e_bluetooth.c | searchcode

/library/bluetooth/e_bluetooth.c

https://bitbucket.org/andyguest/chatter
C | 721 lines | 546 code | 73 blank | 102 comment | 66 complexity | 821c5422f7e669d7c2941a3047c2d181 MD5 | raw file

/********************************************************************************



			Bluetooth for e-puck

			Version 1.0 July 2006 Michael Bonani





This file is part of the e-puck library license.

See http://www.e-puck.org/index.php?option=com_content&task=view&id=18&Itemid=45



(c) 2006-2007 Michael Bonani



Robotics system laboratory http://lsro.epfl.ch

Laboratory of intelligent systems http://lis.epfl.ch

Swarm intelligent systems group http://swis.epfl.ch

EPFL Ecole polytechnique federale de Lausanne http://www.epfl.ch



**********************************************************************************/



/*! \file

 * \ingroup bluetooth

 * \brief Manage Bluetooth.

 *

 * This module manage the Bluetooth device.

 * \author Code: Michael Bonani \n Doc: Jonathan Besuchet

 */



/* Bluetooth.c */

#include "./../uart/e_uart_char.h"

#include "./../motor_led/e_epuck_ports.h"

#include "e_bluetooth.h"

#include "stdio.h"

#include "string.h"

#include "stdlib.h"



unsigned char e_bt_local_paired_device[6*8];

struct BtDevice e_bt_present_device[10];

struct BtEPuck e_bt_present_epuck[10];



char local_bt_PIN[4];





/*------ special e-puck fuction ------*/



/*! \brief Try to find other e-puck

*

* This function make global inguiry and check which device are e-puck, 

* and list them in globales tables.

* \return number of e-puck found

* \sa e_bt_present_device, e_bt_present_epuck

*/

int e_bt_find_epuck(void)

{

	int device_find, e_puck_find;

	int i,j;

	

	e_puck_find=0;

	device_find=e_bt_inquiry(e_bt_present_device);

	

	for (i=0;i<device_find;i++)

	{

		if((e_bt_present_device[i].class[0]==0)&(e_bt_present_device[i].class[1]==0)&(e_bt_present_device[i].class[2]==0)&(e_bt_present_device[i].address[5]==0x08))//marque of e-puck

		{

			e_bt_get_friendly_name(&e_bt_present_device[i]);

			if((e_bt_present_device[i].friendly_name[0]=='e')&(e_bt_present_device[i].friendly_name[1]=='-')&(e_bt_present_device[i].friendly_name[2]=='p'))

			{				

				for(j=0;j<4;j++)

				{

					e_bt_present_epuck[e_puck_find].address[j]=e_bt_present_device[i].address[j];//copy address

					e_bt_present_epuck[e_puck_find].number[j]=e_bt_present_device[i].friendly_name[j+7];//extract number(=pin)

				}

					e_bt_present_epuck[e_puck_find].number[4]='\0';//end with null

				for(j=4;j<6;j++)

					e_bt_present_epuck[e_puck_find].address[j]=e_bt_present_device[i].address[j];

				e_puck_find++;	

			}

		}

	}

	return e_puck_find;

}



/* \brief This function will connect to first e-puck found.

 * \return 0 if connect otherwise return error code

 */

char e_bt_connect_epuck(void)

{

	int e_puck_find;

	char error;

	

	e_bt_read_local_pin_number(local_bt_PIN);

	e_puck_find=e_bt_find_epuck();

	if(e_puck_find)

	{

		e_bt_write_local_pin_number(&e_bt_present_epuck[0].number[0]);

		error=e_bt_etablish_SPP_link(&e_bt_present_epuck[0].address[0]);

		e_bt_write_local_pin_number(local_bt_PIN);

		return error;

	}	

	else

		return 99; 

}





/*------ low level bluettoth fuction ------*/



/*! \brief Reset the bluetooth module

 * \return The version number

 */

int e_bt_reset(void)

{

	char send[7];

	char read[30];

	int i;

	char c;

	char version[5];

	

	send[0]=0x02; //send reset request

	send[1]=0x52;

	send[2]=0x26;

	send[3]=0x00;

	send[4]=0x00;

	send[5]=0x78;

	send[6]=0x03;

	e_send_uart1_char(send,7);

	

	i=0;

	c=0;

	

	 do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	

		for(i=0;i<read[6];i++)			//extract version

			version[i]=read[i+7];

		version[i]=	'\0';

	return atoi(version);

}



/*! \brief Factory reset of the bluetooth module

 * \warning use this function only if you are sure, your e-puck must

 * be restarted, and renamed!!!

