Hi,
I have used the sample given in blog , however, my purpose is to get data from two device "IMU1" and "IMU2", using callback "static uint8_t ble_data_received " to print out, I am using the coded_phy in NCS 2.91 with nRF21540 DK to be the central device.
My main.c is
/* * Copyright (c) 2018 Nordic Semiconductor ASA * * SPDX-License-Identifier: LicenseRef-BSD-5-Clause-Nordic */ /** @file * @brief Nordic UART Service Client sample */ #include "uart_async_adapter.h"//WRC #include <zephyr/usb/usb_device.h> //WRC #include <errno.h> #include <zephyr/kernel.h> #include <zephyr/sys/byteorder.h> #include <zephyr/sys/printk.h> #include <zephyr/device.h> #include <zephyr/devicetree.h> #include <soc.h> #include <zephyr/bluetooth/bluetooth.h> #include <zephyr/bluetooth/uuid.h> #include <zephyr/bluetooth/gatt.h> #include <zephyr/bluetooth/hci.h> #include <zephyr/bluetooth/conn.h> #include <bluetooth/services/nus.h> #include <bluetooth/services/nus_client.h> #include <bluetooth/gatt_dm.h> #include <bluetooth/scan.h> #include <bluetooth/conn_ctx.h> #include <stdlib.h> #include <stdio.h> #include <zephyr/settings/settings.h> #include <zephyr/drivers/uart.h> #include <zephyr/logging/log.h> #define LOG_MODULE_NAME central_uart LOG_MODULE_REGISTER(LOG_MODULE_NAME); /* UART payload buffer element size. */ #define UART_BUF_SIZE 244 #define KEY_PASSKEY_ACCEPT DK_BTN1_MSK #define KEY_PASSKEY_REJECT DK_BTN2_MSK #define NUS_WRITE_TIMEOUT K_MSEC(500) #define UART_WAIT_FOR_BUF_DELAY K_MSEC(50) #define UART_RX_TIMEOUT 50 static const struct device *uart = DEVICE_DT_GET(DT_CHOSEN(nordic_nus_uart)); static struct k_work_delayable uart_work; K_SEM_DEFINE(nus_write_sem, 0, 1); struct uart_data_t { void *fifo_reserved; uint8_t data[UART_BUF_SIZE]; uint16_t len; }; //WRC #if CONFIG_BT_NUS_UART_ASYNC_ADAPTER UART_ASYNC_ADAPTER_INST_DEFINE(async_adapter); #else static const struct device *const async_adapter; #endif static K_FIFO_DEFINE(fifo_uart_tx_data); static K_FIFO_DEFINE(fifo_uart_rx_data); static struct bt_conn *default_conn; BT_CONN_CTX_DEF(conns, CONFIG_BT_MAX_CONN, sizeof(struct bt_nus_client)); static bool routedMessage = false; static bool messageStart = true; #define ROUTED_MESSAGE_CHAR '*' #define BROADCAST_INDEX 99 static char last_received_data[UART_BUF_SIZE] = {0}; static uint16_t last_received_data_len = 0; static void ble_data_sent(struct bt_nus_client *nus,uint8_t err, const uint8_t *const data, uint16_t len) { k_sem_give(&nus_write_sem); if (err) { LOG_WRN("ATT error code: 0x%02X", err); } } /* New function for sending data into the multi-NUS * Extensions to the behavior of message routing can be made here. * If the first character is *, this indicates a routed message. * If the first character is not *, then this is a broadcast message sent to all peers. * If the message is routed, the two characters after the * will be read as the peer number * and the message will be sent only to that peer. Numbers must be written as two digits, i.e 01 for 1. * The default behavior will be to broadcast in the case of failure of message parsing. */ static int multi_nus_send(struct uart_data_t *buf){ int err = 0; char * message = buf->data; int length = buf->len; static bool broadcast = false; static int nus_index = 0; LOG_INF("Multi-Nus Send"); /*How many connections are there in the Connection Context Library?*/ const size_t num_nus_conns = bt_conn_ctx_count(&conns_ctx_lib); /*Handle the routing of the message only at the beginning of the message*/ if (messageStart) { messageStart = false; /*Check if it's a routed message*/ if (message[0] == ROUTED_MESSAGE_CHAR) { routedMessage = true; /*Determine who the intended recipient is*/ char str[2]; str[0] = message[1]; str[1] = message[2]; nus_index = atoi(str); /*Is this a number that makes sense?*/ if ((nus_index >= 0) && (nus_index < num_nus_conns)){ broadcast = false; /*Move the data buffer pointer to after the recipient info and shorten the length*/ message = &message[3]; length = length - 3; } else if (nus_index == BROADCAST_INDEX) { broadcast = true; message = &message[3]; length = length - 3; } } else { broadcast = true; } } /* If it's a routed message, send it to that guy. * If it's not, broadcast it to everyone. */ if (broadcast == false){ const struct bt_conn_ctx *ctx = bt_conn_ctx_get_by_id(&conns_ctx_lib, nus_index); LOG_INF("Trying to send to server %d", nus_index); if (ctx) { struct bt_nus_client *nus_client = ctx->data; if (nus_client) { err = bt_nus_client_send(nus_client, message, length); if (err) { LOG_WRN("Failed to send data over BLE connection" "(err %d)", err); }else{ LOG_INF("Sent to server %d: %s", nus_index, buf->data); } err = k_sem_take(&nus_write_sem, NUS_WRITE_TIMEOUT); if (err) { LOG_WRN("NUS send timeout"); } } bt_conn_ctx_release(&conns_ctx_lib, (void *)ctx->data); } }else{//Broadcast message LOG_INF("Broadcast"); for (size_t i = 0; i < num_nus_conns; i++) { const struct bt_conn_ctx *ctx = bt_conn_ctx_get_by_id(&conns_ctx_lib, i); if (ctx) { struct bt_nus_client *nus_client = ctx->data; if (nus_client != NULL) { err = bt_nus_client_send(nus_client, message, length); if (err) { LOG_WRN("Failed to send data over BLE connection" "(err %d)", err); }else{ LOG_INF("Sent to server %d: %s", nus_index, buf->data); } bt_conn_ctx_release(&conns_ctx_lib, (void *)ctx->data); err = k_sem_take(&nus_write_sem, NUS_WRITE_TIMEOUT); if (err) { LOG_WRN("NUS send timeout"); } } } } } if ( (message[length-1] == '\n') || (message[length-1] == '\r') ) { messageStart = true; routedMessage = false; } return err; } /* This function has been updated to add the ability for a peer to route a message by * appending a '*' as in the multi-NUS send function. So a peer could send the message * *00 to send a message to peer 0. If the peer sends a *99, that message is broadcast to * all peers */ static uint8_t ble_data_received(struct bt_nus_client *nus,const uint8_t *const data, uint16_t len) { int err; // 保存接收到的数据 memset(last_received_data, 0, sizeof(last_received_data)); last_received_data_len = len < UART_BUF_SIZE ? len : UART_BUF_SIZE - 1; memcpy(last_received_data, data, last_received_data_len); LOG_INF("Data received: %.*s", last_received_data_len, last_received_data); // for (uint16_t pos = 0; pos != len;) { // struct uart_data_t *tx = k_malloc(sizeof(*tx)); // if (!tx) { // LOG_WRN("Not able to allocate UART send data buffer"); // return BT_GATT_ITER_CONTINUE; // } // /* Keep the last byte of TX buffer for potential LF char. */ // size_t tx_data_size = sizeof(tx->data) - 1; // if ((len - pos) > tx_data_size) { // tx->len = tx_data_size; // } else { // tx->len = (len - pos); // } // memcpy(tx->data, &data[pos], tx->len); // pos += tx->len; // /* Append the LF character when the CR character triggered // * transmission from the peer. // */ // if ((pos == len) && (data[len - 1] == '\r')) { // tx->data[tx->len] = '\n'; // tx->len++; // } // /* Routed messages. See the comments above. // * Check for *, if there's a star, send it over to the multi-nus send function // */ // if (( data[0] == '*') || (routedMessage == true) ) { // multi_nus_send(tx); // } // err = uart_tx(uart, tx->data, tx->len, SYS_FOREVER_MS); // if (err) { // k_fifo_put(&fifo_uart_tx_data, tx); // } // } return BT_GATT_ITER_CONTINUE; } static void uart_cb(const struct device *dev, struct uart_event *evt, void *user_data) { ARG_UNUSED(dev); static uint8_t *current_buf; static size_t aborted_len; static bool buf_release; struct uart_data_t *buf; static uint8_t *aborted_buf; switch (evt->type) { case UART_TX_DONE: if ((evt->data.tx.len == 0) || (!evt->data.tx.buf)) { return; } if (aborted_buf) { buf = CONTAINER_OF(aborted_buf, struct uart_data_t, data[0]); aborted_buf = NULL; aborted_len = 0; } else { buf = CONTAINER_OF(evt->data.tx.buf, struct uart_data_t, data[0]); } k_free(buf); buf = k_fifo_get(&fifo_uart_tx_data, K_NO_WAIT); if (!buf) { return; } if (uart_tx(uart, buf->data, buf->len, SYS_FOREVER_MS)) { LOG_WRN("Failed to send data over UART"); } break; case UART_RX_RDY: buf = CONTAINER_OF(evt->data.rx.buf, struct uart_data_t, data[0]); buf->len += evt->data.rx.len; buf_release = false; if (buf->len == UART_BUF_SIZE) { k_fifo_put(&fifo_uart_rx_data, buf); } else if ((evt->data.rx.buf[buf->len - 1] == '\n') || (evt->data.rx.buf[buf->len - 1] == '\r')) { k_fifo_put(&fifo_uart_rx_data, buf); current_buf = evt->data.rx.buf; buf_release = true; uart_rx_disable(uart); } break; case UART_RX_DISABLED: buf = k_malloc(sizeof(*buf)); if (buf) { buf->len = 0; } else { LOG_WRN("Not able to allocate UART receive buffer"); k_work_schedule(&uart_work, UART_WAIT_FOR_BUF_DELAY); return; } uart_rx_enable(uart, buf->data, sizeof(buf->data), UART_RX_TIMEOUT); break; case UART_RX_BUF_REQUEST: buf = k_malloc(sizeof(*buf)); if (buf) { buf->len = 0; uart_rx_buf_rsp(uart, buf->data, sizeof(buf->data)); } else { LOG_WRN("Not able to allocate UART receive buffer"); } break; case UART_RX_BUF_RELEASED: buf = CONTAINER_OF(evt->data.rx_buf.buf, struct uart_data_t, data[0]); if (buf_release && (current_buf != evt->data.rx_buf.buf)) { k_free(buf); buf_release = false; current_buf = NULL; } break; case UART_TX_ABORTED: if (!aborted_buf) { aborted_buf = (uint8_t *)evt->data.tx.buf; } aborted_len += evt->data.tx.len; buf = CONTAINER_OF(aborted_buf, struct uart_data_t, data[0]); uart_tx(uart, &buf->data[aborted_len], buf->len - aborted_len, SYS_FOREVER_MS); break; default: break; } } static void uart_work_handler(struct k_work *item) { struct uart_data_t *buf; buf = k_malloc(sizeof(*buf)); if (buf) { buf->len = 0; } else { LOG_WRN("Not able to allocate UART receive buffer"); k_work_schedule(&uart_work, UART_WAIT_FOR_BUF_DELAY); return; } uart_rx_enable(uart, buf->data, sizeof(buf->data), UART_RX_TIMEOUT); } //WRC static bool uart_test_async_api(const struct device *dev) { const struct uart_driver_api *api = (const struct uart_driver_api *)dev->api; return (api->callback_set != NULL); } static int uart_init(void) { int