/*
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* Licensed to the Apache Software Foundation (ASF) under one
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* or more contributor license agreements. See the NOTICE file
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* distributed with this work for additional information
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* regarding copyright ownership. The ASF licenses this file
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* to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance
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* with the License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing,
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* software distributed under the License is distributed on an
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* "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
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* KIND, either express or implied. See the License for the
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* specific language governing permissions and limitations
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* under the License.
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*/
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#include <assert.h>
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#include <string.h>
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/* BLE */
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#include "nimble/ble.h"
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#include "host/ble_hs.h"
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#include "host/util/util.h"
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#include "image_map_config.h"
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/* Mandatory services. */
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#include "services/gap/ble_svc_gap.h"
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#include "services/gatt/ble_svc_gatt.h"
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#include "nimble/nimble_port.h"
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#include "nimble/nimble_port_freertos.h"
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#include "nimble/ble.h"
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#ifdef NIMBLE_SPARK_SUP
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#include "nimble/pan107x/nimble_glue_spark.h"
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#else
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#include "nimble/pan107x/nimble_glue.h"
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#endif
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/* Application-specified header. */
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#include "blecent.h"
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void ble_store_config_init(void);
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static int blecent_gap_event(struct ble_gap_event *event, void *arg);
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/**
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* Application callback. Called when the read of the ANS Supported New Alert
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* Category characteristic has completed.
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*/
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static int
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blecent_on_read(uint16_t conn_handle,
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const struct ble_gatt_error *error,
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struct ble_gatt_attr *attr,
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void *arg)
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{
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printf("Read complete; status=%d conn_handle=%d", error->status,
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conn_handle);
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if (error->status == 0) {
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printf(" attr_handle=%d value=", attr->handle);
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print_mbuf(attr->om);
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}
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printf("\n");
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return 0;
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}
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/**
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* Application callback. Called when the write to the ANS Alert Notification
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* Control Point characteristic has completed.
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*/
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static int
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blecent_on_write(uint16_t conn_handle,
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const struct ble_gatt_error *error,
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struct ble_gatt_attr *attr,
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void *arg)
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{
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printf("Write complete; status=%d conn_handle=%d attr_handle=%d\n",
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error->status, conn_handle, attr->handle);
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return 0;
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}
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/**
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* Application callback. Called when the attempt to subscribe to notifications
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* for the ANS Unread Alert Status characteristic has completed.
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*/
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static int
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blecent_on_subscribe(uint16_t conn_handle,
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const struct ble_gatt_error *error,
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struct ble_gatt_attr *attr,
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void *arg)
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{
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printf("Subscribe complete; status=%d conn_handle=%d "
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"attr_handle=%d\n",
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error->status, conn_handle, attr->handle);
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return 0;
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}
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/**
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* Performs three concurrent GATT operations against the specified peer:
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* 1. Reads the ANS Supported New Alert Category characteristic.
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* 2. Writes the ANS Alert Notification Control Point characteristic.
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* 3. Subscribes to notifications for the ANS Unread Alert Status
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* characteristic.
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*
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* If the peer does not support a required service, characteristic, or
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* descriptor, then the peer lied when it claimed support for the alert
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* notification service! When this happens, or if a GATT procedure fails,
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* this function immediately terminates the connection.
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*/
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static void
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blecent_read_write_subscribe(const struct peer *peer)
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{
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const struct peer_chr *chr;
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const struct peer_dsc *dsc;
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uint8_t value[2];
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int rc;
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/* Read the supported-new-alert-category characteristic. */
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chr = peer_chr_find_uuid(peer,
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BLE_UUID16_DECLARE(BLECENT_SVC_ALERT_UUID),
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BLE_UUID16_DECLARE(BLECENT_CHR_SUP_NEW_ALERT_CAT_UUID));
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if (chr == NULL) {
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printf("Error: Peer doesn't support the Supported New "
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"Alert Category characteristic\n");
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goto err;
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}
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rc = ble_gattc_read(peer->conn_handle, chr->chr.val_handle,
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blecent_on_read, NULL);
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if (rc != 0) {
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printf("Error: Failed to read characteristic; rc=%d\n",
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rc);
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goto err;
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}
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/* Write two bytes (99, 100) to the alert-notification-control-point
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* characteristic.
