/ Mbed 2 deprecated Peripheral_1_serial_copy

1154

Dependencies:   BLE_API Peripheral_1 mbed nRF51822

Fork of Peripheral_1_serial by -deleted-

main.cpp@3:3f4aa38b0fb7, 2015-10-01 (annotated)

Committer:
ssenwkdw
Date:
Thu Oct 01 17:33:32 2015 +0000
Revision:
3:3f4aa38b0fb7
Parent:
1:c227f3064399 
aa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DDUdui 0:482d3fcc94f4 1 /* mbed Microcontroller Library
DDUdui 0:482d3fcc94f4 2 * Copyright (c) 2006-2015 ARM Limited
DDUdui 0:482d3fcc94f4 3 *
DDUdui 0:482d3fcc94f4 4 * Licensed under the Apache License, Version 2.0 (the "License");
DDUdui 0:482d3fcc94f4 5 * you may not use this file except in compliance with the License.
DDUdui 0:482d3fcc94f4 6 * You may obtain a copy of the License at
DDUdui 0:482d3fcc94f4 7 *
DDUdui 0:482d3fcc94f4 8 * http://www.apache.org/licenses/LICENSE-2.0
DDUdui 0:482d3fcc94f4 9 *
DDUdui 0:482d3fcc94f4 10 * Unless required by applicable law or agreed to in writing, software
DDUdui 0:482d3fcc94f4 11 * distributed under the License is distributed on an "AS IS" BASIS,
DDUdui 0:482d3fcc94f4 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
DDUdui 0:482d3fcc94f4 13 * See the License for the specific language governing permissions and
DDUdui 0:482d3fcc94f4 14 * limitations under the License.
DDUdui 0:482d3fcc94f4 15 */
DDUdui 0:482d3fcc94f4 16
DDUdui 0:482d3fcc94f4 17 #include "mbed.h"
DDUdui 0:482d3fcc94f4 18 #include "ble/BLE.h"
DDUdui 0:482d3fcc94f4 19 #include "ble/DiscoveredCharacteristic.h"
DDUdui 0:482d3fcc94f4 20 #include "ble/DiscoveredService.h"
ssenwkdw 1:c227f3064399 21
DDUdui 0:482d3fcc94f4 22 BLE ble;
ssenwkdw 1:c227f3064399 23 DigitalOut led(P0_19,1);
ssenwkdw 1:c227f3064399 24 DigitalOut myled(P0_8);
ssenwkdw 1:c227f3064399 25 DigitalOut neo(P0_6,1);
ssenwkdw 1:c227f3064399 26 DigitalOut pin4(P0_4);
ssenwkdw 1:c227f3064399 27 DigitalOut pin5(P0_5);
ssenwkdw 1:c227f3064399 28 DigitalOut pin15(P0_15);
ssenwkdw 1:c227f3064399 29 DigitalOut pin29(P0_29);
ssenwkdw 1:c227f3064399 30
ssenwkdw 1:c227f3064399 31 static const unsigned NUM_ROBOTS = 8;
ssenwkdw 1:c227f3064399 32 static const unsigned ADDR_LEN = 6;
ssenwkdw 1:c227f3064399 33
ssenwkdw 1:c227f3064399 34 uint16_t customServiceUUID = 0xA000;
ssenwkdw 1:c227f3064399 35 uint16_t readwriteCharUUID = 0xA001;
ssenwkdw 1:c227f3064399 36 static const uint16_t secure_code[] = {0xABCD};
ssenwkdw 1:c227f3064399 37
ssenwkdw 1:c227f3064399 38 uint8_t info[NUM_ROBOTS]= {0};
ssenwkdw 1:c227f3064399 39
ssenwkdw 1:c227f3064399 40 ReadWriteArrayGattCharacteristic<uint8_t, NUM_ROBOTS> readwriteChar(readwriteCharUUID, info, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE);
ssenwkdw 1:c227f3064399 41
ssenwkdw 1:c227f3064399 42 //GattCharacteristic readwriteChar (readwriteCharUUID, info, NUM_ROBOTS, NUM_ROBOTS, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE);
