BlueZ

一、BlueZ在ubuntu PC上的基础应用

1、bluez的安装及基本功能

dong@ubuntu:~/bluez$ ls
bluez-5.47.tar.xz   SPP-loopback.py
dong@ubuntu:~/bluez$ tar xvf bluez-5.47.tar.xz
dong@ubuntu:~/bluez/bluez-5.47$ ./configure --prefix=/usr --mandir=/usr/share/man --sysconfdir=/etc --localstatedir=/var
make
make install

装完bluez，然后插上蓝牙适配器就可以测试了，如果不能启动就注销或者重启一下电脑。

2、bluez配对
dong@ubuntu:~/bluez/bluez-5.47$ cd test/
dong@ubuntu:~/bluez/bluez-5.47/test$ python simple-agent
Agent registered

然后可以用手机蓝牙助手(Bluetooth spp pro/蓝牙串口助手 Pro)来扫描配对蓝牙适配器，ubuntu上的simple-agent会弹出配对确认信息，输入yes回车完成配对

simple-agent是通过主从机之间的交互来实现的，可以实现加密配对。

3、bluez spp蓝牙透传demo

SPP-loopback.py和bluez5-spp-example分别是用python和c语言实现的SPP Demo

如果是ubuntu版本太低，安装bluez可能会缺一些库文件，装上库文件即可，可以参考http://blog.csdn.net/twy76/article/details/23851587

PC上也可以用图形工具来配置蓝牙，blueman-applet比较方便。

4、BlueZ文件共享

示例：BlueZ设备（这里是ubuntu PC）与手机之间的文件收发

dong@dong-ubuntu:~$ lsusb
Bus  Device : ID 1d6b: Linux Foundation 3.0 root hub
Bus  Device : ID 0a12: Cambridge Silicon Radio, Ltd Bluetooth Dongle (HCI mode)
Bus  Device : ID 17ef: Lenovo
Bus  Device : ID 1d6b: Linux Foundation 2.0 root hub
dong@dong-ubuntu:~$ hciconfig -a
hci0:    Type: BR/EDR  Bus: USB
    BD Address: :1A:7D:DA::  ACL MTU: :  SCO MTU: :
    UP RUNNING PSCAN ISCAN
    RX bytes: acl: sco: events: errors:
    TX bytes: acl: sco: commands: errors:
    Features: 0xff 0xff 0x8f 0xfe 0xdb 0xff 0x5b 0x87
    Packet type: DM1 DM3 DM5 DH1 DH3 DH5 HV1 HV2 HV3
    Link policy: RSWITCH HOLD SNIFF PARK
    Link mode: SLAVE ACCEPT
    Name: 'BlueZ 5.47'
    Class: 0x0c0104
    Service Classes: Rendering, Capturing
    Device Class: Computer, Desktop workstation
    HCI Version: 4.0 (0x6)  Revision: 0x22bb
    LMP Version: 4.0 (0x6)  Subversion: 0x22bb
    Manufacturer: Cambridge Silicon Radio ()
 
dong@dong-ubuntu:~$ hcitool scan
Scanning ...
    :::::    ZHDZXD
    ::A2:CC::D8    ZHDGIS
    ::0A::C5:    wifitest
    E4::DA:6E:8D:    小米手机
    :C3:::2E:    Honor  Lite
dong@dong-ubuntu:~$ sdptool browse E4::DA:6E:8D:
Browsing E4::DA:6E:8D: ...
Service RecHandle: 0x10000
Service Class ID List:
  "Generic Attribute" (0x1801)
Protocol Descriptor List:
  "L2CAP" (0x0100)
    PSM:
  "ATT" (0x0007)
    uint16: 0x0001
    uint16: 0x0005
...
...

Browsing E4::DA:6E:8D: ...
Service Search failed: Invalid argument
Service Name: OBEX Object Push
Service RecHandle: 0x1000b
Service Class ID List:
  "OBEX Object Push" (0x1105)
Protocol Descriptor List:
  "L2CAP" (0x0100)
  "RFCOMM" (0x0003)
    Channel:
  "OBEX" (0x0008)
Profile Descriptor List:
  "OBEX Object Push" (0x1105)
    Version: 0x0102
Browsing E4::DA:6E:8D: ...
Service Search failed: Invalid argument
 
//send file to moble
dong@dong-ubuntu:~$ obex_test -b E4::DA:6E:8D:
Using Bluetooth RFCOMM transport
OBEX Interactive test client/server.
> c
Made some progress...
Connect OK!
Version: 0x10. Flags: 0x00
> x
PUSH file> test.txt
name=test.txt, size=
Going to send test.txt(test.txt),  bytes
Filling stream!
Filling stream!
Made some progress...
Made some progress...
PUT successful!
> q
 
dong@dong-ubuntu:~$ sudo sdptool add OPUSH
OBEX Object Push service registered
dong@dong-ubuntu:~$ sudo sdptool browse local
Browsing FF:FF:FF::: ...
Service RecHandle: 0x10000
Service Class ID List:
  "PnP Information" (0x1200)
Profile Descriptor List:
  "PnP Information" (0x1200)
    Version: 0x0103
...
...
 
