AndroidのBLEラジコンプロポアプリ「BLEPropo」と接続し、RCサーボとDCモータを制御するプログラムです。 mbed HRM1017で動作を確認しています。 BLEPropo → https://github.com/lipoyang/BLEPropo

Dependencies:   BLE_API mbed

Fork of BLE_RCBController2 by Junichi Katsu

BLEを使ったAndroid用ラジコンプロポアプリ「BLEPropo」に対応するmbed HRM1017用ファームウェアです。
BLEPropoは、GitHubにて公開中。
https://github.com/lipoyang/BLEPropo
/media/uploads/lipoyang/blepropo_ui.png
ラジコンは、mbed HRM1017とRCサーボやDCモータを組み合わせて作ります。
/media/uploads/lipoyang/ble_wiring.png

Revision:
4:ebda47d22091
Parent:
1:48f6e08a3ac2
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HRM1017/nordic/ble/ble_advdata.cpp	Wed Aug 20 13:41:01 2014 +0000
@@ -0,0 +1,624 @@
+/* Copyright (c) 2012 Nordic Semiconductor. All Rights Reserved.
+ *
+ * The information contained herein is property of Nordic Semiconductor ASA.
+ * Terms and conditions of usage are described in detail in NORDIC
+ * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
+ *
+ * Licensees are granted free, non-transferable use of the information. NO
+ * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
+ * the file.
+ *
+ */
+
+#include "ble_advdata.h"
+#include "nordic_common.h"
+#include "nrf_error.h"
+#include "ble_gap.h"
+#include "ble_srv_common.h"
+#include "app_util.h"
+
+
+// Offset from where advertisement data other than flags information can start.
+#define ADV_FLAG_OFFSET    2
+
+// Offset for Advertising Data.
+// Offset is 2 as each Advertising Data contain 1 octet of Adveritising Data Type and
+// one octet Advertising Data Length.
+#define ADV_DATA_OFFSET    2
+
+// NOTE: For now, Security Manager TK Value and Security Manager Out of Band Flags (OOB) are omitted
+//       from the advertising data.
+
+
+static uint32_t name_encode(const ble_advdata_t * p_advdata,
+                            uint8_t *             p_encoded_data,
+                            uint8_t *             p_len)
+{
+    uint32_t err_code;
+    uint16_t rem_adv_data_len;
+    uint16_t actual_length;
+    uint8_t  adv_data_format;
+    uint8_t  adv_offset;
+    
+    adv_offset = *p_len;
+    
+    
+    // Check for buffer overflow.
+    if ((adv_offset + ADV_DATA_OFFSET > BLE_GAP_ADV_MAX_SIZE) ||
+       ((p_advdata->short_name_len + ADV_DATA_OFFSET) > BLE_GAP_ADV_MAX_SIZE))
+    {
+        return NRF_ERROR_DATA_SIZE;
+    }
+    actual_length = rem_adv_data_len = (BLE_GAP_ADV_MAX_SIZE - adv_offset - ADV_FLAG_OFFSET);
+
+    // Get GAP device name and length
+    err_code = sd_ble_gap_device_name_get(&p_encoded_data[adv_offset + ADV_DATA_OFFSET],
+                                          &actual_length);
+    if (err_code != NRF_SUCCESS)
+    {
+        return err_code;
+    }
+    
+    // Check if device internd to use short name and it can fit available data size.
+    if ((p_advdata->name_type == BLE_ADVDATA_FULL_NAME) && (actual_length <= rem_adv_data_len))
+    {
+        // Complete device name can fit, setting Complete Name in Adv Data.
+        adv_data_format = BLE_GAP_AD_TYPE_COMPLETE_LOCAL_NAME;
+        rem_adv_data_len = actual_length;
+    }
+    else
+    {
+        // Else short name needs to be used. Or application has requested use of short name.
+        adv_data_format = BLE_GAP_AD_TYPE_SHORT_LOCAL_NAME;
+        
+        // If application has set a preference on the short name size, it needs to be considered,
+        // else fit what can be fit.
+        if ((p_advdata->short_name_len != 0) && (p_advdata->short_name_len <= rem_adv_data_len))
+        {
+            // Short name fits available size.