err; struct uart_data_t *rx; if (!device_is_ready(uart)) { LOG_ERR("UART device not ready"); return -ENODEV; } //WRC if (IS_ENABLED(CONFIG_USB_DEVICE_STACK)) { err = usb_enable(NULL); if (err && (err != -EALREADY)) { LOG_ERR("Failed to enable USB"); return err; } } rx = k_malloc(sizeof(*rx)); if (rx) { rx->len = 0; } else { return -ENOMEM; } k_work_init_delayable(&uart_work, uart_work_handler); //WRC if (IS_ENABLED(CONFIG_BT_NUS_UART_ASYNC_ADAPTER) && !uart_test_async_api(uart)) { /* Implement API adapter */ uart_async_adapter_init(async_adapter, uart); uart = async_adapter; } err = uart_callback_set(uart, uart_cb, NULL); if (err) { return err; } return uart_rx_enable(uart, rx->data, sizeof(rx->data), UART_RX_TIMEOUT); } static void discovery_complete(struct bt_gatt_dm *dm, void *context) { struct bt_nus_client *nus = context; LOG_INF("Service discovery completed"); bt_gatt_dm_data_print(dm); bt_nus_handles_assign(dm, nus); bt_nus_subscribe_receive(nus); bt_gatt_dm_data_release(dm); int err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); if (err) { LOG_ERR("Scanning failed to start (err %d)", err); } else { LOG_INF("Scanning started"); } /* Send a message to the new NUS server informing it of its ID in this * mini-network * The new NUS will have been added to the connection context library and so * will be the highest index as they are added incrementally upwards. * This is a bit of a workaround because in this function, I don't know * the ID of this connection which is the piece of info I want to transmit. */ size_t num_nus_conns = bt_conn_ctx_count(&conns_ctx_lib); size_t nus_index = 99; /* This is a little inelegant but we must get the index of the device to * convey it */ for (size_t i = 0; i < num_nus_conns; i++) { const struct bt_conn_ctx *ctx = bt_conn_ctx_get_by_id(&conns_ctx_lib, i); if (ctx) { if (ctx->data == nus) { nus_index = i; char message[3]; sprintf(message, "%d", nus_index); message[2] = '\r'; int length = 3; err = bt_nus_client_send(nus, message, length); if (err) { LOG_WRN("Failed to send data over BLE connection" "(err %d)", err); } else { LOG_INF("Sent to server %d: %s", nus_index, message); } bt_conn_ctx_release(&conns_ctx_lib, (void *)ctx->data); break; } else { bt_conn_ctx_release(&conns_ctx_lib, (void *)ctx->data); } } } } static void discovery_service_not_found(struct bt_conn *conn, void *context) { LOG_INF("Service not found"); } static void discovery_error(struct bt_conn *conn, int err, void *context) { LOG_WRN("Error while discovering GATT database: (%d)", err); } struct bt_gatt_dm_cb discovery_cb = { .completed = discovery_complete, .service_not_found = discovery_service_not_found, .error_found = discovery_error, }; static void gatt_discover(struct bt_conn *conn) { int err; struct bt_nus_client *nus_client = bt_conn_ctx_get(&conns_ctx_lib, conn); if (!nus_client) { return; } err = bt_gatt_dm_start(conn, BT_UUID_NUS_SERVICE, &discovery_cb, nus_client); if (err) { LOG_ERR("could not start the discovery procedure, error " "code: %d", err); } bt_conn_ctx_release(&conns_ctx_lib, (void *) nus_client); } static void connected(struct bt_conn *conn, uint8_t conn_err) { char addr[BT_ADDR_LE_STR_LEN]; int err; /* struct bt_nus_client_init_param init = { .cb = { .received = ble_data_received, .sent = ble_data_sent, } }; */ bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); if (conn_err) { LOG_INF("Failed to connect to %s (%d)", addr,conn_err); if (default_conn == conn) { bt_conn_unref(default_conn); default_conn = NULL; err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); if (err) { LOG_ERR("Scanning failed to start (err %d)", err); } } return; } LOG_INF("Connected: %s", addr); /*Allocate memory for this connection using the connection context library. For reference, this code was taken from hids.c */ struct bt_nus_client *nus_client =bt_conn_ctx_alloc(&conns_ctx_lib, conn); if (!nus_client) { LOG_WRN("There is no free memory to " "allocate the connection context"); } struct bt_nus_client_init_param init = { .cb = { .received = ble_data_received, .sent = ble_data_sent, } }; memset(nus_client, 0, bt_conn_ctx_block_size_get(&conns_ctx_lib)); err = bt_nus_client_init(nus_client, &init); bt_conn_ctx_release(&conns_ctx_lib, (void *)nus_client); if (err) { LOG_ERR("NUS Client initialization failed (err %d)", err); }else{ LOG_INF("NUS Client module initialized"); } gatt_discover(conn); /*Stop scanning during the discovery*/ err = bt_scan_stop(); if ((!err) && (err != -EALREADY)) { LOG_ERR("Stop LE scan failed (err %d)", err); } } static void disconnected(struct bt_conn *conn, uint8_t reason) { char addr[BT_ADDR_LE_STR_LEN]; int err; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); LOG_INF("Disconnected: %s (reason %u)", addr,reason); err = bt_conn_ctx_free(&conns_ctx_lib, conn); if (err) { LOG_WRN("The memory was not allocated for the context of this " "connection."); } bt_conn_unref(conn); default_conn = NULL; // err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); // if (err) { // LOG_ERR("Scanning failed to start (err %d)", // err); // } } static void security_changed(struct bt_conn *conn, bt_security_t level, enum bt_security_err err) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); if (!err) { LOG_INF("Security changed: %s level %u", addr,level); } else { LOG_WRN("Security failed: %s level %u err %d", addr,level, err); } gatt_discover(conn); } static struct bt_conn_cb conn_callbacks = { .connected = connected, .disconnected = disconnected, .security_changed = security_changed }; // static void scan_filter_match(struct bt_scan_device_info *device_info, // struct bt_scan_filter_match *filter_match, // bool connectable) // { // char addr[BT_ADDR_LE_STR_LEN]; // bt_addr_le_to_str(device_info->recv_info->addr, addr, sizeof(addr)); // LOG_INF("Filters matched. Address: %s connectable: %d",addr, connectable); // } static void scan_filter_match(struct bt_scan_device_info *device_info, struct bt_scan_filter_match *filter_match, bool connectable) { int err; char addr[BT_ADDR_LE_STR_LEN]; struct bt_conn_le_create_param *conn_params; bt_addr_le_to_str(device_info->recv_info->addr, addr, sizeof(addr)); printk("Filters matched. Address: %s connectable: %s\n", addr, connectable ? "yes" : "no"); err = bt_scan_stop(); if (err) { printk("Stop LE scan failed (err %d)\n", err); } conn_params = BT_CONN_LE_CREATE_PARAM( BT_CONN_LE_OPT_CODED | BT_CONN_LE_OPT_NO_1M, BT_GAP_SCAN_FAST_INTERVAL, BT_GAP_SCAN_FAST_INTERVAL); err = bt_conn_le_create(device_info->recv_info->addr, conn_params, BT_LE_CONN_PARAM_DEFAULT, &default_conn); if (err) { printk("Create conn failed (err %d)\n", err); err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); if (err) { printk("Scanning failed to start (err %d)\n", err); return; } } printk("Connection pending\n"); } static void scan_connecting_error(struct bt_scan_device_info *device_info) { LOG_WRN("Connecting failed"); } static void scan_connecting(struct bt_scan_device_info *device_info, struct bt_conn *conn) { default_conn = bt_conn_ref(conn); } // static int nus_client_init(void) // { // int err; // struct bt_nus_client_init_param init = { // .cb = { // .received = ble_data_received, // .sent = ble_data_sent, // } // }; // err = bt_nus_client_init(&nus_client, &init); // if (err) { // LOG_ERR("NUS Client initialization failed (err %d)", err); // return err; // } // LOG_INF("NUS Client module initialized"); // return err; // } BT_SCAN_CB_INIT(scan_cb, scan_filter_match, NULL, scan_connecting_error, scan_connecting); static int scan_init(void) { int err; struct bt_le_scan_param scan_param = { .type = BT_LE_SCAN_TYPE_ACTIVE, .interval = BT_GAP_SCAN_FAST_INTERVAL, .window = BT_GAP_SCAN_FAST_WINDOW, .options = BT_LE_SCAN_OPT_CODED | BT_LE_SCAN_OPT_NO_1M }; struct bt_scan_init_param scan_init = { .connect_if_match = 1, .scan_param = &scan_param, .conn_param = NULL }; // struct bt_scan_init_param scan_init = { // .connect_if_match = 1, // }; bt_scan_init(&scan_init); bt_scan_cb_register(&scan_cb); // err = bt_scan_filter_add(BT_SCAN_FILTER_TYPE_UUID, BT_UUID_NUS_SERVICE); // if (err) { // LOG_ERR("Scanning filters cannot be set (err %d)", err); // return err; // } // err = bt_scan_filter_enable(BT_SCAN_UUID_FILTER, false); // if (err) { // LOG_ERR("Filters cannot be turned on (err %d)", err); // return err; // } err = bt_scan_filter_add(BT_SCAN_FILTER_TYPE_NAME, "IMU1"); if (err) { LOG_ERR("Failed to set name filter (err %d)", err); return err; } err = bt_scan_filter_add(BT_SCAN_FILTER_TYPE_NAME, "IMU2"); if (err) { LOG_ERR("Failed to set name filter (err %d)", err); return err; } err = bt_scan_filter_enable(BT_SCAN_NAME_FILTER, false); if (err) { printk("Filters cannot be turned on (err %d)\n", err); } LOG_INF("Scan module initialized"); return err; } static void auth_cancel(struct bt_conn *conn) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); LOG_INF("Pairing cancelled: %s", addr); } static void pairing_confirm(struct bt_conn *conn) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); bt_conn_auth_pairing_confirm(conn); LOG_INF("Pairing confirmed: %s", addr); } static void pairing_complete(struct bt_conn *conn, bool bonded) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); LOG_INF("Pairing completed: %s, bonded: %d", addr,bonded); } static void pairing_failed(struct bt_conn *conn, enum bt_security_err reason) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); LOG_WRN("Pairing failed conn: %s, reason %d", addr, reason); } static struct bt_conn_auth_cb conn_auth_callbacks = { .cancel = auth_cancel, .pairing_confirm = pairing_confirm }; static struct bt_conn_auth_info_cb conn_auth_info_callbacks = { .pairing_complete = pairing_complete, .pairing_failed = pairing_failed }; int main(void) { int err; err = bt_conn_auth_cb_register(&conn_auth_callbacks); if (err) { LOG_ERR("Failed to register authorization callbacks."); return 0; } err = bt_conn_auth_info_cb_register(&conn_auth_info_callbacks); if (err) { printk("Failed to register authorization info callbacks.