:373bcb197dc8 71 case DAEMON_EVENT_HCI_PACKET_SENT:
jksoft 0:373bcb197dc8 72 att_try_respond();
jksoft 0:373bcb197dc8 73 break;
jksoft 0:373bcb197dc8 74
jksoft 0:373bcb197dc8 75 case HCI_EVENT_LE_META:
jksoft 0:373bcb197dc8 76 switch (packet[2]) {
jksoft 0:373bcb197dc8 77 case HCI_SUBEVENT_LE_CONNECTION_COMPLETE:
jksoft 0:373bcb197dc8 78 // reset connection MTU
jksoft 0:373bcb197dc8 79 att_connection.mtu = 23;
jksoft 0:373bcb197dc8 80 break;
jksoft 0:373bcb197dc8 81 default:
jksoft 0:373bcb197dc8 82 break;
jksoft 0:373bcb197dc8 83 }
jksoft 0:373bcb197dc8 84 break;
jksoft 0:373bcb197dc8 85
jksoft 0:373bcb197dc8 86 case BTSTACK_EVENT_NR_CONNECTIONS_CHANGED:
jksoft 0:373bcb197dc8 87 if (packet[2]) {
jksoft 0:373bcb197dc8 88 connection_status=1;
jksoft 0:373bcb197dc8 89 log_info("CONNECTED\n");
jksoft 0:373bcb197dc8 90 led[0] = 1;
jksoft 0:373bcb197dc8 91 } else {
jksoft 0:373bcb197dc8 92 connection_status=0;
jksoft 0:373bcb197dc8 93 log_info("NOT CONNECTED\n");
jksoft 0:373bcb197dc8 94 led[0] = 0;
jksoft 0:373bcb197dc8 95 right = 0;
jksoft 0:373bcb197dc8 96 left = 0;
jksoft 0:373bcb197dc8 97 }
jksoft 0:373bcb197dc8 98 break;
jksoft 0:373bcb197dc8 99
jksoft 0:373bcb197dc8 100 case HCI_EVENT_DISCONNECTION_COMPLETE:
jksoft 0:373bcb197dc8 101 att_response_handle =0;
jksoft 0:373bcb197dc8 102 att_response_size = 0;
jksoft 0:373bcb197dc8 103
jksoft 0:373bcb197dc8 104 // restart advertising
jksoft 0:373bcb197dc8 105 hci_send_cmd(&hci_le_set_advertise_enable, 1);
jksoft 0:373bcb197dc8 106 break;
jksoft 0:373bcb197dc8 107
jksoft 0:373bcb197dc8 108 case HCI_EVENT_COMMAND_COMPLETE:
jksoft 0:373bcb197dc8 109 if (COMMAND_COMPLETE_EVENT(packet, hci_read_bd_addr)){
jksoft 0:373bcb197dc8 110 bt_flip_addr(addr, &packet[6]);
jksoft 0:373bcb197dc8 111 log_info("BD ADDR: %s\n", bd_addr_to_str(addr));
jksoft 0:373bcb197dc8 112 break;
jksoft 0:373bcb197dc8 113 }
jksoft 0:373bcb197dc8 114 if (COMMAND_COMPLETE_EVENT(packet, hci_read_local_supported_features)){
jksoft 0:373bcb197dc8 115 log_info("Local supported features: %04lX%04lX\n", READ_BT_32(packet, 10), READ_BT_32(packet, 6));
jksoft 0:373bcb197dc8 116 hci_send_cmd(&hci_set_event_mask, 0xffffffff, 0x20001fff);
jksoft 0:373bcb197dc8 117 break;
jksoft 0:373bcb197dc8 118 }
jksoft 0:373bcb197dc8 119 if (COMMAND_COMPLETE_EVENT(packet, hci_set_event_mask)){
jksoft 0:373bcb197dc8 120 hci_send_cmd(&hci_write_le_host_supported, 1, 1);
jksoft 0:373bcb197dc8 121 break;
jksoft 0:373bcb197dc8 122 }
jksoft 0:373bcb197dc8 123 if (COMMAND_COMPLETE_EVENT(packet, hci_write_le_host_supported)){
jksoft 0:373bcb197dc8 124 hci_send_cmd(&hci_le_set_event_mask, 0xffffffff, 0xffffffff);
jksoft 0:373bcb197dc8 125 break;
jksoft 0:373bcb197dc8 126 }
jksoft 0:373bcb197dc8 127 if (COMMAND_COMPLETE_EVENT(packet, hci_le_set_event_mask)){
jksoft 0:373bcb197dc8 128 hci_send_cmd(&hci_le_read_buffer_size);
jksoft 0:373bcb197dc8 129 break;
jksoft 0:373bcb197dc8 130 }
jksoft 0:373bcb197dc8 131 if (COMMAND_COMPLETE_EVENT(packet, hci_le_read_buffer_size)){
jksoft 0:373bcb197dc8 132 log_info("LE buffer size: %u, count %u\n", READ_BT_16(packet,6), packet[8]);
jksoft 0:373bcb197dc8 133 hci_send_cmd(&hci_le_read_supported_states);
jksoft 0:373bcb197dc8 134 break;