Service Name: OBEX Object Push
Service RecHandle: 0x10008
Service Class ID List:
  "OBEX Object Push" (0x1105)
Protocol Descriptor List:
  "L2CAP" (0x0100)
  "RFCOMM" (0x0003)
    Channel:
  "OBEX" (0x0008)
Profile Descriptor List:
  "OBEX Object Push" (0x1105)
    Version: 0x0100
 
//receive file from moble
dong@dong-ubuntu:~$ obex_test -b local
Using Bluetooth RFCOMM transport
OBEX Interactive test client/server.
> s
OBEX_HandleInput() returned
Unknown event 0b!
connect_server()
connect_server() Skipped header c0
Made some progress...
Server request finished!
server_done() Command () has now finished
OBEX_HandleInput() returned
Made some progress...
OBEX_HandleInput() returned
Made some progress...
OBEX_HandleInput() returned
Made some progress...
OBEX_HandleInput() returned
...
...
Made some progress...
OBEX_HandleInput() returned
put_server()
put_server() Found name
put_server() Skipped header
put_server() Skipped header c3
put_server() Found body
Filename = Screenshot_2017------059_com.baidu.searchbox.png
Wrote Screenshot_2017------059_com.baidu.searchbox.png ( bytes)
Made some progress...
Server request finished!
server_done() Command () has now finished
OBEX_HandleInput() returned
Unknown event 0b!
We got a disconnect-request
Made some progress...
Server request finished!
Disconnect done!
OBEX_HandleInput() returned
>

二、BlueZ在ARM上的基础应用

1、BlueZ移植

BlueZ依赖的第三方库比较多，编译起来很繁琐，给每个库都创建一个config.sh文件，并设置777权限，

创建安装目录/usr/local/bluez，也设置777权限，

如下依次运行每个库的配置文件./config.sh可完整的编译出ARM的可执行文件。

编译环境

ubuntu + linaro gcc

gcc编译器https://www.linaro.org/downloads/

硬件环境

CPU: Cortex A5

Bluetooth: wg7813(bluetooth和wifi的复合模块，芯片是TI的wl18xx)

移植主要参考这个wiki，依赖库的版本最好也按wiki里的版本，一堆开源库，不同版本会有冲突，wiki里的版本是一次编译通过，配合如下脚本。

http://wiki.beyondlogic.org/index.php?title=Cross_Compiling_BlueZ_Bluetooth_tools_for_ARM

1) zlib-1.2.

#!/bin/bash
cd /home/dong/bluez/zlib-1.2.
CC=arm-linux-gnueabihf-gcc \
AR=arm-linux-gnueabihf-ar \
RANLIB=arm-linux-gnueabihf-ranlib \
./configure --prefix=/usr/local/bluez
 
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

zlib第一次还不能运行脚本，一步一步来，其他库都能通过脚本自动化编译，安装。

Download, cross compile and install the zlib compression libraries. Configure doesn't accept the --host parameter (reports unknown option), so you need to hack the makefile.

wget http://zlib.net/zlib-1.2.8.tar.gz
tar -xzf zlib-1.2.8.tar.gz
cd zlib-1.2.8/
./configure --prefix=/usr/local/bluez

Edit the makefile and prefix the build tools with arm-linux-gnueabi-.

