Takashi Ogura / Mbed 2 deprecated myBlueUSB_ros

Based on myBlueUSB and rosserial_mbed

Dependencies:   mbed myUSBHost AvailableMemory myBlueUSB

ftclasslibusbdevbt.cpp@1:18139954944b, 2011-09-17 (annotated)

Committer:
OTL
Date:
Sat Sep 17 14:24:13 2011 +0000
Revision:
1:18139954944b
Parent:
0:7684b95768c7 
remove m3pi and main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OTL 0:7684b95768c7 1 #include "mbed.h"
OTL 0:7684b95768c7 2 #include <vector>
OTL 0:7684b95768c7 3 #include "Utils.h"
OTL 0:7684b95768c7 4 #include "hci.h"
OTL 0:7684b95768c7 5 #include "ftclasslibusbdevbt.h"
OTL 0:7684b95768c7 6
OTL 0:7684b95768c7 7 //extern HCI* gHCI;
OTL 0:7684b95768c7 8 class application;
OTL 0:7684b95768c7 9 extern application App;
OTL 0:7684b95768c7 10
OTL 0:7684b95768c7 11 void printf(const BD_ADDR* addr);
OTL 0:7684b95768c7 12
OTL 0:7684b95768c7 13 void ftdev::receive(int socket, SocketState state, const u8* data, int len) {
OTL 0:7684b95768c7 14 printf("ftdev::receive was called: socket %d, state=%d, length=%d\n", socket, state, len);
OTL 0:7684b95768c7 15 // unsigned char req[] = "\xdget_ser_num\xd";
OTL 0:7684b95768c7 16 unsigned char req[] = {0xbe, 0xef, 6, 0xfc, 0,0,0,0,0, 0xaf};
OTL 0:7684b95768c7 17 if (len==0) {
OTL 0:7684b95768c7 18 switch (state) {
OTL 0:7684b95768c7 19 case SocketState_Opening:
OTL 0:7684b95768c7 20 break;
OTL 0:7684b95768c7 21 case SocketState_Open:
OTL 0:7684b95768c7 22 printf("sending request \n%s\n", req);
OTL 0:7684b95768c7 23 Socket_Send(sock, req, sizeof(req));
OTL 0:7684b95768c7 24 break;
OTL 0:7684b95768c7 25 case SocketState_Closing:
OTL 0:7684b95768c7 26 case SocketState_Closed:
OTL 0:7684b95768c7 27 return;
OTL 0:7684b95768c7 28 }
OTL 0:7684b95768c7 29 } else {
OTL 0:7684b95768c7 30 //printHex(data, len);
OTL 0:7684b95768c7 31 parse(data, len);
OTL 0:7684b95768c7 32 if (state==SocketState_Open)
OTL 0:7684b95768c7 33 ;//Socket_Close(sock);//replace with ft primitive
OTL 0:7684b95768c7 34 }
OTL 0:7684b95768c7 35 }
OTL 0:7684b95768c7 36
OTL 0:7684b95768c7 37 unsigned short ftdev::chksum() {
OTL 0:7684b95768c7 38 unsigned short sum = (X1_len & 0xFF) + (X1_len >> 8);
OTL 0:7684b95768c7 39 for (int i = 0; i < X1_len; i++)
OTL 0:7684b95768c7 40 sum += X1_pkt[i];
OTL 0:7684b95768c7 41 return -sum;
OTL 0:7684b95768c7 42 }
OTL 0:7684b95768c7 43
OTL 0:7684b95768c7 44 void ftdev::parse (const unsigned char *buf, unsigned len) {
OTL 0:7684b95768c7 45 unsigned i = 0;
OTL 0:7684b95768c7 46 while (i < len) {
OTL 0:7684b95768c7 47 char c = buf[i++];
OTL 0:7684b95768c7 48 switch (parseState) {
OTL 0:7684b95768c7 49 case 0: //ascii state
OTL 0:7684b95768c7 50 if (c==2)
OTL 0:7684b95768c7 51 parseState = 1;
OTL 0:7684b95768c7 52 else
OTL 0:7684b95768c7 53 putc(c, stdout);
OTL 0:7684b95768c7 54 break;
OTL 0:7684b95768c7 55 case 1:
OTL 0:7684b95768c7 56 if (c==0x55)
OTL 0:7684b95768c7 57 parseState = 2;
OTL 0:7684b95768c7 58 else {
OTL 0:7684b95768c7 59 parseState = 0;
OTL 0:7684b95768c7 60 printf("expected 0x55 in X1 header, found %02X\n", c);
OTL 0:7684b95768c7 61 }