jksoft 0:373bcb197dc8 135 }
jksoft 0:373bcb197dc8 136 if (COMMAND_COMPLETE_EVENT(packet, hci_le_read_supported_states)){
jksoft 0:373bcb197dc8 137 hci_send_cmd(&hci_le_set_advertising_parameters, 0x0400, 0x0800, 0, 0, 0, &addr, 0x07, 0);
jksoft 0:373bcb197dc8 138 break;
jksoft 0:373bcb197dc8 139 }
jksoft 0:373bcb197dc8 140 if (COMMAND_COMPLETE_EVENT(packet, hci_le_set_advertising_parameters)){
jksoft 0:373bcb197dc8 141 hci_send_cmd(&hci_le_set_advertising_data, sizeof(adv_data), adv_data);
jksoft 0:373bcb197dc8 142 break;
jksoft 0:373bcb197dc8 143 }
jksoft 0:373bcb197dc8 144 if (COMMAND_COMPLETE_EVENT(packet, hci_le_set_advertising_data)){
jksoft 0:373bcb197dc8 145 hci_send_cmd(&hci_le_set_scan_response_data, 10, adv_data);
jksoft 0:373bcb197dc8 146 break;
jksoft 0:373bcb197dc8 147 }
jksoft 0:373bcb197dc8 148 if (COMMAND_COMPLETE_EVENT(packet, hci_le_set_scan_response_data)){
jksoft 0:373bcb197dc8 149 hci_send_cmd(&hci_le_set_advertise_enable, 1);
jksoft 0:373bcb197dc8 150 break;
jksoft 0:373bcb197dc8 151 }
jksoft 0:373bcb197dc8 152 if (COMMAND_COMPLETE_EVENT(packet, hci_le_set_advertise_enable)){
jksoft 0:373bcb197dc8 153 hci_discoverable_control(1);
jksoft 0:373bcb197dc8 154 log_info("startup_state=1\n");
jksoft 0:373bcb197dc8 155 //startup_state=1;
jksoft 0:373bcb197dc8 156 led[1] = 0;
jksoft 0:373bcb197dc8 157 break;
jksoft 0:373bcb197dc8 158 }
jksoft 0:373bcb197dc8 159
jksoft 0:373bcb197dc8 160 }
jksoft 0:373bcb197dc8 161 }
jksoft 0:373bcb197dc8 162 }
jksoft 0:373bcb197dc8 163
jksoft 0:373bcb197dc8 164 // test profile
jksoft 0:373bcb197dc8 165 #include "profile.h"
jksoft 0:373bcb197dc8 166
jksoft 0:373bcb197dc8 167 static char strbuf[80];
jksoft 0:373bcb197dc8 168 static uint8_t ledvalue;
jksoft 0:373bcb197dc8 169
jksoft 0:373bcb197dc8 170 // read requests
jksoft 0:373bcb197dc8 171 static uint16_t att_read_callback(uint16_t handle, uint16_t offset, uint8_t * buffer, uint16_t buffer_size){
jksoft 0:373bcb197dc8 172 uint16_t ret=0,val;
jksoft 0:373bcb197dc8 173
jksoft 0:373bcb197dc8 174 if(buffer){
jksoft 0:373bcb197dc8 175 // log_info("READ Callback, handle %04x\n", handle);
jksoft 0:373bcb197dc8 176 }
jksoft 0:373bcb197dc8 177 switch(handle){
jksoft 0:373bcb197dc8 178 case 0x000b:
jksoft 0:373bcb197dc8 179 ret=strlen((char*)strbuf);
jksoft 0:373bcb197dc8 180 if(buffer && ret<=buffer_size){
jksoft 0:373bcb197dc8 181 log_info("Read text: %s\n", strbuf);
jksoft 0:373bcb197dc8 182 memcpy(buffer,strbuf,ret);
jksoft 0:373bcb197dc8 183 }
jksoft 0:373bcb197dc8 184 break;
jksoft 0:373bcb197dc8 185 case 0x000d:
jksoft 0:373bcb197dc8 186 if(buffer && buffer_size>=8){
jksoft 0:373bcb197dc8 187 unsigned short dat[4];
jksoft 0:373bcb197dc8 188 dat[0] = ain.read_u16(p15);
jksoft 0:373bcb197dc8 189 dat[1] = ain.read_u16(p16);
jksoft 0:373bcb197dc8 190 dat[2] = ain.read_u16(p17);
jksoft 0:373bcb197dc8 191 dat[3] = ain.read_u16(p18);
jksoft 0:373bcb197dc8 192 memcpy( buffer , dat , 8 );
jksoft 0:373bcb197dc8 193 }
jksoft 0:373bcb197dc8 194 ret = 8;
jksoft 0:373bcb197dc8 195 break;
jksoft 0:373bcb197dc8 196 case 0x000f:
jksoft 0:373bcb197dc8 197 if(buffer && buffer_size>=1){
jksoft 0:373bcb197dc8 198 // log_info("Read value: %u\n", val);
jksoft 0:373bcb197dc8 199 buffer[0]=(!sw[0])|((!sw[1])<<1);