+            rem_adv_data_len = p_advdata->short_name_len;
+        }
+        // Else whatever can fit the data buffer will be packed.
+        else
+        {
+            rem_adv_data_len = actual_length;
+        }
+    }
+    
+    // Complete name field in encoded data.
+    p_encoded_data[adv_offset++] = rem_adv_data_len + 1;
+    p_encoded_data[adv_offset++] = adv_data_format;
+    (*p_len) += (rem_adv_data_len + ADV_DATA_OFFSET);
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t appearance_encode(uint8_t * p_encoded_data, uint8_t * p_len)
+{
+    uint32_t err_code;
+    uint16_t appearance;
+
+    // Check for buffer overflow.
+    if ((*p_len) + 4 > BLE_GAP_ADV_MAX_SIZE)
+    {
+        return NRF_ERROR_DATA_SIZE;
+    }
+
+    // Get GAP appearance field.
+    err_code = sd_ble_gap_appearance_get(&appearance);
+    if (err_code != NRF_SUCCESS)
+    {
+        return err_code;
+    }
+    
+    // Encode Length, AD Type and Appearance.
+    p_encoded_data[(*p_len)++] = 3;
+    p_encoded_data[(*p_len)++] = BLE_GAP_AD_TYPE_APPEARANCE;
+
+    (*p_len) += uint16_encode(appearance, &p_encoded_data[*p_len]);
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t uint8_array_encode(const uint8_array_t * p_uint8_array,
+                                   uint8_t               adv_type,
+                                   uint8_t *             p_encoded_data,
+                                   uint8_t *             p_len)
+{
+    // Check parameter consistency.
+    if (p_uint8_array->p_data == NULL)
+    {
+        return NRF_ERROR_INVALID_PARAM;
+    }
+
+    // Check for buffer overflow.
+    if ((*p_len) + ADV_DATA_OFFSET + p_uint8_array->size > BLE_GAP_ADV_MAX_SIZE)
+    {
+        return NRF_ERROR_DATA_SIZE;
+    }
+
+    // Encode Length and AD Type.
+    p_encoded_data[(*p_len)++] = 1 + p_uint8_array->size;
+    p_encoded_data[(*p_len)++] = adv_type;
+    
+    // Encode array.
+    memcpy(&p_encoded_data[*p_len], p_uint8_array->p_data, p_uint8_array->size);
+    (*p_len) += p_uint8_array->size;
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t tx_power_level_encode(int8_t    tx_power_level,
+                                      uint8_t * p_encoded_data,
+                                      uint8_t * p_len)
+{
+    // Check for buffer overflow.
+    if ((*p_len) + 3 > BLE_GAP_ADV_MAX_SIZE)
+    {
+        return NRF_ERROR_DATA_SIZE;
+    }
+
+    // Encode TX Power Level.
+    p_encoded_data[(*p_len)++] = 2;
+    p_encoded_data[(*p_len)++] = BLE_GAP_AD_TYPE_TX_POWER_LEVEL;
+    p_encoded_data[(*p_len)++] = (uint8_t)tx_power_level;
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t uuid_list_sized_encode(const ble_advdata_uuid_list_t * p_uuid_list,
+                                       uint8_t                         adv_type,
+                                       uint8_t                         uuid_size,
+                                       uint8_t *                       p_encoded_data,
+                                       uint8_t *                       p_len)
+{
+    int     i;
+    bool    is_heading_written = false;
+    uint8_t start_pos = *p_len;
+    
+    for (i = 0; i < p_uuid_list->uuid_cnt; i++)
+    {
+        uint32_t   err_code;
+        uint8_t    encoded_size;
+        ble_uuid_t uuid = p_uuid_list->p_uuids[i];
+        
+        // Find encoded uuid size.
+        err_code = sd_ble_uuid_encode(&uuid, &encoded_size, NULL);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+        
+        // Check size.
+        if (encoded_size == uuid_size)
+        {
+            uint8_t heading_bytes = (is_heading_written) ? 0 : 2;
+            
+            // Check for buffer overflow
+            if (*p_len + encoded_size + heading_bytes > BLE_GAP_ADV_MAX_SIZE)
+            {
+                return NRF_ERROR_DATA_SIZE;
+            }
+            
+            if (!is_heading_written)
+            {
+                // Write AD structure heading.