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*/
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chr = peer_chr_find_uuid(peer,
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BLE_UUID16_DECLARE(BLECENT_SVC_ALERT_UUID),
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BLE_UUID16_DECLARE(BLECENT_CHR_ALERT_NOT_CTRL_PT));
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if (chr == NULL) {
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printf("Error: Peer doesn't support the Alert "
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"Notification Control Point characteristic\n");
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goto err;
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}
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value[0] = 99;
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value[1] = 100;
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rc = ble_gattc_write_flat(peer->conn_handle, chr->chr.val_handle,
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value, sizeof value, blecent_on_write, NULL);
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if (rc != 0) {
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printf("Error: Failed to write characteristic; rc=%d\n",
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rc);
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}
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/* Subscribe to notifications for the Unread Alert Status characteristic.
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* A central enables notifications by writing two bytes (1, 0) to the
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* characteristic's client-characteristic-configuration-descriptor (CCCD).
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*/
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dsc = peer_dsc_find_uuid(peer,
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BLE_UUID16_DECLARE(BLECENT_SVC_ALERT_UUID),
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BLE_UUID16_DECLARE(BLECENT_CHR_UNR_ALERT_STAT_UUID),
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BLE_UUID16_DECLARE(BLE_GATT_DSC_CLT_CFG_UUID16));
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if (dsc == NULL) {
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printf("Error: Peer lacks a CCCD for the Unread Alert "
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"Status characteristic\n");
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goto err;
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}
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value[0] = 1;
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value[1] = 0;
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rc = ble_gattc_write_flat(peer->conn_handle, dsc->dsc.handle,
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value, sizeof value, blecent_on_subscribe, NULL);
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if (rc != 0) {
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printf("Error: Failed to subscribe to characteristic; "
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"rc=%d\n", rc);
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goto err;
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}
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return;
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err:
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/* Terminate the connection. */
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ble_gap_terminate(peer->conn_handle, BLE_ERR_REM_USER_CONN_TERM);
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}
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/**
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* Called when service discovery of the specified peer has completed.
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*/
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static void
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blecent_on_disc_complete(const struct peer *peer, int status, void *arg)
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{
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if (status != 0) {
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/* Service discovery failed. Terminate the connection. */
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printf("Error: Service discovery failed; status=%d "
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"conn_handle=%d\n", status, peer->conn_handle);
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ble_gap_terminate(peer->conn_handle, BLE_ERR_REM_USER_CONN_TERM);
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return;
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}
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/* Service discovery has completed successfully. Now we have a complete
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* list of services, characteristics, and descriptors that the peer
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* supports.
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*/
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printf("Service discovery complete; status=%d "
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"conn_handle=%d\n", status, peer->conn_handle);
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/* Now perform three concurrent GATT procedures against the peer: read,
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* write, and subscribe to notifications.
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*/
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blecent_read_write_subscribe(peer);
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}
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/**
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* Initiates the GAP general discovery procedure.
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*/
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static void
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blecent_scan(void)
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{
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uint8_t own_addr_type;
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struct ble_gap_disc_params disc_params;
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int rc;
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/* Figure out address to use while advertising (no privacy for now) */
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rc = ble_hs_id_infer_auto(0, &own_addr_type);
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if (rc != 0) {
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printf("error determining address type; rc=%d\n", rc);
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return;
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}
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/* Tell the controller to filter duplicates; we don't want to process
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* repeated advertisements from the same device.
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*/
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disc_params.filter_duplicates = 0;
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/**
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* Perform a passive scan. I.e., don't send follow-up scan requests to
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* each advertiser.