CC=arm-linux-gnueabihf-gcc
LDSHARED=arm-linux-gnueabihf-gcc -shared -Wl,-soname,libz.so.1,--version-script,zlib.map
CPP=arm-linux-gnueabihf-gcc -E
AR=arm-linux-gnueabihf-ar
RANLIB=arm-linux-gnueabihf-ranlib

Make and install:

make
make install

2) libffi-3.0.13

#!/bin/bash
./configure --host=arm-linux-gnueabihf --prefix=/usr/local/bluez
 
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

3) glib-2.40.0

#!/bin/bash
./configure --host=arm-linux-gnueabihf \
LIBFFI_CFLAGS="-I/usr/local/bluez/lib/libffi-3.0.13/include" \
LIBFFI_LIBS="-lffi -L/usr/local/bluez/lib" \
ZLIB_CFLAGS="-I/usr/local/bluez/include" \
ZLIB_LIBS="-lz -L/usr/local/bluez/lib" \
--prefix=/usr/local/bluez PKG_CONFIG_PATH=/usr/local/bluez/lib/pkgconfig  glib_cv_stack_grows=no glib_cv_uscore=yes ac_cv_func_posix_getpwuid_r=yes ac_cv_func_posix_getgrgid_r=yes
 
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

报错configure: error: Could not find a glib-genmarshal in your PATH，缺了libglib2.0-dev

sudo apt-get install libglib2.0-dev

4) expat-2.1.0

#!/bin/bash
./configure --host=arm-linux-gnueabihf --prefix=/usr/local/bluez
 
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

5) dbus-1.8.0

#!/bin/bash
./configure --host=arm-linux-gnueabihf --prefix=/usr/local/bluez PKG_CONFIG_PATH=/usr/local/bluez/lib/pkgconfig \
--disable-tests \
--sysconfdir=/usr/local/bluez/etc                    \
--localstatedir=/usr/local/bluez/var                 \
--enable-user-session                \
--disable-doxygen-docs               \
--disable-xml-docs                   \
--disable-static                     \
--docdir=/usr/local/bluez/share/doc/dbus-1.8.   \
--with-console-auth-dir=/usr/local/bluez/var/run/console \
--with-system-pid-file=/usr/local/bluez/var/run/dbus/pid \
--with-system-socket=/usr/local/bluez/var/run/dbus/system_bus_socket \
CPPFLAGS='-I/usr/local/bluez/include/' \
CFLAGS='-I/usr/local/bluez/include/' \
LDFLAGS='-L/usr/local/bluez/lib'
 
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

6) libical-1.0

#!/bin/bash
export CC=arm-linux-gnueabihf-gcc
export CXX=arm-linux-gnueabihf-g++
cmake -DCMAKE_INSTALL_PREFIX=/usr/local/bluez
 
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

7) ncurses-5.9

#!/bin/bash
cd /home/dong/bluez/ncurses-5.9
./configure --prefix=/usr/local/bluez --with-shared \
CC=arm-linux-gnueabihf-gcc \
CXX=arm-linux-gnueabihf-g++ \
--host=arm-linux-gnueabihf
 
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

8) readline-6.3

#!/bin/bash
./configure --host=arm-linux-gnueabihf --prefix=/usr/local/bluez bash_cv_wcwidth_broken=yes \
PKG_CONFIG_PATH=/usr/local/bluez/lib/pkgconfig \
CPPFLAGS='-I/usr/local/bluez/include/' \
CFLAGS='-I/usr/local/bluez/include/' \
LDFLAGS='-lncurses -L/usr/local/bluez/lib'
 
#make SHLIB_LIBS=-lncurses
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

9) bluez-5.18

#!/bin/bash
./configure --host=arm-linux-gnueabihf \
--prefix=/usr/local/bluez \
CC="arm-linux-gnueabihf-gcc \
-L/usr/local/bluez/lib \
-I/usr/local/bluez/include \
-I/usr/local/bluez/include/glib-2.0 \
-I/usr/local/bluez/include/dbus-1.0 \
-I/usr/local/bluez/lib/glib-2.0/include \
-I/usr/local/bluez/lib/dbus-1.0/include \
-I/usr/local/bluez/lib/libffi-3.0./include " \
PKG_CONFIG_PATH=/usr/local/bluez/lib/pkgconfig \
CPPFLAGS='-I/usr/local/bluez/include/' \
CFLAGS='-I/usr/local/bluez/include/' \
LDFLAGS='-lrt -lreadline -lncurses -L/usr/local/bluez/lib' \
--disable-systemd --disable-udev --disable-cups --enable-library 
 
make
if [ $? ==  ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

再次说明版本务必要匹配，否则会冲突，怎么检查版本匹配，暂时不清楚，新版本库匹配在下面这网站去找，下面两个版本都有匹配好的BlueZ Dependencies

BlueZ-5.46

http://www.linuxfromscratch.org/blfs/view/stable/general/bluez.html

BlueZ-5.48

http://www.linuxfromscratch.org/blfs/view/svn/general/bluez.html

2、板载bluez调试

1）linux内核配置bluetooth驱动参考 http://blog.csdn.net/new_abc/article/details/7639326 (bluetooth和wifi)
 [*]Networking support  --->