jksoft 0:373bcb197dc8 200 }
jksoft 0:373bcb197dc8 201 ret=1;
jksoft 0:373bcb197dc8 202 break;
jksoft 0:373bcb197dc8 203 }
jksoft 0:373bcb197dc8 204 return ret;
jksoft 0:373bcb197dc8 205 }
jksoft 0:373bcb197dc8 206
jksoft 0:373bcb197dc8 207 // write requests
jksoft 0:373bcb197dc8 208 static void att_write_callback(uint16_t handle, uint16_t transaction_mode, uint16_t offset, uint8_t *buffer, uint16_t buffer_size, signature_t * signature){
jksoft 0:373bcb197dc8 209 // log_info("WRITE Callback, handle %04x\n", handle);
jksoft 0:373bcb197dc8 210
jksoft 0:373bcb197dc8 211 switch(handle){
jksoft 0:373bcb197dc8 212 case 0x000b:
jksoft 0:373bcb197dc8 213 signed char r = buffer[0];
jksoft 0:373bcb197dc8 214 signed char l = buffer[1];
jksoft 0:373bcb197dc8 215
jksoft 0:373bcb197dc8 216 right = r;
jksoft 0:373bcb197dc8 217 left = l;
jksoft 0:373bcb197dc8 218
jksoft 0:373bcb197dc8 219 break;
jksoft 0:373bcb197dc8 220 case 0x000d:
jksoft 0:373bcb197dc8 221 // log_info("New value: %u\n", buffer[0]);
jksoft 0:373bcb197dc8 222 ledvalue=buffer[0];
jksoft 0:373bcb197dc8 223 if (buffer[0]){
jksoft 0:373bcb197dc8 224 led[1] = 1;
jksoft 0:373bcb197dc8 225 } else {
jksoft 0:373bcb197dc8 226 led[1] = 0;
jksoft 0:373bcb197dc8 227 }
jksoft 0:373bcb197dc8 228 break;
jksoft 0:373bcb197dc8 229 }
jksoft 0:373bcb197dc8 230 }
jksoft 0:373bcb197dc8 231
jksoft 0:373bcb197dc8 232 // main
jksoft 0:373bcb197dc8 233 int main(void)
jksoft 0:373bcb197dc8 234 {
jksoft 0:373bcb197dc8 235 sw[0].mode(PullUp);
jksoft 0:373bcb197dc8 236 sw[1].mode(PullUp);
jksoft 0:373bcb197dc8 237
jksoft 0:373bcb197dc8 238 pc.baud(921600);
jksoft 0:373bcb197dc8 239 log_info("%s\n", __FILE__);
jksoft 0:373bcb197dc8 240
jksoft 0:373bcb197dc8 241 led[0] = 0;
jksoft 0:373bcb197dc8 242
jksoft 0:373bcb197dc8 243 /// GET STARTED with BTstack ///
jksoft 0:373bcb197dc8 244 btstack_memory_init();
jksoft 0:373bcb197dc8 245 run_loop_init(RUN_LOOP_EMBEDDED);
jksoft 0:373bcb197dc8 246
jksoft 0:373bcb197dc8 247 // init HCI
jksoft 0:373bcb197dc8 248 hci_transport_t* transport = hci_transport_usb_instance();
jksoft 0:373bcb197dc8 249 remote_device_db_t * remote_db = (remote_device_db_t *) &remote_device_db_memory;
jksoft 0:373bcb197dc8 250 hci_init(transport, NULL, NULL, remote_db);
jksoft 0:373bcb197dc8 251
jksoft 0:373bcb197dc8 252 // init L2CAP
jksoft 0:373bcb197dc8 253 l2cap_init();
jksoft 0:373bcb197dc8 254 l2cap_register_fixed_channel(att_packet_handler, L2CAP_CID_ATTRIBUTE_PROTOCOL);
jksoft 0:373bcb197dc8 255 l2cap_register_packet_handler(packet_handler);
jksoft 0:373bcb197dc8 256
jksoft 0:373bcb197dc8 257 // set up ATT
jksoft 0:373bcb197dc8 258 att_set_db(profile_data);
jksoft 0:373bcb197dc8 259 att_set_write_callback(att_write_callback);
jksoft 0:373bcb197dc8 260 att_set_read_callback(att_read_callback);
jksoft 0:373bcb197dc8 261 att_dump_attributes();
jksoft 0:373bcb197dc8 262 att_connection.mtu = 27;
jksoft 0:373bcb197dc8 263
jksoft 0:373bcb197dc8 264 // turn on!
jksoft 0:373bcb197dc8 265 hci_power_control(HCI_POWER_ON);
jksoft 0:373bcb197dc8 266
jksoft 0:373bcb197dc8 267 // go!
jksoft 0:373bcb197dc8 268 run_loop_execute();
jksoft 0:373bcb197dc8 269
jksoft 0:373bcb197dc8 270 return 0;
jksoft 0:373bcb197dc8 271 }