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*/
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disc_params.passive = 0;
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/* Use defaults for the rest of the parameters. */
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disc_params.itvl = 100;
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disc_params.window = 100;
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disc_params.filter_policy = 0;
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disc_params.limited = 0;
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rc = ble_gap_disc(own_addr_type, BLE_HS_FOREVER, &disc_params,
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blecent_gap_event, NULL);
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if (rc != 0) {
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printf("Error initiating GAP discovery procedure; rc=%d\n",
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rc);
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}
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}
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/**
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* Indicates whether we should tre to connect to the sender of the specified
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* advertisement. The function returns a positive result if the device
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* advertises connectability and support for the Alert Notification service.
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*/
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static int
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blecent_should_connect(const struct ble_gap_disc_desc *disc)
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{
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struct ble_hs_adv_fields fields;
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int rc;
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int i;
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/* The device has to be advertising connectability. */
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if (disc->event_type != BLE_HCI_ADV_RPT_EVTYPE_ADV_IND &&
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disc->event_type != BLE_HCI_ADV_RPT_EVTYPE_DIR_IND) {
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return 0;
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}
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rc = ble_hs_adv_parse_fields(&fields, disc->data, disc->length_data);
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if (rc != 0) {
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return rc;
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}
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/* The device has to advertise support for the Alert Notification
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* service (0x1811).
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*/
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for (i = 0; i < fields.num_uuids16; i++) {
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if (ble_uuid_u16(&fields.uuids16[i].u) == BLECENT_SVC_ALERT_UUID) {
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return 1;
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}
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}
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return 0;
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}
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/**
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* Connects to the sender of the specified advertisement of it looks
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* interesting. A device is "interesting" if it advertises connectability and
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* support for the Alert Notification service.
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*/
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static void
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blecent_connect_if_interesting(const struct ble_gap_disc_desc *disc)
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{
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uint8_t own_addr_type;
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int rc;
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// if (disc->data)
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/*Filter adv by rssi*/
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if (disc->rssi < -70)
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{
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return;
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}
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/* Don't do anything if we don't care about this advertiser. */
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if (!blecent_should_connect(disc)) {
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return;
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}
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/* Scanning must be stopped before a connection can be initiated. */
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rc = ble_gap_disc_cancel();
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if (rc != 0) {
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printf("Failed to cancel scan; rc=%d\n", rc);
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return;
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}
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/* Figure out address to use for connect (no privacy for now) */
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rc = ble_hs_id_infer_auto(0, &own_addr_type);
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if (rc != 0) {
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printf("error determining address type; rc=%d\n", rc);
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return;
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}
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/* Try to connect the the advertiser. Allow 30 seconds (30000 ms) for
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* timeout.
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*/
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rc = ble_gap_connect(own_addr_type, &disc->addr, 30000, NULL,
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blecent_gap_event, NULL);
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if (rc != 0) {
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printf("Error: Failed to connect to device; addr_type=%d "
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"addr=%s\n; rc=%d",
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disc->addr.type, addr_str(disc->addr.val), rc);
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return;
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}
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}
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/**
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* The nimble host executes this callback when a GAP event occurs. The
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* application associates a GAP event callback with each connection that is
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* established. blecent uses the same callback for all connections.
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*
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* @param event The event being signalled.
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* @param arg Application-specified argument; unused by
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* blecent.
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*
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* @return 0 if the application successfully handled the
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* event; nonzero on failure. The semantics
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* of the return code is specific to the
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* particular GAP event being signalled.
