MicroBit as BLE gamepad
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Diff: source/nRF5xGap.h
- Revision:
- 616:a8f9b022d8fd
- Parent:
- 615:65ea2acfc6a2
diff -r 65ea2acfc6a2 -r a8f9b022d8fd source/nRF5xGap.h --- a/source/nRF5xGap.h Wed Apr 06 22:38:43 2016 +0100 +++ b/source/nRF5xGap.h Wed Apr 06 22:39:17 2016 +0100 @@ -17,7 +17,23 @@ #ifndef __NRF5x_GAP_H__ #define __NRF5x_GAP_H__ -#include "mbed.h" +#ifdef YOTTA_CFG_MBED_OS + #include "mbed-drivers/mbed.h" +#else + #include "mbed.h" +#endif +#ifndef YOTTA_CFG_WHITELIST_MAX_SIZE + #define YOTTA_CFG_WHITELIST_MAX_SIZE BLE_GAP_WHITELIST_ADDR_MAX_COUNT +#elif YOTTA_CFG_WHITELIST_MAX_SIZE > BLE_GAP_WHITELIST_ADDR_MAX_COUNT + #undef YOTTA_CFG_WHITELIST_MAX_SIZE + #define YOTTA_CFG_WHITELIST_MAX_SIZE BLE_GAP_WHITELIST_ADDR_MAX_COUNT +#endif +#ifndef YOTTA_CFG_IRK_TABLE_MAX_SIZE + #define YOTTA_CFG_IRK_TABLE_MAX_SIZE BLE_GAP_WHITELIST_IRK_MAX_COUNT +#elif YOTTA_CFG_IRK_TABLE_MAX_SIZE > BLE_GAP_WHITELIST_IRK_MAX_COUNT + #undef YOTTA_CFG_IRK_TABLE_MAX_SIZE + #define YOTTA_CFG_IRK_TABLE_MAX_SIZE BLE_GAP_WHITELIST_IRK_MAX_COUNT +#endif #include "ble/blecommon.h" #include "ble.h" #include "ble/GapAdvertisingParams.h" @@ -26,7 +42,11 @@ #include "ble/GapScanningParams.h" #include "nrf_soc.h" + +extern "C" { #include "ble_radio_notification.h" +} + #include "btle_security.h" void radioNotificationStaticCallback(bool param); @@ -40,8 +60,6 @@ class nRF5xGap : public Gap { public: - static nRF5xGap &getInstance(); - /* Functions that must be implemented from Gap */ virtual ble_error_t setAddress(AddressType_t type, const Address_t address); virtual ble_error_t getAddress(AddressType_t *typeP, Address_t address); @@ -53,7 +71,7 @@ virtual ble_error_t startAdvertising(const GapAdvertisingParams &); virtual ble_error_t stopAdvertising(void); - virtual ble_error_t connect(const Address_t, Gap::AddressType_t peerAddrType, const ConnectionParams_t *connectionParams, const GapScanningParams *scanParams); + virtual ble_error_t connect(const Address_t, BLEProtocol::AddressType_t peerAddrType, const ConnectionParams_t *connectionParams, const GapScanningParams *scanParams); virtual ble_error_t disconnect(Handle_t connectionHandle, DisconnectionReason_t reason); virtual ble_error_t disconnect(DisconnectionReason_t reason); @@ -72,6 +90,23 @@ virtual ble_error_t setPreferredConnectionParams(const ConnectionParams_t *params); virtual ble_error_t updateConnectionParams(Handle_t handle, const ConnectionParams_t *params); + virtual ble_error_t reset(void); + + /* + * The following functions are part of the whitelisting experimental API. + * Therefore, this functionality can change in the near future. + */ + virtual uint8_t getMaxWhitelistSize(void) const; + virtual ble_error_t getWhitelist(Gap::Whitelist_t &whitelistOut) const; + virtual ble_error_t setWhitelist(const Gap::Whitelist_t &whitelistIn); + + virtual ble_error_t setAdvertisingPolicyMode(AdvertisingPolicyMode_t mode); + virtual ble_error_t setScanningPolicyMode(ScanningPolicyMode_t mode); + virtual ble_error_t setInitiatorPolicyMode(InitiatorPolicyMode_t mode); + virtual Gap::AdvertisingPolicyMode_t getAdvertisingPolicyMode(void) const; + virtual Gap::ScanningPolicyMode_t getScanningPolicyMode(void) const; + virtual Gap::InitiatorPolicyMode_t getInitiatorPolicyMode(void) const; + virtual ble_error_t initRadioNotification(void) { if (ble_radio_notification_init(NRF_APP_PRIORITY_HIGH, NRF_RADIO_NOTIFICATION_DISTANCE_800US, radioNotificationStaticCallback) == NRF_SUCCESS) { return BLE_ERROR_NONE; @@ -82,45 +117,125 @@ /* Observer role is not supported by S110, return BLE_ERROR_NOT_IMPLEMENTED */ #if !defined(TARGET_MCU_NRF51_16K_S110) && !defined(TARGET_MCU_NRF51_32K_S110) - virtual ble_error_t startRadioScan(const GapScanningParams &scanningParams) { - ble_gap_scan_params_t scanParams = { - .active = scanningParams.getActiveScanning(), /**< If 1, perform active scanning (scan requests). */ - .selective = 0, /**< If 1, ignore unknown devices (non whitelisted). */ - .p_whitelist = NULL, /**< Pointer to whitelist, NULL if none is given. */ - .interval = scanningParams.getInterval(), /**< Scan interval between 0x0004 and 0x4000 in 0.625ms units (2.5ms to 10.24s). */ - .window = scanningParams.getWindow(), /**< Scan window between 0x0004 and 0x4000 in 0.625ms units (2.5ms to 10.24s). */ - .timeout = scanningParams.getTimeout(), /**< Scan timeout between 0x0001 and 0xFFFF in seconds, 0x0000 disables timeout. */ - }; - - if (sd_ble_gap_scan_start(&scanParams) != NRF_SUCCESS) { - return BLE_ERROR_PARAM_OUT_OF_RANGE; - } - - return BLE_ERROR_NONE; - } - - virtual ble_error_t stopScan(void) { - if (sd_ble_gap_scan_stop() == NRF_SUCCESS) { - return BLE_ERROR_NONE; - } - - return BLE_STACK_BUSY; - } + virtual ble_error_t startRadioScan(const GapScanningParams &scanningParams); + virtual ble_error_t stopScan(void); #endif private: + /* + * Whitelisting API related structures and helper functions. + */ + + /* Policy modes set by the user. By default these are set to ignore the whitelist */ + Gap::AdvertisingPolicyMode_t advertisingPolicyMode; + Gap::ScanningPolicyMode_t scanningPolicyMode; + + /* Internal representation of a whitelist */ + uint8_t whitelistAddressesSize; + ble_gap_addr_t whitelistAddresses[YOTTA_CFG_WHITELIST_MAX_SIZE]; + + /* + * An internal function used to populate the ble_gap_whitelist_t that will be used by + * the SoftDevice for filtering requests. This function is needed because for the BLE + * API the whitelist is just a collection of keys, but for the stack it also includes + * the IRK table. + */ + ble_error_t generateStackWhitelist(ble_gap_whitelist_t &whitelist); + +private: + bool radioNotificationCallbackParam; /* parameter to be passed into the Timeout-generated radio notification callback. */ + Timeout radioNotificationTimeout; + + /* + * A helper function to post radio notification callbacks with low interrupt priority. + */ + void postRadioNotificationCallback(void) { +#ifdef YOTTA_CFG_MBED_OS + /* + * In mbed OS, all user-facing BLE events (interrupts) are posted to the + * MINAR scheduler to be executed as callbacks in thread mode. MINAR guards + * its critical sections from interrupts by acquiring CriticalSectionLock, + * which results in a call to sd_nvic_critical_region_enter(). Thus, it is + * safe to invoke MINAR APIs from interrupt context as long as those + * interrupts are blocked by sd_nvic_critical_region_enter(). + * + * Radio notifications are a special case for the above. The Radio + * Notification IRQ is handled at a very high priority--higher than the + * level blocked by sd_nvic_critical_region_enter(). Thus Radio Notification + * events can preempt MINAR's critical sections. Using MINAR APIs (such as + * posting an event) directly in processRadioNotification() may result in a + * race condition ending in a hard-fault. + * + * The solution is to *not* call