ssenwkdw 1:c227f3064399 43
ssenwkdw 1:c227f3064399 44 GattCharacteristic *characteristics[] = {&readwriteChar};
ssenwkdw 1:c227f3064399 45
ssenwkdw 1:c227f3064399 46 GattService customService(customServiceUUID, characteristics, sizeof(characteristics) / sizeof(GattCharacteristic *));
ssenwkdw 1:c227f3064399 47
ssenwkdw 1:c227f3064399 48 bool triggerLedCharacteristic = false;
ssenwkdw 1:c227f3064399 49 DiscoveredCharacteristic characteristics_discovered;
DDUdui 0:482d3fcc94f4 50
ssenwkdw 1:c227f3064399 51 int8_t temp;
ssenwkdw 1:c227f3064399 52 uint8_t pt_addr = 0;
ssenwkdw 1:c227f3064399 53 uint8_t list_addr[NUM_ROBOTS][ADDR_LEN+NUM_ROBOTS]= {0,};
ssenwkdw 1:c227f3064399 54 int8_t list_rssi[NUM_ROBOTS];
ssenwkdw 1:c227f3064399 55 uint8_t initial_list_addr[NUM_ROBOTS][ADDR_LEN + 1]= {0,};
ssenwkdw 1:c227f3064399 56 // 1st Device, 2nd device has '10(2)' information
ssenwkdw 1:c227f3064399 57 uint8_t info_t[NUM_ROBOTS]= {0,};
ssenwkdw 1:c227f3064399 58 uint8_t point;
ssenwkdw 1:c227f3064399 59
ssenwkdw 1:c227f3064399 60 void RGB_Show(uint8_t r, uint8_t g, uint8_t b)
ssenwkdw 1:c227f3064399 61 {
ssenwkdw 1:c227f3064399 62 uint8_t rgb[3] = {g, r, b};
ssenwkdw 1:c227f3064399 63 uint8_t *p = rgb;
ssenwkdw 1:c227f3064399 64 uint8_t *end = p + 3;
ssenwkdw 1:c227f3064399 65 while (p < end) {
ssenwkdw 1:c227f3064399 66 uint8_t pix = *p++;
ssenwkdw 1:c227f3064399 67 for (uint8_t mask = 0x80; mask; mask >>= 1) {
ssenwkdw 1:c227f3064399 68 if (pix & mask) {
ssenwkdw 1:c227f3064399 69 // T1H 760ns
ssenwkdw 1:c227f3064399 70 NRF_GPIO->OUTSET = (1UL << 8);
ssenwkdw 1:c227f3064399 71 NRF_GPIO->OUTSET = (1UL << 8);
ssenwkdw 1:c227f3064399 72 NRF_GPIO->OUTSET = (1UL << 8);
ssenwkdw 1:c227f3064399 73 // T1L 660ns
ssenwkdw 1:c227f3064399 74 NRF_GPIO->OUTCLR = (1UL << 8);
ssenwkdw 1:c227f3064399 75 } else {
ssenwkdw 1:c227f3064399 76 // T0H 380ns
ssenwkdw 1:c227f3064399 77 NRF_GPIO->OUTSET = (1UL << 8);
ssenwkdw 1:c227f3064399 78 // T0L 840ns
ssenwkdw 1:c227f3064399 79 NRF_GPIO->OUTCLR = (1UL << 8);
ssenwkdw 1:c227f3064399 80 NRF_GPIO->OUTCLR = (1UL << 8);
ssenwkdw 1:c227f3064399 81 NRF_GPIO->OUTCLR = (1UL << 8);
ssenwkdw 1:c227f3064399 82 NRF_GPIO->OUTCLR = (1UL << 8);
ssenwkdw 1:c227f3064399 83 }
ssenwkdw 1:c227f3064399 84 }
ssenwkdw 1:c227f3064399 85 }
ssenwkdw 1:c227f3064399 86 NRF_GPIO->OUTCLR = (1UL << 8);
ssenwkdw 1:c227f3064399 87 wait_us(100);
ssenwkdw 1:c227f3064399 88 }
DDUdui 0:482d3fcc94f4 89
DDUdui 0:482d3fcc94f4 90 void periodicCallback(void)
DDUdui 0:482d3fcc94f4 91 {
ssenwkdw 1:c227f3064399 92 led=!led;
ssenwkdw 1:c227f3064399 93 point = 0;
ssenwkdw 1:c227f3064399 94 for(int i=0; i<NUM_ROBOTS; i++) {
ssenwkdw 1:c227f3064399 95 point+=info[i];
ssenwkdw 1:c227f3064399 96 }
ssenwkdw 1:c227f3064399 97 if(point==0) {
ssenwkdw 1:c227f3064399 98 RGB_Show(0x00,0x00,0xff);