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*/
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static int
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blecent_gap_event(struct ble_gap_event *event, void *arg)
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{
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struct ble_gap_conn_desc desc;
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struct ble_hs_adv_fields fields;
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int rc;
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switch (event->type) {
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case BLE_GAP_EVENT_DISC:
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rc = ble_hs_adv_parse_fields(&fields, event->disc.data,
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event->disc.length_data);
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if (rc != 0) {
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return 0;
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}
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/* An advertisment report was received during GAP discovery. */
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print_adv_fields(&fields,&event->disc);
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/* Try to connect to the advertiser if it looks interesting. */
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blecent_connect_if_interesting(&event->disc);
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return 0;
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case BLE_GAP_EVENT_CONNECT:
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/* A new connection was established or a connection attempt failed. */
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if (event->connect.status == 0) {
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/* Connection successfully established. */
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printf("Connection established ");
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rc = ble_gap_conn_find(event->connect.conn_handle, &desc);
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assert(rc == 0);
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print_conn_desc(&desc);
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printf("\n");
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/* Remember peer. */
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rc = peer_add(event->connect.conn_handle);
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if (rc != 0) {
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printf("Failed to add peer; rc=%d\n", rc);
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return 0;
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}
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/* Perform service discovery. */
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rc = peer_disc_all(event->connect.conn_handle,
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blecent_on_disc_complete, NULL);
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if (rc != 0) {
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printf("Failed to discover services; rc=%d\n", rc);
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return 0;
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}
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} else {
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/* Connection attempt failed; resume scanning. */
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printf("Error: Connection failed; status=%d\n",
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event->connect.status);
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blecent_scan();
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}
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return 0;
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case BLE_GAP_EVENT_DISCONNECT:
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/* Connection terminated. */
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printf("disconnect; reason=0x%02x\n", (uint8_t)event->disconnect.reason);
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print_conn_desc(&event->disconnect.conn);
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printf("\n");
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/* Forget about peer. */
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peer_delete(event->disconnect.conn.conn_handle);
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/* Resume scanning. */
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blecent_scan();
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return 0;
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case BLE_GAP_EVENT_DISC_COMPLETE:
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printf("discovery complete; reason=%d\n",
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event->disc_complete.reason);
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return 0;
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case BLE_GAP_EVENT_ENC_CHANGE:
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/* Encryption has been enabled or disabled for this connection. */
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printf("encryption change event; status=%d ",
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event->enc_change.status);
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rc = ble_gap_conn_find(event->enc_change.conn_handle, &desc);
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assert(rc == 0);
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print_conn_desc(&desc);
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return 0;
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case BLE_GAP_EVENT_NOTIFY_RX:
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/* Peer sent us a notification or indication. */
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printf("received %s; conn_handle=%d attr_handle=%d "
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"attr_len=%d\n",
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event->notify_rx.indication ?
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"indication" :
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"notification",
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event->notify_rx.conn_handle,
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event->notify_rx.attr_handle,
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OS_MBUF_PKTLEN(event->notify_rx.om));
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/* Attribute data is contained in event->notify_rx.attr_data. */
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return 0;
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case BLE_GAP_EVENT_MTU:
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printf("mtu update event; conn_handle=%d cid=%d mtu=%d\n",
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event->mtu.conn_handle,
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event->mtu.channel_id,
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event->mtu.value);
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return 0;
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case BLE_GAP_EVENT_REPEAT_PAIRING:
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/* We already have a bond with the peer, but it is attempting to
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* establish a new secure link. This app sacrifices security for
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* convenience: just throw away the old bond and accept the new link.
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*/
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/* Delete the old bond. */
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rc = ble_gap_conn_find(event->repeat_pairing.conn_handle, &desc);
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assert(rc == 0);
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ble_store_util_delete_peer(&desc.peer_id_addr);
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/* Return BLE_GAP_REPEAT_PAIRING_RETRY to indicate that the host should
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* continue with the pairing operation.