+                (*p_len)++;
+                p_encoded_data[(*p_len)++] = adv_type;
+                is_heading_written = true;
+            }
+            
+            // Write UUID.
+            err_code = sd_ble_uuid_encode(&uuid, &encoded_size, &p_encoded_data[*p_len]);
+            if (err_code != NRF_SUCCESS)
+            {
+                return err_code;
+            }
+            (*p_len) += encoded_size;
+        }
+    }
+    
+    if (is_heading_written)
+    {
+        // Write length.
+        p_encoded_data[start_pos] = (*p_len) - (start_pos + 1);
+    }
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t uuid_list_encode(const ble_advdata_uuid_list_t * p_uuid_list,
+                                 uint8_t                         adv_type_16,
+                                 uint8_t                         adv_type_128,
+                                 uint8_t *                       p_encoded_data,
+                                 uint8_t *                       p_len)
+{
+    uint32_t err_code;
+    
+    // Encode 16 bit UUIDs.
+    err_code = uuid_list_sized_encode(p_uuid_list,
+                                      adv_type_16,
+                                      sizeof(uint16_le_t),
+                                      p_encoded_data,
+                                      p_len);
+    if (err_code != NRF_SUCCESS)
+    {
+        return err_code;
+    }
+    
+    // Encode 128 bit UUIDs.
+    err_code = uuid_list_sized_encode(p_uuid_list,
+                                      adv_type_128,
+                                      sizeof(ble_uuid128_t),
+                                      p_encoded_data,
+                                      p_len);
+    if (err_code != NRF_SUCCESS)
+    {
+        return err_code;
+    }
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t conn_int_check(const ble_advdata_conn_int_t *p_conn_int)
+{
+    // Check Minimum Connection Interval.
+    if ((p_conn_int->min_conn_interval < 0x0006) || 
+        (
+            (p_conn_int->min_conn_interval > 0x0c80) && 
+            (p_conn_int->min_conn_interval != 0xffff)
+        )
+    )
+    {
+        return NRF_ERROR_INVALID_PARAM;
+    }
+
+    // Check Maximum Connection Interval.
+    if ((p_conn_int->max_conn_interval < 0x0006) || 
+        (
+            (p_conn_int->max_conn_interval > 0x0c80) && 
+            (p_conn_int->max_conn_interval != 0xffff)
+        )
+    )
+    {
+        return NRF_ERROR_INVALID_PARAM;
+    }
+
+    // Make sure Minimum Connection Interval is not bigger than Maximum Connection Interval.
+    if ((p_conn_int->min_conn_interval != 0xffff) &&
+        (p_conn_int->max_conn_interval != 0xffff) &&
+        (p_conn_int->min_conn_interval > p_conn_int->max_conn_interval)
+    )
+    {
+        return NRF_ERROR_INVALID_PARAM;
+    }
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t conn_int_encode(const ble_advdata_conn_int_t * p_conn_int,
+                                uint8_t *                      p_encoded_data,
+                                uint8_t *                      p_len)
+{
+    uint32_t err_code;
+
+    // Check for buffer overflow.
+    if ((*p_len) + ADV_DATA_OFFSET + 2 * sizeof(uint16_le_t) > BLE_GAP_ADV_MAX_SIZE)
+    {
+        return NRF_ERROR_DATA_SIZE;
+    }
+    
+    // Check parameters.
+    err_code = conn_int_check(p_conn_int);
+    if (err_code != NRF_SUCCESS)
+    {
+        return err_code;
+    }
+    
+    // Encode Length and AD Type.
+    p_encoded_data[(*p_len)++] = 1 + 2 * sizeof(uint16_le_t);
+    p_encoded_data[(*p_len)++] = BLE_GAP_AD_TYPE_SLAVE_CONNECTION_INTERVAL_RANGE;
+    
+    // Encode Minimum and Maximum Connection Intervals.
+    (*p_len) += uint16_encode(p_conn_int->min_conn_interval, &p_encoded_data[*p_len]);
+    (*p_len) += uint16_encode(p_conn_int->max_conn_interval, &p_encoded_data[*p_len]);
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t manuf_specific_data_encode(const ble_advdata_manuf_data_t * p_manuf_sp_data,
+                                           uint8_t *                        p_encoded_data,
+                                           uint8_t *                        p_len)
+{
+    uint8_t data_size = sizeof(uint16_le_t) + p_manuf_sp_data->data.size;
+    
+    // Check for buffer overflow.