ssenwkdw 1:c227f3064399 99 } else if(point==1) {
ssenwkdw 1:c227f3064399 100 RGB_Show(0xff,0xff,0xff);
ssenwkdw 1:c227f3064399 101 } else if(point==2) {
ssenwkdw 1:c227f3064399 102 RGB_Show(0x00,0xff,0x00);
ssenwkdw 1:c227f3064399 103 } else if(point==3) {
ssenwkdw 1:c227f3064399 104 RGB_Show(0x00,0xff,0xff);
ssenwkdw 1:c227f3064399 105 } else if(point==4) {
ssenwkdw 1:c227f3064399 106 RGB_Show(0xff,0x00,0x00);
ssenwkdw 1:c227f3064399 107 } else if(point==5) {
ssenwkdw 1:c227f3064399 108 RGB_Show(0xff,0x00,0xff);
ssenwkdw 1:c227f3064399 109 } else if(point==6) {
ssenwkdw 1:c227f3064399 110 RGB_Show(0xff,0xff,0x00);
ssenwkdw 1:c227f3064399 111 } else if(point==7) {
ssenwkdw 1:c227f3064399 112 RGB_Show(0xff,0xff,0xff);
ssenwkdw 1:c227f3064399 113 } else if(point==8) {
ssenwkdw 1:c227f3064399 114 RGB_Show(0x00,0x00,0xff);
ssenwkdw 1:c227f3064399 115 }
DDUdui 0:482d3fcc94f4 116 }
DDUdui 0:482d3fcc94f4 117
ssenwkdw 1:c227f3064399 118 void initialSetup(const Gap::AdvertisementCallbackParams_t *params)
ssenwkdw 1:c227f3064399 119 {
ssenwkdw 1:c227f3064399 120 if ( params->advertisingData[1] == 0xAF ) {
ssenwkdw 1:c227f3064399 121 for(int i = 0; i < NUM_ROBOTS; i++) {
ssenwkdw 1:c227f3064399 122 if(initial_list_addr[i][5] == params->peerAddr[5]
ssenwkdw 1:c227f3064399 123 && initial_list_addr[i][4] == params->peerAddr[4]
ssenwkdw 1:c227f3064399 124 && initial_list_addr[i][3] == params->peerAddr[3]
ssenwkdw 1:c227f3064399 125 && initial_list_addr[i][2] == params->peerAddr[2]
ssenwkdw 1:c227f3064399 126 && initial_list_addr[i][1] == params->peerAddr[1]
ssenwkdw 1:c227f3064399 127 && initial_list_addr[i][0] == params->peerAddr[0]) {
ssenwkdw 1:c227f3064399 128 break;
ssenwkdw 1:c227f3064399 129 }
ssenwkdw 1:c227f3064399 130 if(initial_list_addr[i][5] == 0 && initial_list_addr[i][4] == 0
ssenwkdw 1:c227f3064399 131 && initial_list_addr[i][3] == 0 && initial_list_addr[i][2] == 0
ssenwkdw 1:c227f3064399 132 && initial_list_addr[i][1] == 0 && initial_list_addr[i][0] == 0) {
ssenwkdw 1:c227f3064399 133 initial_list_addr[i][5] = params->peerAddr[5];
ssenwkdw 1:c227f3064399 134 initial_list_addr[i][4] = params->peerAddr[4];
ssenwkdw 1:c227f3064399 135 initial_list_addr[i][3] = params->peerAddr[3];
ssenwkdw 1:c227f3064399 136 initial_list_addr[i][2] = params->peerAddr[2];
ssenwkdw 1:c227f3064399 137 initial_list_addr[i][1] = params->peerAddr[1];
ssenwkdw 1:c227f3064399 138 initial_list_addr[i][0] = params->peerAddr[0];
DDUdui 0:482d3fcc94f4 139
ssenwkdw 1:c227f3064399 140 initial_list_addr[i][6] = 1;
ssenwkdw 1:c227f3064399 141 break;
ssenwkdw 1:c227f3064399 142 }
ssenwkdw 1:c227f3064399 143 }
ssenwkdw 1:c227f3064399 144 printf("initialsetup\r\n");
ssenwkdw 1:c227f3064399 145 printf("adv peerAddr[%02x %02x %02x %02x %02x %02x] rssi %d, isScanResponse %u, AdvertisementType %u, %0x %0x\r\n",