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*/
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return BLE_GAP_REPEAT_PAIRING_RETRY;
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default:
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return 0;
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}
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}
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static void
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blecent_on_reset(int reason)
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{
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printf("Resetting state; reason=%d\n", reason);
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}
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static void
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blecent_on_sync(void)
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{
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int rc;
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/* Make sure we have proper identity address set (public preferred) */
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rc = ble_hs_util_ensure_addr(0);
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assert(rc == 0);
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/* Begin scanning for a peripheral to connect to. */
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blecent_scan();
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}
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static void print_version_info(void)
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{
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#include "app_version.h"
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struct smp_image_header *image_header_p = (void *)SIZE_BOOTLOADER;
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printf("APP version: %d.%d.%d\n", image_header_p->ih_ver.iv_major, image_header_p->ih_ver.iv_minor, image_header_p->ih_ver.iv_revision);
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}
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void hal_bsp_init(void)
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{
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CLK_APB1PeriphClockCmd(CLK_APB1Periph_SPI0, ENABLE);
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SYS_SET_MFP(P1, 1, SPI0_MOSI);
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SYS_SET_MFP(P1, 2, SPI0_MISO);
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SYS_SET_MFP(P1, 3, SPI0_CS);
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SYS_SET_MFP(P1, 4, SPI0_CLK);
|
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GPIO_EnableDigitalPath(P1, BIT4); //SPI CLK is input pin while act as master
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GPIO_EnableDigitalPath(P1, BIT3); //SPI CS is input pin while act as master
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GPIO_EnableDigitalPath(P1, BIT1); //SPI MOSI is input pin while act as master
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GPIO_EnableDigitalPath(P1, BIT2); //SPI MISO is input pin while act as master
|
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SPI_InitOptDef spiInitStruct = {
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.format = SPI_FormatMotorola,
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.dataSize = SPI_DataFrame_8b,
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.clkPhase = SPI_ClockPhaseFirstEdge,
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.clkPolarity = SPI_ClockPolarityLow,
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.baudrateDiv = SPI_BaudRateDiv_4
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};
|
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spiInitStruct.role = SPI_RoleSlave;
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SPI0_OBJ.initObj = spiInitStruct;
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HAL_SPI_Init(&SPI0_OBJ);
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}
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static uint16_t slave_send_buf[] =
|
{
|
0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F,
|