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_factory_reset(void)

{

	char send[8];

	char read[10];

	int i;

	char c;

	

	send[0]=0x02;

	send[1]=0x52; 

	send[2]=0x1A;

	send[3]=0x00;

	send[4]=0x00;

	send[5]=0x6c;

	send[6]=0x03;//link number 1-30

	e_send_uart1_char(send,7);

	

	 i=0;

	 c=0;

		do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	return read[6];	//return error 0=no error	

}



/*! \brief Change to transparent mode

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_tranparent_mode(void)

{

	char send[8];

	char read[10];

	int i;

	char c;

	

	send[0]=0x02;

	send[1]=0x52; 

	send[2]=0x11;

	send[3]=0x01;

	send[4]=0x00;

	send[5]=0x64;

	send[6]=0x01;//link number 1-30

	send[7]=0x03;

	e_send_uart1_char(send,8);

	

	 i=0;

	 c=0;

		do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	return read[6];	//return error 0=no error	

}





/*! \brief Exit from the transparent mode */

void e_bt_exit_tranparent_mode(void)

{

	long i;

	U1MODEbits.UARTEN=0;//disable uart1

	_TRISF3=0;

	_LATF3=0;//uart 1 TX

	for(i=0;i<MILLISEC;i++);//wait at least 1ms

	_LATF3=1;//uart 1 TX

	_TRISF3=1;

	e_init_uart1();	

}



/*! \brief Read the PIN number of this e-puck's bluetooth module

 * \param PIN A pointer to store the PIN number

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_read_local_pin_number(char *PIN)

{

	char send[7];

	unsigned char read[30];

	int i;

	char c;

	

	send[0]=0x02; //send PIN request

	send[1]=0x52;

	send[2]=0x16;

	send[3]=0x00;

	send[4]=0x00;

	send[5]=0x68;

	send[6]=0x03;

	e_send_uart1_char(send,7);

	

	 i=0;

	 c=0;

	

	 do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	

		for(i=0;i<read[7];i++)			//extract PIN

			PIN[i]=read[i+8];

		PIN[i]=	'\0';

	return read[6];//return error 0=no error

}



/*! \brief Read the name of this e-puck's bluetooth module

 * \param name A pointer to store the name

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_read_local_name(char *name)

{

	char send[7];

	char read[40];

	int i;

	char c;

	

	send[0]=0x02; //send Name request

	send[1]=0x52; 

	send[2]=0x03;

	send[3]=0x00;

	send[4]=0x00;

	send[5]=0x55;

	send[6]=0x03;

	e_send_uart1_char(send,7);

	

	 i=0;

	 c=0;

	

	 do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	

		for(i=0;i<read[7];i++)			//extract Name

			name[i]=read[i+8];

	

	return read[6];//return error 0=no error

}



/*! \brief Write the PIN number on this e-puck's bluetooth module

 * \param PIN A pointer to store the PIN number

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_write_local_pin_number(char *PIN)

{

	char send[30];

	char read[10];

	int i;

	char c;

	int numberlenght;

	

	numberlenght=strlen(PIN);

	//send_uart2(PIN,numberlenght);

	send[0]=0x02; 

	send[1]=0x52;

	send[2]=0x17;

	send[3]=numberlenght+1;

	send[4]=0x00;

	send[5]=(send[1]+send[2]+send[3]);

	send[6]=numberlenght;

	for (i=0;i<numberlenght;i++)

		send[i+7]=PIN[i];

	send[7+numberlenght]=0x03;

	e_send_uart1_char(send,numberlenght+8);

	

	 i=0;

	 c=0;

	

	 do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	return read[6];//return error 0=no error

}



/*! \brief Write the name on this e-puck's bluetooth module

 * \param name A pointer to store the name

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_write_local_name(char *name)

{

	char send[40];

	char read[10];

	int i;

	char c;

	int namelenght;

	

	namelenght=strlen(name);

	namelenght++;//add null caracter

	//send_uart2(PIN,numberlenght);

	send[0]=0x02; //send PIN request

	send[1]=0x52;

	send[2]=0x04;

	send[3]=namelenght+1;

	send[4]=0x00;

	send[5]=(send[1]+send[2]+send[3]);

	send[6]=namelenght;

	for (i=0;i<namelenght;i++)

		send[i+7]=name[i];

	send[7+namelenght]=0x03;

	e_send_uart1_char(send,namelenght+8);