ssenwkdw 1:c227f3064399 146 params->peerAddr[5], params->peerAddr[4], params->peerAddr[3], params->peerAddr[2], params->peerAddr[1], params->peerAddr[0],
ssenwkdw 1:c227f3064399 147 params->rssi, params->isScanResponse, params->type, params->advertisingData[1], params->advertisingData[0]);
DDUdui 0:482d3fcc94f4 148 }
DDUdui 0:482d3fcc94f4 149 }
DDUdui 0:482d3fcc94f4 150
ssenwkdw 1:c227f3064399 151 void advertisementCallback(const Gap::AdvertisementCallbackParams_t *params)
ssenwkdw 1:c227f3064399 152 {
ssenwkdw 1:c227f3064399 153 if ( params->rssi > -50 && params->advertisingData[1] == 0xAF ) {
ssenwkdw 1:c227f3064399 154 printf("adv peerAddr[%02x %02x %02x %02x %02x %02x] rssi %d, isScanResponse %u, AdvertisementType %u, %0x %0x %0x\r\n",
ssenwkdw 1:c227f3064399 155 params->peerAddr[5], params->peerAddr[4], params->peerAddr[3], params->peerAddr[2], params->peerAddr[1], params->peerAddr[0],
ssenwkdw 1:c227f3064399 156 params->rssi, params->isScanResponse, params->type, params->advertisingData[3], params->advertisingData[2], params->advertisingData[1]);
ssenwkdw 1:c227f3064399 157
ssenwkdw 1:c227f3064399 158 ble.gap().connect(params->peerAddr, Gap::ADDR_TYPE_RANDOM_STATIC, NULL, NULL);
ssenwkdw 1:c227f3064399 159 }
ssenwkdw 1:c227f3064399 160 else{
ssenwkdw 1:c227f3064399 161 printf("adv peerAddr[%02x %02x %02x %02x %02x %02x] rssi %d, isScanResponse %u, AdvertisementType %u, %0x %0x %0x\r\n",
ssenwkdw 1:c227f3064399 162 params->peerAddr[5], params->peerAddr[4], params->peerAddr[3], params->peerAddr[2], params->peerAddr[1], params->peerAddr[0],
ssenwkdw 1:c227f3064399 163 params->rssi, params->isScanResponse, params->type, params->advertisingData[3], params->advertisingData[2], params->advertisingData[1]);
ssenwkdw 1:c227f3064399 164 }
ssenwkdw 1:c227f3064399 165 /*
ssenwkdw 1:c227f3064399 166 int i;
ssenwkdw 1:c227f3064399 167
ssenwkdw 1:c227f3064399 168 for(i = 0; i < NUM_ROBOTS; i++) {
ssenwkdw 1:c227f3064399 169 if(list_addr[i][5] == params->peerAddr[5] && list_addr[i][4] == params->peerAddr[4] && list_addr[i][3] == params->peerAddr[3]
ssenwkdw 1:c227f3064399 170 && list_addr[i][2] == params->peerAddr[2] && list_addr[i][1] == params->peerAddr[1] && list_addr[i][0] == params->peerAddr[0]) {
ssenwkdw 1:c227f3064399 171 list_rssi[i] = params->rssi;
ssenwkdw 1:c227f3064399 172 break;
DDUdui 0:482d3fcc94f4 173 }
ssenwkdw 1:c227f3064399 174 if(list_addr[i][5] == 0 && list_addr[i][4] == 0 && list_addr[i][3] == 0 && list_addr[i][2] == 0 && list_addr[i][1] == 0 && list_addr[i][0] == 0) {
ssenwkdw 1:c227f3064399 175 list_addr[i][5] = params->peerAddr[5];
ssenwkdw 1:c227f3064399 176 list_addr[i][4] = params->peerAddr[4];
ssenwkdw 1:c227f3064399 177 list_addr[i][3] = params->peerAddr[3];
ssenwkdw 1:c227f3064399 178 list_addr[i][2] = params->peerAddr[2];