\n"); return 0; } err = bt_enable(NULL); if (err) { LOG_ERR("Bluetooth init failed (err %d)", err); return 0; } LOG_INF("Bluetooth initialized"); if (IS_ENABLED(CONFIG_SETTINGS)) { settings_load(); } bt_conn_cb_register(&conn_callbacks); int (*module_init[])(void) = {uart_init, scan_init};//, nus_client_init}; for (size_t i = 0; i < ARRAY_SIZE(module_init); i++) { err = (*module_init[i])(); if (err) { return 0; } } printk("Starting Bluetooth Central UART example\n"); err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); if (err) { LOG_ERR("Scanning failed to start (err %d)", err); return 0; } LOG_INF("Scanning successfully started"); for (;;) { /* Wait indefinitely for data to be sent over Bluetooth */ struct uart_data_t *buf = k_fifo_get(&fifo_uart_rx_data, K_FOREVER); multi_nus_send(buf); } }
My config is:
# # Copyright (c) 2018 Nordic Semiconductor # # SPDX-License-Identifier: LicenseRef-BSD-5-Clause-Nordic # # Enable the UART driver CONFIG_UART_ASYNC_API=y CONFIG_NRFX_UARTE0=y CONFIG_SERIAL=y CONFIG_CONSOLE=y CONFIG_UART_CONSOLE=y # Enable the BLE stack with GATT Client configuration CONFIG_BT=y CONFIG_BT_CENTRAL=y CONFIG_BT_SMP=y CONFIG_BT_GATT_CLIENT=y CONFIG_BT_MAX_CONN=20 CONFIG_BT_MAX_PAIRED=20 CONFIG_BT_CONN_CTX=y CONFIG_BT_BUF_ACL_RX_COUNT=21 # Enable the BLE modules from NCS CONFIG_BT_NUS_CLIENT=y CONFIG_BT_SCAN=y CONFIG_BT_SCAN_FILTER_ENABLE=y CONFIG_BT_SCAN_UUID_CNT=1 CONFIG_BT_SCAN_NAME_CNT=2 CONFIG_BT_GATT_DM=y CONFIG_HEAP_MEM_POOL_SIZE=16384 # This example requires more workqueue stack CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=16384 # Enable bonding CONFIG_BT_SETTINGS=y CONFIG_FLASH=y CONFIG_FLASH_PAGE_LAYOUT=y CONFIG_FLASH_MAP=y CONFIG_NVS=y CONFIG_SETTINGS=y # Config logger CONFIG_LOG=y CONFIG_USE_SEGGER_RTT=y CONFIG_LOG_BACKEND_RTT=y CONFIG_LOG_BACKEND_UART=n CONFIG_LOG_PRINTK=y CONFIG_ASSERT=y #coded phy CONFIG_BT_CTLR_ADV_EXT=y CONFIG_BT_CTLR_PHY_CODED=y CONFIG_BT_EXT_ADV=y CONFIG_BT_USER_PHY_UPDATE=y CONFIG_BT_PHY_UPDATE=y #大数据 CONFIG_BT_BUF_ACL_RX_SIZE=502 CONFIG_BT_ATT_PREPARE_COUNT=2 CONFIG_BT_ATT_TX_COUNT=10 CONFIG_BT_L2CAP_TX_MTU=498 CONFIG_BT_L2CAP_DYNAMIC_CHANNEL=y CONFIG_BT_CONN_TX_MAX=10 CONFIG_BT_BUF_ACL_TX_COUNT=10 CONFIG_BT_BUF_ACL_TX_SIZE=502 CONFIG_BT_CTLR_DATA_LENGTH_MAX=251 #FEM CONFIG_MPSL_FEM=y CONFIG_MPSL=y CONFIG_MPSL_FEM_NRF21540_GPIO=y 不需要 CONFIG_BT_CTLR_TX_PWR_DYNAMIC_CONTROL=y CONFIG_MPSL_FEM_NRF21540_TX_GAIN_DB=20 CONFIG_MPSL_FEM_NRF21540_RX_GAIN_DB=13 CONFIG_BT_CTLR_TX_PWR_ANTENNA=20
The result is
I cannot even get IMU1 data, I have test in anther central device code served for one peripheral, it works well, the code is:
/* * Copyright (c) 2018 Nordic Semiconductor ASA * * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause */ /** @file * @brief Nordic UART Service Client sample */ #include <errno.h> #include <zephyr/kernel.h> #include <zephyr/device.h> #include <zephyr/devicetree.h> #include <zephyr/sys/byteorder.h> #include <zephyr/sys/printk.h> #include <zephyr/bluetooth/bluetooth.h> #include <zephyr/bluetooth/hci.h> #include <zephyr/bluetooth/conn.h> #include <zephyr/bluetooth/uuid.h> #include <zephyr/bluetooth/gatt.h> #include <bluetooth/services/nus.h> #include <bluetooth/services/nus_client.h> #include <bluetooth/gatt_dm.h> #include <bluetooth/scan.h> #include <zephyr/settings/settings.h> #include <zephyr/drivers/uart.h> #include <zephyr/logging/log.h> #include <zephyr/bluetooth/hci.h> #define LOG_MODULE_NAME central_uart LOG_MODULE_REGISTER(LOG_MODULE_NAME); /* UART payload buffer element size. */ #define UART_BUF_SIZE 244 #define KEY_PASSKEY_ACCEPT DK_BTN1_MSK #define KEY_PASSKEY_REJECT DK_BTN2_MSK #define NUS_WRITE_TIMEOUT K_MSEC(150) #define UART_WAIT_FOR_BUF_DELAY K_MSEC(50) #define UART_RX_TIMEOUT 50000 /* Wait for RX complete event time in microseconds. */ static const struct device *uart = DEVICE_DT_GET(DT_CHOSEN(nordic_nus_uart)); static struct k_work_delayable uart_work; K_SEM_DEFINE(nus_write_sem, 0, 1); struct uart_data_t { void *fifo_reserved; uint8_t data[UART_BUF_SIZE]; uint16_t len; }; static K_FIFO_DEFINE(fifo_uart_tx_data); static K_FIFO_DEFINE(fifo_uart_rx_data); static struct bt_conn *default_conn; static struct bt_nus_client nus_client; static char last_received_data[UART_BUF_SIZE] = {0}; static uint16_t last_received_data_len = 0; static struct k_work_delayable rssi_work; // static void rssi_work_handler(struct k_work *work) // { // struct bt_conn_info info; // struct net_buf *buf = NULL, *rsp = NULL; // struct bt_hci_cp_read_rssi *cp; // struct bt_hci_rp_read_rssi *rp; // int err; // if (default_conn) { // struct bt_conn_info info; // int err; // // 获取当前连接信息 // err = bt_conn_get_info(default_conn, &info); // if (err) { // LOG_ERR("Failed to get connection info (err %d)", err); // return; // } // // 创建HCI命令缓冲区以读取RSSI // struct net_buf *buf = bt_hci_cmd_create(BT_HCI_OP_READ_RSSI, sizeof(uint16_t)); // if (!buf) { // LOG_ERR("Failed to create HCI command buffer"); // return; // } // // 填充HCI命令 // struct bt_hci_cp_read_rssi *cp = net_buf_add(buf, sizeof(*cp)); // cp->handle = sys_cpu_to_le16(info.id); // // 发送命令并解析响应 // struct net_buf *rsp; // err = bt_hci_cmd_send_sync(BT_HCI_OP_READ_RSSI, buf, &rsp); // if (err) { // LOG_ERR("Failed to read RSSI (err %d)", err); // return; // } // struct bt_hci_rp_read_rssi *rp = (void *)rsp->data; // LOG_INF("RSSI: %d dBm", rp->rssi); // LOG_INF("Data received: %.