	

	 i=0;

	 c=0;

	

	 do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	return read[6];//return error 0=no error

}



/*! \brief Research all the accessible bluetooth devices

 * \param device A pointer to BtDevice to store all the caracteristics

 * of each devices found

 * \return the number of device found

 * \sa BtDevice, e_bt_present_device

 */

int e_bt_inquiry(struct BtDevice *device)

{

	char send[10];

	char read[50];

	int devicefound;

	int i,j;

	char c;

	

	send[0]=0x02; //send Name request

	send[1]=0x52; 

	send[2]=0x00;

	send[3]=0x03;

	send[4]=0x00;

	send[5]=0x55;

	send[6]=0x05;//0x01-0x30 time of inquiri in sec

	send[7]=0x0A;//number of maximu response 0=infinite

	send[8]=0x00;//mode

	send[9]=0x03;

	e_send_uart1_char(send,10);

	devicefound=0;

	 i=j=0;

	 c=0;

		do{

	 		i=0;

	 		do

	    	{

	      		if (e_getchar_uart1(&read[i]))		//read response

				{	

					c=read[i];

	     			i++;

				}	

	    	}

	   		while (((char)c != 0x03)||(i<(read[3]+6)));

	    	if(read[1]==0x69)

	    	{	for(i=0;i<6;i++)			//extract BTaddress

					device[devicefound].address[i]=read[i+6];

				for(i=0;i<3;i++)			//extract BTaddress

					device[devicefound].class[i]=read[i+12];

				devicefound++;	

			}

		}		

	    while((read[1]!=0x43)&(read[2]!=0x00));

	return devicefound;//return number of device found

}



/*! \brief To get the friendly name of a bluetooth device

 * \param device A pointer on the device that you want the name

 * \return bluetooth error if one occur, 0 otherwise

 * \sa BtDevice

 */

char e_bt_get_friendly_name(struct BtDevice *device)

{

	char send[13];

	char read[50];

	

	int i;

	char c;

	

	send[0]=0x02; //send Name request

	send[1]=0x52; 

	send[2]=0x02;

	send[3]=0x06;

	send[4]=0x00;

	send[5]=0x5a;

	send[6]=device[0].address[0];//address of device

	send[7]=device[0].address[1];

	send[8]=device[0].address[2];

	send[9]=device[0].address[3];

	send[10]=device[0].address[4];

	send[11]=device[0].address[5];

	send[12]=0x03;

	e_send_uart1_char(send,13);

	

	i=0;

	c=0;

	do

    {

    	if (e_getchar_uart1(&read[i]))		//read response

		{	

			c=read[i];

     		i++;

		}	

    }

    while (((char)c != 0x03)||(i<(read[3]+6)));

    read[i]='\0';



	if (read[6]==0)

		for(i=0;i<read[13];i++)			//extract Name

			device[0].friendly_name[i]=read[i+14];

	return read[6];	//return error 0=no error

}



/*! \brief Try to connect to another bluetooth device

 * \param address A pointer on the device address which you want

 * to connect

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_etablish_SPP_link(char *address)

{

	char send[15];

	char read[50];

	

	int i;

	char c;

	

	send[0]=0x02; //send Name request

	send[1]=0x52; 

	send[2]=0x0a;

	send[3]=0x08;

	send[4]=0x00;

	send[5]=0x64;

	send[6]=0x01;

	send[7]=address[0];//address of device

	send[8]=address[1];

	send[9]=address[2];

	send[10]=address[3];

	send[11]=address[4];

	send[12]=address[5];

	send[13]=0x01;

	send[14]=0x03;

	e_send_uart1_char(send,15);

	

	i=0;

	c=0;

	do{

 		i=0;

 		do

    	{

      		if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

     			i++;

			}	

    	}

   		while (((char)c != 0x03)||(i<(read[3]+6)));

	}		

	while((read[2]!=0x69)&(read[2]!=0x0B));//spp link etablished

	    

	return read[6];	//return rfcomm error 0=no error	

}



/*! \brief Unconnect from the current bluetooth device

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_release_SPP_link(void)