ssenwkdw 1:c227f3064399 179 list_addr[i][1] = params->peerAddr[1];
ssenwkdw 1:c227f3064399 180 list_addr[i][0] = params->peerAddr[0];
ssenwkdw 1:c227f3064399 181
ssenwkdw 1:c227f3064399 182 list_addr[i][6] = params->advertisingData[0];
ssenwkdw 1:c227f3064399 183
ssenwkdw 1:c227f3064399 184 list_rssi[i] = params->rssi;
ssenwkdw 1:c227f3064399 185
ssenwkdw 1:c227f3064399 186 if ( i==NUM_ROBOTS-1 ) {
ssenwkdw 1:c227f3064399 187 for(unsigned j=0; j<NUM_ROBOTS; j++) {
ssenwkdw 1:c227f3064399 188 for(unsigned k=j ; k<NUM_ROBOTS ; k++) {
ssenwkdw 1:c227f3064399 189 if(list_rssi[j] < list_rssi[k]) {
ssenwkdw 1:c227f3064399 190 temp = list_rssi[j];
ssenwkdw 1:c227f3064399 191 list_rssi[j] = list_rssi[k];
ssenwkdw 1:c227f3064399 192 list_rssi[k] = temp;
ssenwkdw 1:c227f3064399 193 for(unsigned l = 0; l < 6 ; l++) {
ssenwkdw 1:c227f3064399 194 temp = list_addr[j][l];
ssenwkdw 1:c227f3064399 195 list_addr[j][l] = list_addr[k][l];
ssenwkdw 1:c227f3064399 196 list_addr[k][l] = temp;
ssenwkdw 1:c227f3064399 197 }
ssenwkdw 1:c227f3064399 198 }
ssenwkdw 1:c227f3064399 199 }
ssenwkdw 1:c227f3064399 200 }
ssenwkdw 1:c227f3064399 201 break;
ssenwkdw 1:c227f3064399 202 }
ssenwkdw 1:c227f3064399 203 }
ssenwkdw 1:c227f3064399 204
ssenwkdw 1:c227f3064399 205 if( i == NUM_ROBOTS-1 ) {
ssenwkdw 1:c227f3064399 206 if( i == 2 ) {
ssenwkdw 1:c227f3064399 207 ble.gap().stopScan();
ssenwkdw 1:c227f3064399 208 ble.gap().connect(list_addr[0], Gap::ADDR_TYPE_RANDOM_STATIC, NULL, NULL);
ssenwkdw 1:c227f3064399 209 }
ssenwkdw 1:c227f3064399 210 }
ssenwkdw 1:c227f3064399 211 }
ssenwkdw 1:c227f3064399 212 */
ssenwkdw 1:c227f3064399 213 }
ssenwkdw 1:c227f3064399 214
ssenwkdw 1:c227f3064399 215 void serviceDiscoveryCallback(const DiscoveredService *service)
ssenwkdw 1:c227f3064399 216 {
ssenwkdw 1:c227f3064399 217 }
ssenwkdw 1:c227f3064399 218
ssenwkdw 1:c227f3064399 219 void characteristicDiscoveryCallback(const DiscoveredCharacteristic *characteristicP)
ssenwkdw 1:c227f3064399 220 {
ssenwkdw 1:c227f3064399 221 if (characteristicP->getUUID() == 0xA001) { /* !ALERT! Alter this filter to suit your device. */
ssenwkdw 1:c227f3064399 222 characteristics_discovered = *characteristicP;
ssenwkdw 1:c227f3064399 223 printf("characteristic discovered\r\t\n");
ssenwkdw 1:c227f3064399 224 characteristics_discovered.read();
DDUdui 0:482d3fcc94f4 225 }
DDUdui 0:482d3fcc94f4 226 }
ssenwkdw 1:c227f3064399 227
ssenwkdw 1:c227f3064399 228 void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
ssenwkdw 1:c227f3064399 229 {
ssenwkdw 1:c227f3064399 230 printf("connected\r\n");
ssenwkdw 1:c227f3064399 231 ble.gap().stopAdvertising();
ssenwkdw 1:c227f3064399 232 ble.gap().stopScan();
ssenwkdw 1:c227f3064399 233 if (params->role == Gap::CENTRAL) {
ssenwkdw 1:c227f3064399 234 printf("CENTRAL\r\n");
