387 lines
22 KiB
C
387 lines
22 KiB
C
/**
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* Copyright (c) 2015 - 2020, Nordic Semiconductor ASA
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into a Nordic
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* Semiconductor ASA integrated circuit in a product or a software update for
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* such product, must reproduce the above copyright notice, this list of
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* conditions and the following disclaimer in the documentation and/or other
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* materials provided with the distribution.
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*
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* 3. Neither the name of Nordic Semiconductor ASA nor the names of its
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* contributors may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* Nordic Semiconductor ASA integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be reverse
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* engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
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* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/** @file
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*
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* @defgroup ble_lns Location and Navigation Service
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* @{
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* @ingroup ble_sdk_srv
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* @brief Location and Navigation Service module.
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*
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* @details This module implements the Location and Navigation Service with the Location and Speed, Position
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* Quality, Feature, Control Point, and Navigation characteristics.
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*
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* If an event handler is supplied by the application, the Location and Navigation Service will
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* generate Location and Navigation Service events to the application.
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*
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* @note The application must register this module as BLE event observer using the
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* NRF_SDH_BLE_OBSERVER macro. Example:
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* @code
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* ble_lns_t instance;
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* NRF_SDH_BLE_OBSERVER(anything, BLE_LNS_BLE_OBSERVER_PRIO,
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* ble_lns_on_ble_evt, &instance);
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* @endcode
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*/
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#ifndef BLE_LNS_H__
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#define BLE_LNS_H__
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#include "ble_srv_common.h"
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#include "ble_date_time.h"
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#include "ble_ln_common.h"
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#include "ble_ln_cp.h"
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#include "sdk_common.h"
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#include "nrf_sdh_ble.h"
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#include "nrf_ble_gq.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**@ Macro for defining a ble_lns instance.
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*
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* @param _name Name of the instance.
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* @hideinitializer
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*/
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#define BLE_LNS_DEF(_name) \
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static ble_lns_t _name; \
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NRF_SDH_BLE_OBSERVER(_name ## _obs, \
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BLE_LNS_BLE_OBSERVER_PRIO, \
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ble_lns_on_ble_evt, &_name)
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/**@brief Location and Navigation event type. This list defines the possible events types from the Location and Navigation Service. */
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typedef enum
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{
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BLE_LNS_CTRLPT_EVT_INDICATION_ENABLED, /**< Control Point value indication was enabled. */
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BLE_LNS_CTRLPT_EVT_INDICATION_DISABLED, /**< Control Point value indication was disabled. */
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BLE_LNS_LOC_SPEED_EVT_NOTIFICATION_ENABLED, /**< Location and Speed value notification was enabled. */
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BLE_LNS_LOC_SPEED_EVT_NOTIFICATION_DISABLED, /**< Location and Speed value notification was disabled. */
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BLE_LNS_NAVIGATION_EVT_NOTIFICATION_ENABLED, /**< Navigation value notification was enabled. */
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BLE_LNS_NAVIGATION_EVT_NOTIFICATION_DISABLED, /**< Navigation value notification was disabled. */
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} ble_lns_evt_type_t;
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/**@brief Location and Navigation event structure. When an event occurs, the data structures of the module are automatically updated. */
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typedef struct
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{
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ble_lns_evt_type_t evt_type;
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} ble_lns_evt_t;
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// Forward declarations of the ble_lns types.
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typedef struct ble_lns_init_s ble_lns_init_t;
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typedef struct ble_lns_s ble_lns_t;
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typedef struct ble_lns_loc_speed_s ble_lns_loc_speed_t;
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typedef struct ble_lns_pos_quality_s ble_lns_pos_quality_t;
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typedef struct ble_lns_navigation_s ble_lns_navigation_t;
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typedef struct
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{
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bool is_pending;
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uint16_t handle;
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uint16_t len;
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uint8_t data[BLE_GATT_ATT_MTU_DEFAULT];
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} notification_t;
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/**@brief Location and Navigation Service event handler type. */
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typedef void (*ble_lns_evt_handler_t) (ble_lns_t const * p_lns, ble_lns_evt_t const * p_evt);
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/**@brief Location and Navigation Service init structure. This structure contains all options
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* and data needed to initialize the service.