OTL 0:7684b95768c7 62 break;
OTL 0:7684b95768c7 63 case 2:
OTL 0:7684b95768c7 64 X1_len = c<<8;
OTL 0:7684b95768c7 65 parseState= 3;
OTL 0:7684b95768c7 66 break;
OTL 0:7684b95768c7 67 case 3:
OTL 0:7684b95768c7 68 X1_len += c;
OTL 0:7684b95768c7 69 parseState= 4;
OTL 0:7684b95768c7 70 X1_pkt = new unsigned char[X1_len];
OTL 0:7684b95768c7 71 X1_pos = 0;
OTL 0:7684b95768c7 72 break;
OTL 0:7684b95768c7 73 case 4:
OTL 0:7684b95768c7 74 if (X1_pos < X1_len) X1_pkt[X1_pos++] = c;
OTL 0:7684b95768c7 75 else parseState = 5;
OTL 0:7684b95768c7 76 break;
OTL 0:7684b95768c7 77 case 5:
OTL 0:7684b95768c7 78 X1_crc = c<<8;
OTL 0:7684b95768c7 79 parseState= 6;
OTL 0:7684b95768c7 80 break;
OTL 0:7684b95768c7 81 case 6:
OTL 0:7684b95768c7 82 X1_crc += c;
OTL 0:7684b95768c7 83 parseState= 7;
OTL 0:7684b95768c7 84 break;
OTL 0:7684b95768c7 85 case 7:
OTL 0:7684b95768c7 86 if (c == 3 && X1_crc == chksum()) {
OTL 0:7684b95768c7 87 //handlePkt();
OTL 0:7684b95768c7 88 printHex(X1_pkt, X1_len);
OTL 0:7684b95768c7 89 }else
OTL 0:7684b95768c7 90 printf("framing or checksum error, end char = %02X\n", c);
OTL 0:7684b95768c7 91
OTL 0:7684b95768c7 92 parseState = 0;
OTL 0:7684b95768c7 93 break;
OTL 0:7684b95768c7 94 }
OTL 0:7684b95768c7 95 }
OTL 0:7684b95768c7 96 }
OTL 0:7684b95768c7 97
OTL 0:7684b95768c7 98 vector<ftbtdev*> ft_devs;
OTL 0:7684b95768c7 99 ftdev _ftdev; //single instance, just for test
OTL 0:7684b95768c7 100
OTL 0:7684b95768c7 101 int GetNrOfFtBtDevices() {
OTL 0:7684b95768c7 102 return ft_devs.size();
OTL 0:7684b95768c7 103 }
OTL 0:7684b95768c7 104
OTL 0:7684b95768c7 105 unsigned InitFtBtDeviceList() {//assume inquiry has been done
OTL 0:7684b95768c7 106 static char FtDevClass[3] = {0x00, 0x1F, 0x82 };
OTL 0:7684b95768c7 107 BTDevice* devs[8];
OTL 0:7684b95768c7 108 int count = ((HCI*)&App)->GetDevices(devs,8);
OTL 0:7684b95768c7 109 int n = 0;
OTL 0:7684b95768c7 110 for (int i = 0; i < count; i++) {
OTL 0:7684b95768c7 111 if (memcmp(devs[i]->_info.dev_class, FtDevClass, 3)==0) {
OTL 0:7684b95768c7 112 ft_devs.push_back(new ftbtdev(&devs[i]->_info));
OTL 0:7684b95768c7 113 printf("%d: %s\n", n++, devs[i]->_name);
OTL 0:7684b95768c7 114 }
OTL 0:7684b95768c7 115 // printf("device %d (handle=%d) ", i, devs[i]->_handle);
OTL 0:7684b95768c7 116 // printfBytes("devclass: ", devs[i]->_info.dev_class, 3);
OTL 0:7684b95768c7 117 }
OTL 0:7684b95768c7 118 return n;
OTL 0:7684b95768c7 119 }
OTL 0:7684b95768c7 120
OTL 0:7684b95768c7 121 ftbtdev* GetFtUsbDeviceHandle(unsigned Num) {
OTL 0:7684b95768c7 122 if (Num < ft_devs.size()) {
OTL 0:7684b95768c7 123 return ft_devs[Num];
OTL 0:7684b95768c7 124 }
OTL 0:7684b95768c7 125 return 0;
OTL 0:7684b95768c7 126 }
OTL 0:7684b95768c7 127
OTL 0:7684b95768c7 128 unsigned OpenFtBtDevice(ftbtdev* d) {
OTL 0:7684b95768c7 129 BD_ADDR* bd = d->BtAddr();
OTL 0:7684b95768c7 130 printf("Connecting to ");
OTL 0:7684b95768c7 131 printf(bd);
OTL 0:7684b95768c7 132 printf("\n");
OTL 0:7684b95768c7 133 return _ftdev.Open(bd, 1); //TODO: everything can go wrong here
OTL 0:7684b95768c7 134 }