*s", last_received_data_len, last_received_data); // net_buf_unref(rsp); // } // // 调度下一次任务 // k_work_reschedule(&rssi_work, K_SECONDS(1)); // 每秒读取一次RSSI // } static void rssi_work_handler(struct k_work *work) { uint16_t conn_handle; struct net_buf *buf = NULL, *rsp = NULL; struct bt_hci_cp_read_rssi *cp; struct bt_hci_rp_read_rssi *rp; int err; if (!default_conn) { LOG_ERR("No default connection available"); goto schedule; } err = bt_hci_get_conn_handle(default_conn, &conn_handle); if (err) { printk("Failed obtaining conn_handle (err %d)\n", err); } /* 创建 HCI 命令缓冲区以读取 RSSI */ buf = bt_hci_cmd_create(BT_HCI_OP_READ_RSSI, sizeof(*cp)); if (!buf) { LOG_ERR("Unable to allocate HCI command buffer"); goto schedule; } /* 填充 HCI 命令数据(使用连接标识 info.id 作为句柄) */ cp = net_buf_add(buf, sizeof(*cp)); cp->handle = sys_cpu_to_le16(conn_handle); /* 发送 HCI 命令并等待同步响应 */ err = bt_hci_cmd_send_sync(BT_HCI_OP_READ_RSSI, buf, &rsp); if (err) { LOG_ERR("Read RSSI error: %d", err); goto schedule; } /* 解析并打印 RSSI 数据 */ rp = (void *)rsp->data; LOG_INF("RSSI: %d dBm", rp->rssi); LOG_INF("Data received: %.*s", last_received_data_len, last_received_data); net_buf_unref(rsp); schedule: /* 调度下一次任务:每秒读取一次 RSSI */ k_work_reschedule(&rssi_work, K_MSEC(1000)); } static void ble_data_sent(struct bt_nus_client *nus, uint8_t err, const uint8_t *const data, uint16_t len) { ARG_UNUSED(nus); ARG_UNUSED(data); ARG_UNUSED(len); k_sem_give(&nus_write_sem); if (err) { LOG_WRN("ATT error code: 0x%02X", err); } } // static uint8_t ble_data_received(struct bt_nus_client *nus, // const uint8_t *data, uint16_t len) // { // ARG_UNUSED(nus); // int err; // for (uint16_t pos = 0; pos != len;) { // struct uart_data_t *tx = k_malloc(sizeof(*tx)); // if (!tx) { // LOG_WRN("Not able to allocate UART send data buffer"); // return BT_GATT_ITER_CONTINUE; // } // /* Keep the last byte of TX buffer for potential LF char. */ // size_t tx_data_size = sizeof(tx->data) - 1; // if ((len - pos) > tx_data_size) { // tx->len = tx_data_size; // } else { // tx->len = (len - pos); // } // memcpy(tx->data, &data[pos], tx->len); // pos += tx->len; // /* Append the LF character when the CR character triggered // * transmission from the peer. // */ // if ((pos == len) && (data[len - 1] == '\r')) { // tx->data[tx->len] = '\n'; // tx->len++; // } // err = uart_tx(uart, tx->data, tx->len, SYS_FOREVER_MS); // if (err) { // k_fifo_put(&fifo_uart_tx_data, tx); // } // } // return BT_GATT_ITER_CONTINUE; // } static uint8_t ble_data_received(struct bt_nus_client *nus, const uint8_t *data, uint16_t len) { ARG_UNUSED(nus); // 保存接收到的数据 memset(last_received_data, 0, sizeof(last_received_data)); last_received_data_len = len < UART_BUF_SIZE ? len : UART_BUF_SIZE - 1; memcpy(last_received_data, data, last_received_data_len); LOG_INF("Data received: %.*s", last_received_data_len, last_received_data); return BT_GATT_ITER_CONTINUE; } static void uart_cb(const struct device *dev, struct uart_event *evt, void *user_data) { ARG_UNUSED(dev); static size_t aborted_len; struct uart_data_t *buf; static uint8_t *aborted_buf; static bool disable_req; switch (evt->type) { case UART_TX_DONE: LOG_DBG("UART_TX_DONE"); if ((evt->data.tx.len == 0) || (!evt->data.tx.buf)) { return; } if (aborted_buf) { buf = CONTAINER_OF(aborted_buf, struct uart_data_t, data[0]); aborted_buf = NULL; aborted_len = 0; } else { buf = CONTAINER_OF(evt->data.tx.buf, struct uart_data_t, data[0]); } k_free(buf); buf = k_fifo_get(&fifo_uart_tx_data, K_NO_WAIT); if (!buf) { return; } if (uart_tx(uart, buf->data, buf->len, SYS_FOREVER_MS)) { LOG_WRN("Failed to send data over UART"); } break; case UART_RX_RDY: LOG_DBG("UART_RX_RDY"); buf = CONTAINER_OF(evt->data.rx.buf, struct uart_data_t, data[0]); buf->len += evt->data.rx.len; if (disable_req) { return; } if ((evt->data.rx.buf[buf->len - 1] == '\n') || (evt->data.rx.buf[buf->len - 1] == '\r')) { disable_req = true; uart_rx_disable(uart); } break; case UART_RX_DISABLED: LOG_DBG("UART_RX_DISABLED"); disable_req = false; buf = k_malloc(sizeof(*buf)); if (buf) { buf->len = 0; } else { LOG_WRN("Not able to allocate UART receive buffer"); k_work_reschedule(&uart_work, UART_WAIT_FOR_BUF_DELAY); return; } uart_rx_enable(uart, buf->data, sizeof(buf->data), UART_RX_TIMEOUT); break; case UART_RX_BUF_REQUEST: LOG_DBG("UART_RX_BUF_REQUEST"); buf = k_malloc(sizeof(*buf)); if (buf) { buf->len = 0; uart_rx_buf_rsp(uart, buf->data, sizeof(buf->data)); } else { LOG_WRN("Not able to allocate UART receive buffer"); } break; case