+    if ((*p_len) + ADV_DATA_OFFSET + data_size > BLE_GAP_ADV_MAX_SIZE)
+    {
+        return NRF_ERROR_DATA_SIZE;
+    }
+
+    // Encode Length and AD Type.
+    p_encoded_data[(*p_len)++] = 1 + data_size;
+    p_encoded_data[(*p_len)++] = BLE_GAP_AD_TYPE_MANUFACTURER_SPECIFIC_DATA;
+    
+    // Encode Company Identifier.
+    (*p_len) += uint16_encode(p_manuf_sp_data->company_identifier, &p_encoded_data[*p_len]);
+    
+    // Encode additional manufacturer specific data.
+    if (p_manuf_sp_data->data.size > 0)
+    {
+        if (p_manuf_sp_data->data.p_data == NULL)
+        {
+            return NRF_ERROR_INVALID_PARAM;
+        }
+        memcpy(&p_encoded_data[*p_len], p_manuf_sp_data->data.p_data, p_manuf_sp_data->data.size);
+        (*p_len) += p_manuf_sp_data->data.size;
+    }
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t service_data_encode(const ble_advdata_t * p_advdata,
+                                    uint8_t *             p_encoded_data,
+                                    uint8_t *             p_len)
+{
+    uint8_t i;
+
+    // Check parameter consistency.
+    if (p_advdata->p_service_data_array == NULL)
+    {
+        return NRF_ERROR_INVALID_PARAM;
+    }
+    
+    for (i = 0; i < p_advdata->service_data_count; i++)
+    {
+        ble_advdata_service_data_t * p_service_data;
+        uint8_t                      data_size;
+        
+        p_service_data = &p_advdata->p_service_data_array[i];
+        data_size      = sizeof(uint16_le_t) + p_service_data->data.size;
+    
+        // Encode Length and AD Type.
+        p_encoded_data[(*p_len)++] = 1 + data_size;
+        p_encoded_data[(*p_len)++] = BLE_GAP_AD_TYPE_SERVICE_DATA;
+        
+        // Encode service UUID.
+        (*p_len) += uint16_encode(p_service_data->service_uuid, &p_encoded_data[*p_len]);
+        
+        // Encode additional service data.
+        if (p_service_data->data.size > 0)
+        {
+            if (p_service_data->data.p_data == NULL)
+            {
+                return NRF_ERROR_INVALID_PARAM;
+            }
+            memcpy(&p_encoded_data[*p_len], p_service_data->data.p_data, p_service_data->data.size);
+            (*p_len) += p_service_data->data.size;
+        }
+    }
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t adv_data_encode(const ble_advdata_t * p_advdata,
+                                uint8_t *             p_encoded_data,
+                                uint8_t *             p_len)
+{
+    uint32_t err_code = NRF_SUCCESS;
+    
+    *p_len = 0;
+    
+    // Encode name.
+    if (p_advdata->name_type != BLE_ADVDATA_NO_NAME)
+    {
+        err_code = name_encode(p_advdata, p_encoded_data, p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode appearance.
+    if (p_advdata->include_appearance)
+    {
+        err_code = appearance_encode(p_encoded_data, p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode flags.
+    if (p_advdata->flags.size > 0)
+    {
+        err_code = uint8_array_encode(&p_advdata->flags,
+                                      BLE_GAP_AD_TYPE_FLAGS,
+                                      p_encoded_data,
+                                      p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode TX power level.
+    if (p_advdata->p_tx_power_level != NULL)
+    {
+        err_code = tx_power_level_encode(*p_advdata->p_tx_power_level, p_encoded_data, p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode 'more available' uuid list.
+    if (p_advdata->uuids_more_available.uuid_cnt > 0)
+    {
+        err_code = uuid_list_encode(&p_advdata->uuids_more_available,
+                                    BLE_GAP_AD_TYPE_16BIT_SERVICE_UUID_MORE_AVAILABLE,
+                                    BLE_GAP_AD_TYPE_128BIT_SERVICE_UUID_MORE_AVAILABLE,
+                                    p_encoded_data,
+                                    p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode 'complete' uuid list.