{

	char send[8];

	char read[10];

	int i;

	char c;

	

	send[0]=0x02;

	send[1]=0x52; 

	send[2]=0x0d;

	send[3]=0x01;

	send[4]=0x00;

	send[5]=0x60;

	send[6]=0x01;//link number 1-30

	send[7]=0x03;

	e_send_uart1_char(send,8);

	

	 i=0;

	 c=0;

	do

    {

      if (e_getchar_uart1(&read[i]))		//read response

		{	

			c=read[i];

     		i++;

		}	

    }

    while (((char)c != 0x03)||(i<(read[3]+6)));

    read[i]='\0';

	if((read[2]==0x0d)&(read[6]!=0x00))//control confirm request (in case no link etablished)

		return read[6];	//return error 0=no error

		

		

	do{

 		i=0;

 		do

    	{

      		if (e_getchar_uart1(&read[i]))//read response

			{	

				c=read[i];

     			i++;

			}	

    	}

   		while (((char)c != 0x03)||(i<(read[3]+6)));

	}		

	while((read[1]!=0x69)&(read[2]!=0x051));//spp link released

	    

	return read[6];	//return rfcomm error 0=no error	

}



/*! \brief Send data to the current bluetooth device

 * \warning send maximum 127 bytes if you are in non transparent mode

 * \param data The datas to send

 * \param datalength The length of the datas to send

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_send_SPP_data(char *data, char datalength)

{

	char send[120];

	char read[10];

	int i;

	char c;

	

	//send_uart2(PIN,numberlenght);

	send[0]=0x02; //send PIN request

	send[1]=0x52;

	send[2]=0x0F;

	send[3]=datalength+3;

	send[4]=0x00;

	send[5]=(send[1]+send[2]+send[3]);

	send[6]=0x01;//local port

	send[7]=datalength;

	send[8]=0x00;

	for (i=0;i<datalength;i++)

		send[i+9]=data[i];

	send[9+datalength]=0x03;

	e_send_uart1_char(send,datalength+10);

	

	 i=0;

	 c=0;

	

	 do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	return read[6];//return error 0=no error

}



/*! \brief Make a list of the bluetooth address of paired device

 * \return The number of device found

 * \sa e_bt_local_paired_device

 */

char e_bt_list_local_paired_device(void)

{

	char send[7];

	char read[(8*6)+10];

	int devicefound;

	int i;

	char c;

	

	send[0]=0x02; 

	send[1]=0x52; 

	send[2]=0x1c;

	send[3]=0x00;

	send[4]=0x00;

	send[5]=0x6e;

	send[6]=0x03;

	e_send_uart1_char(send,7);

	devicefound=0;

	 i=0;

	 c=0;

		do

	   	{

	     	if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	    			i++;

			}	

	   	}

	  	while (((char)c != 0x03)||(i<(read[3]+6)));

	   	devicefound=read[7];

	   	if(devicefound!=0)

	   	{

		   	for(i=0;i<6*devicefound;i++)			//extract BTaddress

				e_bt_local_paired_device[i]=read[i+8];

		}

	

	return devicefound;//return number of device found

}



/*! \brief Remove a paired bluetooth device

 * \param j The number of the paired device to remove from the

 * e_bt_local_paired_device array.

 * \return bluetooth error if one occur, 0 otherwise

 */

char e_bt_remove_local_paired_device(int j)

{

	char send[13];

	char read[10];

	int i;

	char c;

	

	send[0]=0x02; //send Name request

	send[1]=0x52; 

	send[2]=0x1b;

	send[3]=0x06;

	send[4]=0x00;

	send[5]=0x73;

	send[6]=e_bt_local_paired_device[0+j*6];//address of device

	send[7]=e_bt_local_paired_device[1+j*6];

	send[8]=e_bt_local_paired_device[2+j*6];

	send[9]=e_bt_local_paired_device[3+j*6];

	send[10]=e_bt_local_paired_device[4+j*6];

	send[11]=e_bt_local_paired_device[5+j*6];

	send[12]=0x03;

	e_send_uart1_char(send,13);

	

	 i=0;

	 c=0;

		do

	    {

	      if (e_getchar_uart1(&read[i]))		//read response

			{	

				c=read[i];

	     		i++;

			}	

	    }

	    while (((char)c != 0x03)||(i<(read[3]+6)));

	    read[i]='\0';

	return read[6];	//return error 0=no error

}