UART_RX_BUF_RELEASED: LOG_DBG("UART_RX_BUF_RELEASED"); buf = CONTAINER_OF(evt->data.rx_buf.buf, struct uart_data_t, data[0]); if (buf->len > 0) { k_fifo_put(&fifo_uart_rx_data, buf); } else { k_free(buf); } break; case UART_TX_ABORTED: LOG_DBG("UART_TX_ABORTED"); if (!aborted_buf) { aborted_buf = (uint8_t *)evt->data.tx.buf; } aborted_len += evt->data.tx.len; buf = CONTAINER_OF(aborted_buf, struct uart_data_t, data[0]); uart_tx(uart, &buf->data[aborted_len], buf->len - aborted_len, SYS_FOREVER_MS); break; default: break; } } static void uart_work_handler(struct k_work *item) { struct uart_data_t *buf; buf = k_malloc(sizeof(*buf)); if (buf) { buf->len = 0; } else { LOG_WRN("Not able to allocate UART receive buffer"); k_work_reschedule(&uart_work, UART_WAIT_FOR_BUF_DELAY); return; } uart_rx_enable(uart, buf->data, sizeof(buf->data), UART_RX_TIMEOUT); } static int uart_init(void) { int err; struct uart_data_t *rx; if (!device_is_ready(uart)) { LOG_ERR("UART device not ready"); return -ENODEV; } rx = k_malloc(sizeof(*rx)); if (rx) { rx->len = 0; } else { return -ENOMEM; } k_work_init_delayable(&uart_work, uart_work_handler); err = uart_callback_set(uart, uart_cb, NULL); if (err) { return err; } return uart_rx_enable(uart, rx->data, sizeof(rx->data), UART_RX_TIMEOUT); } static void discovery_complete(struct bt_gatt_dm *dm, void *context) { struct bt_nus_client *nus = context; LOG_INF("Service discovery completed"); bt_gatt_dm_data_print(dm); bt_nus_handles_assign(dm, nus); bt_nus_subscribe_receive(nus); bt_gatt_dm_data_release(dm); } static void discovery_service_not_found(struct bt_conn *conn, void *context) { LOG_INF("Service not found"); } static void discovery_error(struct bt_conn *conn, int err, void *context) { LOG_WRN("Error while discovering GATT database: (%d)", err); } struct bt_gatt_dm_cb discovery_cb = { .completed = discovery_complete, .service_not_found = discovery_service_not_found, .error_found = discovery_error, }; static void gatt_discover(struct bt_conn *conn) { int err; if (conn != default_conn) { return; } err = bt_gatt_dm_start(conn, BT_UUID_NUS_SERVICE, &discovery_cb, &nus_client); if (err) { LOG_ERR("could not start the discovery procedure, error " "code: %d", err); } } static void exchange_func(struct bt_conn *conn, uint8_t err, struct bt_gatt_exchange_params *params) { if (!err) { LOG_INF("MTU exchange done"); } else { LOG_WRN("MTU exchange failed (err %" PRIu8 ")", err); } } static void connected(struct bt_conn *conn, uint8_t conn_err) { char addr[BT_ADDR_LE_STR_LEN]; int err; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); if (conn_err) { LOG_INF("Failed to connect to %s, 0x%02x %s", addr, conn_err, bt_hci_err_to_str(conn_err)); if (default_conn == conn) { bt_conn_unref(default_conn); default_conn = NULL; err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); if (err) { LOG_ERR("Scanning failed to start (err %d)", err); } } return; } LOG_INF("Connected: %s", addr); static struct bt_gatt_exchange_params exchange_params; exchange_params.func = exchange_func; err = bt_gatt_exchange_mtu(conn, &exchange_params); if (err) { LOG_WRN("MTU exchange failed (err %d)", err); } err = bt_conn_set_security(conn, BT_SECURITY_L2); if (err) { LOG_WRN("Failed to set security: %d", err); gatt_discover(conn); } const struct bt_conn_le_phy_param preferred_phy = { .options = BT_CONN_LE_PHY_OPT_CODED_S8, .pref_rx_phy = BT_GAP_LE_PHY_CODED, .pref_tx_phy = BT_GAP_LE_PHY_CODED, }; err = bt_conn_le_phy_update(conn, &preferred_phy); if (err) { LOG_ERR("bt_conn_le_phy_update() returned %d", err); } err = bt_scan_stop(); if ((!err) && (err != -EALREADY)) { LOG_ERR("Stop LE scan failed (err %d)", err); } // 启动任务 k_work_schedule(&rssi_work, K_NO_WAIT); } static void disconnected(struct bt_conn *conn, uint8_t reason) { k_work_cancel_delayable(&rssi_work); // 取消RSSI任务 char addr[BT_ADDR_LE_STR_LEN]; int err; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); LOG_INF("Disconnected: %s, reason 0x%02x %s", addr, reason, bt_hci_err_to_str(reason)); if (default_conn != conn) { return; } bt_conn_unref(default_conn); default_conn = NULL; err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); if (err) { LOG_ERR("Scanning failed to start (err %d)", err); } } static void security_changed(struct bt_conn *conn, bt_security_t level, enum bt_security_err err) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); if (!err) { LOG_INF("Security changed: %s level %u", addr, level); } else { LOG_WRN("Security failed: %s level %u err %d %s", addr, level, err, bt_security_err_to_str(err)); } gatt_discover(conn); } BT_CONN_CB_DEFINE(conn_callbacks) = { .connected = connected, .disconnected = disconnected, .security_changed = security_changed }; static void scan_filter_match(struct bt_scan_device_info *device_info, struct bt_scan_filter_match *filter_match, bool connectable) { int err; char addr[BT_ADDR_LE_STR_LEN]; struct bt_conn_le_create_param *conn_params; bt_addr_le_to_str(device_info->recv_info->addr, addr, sizeof(addr)); printk("Filters