0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F,
|
0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F,
|
0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F,
|
0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F,
|
0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F,
|
0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F,
|
0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F,
|
0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8A, 0x8B, 0x8C, 0x8D, 0x8E, 0x8F,
|
0x90, 0x91, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97, 0x98, 0x99, 0x9A, 0x9B, 0x9C, 0x9D, 0x9E, 0x9F,
|
};
|
extern struct queue //½á¹¹ÌåÀàÐÍ
|
{
|
uint8_t totalnum;//»ùÕ¾×ÜÊý
|
uint8_t flag_newanchor[anchor_max_num];//ÐÂÀÏ»ùÕ¾±íʾ
|
uint16_t id[anchor_max_num]; /*ID*/
|
uint16_t time[anchor_max_num]; /*ʱ¼ä*/
|
uint16_t fail_num[anchor_max_num]; //uwb½ÓÊÜʧ°ÜµÄ´ÎÊý
|
uint16_t rssi[anchor_max_num];//À¶ÑÀ²â³öµÄ¾àÀë
|
uint8_t uwb_tongxun_flag[anchor_max_num];//ÓëuwbͨѶ³É¹¦Ê§°ÜµÄ±ê־λ
|
uint16_t u16id[anchor_max_num]; /*u16ID*/
|
}blequeue;
|
uint8_t zhuanhua_shuzu[100];
|
void zhuanhua_poll(void)
|
{
|
memcpy(zhuanhua_shuzu,blequeue.id,2*blequeue.totalnum);
|
// for(int i;i<100;i++)
|
// {
|
// if(i%2)
|
// {
|
// zhuanhua_shuzu[i]=zhuanhua_shuzu[i-1];
|
// zhuanhua_shuzu[i]=zhuanhua_shuzu[i-1]
|
// }
|
// else
|
// {
|
//
|
// }
|
// }
|
}
|
void Spi_Zubao_Send(void)
|
{
|
if(blequeue.totalnum>10)
|
{blequeue.totalnum=10;}
|
memset(slave_send_buf,0,sizeof(slave_send_buf));
|
slave_send_buf[0]=0X55;
|
slave_send_buf[1]=0XAA;
|
slave_send_buf[2]=blequeue.totalnum*3+6;
|
slave_send_buf[3]=blequeue.totalnum;
|
memcpy(&slave_send_buf[4],blequeue.u16id,4*blequeue.totalnum);
|
memcpy(&slave_send_buf[4+2*blequeue.totalnum],blequeue.rssi,2*blequeue.totalnum);
|
slave_send_buf[4+3*blequeue.totalnum]=0x66;
|
slave_send_buf[5+3*blequeue.totalnum]=0xBB;
|
blequeue.totalnum=0;
|
|
memset(blequeue.id,0,sizeof(blequeue.id));
|
memset(blequeue.u16id,0,sizeof(blequeue.u16id));
|
memset(blequeue.rssi,0,sizeof(blequeue.rssi));
|
}
|
uint16_t slave_receive_buf[160] = {0, };
|
uint16_t master_send_receive_cnt = sizeof(slave_send_buf) / sizeof(slave_send_buf[0]);
|
uint16_t timer;
|
TimerHandle_t xTimerUser;
|
int ai=0;
|
uint8_t spi_length=20;
|
void vTimerCallback( TimerHandle_t xTimer )
|
{
|
timer++;
|
// printf("slave start receive \n");
|
Spi_Zubao_Send();
|
// for(ai=0;ai<spi_length;ai++)
|
// {
|
// HAL_SPI_ReceiveData(&SPI0_OBJ, slave_receive_buf, 8, 1000);
|
// HAL_SPI_SendData(&SPI0_OBJ, slave_send_buf, 8,1000);
|
// HAL_SPI_ReceiveData(&SPI0_OBJ, &slave_receive_buf[ai], 1, 1000);
|
// HAL_SPI_SendData(&SPI0_OBJ, &slave_send_buf[ai], 1,1000);
|
__set_PRIMASK(1);
|
HAL_SPI_SendReceiveData(&SPI0_OBJ, slave_send_buf, 100,slave_receive_buf, 100);
|
// __set_PRIMASK(0);
|
// }
|
// printf("slave send done! \n");
|
}
|
|
/**
|
* main
|
*
|
* All application logic and NimBLE host work is performed in default task.
|
*
|
* @return int NOTE: this function should never return!
|
*/
|
void app_main(void)
|
{
|
int rc;
|
|
print_version_info();
|
|
/** set public address*/
|
uint8_t pub_mac[6]={8,2,3,4,5,6};
|
|
#if CONFIG_USER_CHIP_MAC_ADDR
|
extern uint8_t pan10x_mac_addr_get(uint8_t *mac);
|
pan10x_mac_addr_get(pub_mac);
|
#endif
|
|
db_set_bd_address(pub_mac);
|
|
/* Configure the host. */
|
ble_hs_cfg.reset_cb = blecent_on_reset;
|
ble_hs_cfg.sync_cb = blecent_on_sync;
|
ble_hs_cfg.store_status_cb = ble_store_util_status_rr;
|
|
/* Initialize data structures to track connected peers. */
|
rc = peer_init(MYNEWT_VAL(BLE_MAX_CONNECTIONS), 32, 32, 32);
|
assert(rc == 0);
|
|
/* Set the default device name. */
|
rc = ble_svc_gap_device_name_set("nimble-blecent");
|
assert(rc == 0);
|
|
xTimerUser = xTimerCreate("Timer's name",pdMS_TO_TICKS(900),pdTRUE,( void * ) 0,vTimerCallback);
|
if( xTimerUser != NULL ) {
|
xTimerStart( xTimerUser, 0 );
|
}
|
hal_bsp_init();
|
/* Persist config store init*/
|
ble_store_config_init();
|
|
hs_thread_init();
|
|
// while(1)
|
// {
|
// if(timer>=1)
|
// {
|
// timer=0;
|
// HAL_SPI_SendData(&SPI0_OBJ, master_send_buf, master_send_receive_cnt,0);
|
// }
|
// }
|
}
|
|
void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
|
{
|
printf("task overflow:%s\r\n", pcTaskName);
|
while(1);
|
}
|