+    if (p_advdata->uuids_complete.uuid_cnt > 0)
+    {
+        err_code = uuid_list_encode(&p_advdata->uuids_complete,
+                                    BLE_GAP_AD_TYPE_16BIT_SERVICE_UUID_COMPLETE,
+                                    BLE_GAP_AD_TYPE_128BIT_SERVICE_UUID_COMPLETE,
+                                    p_encoded_data,
+                                    p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode 'solicited service' uuid list.
+    if (p_advdata->uuids_solicited.uuid_cnt > 0)
+    {
+        err_code = uuid_list_encode(&p_advdata->uuids_solicited,
+                                    BLE_GAP_AD_TYPE_SOLICITED_SERVICE_UUIDS_16BIT,
+                                    BLE_GAP_AD_TYPE_SOLICITED_SERVICE_UUIDS_128BIT,
+                                    p_encoded_data,
+                                    p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode Slave Connection Interval Range.
+    if (p_advdata->p_slave_conn_int != NULL)
+    {
+        err_code = conn_int_encode(p_advdata->p_slave_conn_int, p_encoded_data, p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode Manufacturer Specific Data.
+    if (p_advdata->p_manuf_specific_data != NULL)
+    {
+        err_code = manuf_specific_data_encode(p_advdata->p_manuf_specific_data,
+                                              p_encoded_data,
+                                              p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    // Encode Service Data.
+    if (p_advdata->service_data_count > 0)
+    {
+        err_code = service_data_encode(p_advdata, p_encoded_data, p_len);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+    }
+    
+    return err_code;
+}
+
+
+static uint32_t advdata_check(const ble_advdata_t * p_advdata)
+{
+    // Flags must be included in advertising data, and the BLE_GAP_ADV_FLAG_BR_EDR_NOT_SUPPORTED flag must be set.
+    if ((p_advdata->flags.size == 0)      ||
+        (p_advdata->flags.p_data == NULL) ||
+        ((p_advdata->flags.p_data[0] & BLE_GAP_ADV_FLAG_BR_EDR_NOT_SUPPORTED) == 0)
+    )
+    {
+        return NRF_ERROR_INVALID_PARAM;
+    }
+    
+    return NRF_SUCCESS;
+}
+
+
+static uint32_t srdata_check(const ble_advdata_t * p_srdata)
+{
+    // Flags shall not be included in the scan response data.
+    if (p_srdata->flags.size > 0)
+    {
+        return NRF_ERROR_INVALID_PARAM;
+    }
+    
+    return NRF_SUCCESS;
+}
+
+
+uint32_t ble_advdata_set(const ble_advdata_t * p_advdata, const ble_advdata_t * p_srdata)
+{
+    uint32_t  err_code;
+    uint8_t   len_advdata = 0;
+    uint8_t   len_srdata = 0;
+    uint8_t   encoded_advdata[BLE_GAP_ADV_MAX_SIZE];
+    uint8_t   encoded_srdata[BLE_GAP_ADV_MAX_SIZE];
+    uint8_t * p_encoded_advdata;
+    uint8_t * p_encoded_srdata;
+
+    // Encode advertising data (if supplied).
+    if (p_advdata != NULL)
+    {
+        err_code = advdata_check(p_advdata);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+        
+        err_code = adv_data_encode(p_advdata, encoded_advdata, &len_advdata);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+        p_encoded_advdata = encoded_advdata;
+    }
+    else
+    {
+        p_encoded_advdata = NULL;
+    }
+    
+    // Encode scan response data (if supplied).
+    if (p_srdata != NULL)
+    {
+        err_code = srdata_check(p_srdata);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+        
+        err_code = adv_data_encode(p_srdata, encoded_srdata, &len_srdata);
+        if (err_code != NRF_SUCCESS)
+        {
+            return err_code;
+        }
+        p_encoded_srdata = encoded_srdata;
+    }
+    else
+    {
+        p_encoded_srdata = NULL;
+    }
+
+    // Pass encoded advertising data and/or scan response data to the stack.
+    return sd_ble_gap_adv_data_set(p_encoded_advdata, len_advdata, p_encoded_srdata, len_srdata);
+}