matched. Address: %s connectable: %s\n", addr, connectable ? "yes" : "no"); err = bt_scan_stop(); if (err) { printk("Stop LE scan failed (err %d)\n", err); } conn_params = BT_CONN_LE_CREATE_PARAM( BT_CONN_LE_OPT_CODED | BT_CONN_LE_OPT_NO_1M, BT_GAP_SCAN_FAST_INTERVAL, BT_GAP_SCAN_FAST_INTERVAL); err = bt_conn_le_create(device_info->recv_info->addr, conn_params, BT_LE_CONN_PARAM_DEFAULT, &default_conn); if (err) { printk("Create conn failed (err %d)\n", err); err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); if (err) { printk("Scanning failed to start (err %d)\n", err); return; } } printk("Connection pending\n"); } static void scan_connecting_error(struct bt_scan_device_info *device_info) { LOG_WRN("Connecting failed"); } static void scan_connecting(struct bt_scan_device_info *device_info, struct bt_conn *conn) { default_conn = bt_conn_ref(conn); } static int nus_client_init(void) { int err; struct bt_nus_client_init_param init = { .cb = { .received = ble_data_received, .sent = ble_data_sent, } }; err = bt_nus_client_init(&nus_client, &init); if (err) { LOG_ERR("NUS Client initialization failed (err %d)", err); return err; } LOG_INF("NUS Client module initialized"); return err; } BT_SCAN_CB_INIT(scan_cb, scan_filter_match, NULL, scan_connecting_error, scan_connecting); static int scan_init(void) { int err; /* Use active scanning and disable duplicate filtering to handle any * devices that might update their advertising data at runtime. */ struct bt_le_scan_param scan_param = { .type = BT_LE_SCAN_TYPE_ACTIVE, .interval = BT_GAP_SCAN_FAST_INTERVAL, .window = BT_GAP_SCAN_FAST_WINDOW, .options = BT_LE_SCAN_OPT_CODED | BT_LE_SCAN_OPT_NO_1M }; struct bt_scan_init_param scan_init = { .connect_if_match = 0, .scan_param = &scan_param, .conn_param = NULL }; bt_scan_init(&scan_init); bt_scan_cb_register(&scan_cb); err = bt_scan_filter_add(BT_SCAN_FILTER_TYPE_NAME, "IMU1"); // 替换为目标设备的名称 if (err) { LOG_ERR("Failed to set name filter (err %d)", err); return err; } err = bt_scan_filter_enable(BT_SCAN_NAME_FILTER, false); if (err) { printk("Filters cannot be turned on (err %d)\n", err); } return err; } static void auth_cancel(struct bt_conn *conn) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); LOG_INF("Pairing cancelled: %s", addr); } static void pairing_complete(struct bt_conn *conn, bool bonded) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); LOG_INF("Pairing completed: %s, bonded: %d", addr, bonded); } static void pairing_failed(struct bt_conn *conn, enum bt_security_err reason) { char addr[BT_ADDR_LE_STR_LEN]; bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); LOG_WRN("Pairing failed conn: %s, reason %d %s", addr, reason, bt_security_err_to_str(reason)); } static struct bt_conn_auth_cb conn_auth_callbacks = { .cancel = auth_cancel, }; static struct bt_conn_auth_info_cb conn_auth_info_callbacks = { .pairing_complete = pairing_complete, .pairing_failed = pairing_failed }; int main(void) { int err; k_work_init_delayable(&rssi_work, rssi_work_handler); err = bt_conn_auth_cb_register(&conn_auth_callbacks); if (err) { LOG_ERR("Failed to register authorization callbacks."); return 0; } err = bt_conn_auth_info_cb_register(&conn_auth_info_callbacks); if (err) { printk("Failed to register authorization info callbacks.\n"); return 0; } err = bt_enable(NULL); if (err) { LOG_ERR("Bluetooth init failed (err %d)", err); return 0; } LOG_INF("Bluetooth initialized"); if (IS_ENABLED(CONFIG_SETTINGS)) { settings_load(); } err = uart_init(); if (err != 0) { LOG_ERR("uart_init failed (err %d)", err); return 0; } err = scan_init(); if (err != 0) { LOG_ERR("scan_init failed (err %d)", err); return 0; } err = nus_client_init(); if (err != 0) { LOG_ERR("nus_client_init failed (err %d)", err); return 0; } printk("Starting Bluetooth Central UART example\n"); err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE); if (err) { LOG_ERR("Scanning failed to start (err %d)", err); return 0; } LOG_INF("Scanning successfully started"); struct uart_data_t nus_data = { .len = 0, }; for (;;) { /* Wait indefinitely for data to be sent over Bluetooth */ struct uart_data_t *buf = k_fifo_get(&fifo_uart_rx_data, K_FOREVER); int plen = MIN(sizeof(nus_data.data) - nus_data.len, buf->len); int loc = 0; while (plen > 0) { memcpy(&nus_data.data[nus_data.len], &buf->data[loc], plen); nus_data.len += plen; loc += plen; if (nus_data.len >= sizeof(nus_data.data) || (nus_data.data[nus_data.len - 1] == '\n') || (nus_data.data[nus_data.len - 1] == '\r')) { err = bt_nus_client_send(&nus_client, nus_data.data, nus_data.len); if (err) { LOG_WRN("Failed to send data over BLE connection" "(err %d)", err); } err = k_sem_take(&nus_write_sem, NUS_WRITE_TIMEOUT); if (err) { LOG_WRN("NUS send timeout"); } nus_data.len = 0; } plen = MIN(sizeof(nus_data.data), buf->len - loc); } k_free(buf); } }
Could you please help me get data form 2 nus peripheral with coded_phy? Thank you so much!