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*/
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struct ble_lns_init_s
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{
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ble_lns_evt_handler_t evt_handler; /**< Event handler to be called for handling events in the Location and Navigation Service. */
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ble_lncp_evt_handler_t lncp_evt_handler;
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ble_srv_error_handler_t error_handler; /**< Errors will be sent back to this function. */
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nrf_ble_gq_t * p_gatt_queue; /**< Pointer to BLE GATT queue instance. */
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bool is_position_quality_present; /**< If set to true, the position quality characteristic will be added. Else not. */
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bool is_control_point_present; /**< If set to true, the control point characteristic will be added. Else not. */
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bool is_navigation_present; /**< If set to true, the navigation characteristic will be added. Else not. */
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security_req_t loc_nav_feature_security_req_read_perm; /**< Read security level of the LN Feature characteristic. */
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security_req_t loc_speed_security_req_cccd_write_perm; /**< CCCD write security level of the Write Location and Speed characteristic. */
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security_req_t position_quality_security_req_read_perm; /**< Read security level of the Position Quality characteristic. */
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security_req_t navigation_security_req_cccd_write_perm; /**< CCCD write security level of the Navigation characteristic. */
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security_req_t ctrl_point_security_req_write_perm; /**< Read security level of the LN Control Point characteristic. */
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security_req_t ctrl_point_security_req_cccd_write_perm; /**< CCCD write security level of the LN Control Point characteristic. */
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uint32_t available_features; /**< Value of the LN feature. */
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ble_lns_loc_speed_t * p_location_speed; /**< Initial Location and Speed. */
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ble_lns_pos_quality_t * p_position_quality; /**< Initial Position Quality. */
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ble_lns_navigation_t * p_navigation; /**< Initial Navigation data structure. */
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};
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/**@brief Definition of a navigation route.*/
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typedef struct
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{
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uint16_t route_id;
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uint8_t route_name[BLE_LNS_MAX_ROUTE_NAME_LEN];
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} ble_lns_route_t;
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/**@brief Location and Navigation Service structure. This structure contains various status information for the service. */
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struct ble_lns_s
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{
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ble_lns_evt_handler_t evt_handler; /**< Event handler to be called for handling events in the Location and Navigation Service. */
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ble_srv_error_handler_t error_handler; /**< Error handler. */
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nrf_ble_gq_t * p_gatt_queue; /**< Pointer to BLE GATT queue instance. */
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bool is_navigation_present; /**< If set to true, the navigation characteristic is present. Else not. */
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uint16_t conn_handle; /**< Handle of the current connection (as provided by the BLE stack; BLE_CONN_HANDLE_INVALID if not in a connection). */
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uint16_t service_handle; /**< Handle of Location and Navigation Service (as provided by the BLE stack). */
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ble_gatts_char_handles_t loc_speed_handles; /**< Handles related to the Location and Speed characteristic. */
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ble_gatts_char_handles_t feature_handles; /**< Handles related to the Location and Navigation Feature characteristic. */
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ble_gatts_char_handles_t navigation_handles; /**< Handles related to the Navigation characteristic. */
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ble_gatts_char_handles_t pos_qual_handles; /**< Handles related to the Position Quality characteristic. */
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ble_gatts_char_handles_t ctrlpt_handles;
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uint32_t available_features; /**< Value of Location and Navigation feature. */
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bool is_loc_speed_notification_enabled; /**< True if notification is enabled on the Location and Speed characteristic. */
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bool is_nav_notification_enabled; /**< True if notification is enabled on the Navigation characteristic. */
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notification_t pending_loc_speed_notifications[2]; /**< This buffer holds location and speed notifications. */
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notification_t pending_navigation_notification; /**< This buffer holds navigation notifications. */
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ble_lns_loc_speed_t * p_location_speed; /**< Location and Speed. */
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ble_lns_pos_quality_t * p_position_quality; /**< Position measurement quality. */
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ble_lns_navigation_t * p_navigation; /**< Navigation data structure. */
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ble_lncp_t ctrl_pt;
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};
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/**@brief Position status. This enumeration defines how to interpret the position data. */
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typedef enum
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{
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BLE_LNS_NO_POSITION = 0,
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BLE_LNS_POSITION_OK = 1,
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BLE_LNS_ESTIMATED = 2,
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BLE_LNS_LAST_KNOWN_POSITION = 3
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} ble_lns_pos_status_type_t;
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/**@brief The format of the position and speed measurements. */
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typedef enum
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{
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BLE_LNS_SPEED_DISTANCE_FORMAT_2D = 0,
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BLE_LNS_SPEED_DISTANCE_FORMAT_3D = 1
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} ble_lns_speed_distance_format_t;
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/**@brief Elevation source. */
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typedef enum
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{
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BLE_LNS_ELEV_SOURCE_POSITIONING_SYSTEM = 0,
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BLE_LNS_ELEV_SOURCE_BAROMETRIC = 1,
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BLE_LNS_ELEV_SOURCE_DATABASE_SERVICE = 2,
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BLE_LNS_ELEV_SOURCE_OTHER = 3
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} ble_lns_elevation_source_t;