ssenwkdw 1:c227f3064399 235 ble.gattClient().launchServiceDiscovery(params->handle, serviceDiscoveryCallback, characteristicDiscoveryCallback, 0xA000, 0xA001);
ssenwkdw 1:c227f3064399 236 } else {
ssenwkdw 1:c227f3064399 237 printf("PERIPHERAL\r\n");
ssenwkdw 1:c227f3064399 238 }
DDUdui 0:482d3fcc94f4 239 }
ssenwkdw 1:c227f3064399 240
ssenwkdw 1:c227f3064399 241 void triggerToggledWrite(const GattReadCallbackParams *response)
ssenwkdw 1:c227f3064399 242 {
ssenwkdw 1:c227f3064399 243 if (response->handle == characteristics_discovered.getValueHandle()) {
ssenwkdw 1:c227f3064399 244 for(int i=0; i < NUM_ROBOTS; i++) {
ssenwkdw 1:c227f3064399 245 info_t[i] = info[i] || response->data[i];
ssenwkdw 1:c227f3064399 246 info[i] = info_t[i];
ssenwkdw 1:c227f3064399 247 }
ssenwkdw 1:c227f3064399 248 characteristics_discovered.write(NUM_ROBOTS, info);
DDUdui 0:482d3fcc94f4 249 }
ssenwkdw 1:c227f3064399 250 }
ssenwkdw 1:c227f3064399 251
ssenwkdw 1:c227f3064399 252 void onDataWriteCallback(const GattWriteCallbackParams *params)
ssenwkdw 1:c227f3064399 253 {
ssenwkdw 1:c227f3064399 254 characteristics_discovered.read();
DDUdui 0:482d3fcc94f4 255 }
ssenwkdw 1:c227f3064399 256
ssenwkdw 1:c227f3064399 257 void onDataWrittenCallback(const GattWriteCallbackParams *params)
ssenwkdw 1:c227f3064399 258 {
ssenwkdw 1:c227f3064399 259 for(int i=0; i<NUM_ROBOTS; i++) {
ssenwkdw 1:c227f3064399 260 info[i] = params->data[i];
ssenwkdw 1:c227f3064399 261 }
ssenwkdw 1:c227f3064399 262 printf("data is written well\r\n");
ssenwkdw 1:c227f3064399 263
ssenwkdw 1:c227f3064399 264 ble.gap().disconnect(params->connHandle,Gap::REMOTE_USER_TERMINATED_CONNECTION);
ssenwkdw 1:c227f3064399 265 }
ssenwkdw 1:c227f3064399 266
DDUdui 0:482d3fcc94f4 267 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
DDUdui 0:482d3fcc94f4 268 {
ssenwkdw 1:c227f3064399 269 printf("disconnected\r\n");
ssenwkdw 1:c227f3064399 270
ssenwkdw 1:c227f3064399 271 for(int i=0; i<NUM_ROBOTS; i++) {
ssenwkdw 1:c227f3064399 272 printf(" %u", info[i]);
ssenwkdw 1:c227f3064399 273 }
ssenwkdw 1:c227f3064399 274 printf("\r\n");
ssenwkdw 1:c227f3064399 275
ssenwkdw 1:c227f3064399 276 ble.gap().startAdvertising();
ssenwkdw 1:c227f3064399 277 ble.gap().startScan(advertisementCallback);
DDUdui 0:482d3fcc94f4 278 }
ssenwkdw 1:c227f3064399 279
DDUdui 0:482d3fcc94f4 280
DDUdui 0:482d3fcc94f4 281 int main(void)
DDUdui 0:482d3fcc94f4 282 {
DDUdui 0:482d3fcc94f4 283 Ticker ticker;
ssenwkdw 1:c227f3064399 284 ticker.attach(periodicCallback, 0.5);
ssenwkdw 1:c227f3064399 285
ssenwkdw 1:c227f3064399 286 int num = 0;
ssenwkdw 1:c227f3064399 287
ssenwkdw 1:c227f3064399 288 ble.init();
ssenwkdw 1:c227f3064399 289 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_SCANNABLE_UNDIRECTED);
ssenwkdw 1:c227f3064399 290 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