MINAR APIs directly from the Radio + * Notification handling; i.e. to do the bulk of RadioNotification + * processing at a reduced priority which respects MINAR's critical + * sections. Unfortunately, on a cortex-M0, there is no clean way to demote + * priority for the currently executing interrupt--we wouldn't want to + * demote the radio notification handling anyway because it is sensitive to + * timing, and the system expects to finish this handling very quickly. The + * workaround is to employ a Timeout to trigger + * postRadioNotificationCallback() after a very short delay (~0 us) and post + * the MINAR callback that context. + * + * !!!WARNING!!! Radio notifications are very time critical events. The + * current solution is expected to work under the assumption that + * postRadioNotificationCalback() will be executed BEFORE the next radio + * notification event is generated. + */ + minar::Scheduler::postCallback( + mbed::util::FunctionPointer1<void, bool>(&radioNotificationCallback, &FunctionPointerWithContext<bool>::call).bind(radioNotificationCallbackParam) + ); +#else + /* + * In mbed classic, all user-facing BLE events execute callbacks in interrupt + * mode. Radio Notifications are a special case because its IRQ is handled at + * a very high priority. Thus Radio Notification events can preempt other + * operations that require interaction with the SoftDevice such as advertising + * payload updates and changing the Gap state. Therefore, executing a Radio + * Notification callback directly from processRadioNotification() may result + * in a race condition ending in a hard-fault. + * + * The solution is to *not* execute the Radio Notification callback directly + * from the Radio Notification handling; i.e. to do the bulk of the + * Radio Notification processing at a reduced priority. Unfortunately, on a + * cortex-M0, there is no clean way to demote priority for the currently + * executing interrupt--we wouldn't want to demote the radio notification + * handling anyway because it is sensitive to timing, and the system expects + * to finish this handling very quickly. The workaround is to employ a Timeout + * to trigger postRadioNotificationCallback() after a very short delay (~0 us) + * and execute the callback in that context. + * + * !!!WARNING!!! Radio notifications are very time critical events. The + * current solution is expected to work under the assumption that + * postRadioNotificationCalback() will be executed BEFORE the next radio + * notification event is generated. + */ + radioNotificationCallback.call(radioNotificationCallbackParam); +#endif /* #ifdef YOTTA_CFG_MBED_OS */ + } + /** * A helper function to process radio-notification events; to be called internally. * @param param [description] */ void processRadioNotificationEvent(bool param) { - radioNotificationCallback.call(param); + radioNotificationCallbackParam = param; + radioNotificationTimeout.attach_us(this, &nRF5xGap::postRadioNotificationCallback, 0); } friend void radioNotificationStaticCallback(bool param); /* allow invocations of processRadioNotificationEvent() */ private: uint16_t m_connectionHandle; - nRF5xGap() { + + /* + * Allow instantiation from nRF5xn when required. + */ + friend class nRF5xn; + + nRF5xGap() : + advertisingPolicyMode(Gap::ADV_POLICY_IGNORE_WHITELIST), + scanningPolicyMode(Gap::SCAN_POLICY_IGNORE_WHITELIST), + whitelistAddressesSize(0) { m_connectionHandle = BLE_CONN_HANDLE_INVALID; }