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/**@brief Heading source. */
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typedef enum
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{
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BLE_LNS_HEADING_SOURCE_MOVEMENT = 0,
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BLE_LNS_HEADING_SOURCE_COMPASS = 1
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} ble_lns_heading_source_t;
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/**@brief Location and Speed data structure. */
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struct ble_lns_loc_speed_s
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{
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bool instant_speed_present; /**< Instantaneous Speed present (0=not present, 1=present). */
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bool total_distance_present; /**< Total Distance present (0=not present, 1=present). */
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bool location_present; /**< Location present (0=not present, 1=present). */
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bool elevation_present; /**< Elevation present (0=not present, 1=present). */
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bool heading_present; /**< Heading present (0=not present, 1=present). */
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bool rolling_time_present; /**< Rolling Time present (0=not present, 1=present). */
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bool utc_time_time_present; /**< UTC Time present (0=not present, 1=present). */
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ble_lns_pos_status_type_t position_status; /**< Status of current position */
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ble_lns_speed_distance_format_t data_format; /**< Format of data (either 2D or 3D). */
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ble_lns_elevation_source_t elevation_source; /**< Source of the elevation measurement. */
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ble_lns_heading_source_t heading_source; /**< Source of the heading measurement. */
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uint16_t instant_speed; /**< Instantaneous Speed (1/10 meter per sec). */
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uint32_t total_distance; /**< Total Distance (meters), size=24 bits. */
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int32_t latitude; /**< Latitude (10e-7 degrees). */
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int32_t longitude; /**< Longitude (10e-7 degrees). */
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int32_t elevation; /**< Elevation (1/100 meters), size=24 bits. */
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uint16_t heading; /**< Heading (1/100 degrees). */
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uint8_t rolling_time; /**< Rolling Time (seconds). */
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ble_date_time_t utc_time; /**< UTC Time. */
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};
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/**@brief Position quality structure. */
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struct ble_lns_pos_quality_s
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{
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bool number_of_satellites_in_solution_present; /**< The number of satellites present in solution (0=not present, 1=present). */
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bool number_of_satellites_in_view_present; /**< The number of satellites present in solution (0=not present, 1=present). */
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bool time_to_first_fix_present; /**< Time to the first position fix present (0=not present, 1=present). */
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bool ehpe_present; /**< Error in horizontal position estimate present (0=not present, 1=present). */
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bool evpe_present; /**< Error in vertical position estimate present (0=not present, 1=present). */
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bool hdop_present; /**< Horizontal dilution of precision present (0=not present, 1=present). */
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bool vdop_present; /**< Vertical dilution of precision present (0=not present, 1=present). */
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ble_lns_pos_status_type_t position_status; /**< Status of last measured position. */
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uint8_t number_of_satellites_in_solution; /**< The number of satellites in solution (unitless, with a resolution of 1). */
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uint8_t number_of_satellites_in_view; /**< The number of satellites in view (unitless, with a resolution of 1). */
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uint16_t time_to_first_fix; /**< Time to the first position fix (seconds, with a resolution of 1/10). */
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uint32_t ehpe; /**< Error in horizontal position estimate (meters, with a resolution of 1/100). */
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uint32_t evpe; /**< Error in vertical position estimate (meters, with a resolution of 1/100). */
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uint8_t hdop; /**< Horizontal dilution of precision (unitless, with a resolution of 2/10). */
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uint8_t vdop; /**< Vertical dilution of precision (unitless, with a resolution of 2/10). */
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};
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/**@brief Navigation indicator type. */
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typedef enum
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{
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BLE_LNS_NAV_TO_WAYPOINT = 0,
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BLE_LNS_NAV_TO_DESTINATION = 1
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} ble_lns_nav_indicator_type_t;
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/**@brief Navigation data structure. */
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struct ble_lns_navigation_s
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{
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bool remaining_dist_present; /**< Remaining Distance present (0=not present, 1=present). */
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bool remaining_vert_dist_present; /**< Remaining Vertical Distance present (0=not present, 1=present). */
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bool eta_present; /**< Estimated Time of Arrival present (0=not present, 1=present). */
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ble_lns_pos_status_type_t position_status; /**< Status of last measured position. */
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ble_lns_heading_source_t heading_source; /**< Source of the heading measurement. */
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ble_lns_nav_indicator_type_t navigation_indicator_type; /**< Navigation indicator type. */
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bool waypoint_reached; /**< Waypoint Reached (0=not reached, 1=reached). */
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bool destination_reached; /**< Destination Reached (0=not reached, 1=reached). */
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uint16_t bearing; /**< Bearing (1/100 degrees).*/
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uint16_t heading; /**< Heading (1/100 degrees), size=24 bit. */
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uint32_t remaining_distance; /**< Remaining Distance (1/10 meters), size=24 bit. */
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int32_t remaining_vert_distance; /**< Remaining Vertical Distance (1/100 meters), size=24 bit. */
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ble_date_time_t eta; /**< Estimated Time of Arrival. */
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};
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/**@brief Function for initializing the Location and Navigation Service.