ssenwkdw 3:3f4aa38b0fb7 291 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::RABOT_REDBEAR_BLE_NANO, (uint8_t *)secure_code, sizeof(secure_code));
ssenwkdw 3:3f4aa38b0fb7 292 ble.setAdvertisingType(GapAdvertisingParams::ADV_SCANNABLE_UNDIRECTED);
ssenwkdw 1:c227f3064399 293 ble.gap().setAdvertisingInterval(32);
ssenwkdw 1:c227f3064399 294 ble.gap().startAdvertising();
ssenwkdw 1:c227f3064399 295
ssenwkdw 1:c227f3064399 296 ble.gap().setScanParams(1014 , 884);
ssenwkdw 1:c227f3064399 297 ble.gap().startScan(initialSetup);
ssenwkdw 1:c227f3064399 298
ssenwkdw 1:c227f3064399 299 wait(5);
ssenwkdw 1:c227f3064399 300
ssenwkdw 1:c227f3064399 301 ble.gap().stopAdvertising();
ssenwkdw 1:c227f3064399 302 ble.gap().stopScan();
ssenwkdw 1:c227f3064399 303
ssenwkdw 1:c227f3064399 304 ble.gap().clearAdvertisingPayload();
ssenwkdw 1:c227f3064399 305
ssenwkdw 1:c227f3064399 306 for(int i = 0; i< NUM_ROBOTS; i++) {
ssenwkdw 1:c227f3064399 307 num += initial_list_addr[i][6];
ssenwkdw 1:c227f3064399 308 }
ssenwkdw 1:c227f3064399 309 info[num] = 1;
ssenwkdw 1:c227f3064399 310
ssenwkdw 1:c227f3064399 311 printf("initial setting is done\r\n");
ssenwkdw 1:c227f3064399 312
ssenwkdw 1:c227f3064399 313 printf("initial info : ");
ssenwkdw 1:c227f3064399 314 for(int i=0; i<NUM_ROBOTS; i++) {
ssenwkdw 1:c227f3064399 315 printf("%u \t",info[i]);
ssenwkdw 1:c227f3064399 316 }
ssenwkdw 1:c227f3064399 317 printf("\r\n");
ssenwkdw 1:c227f3064399 318
ssenwkdw 1:c227f3064399 319
ssenwkdw 1:c227f3064399 320 //advertising for real experiment
ssenwkdw 1:c227f3064399 321 printf("communication for connection is started\r\n");
ssenwkdw 1:c227f3064399 322
ssenwkdw 3:3f4aa38b0fb7 323 ble.gap().onConnection(connectionCallback);
ssenwkdw 3:3f4aa38b0fb7 324 ble.gap().onDisconnection(disconnectionCallback);
DDUdui 0:482d3fcc94f4 325
ssenwkdw 1:c227f3064399 326 ble.gattClient().onDataRead(triggerToggledWrite);
ssenwkdw 1:c227f3064399 327 ble.gattClient().onDataWrite(onDataWriteCallback);
ssenwkdw 1:c227f3064399 328 ble.gattServer().onDataWritten(onDataWrittenCallback);
DDUdui 0:482d3fcc94f4 329 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
ssenwkdw 3:3f4aa38b0fb7 330 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::RABOT_REDBEAR_BLE_NANO, (uint8_t *)secure_code, sizeof(secure_code));
ssenwkdw 1:c227f3064399 331 ble.gap().setAdvertisingInterval(29);
ssenwkdw 1:c227f3064399 332
ssenwkdw 1:c227f3064399 333 ble.addService(customService);
DDUdui 0:482d3fcc94f4 334 ble.gap().startAdvertising();
ssenwkdw 1:c227f3064399 335 ble.gap().setScanParams(190 /* scan interval */, 181 /* scan window */);
ssenwkdw 1:c227f3064399 336 ble.gap().startScan(advertisementCallback);
DDUdui 0:482d3fcc94f4 337
DDUdui 0:482d3fcc94f4 338 while (true) {
DDUdui 0:482d3fcc94f4 339 ble.waitForEvent();
DDUdui 0:482d3fcc94f4 340 }
ssenwkdw 1:c227f3064399 341 }