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*
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* @param[out] p_lns Location and Navigation Service structure. This structure must be supplied by
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* the application. It is initialized by this function, and will later
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* be used to identify this particular service instance.
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* @param[in] p_lns_init Information needed to initialize the service.
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*
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* @retval NRF_SUCCESS If the service was initialized successfully.
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* @retval NRF_ERROR_NULL If a NULL parameter was provided.
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* @retval NRF_INVALID_PARAMS If there is an inconsistency in the initialization structure.
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* @return Otherwise, an error code from either sd_ble_gatts_service_add() or sd_ble_gatts_characteristic_add() is returned.
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*/
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ret_code_t ble_lns_init(ble_lns_t * p_lns, ble_lns_init_t const * p_lns_init);
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/**@brief Function for handling Location and Navigation Service BLE stack events.
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*
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* @details This function handles all events from the BLE stack that are of interest to the
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* Location and Navigation Service.
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*
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* @note The function returns when a NULL parameter is provided.
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*
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* @param[in] p_ble_evt Event received from the BLE stack.
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* @param[in] p_context Location and Navigation Service structure.
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*/
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void ble_lns_on_ble_evt(ble_evt_t const * p_ble_evt, void * p_context);
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/**@brief Function for sending location and speed data if notification has been enabled.
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*
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* @details The application calls this function after having performed a location and speed determination.
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* If notification has been enabled, the location and speed data is encoded and sent to
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* the client.
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*
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* @param[in] p_lns Location and Navigation Service structure holding the location and speed data.
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*
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* @retval NRF_SUCCESS If the data was sent successfully.
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* @retval NRF_ERROR_NULL If a NULL parameter was provided.
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* @retval NRF_ERROR_INVALID_STATE If notification is disabled.
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*/
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ret_code_t ble_lns_loc_speed_send(ble_lns_t * p_lns);
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/**@brief Function for sending navigation data if notification has been enabled.
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*
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* @details The application calls this function after having performed a navigation determination.
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* If notification has been enabled, the navigation data is encoded and sent to
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* the client.
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*
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* @param[in] p_lns Location and Navigation Service structure holding the navigation data.
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*
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* @retval NRF_SUCCESS If the data was sent successfully.
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* @retval NRF_ERROR_NULL If a NULL parameter was provided.
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* @retval NRF_ERROR_NOT_SUPPORTED If the navigation characteristic is absent.
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* @retval NRF_ERROR_INVALID_STATE If navigation is not running or notification is disabled.
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*/
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ret_code_t ble_lns_navigation_send(ble_lns_t * p_lns);
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/**@brief Function for adding a route to the Location and Navigation Service.
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*
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* @param[in] p_lns Location and Navigation Service structure.
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* @param[in,out] p_route The new route to be added. The route ID is updated.
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*
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* @retval NRF_SUCCESS If the route was added successfully.
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* @retval NRF_ERROR_NULL If a NULL parameter was provided.
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* @retval NRF_ERROR_NOT_SUPPORTED If the navigation characteristic is absent.
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* @retval NRF_ERROR_NO_MEM If there is no memory left.
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* @retval NRF_ERROR_INTERNAL If there is an inconsistency in the routes table.
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*/
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ret_code_t ble_lns_add_route(ble_lns_t * p_lns, ble_lns_route_t * p_route);
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/**@brief Function for removing a route from the Location and Navigation Service.
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*
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* @param[in] p_lns Location and Navigation Service structure.
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* @param[in] route_id The ID of the route to be removed.
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*
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* @retval NRF_SUCCESS If the route was removed successfully.
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* @retval NRF_ERROR_NULL If a NULL parameter was provided.
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* @retval NRF_ERROR_NOT_SUPPORTED If the navigation characteristic is absent.
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* @retval NRF_INVALID_PARAM If the route ID does not exist.
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*/
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ret_code_t ble_lns_remove_route(ble_lns_t * p_lns, uint16_t route_id);
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#ifdef __cplusplus
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}
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#endif
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#endif // BLE_LNS_H__
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/** @} */
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