<*>   Bluetooth subsystem support  ---> //蓝牙子系统必须选择

<*>   L2CAP protocol suppor                  //逻辑链路控制和适配协议。

<*>   SCO links support                          //蓝牙语音和耳机支持

<*>   RFCOMM protocol suppor             //面向流的传输协议，支持拨号网络等

[*]   RFCOMM TTY support

<*>   BNEP protocol support                   //蓝牙网络封装协议，自组网支持

[*]   Multicast filter support                      //蓝牙多播，支持支持BNEP

[*]   Protocol filter support                       //蓝牙多播，支持支持支持BNEP

<*>   HIDP protocol support                   //基本支持协议

Bluetoothdevice drivers  --->

<*>HCI USB driver                                 //USB蓝牙模块支持

<*>HCIUART driver                               //基于串口，CF卡或PCMCIA的蓝牙

<*>HCI BlueFRITZ! USB driver

<*>HCI VHCI (Virtual HCI device) driver

其余的选项，根据自己的蓝牙设备进行调整。

2）移植完的bluez，把安装文件拷贝到板子上，只需要dbus和bluez的安装文件，总共应该不超过5M，我的在/usr/local/bluez，然后添加环境变量。

拷贝几个库文件，添加messagebus用户，还是参考刚才的wiki

addgroup -S messagebus
adduser -S messagebus -G messagebus

http://wiki.beyondlogic.org/index.php?title=Cross_Compiling_BlueZ_Bluetooth_tools_for_ARM

可以试试hciconfig, hcitool, dbus-deamon等工具是否正常，正常了就移植成功了。

板子内存紧张可以用nfs挂载的方式来调试，挂载好了，环境变量设置到挂载的路径就可以了。

先安装好nfs服务器

https://jingyan.baidu.com/article/e5c39bf5abc8f739d76033be.html

开发板挂载ubuntu,在ubuntu用户目录下的nfs目录中准备好文件

在开发板上挂载ubuntu
mkdir /mnt/bluez
#在开发板端挂载板子网卡，这里用的USB模拟的网卡，挂载到usb0，真实的网卡就不需要模拟这一步了。

modprobe g_multi.ko file=/dev/mmcblk0p5,/dev/mmcblk0p6 ro=0,0 luns=2 stall=0 removable=1,1 iSerialNumber=3000111
ifconfig usb0 192.168.10.2

在ubuntu端打开网卡
ifconfig enp0s20f0u2 192.168.10.6 netmask 255.255.255.0
ifconfig enp0s20f0u2 up 192.168.10.6
#在开发板端挂载ubuntu上的nfs服务器
mount -t nfs -o nolock 192.168.10.6:/home/dong/nfs /mnt
#umount -t nfs -a nolock 192.168.10.6:/home/dong/nfs /mnt

开发板添加环境变量
#add path
export PATH=/mnt/bluez/bin:$PATH
export LD_LIBRARY_PATH=/mnt/bluez/lib:$LD_LIBRARY_PATH

或者在/etc/profile里添加环境变量永久生效

export PATH=\
/bin:\
/sbin:\
/usr/bin:\
/usr/sbin:\
/usr/bin/X11:\
/usr/local/bin:\
/mnt/bluez/bin:\

export LD_LIBRARY_PATH=/mnt/bluez/lib:$LD_LIBRARY_PATH

source /etc/profile

创建并运行脚本文件bluez.init.sh，运行成功就可以用手机搜到BlueZ-5.18的蓝牙设备

#power on
echo  > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio49/direction
echo  > /sys/class/gpio/gpio49/value
sleep 0.2
echo  > /sys/class/gpio/gpio49/value
sleep 0.2
 
#load firmware
hciattach -s  /dev/ttyS2 texas  flow
 
hciconfig hci0 up
sleep 0.1
hciconfig hci0 iscan
sleep 0.1
 
rm -rf /usr/local/bluez/var/run/dbus/pid                                                                         
 
dbus-daemon --system
sleep 0.2
bluetoothd &
sleep
hciconfig hci0 iscan  

有时候环境变量写到配置文件会失效，程序运行会从系统库目录/lib  /usr/lib查找库文件，不从我们配置的/mnt/bluez/lib目录里找

运行临时环境变量配置指令即可生效

export PATH=/mnt/bluez/bin:$PATH
export LD_LIBRARY_PATH=/mnt/bluez/lib:$LD_LIBRARY_PATH

3、python移植

新版本bluez的demo都是python写的，所以还需要把python也移植到板子上。
1)下载好Python-2.7.2.tgz和补丁文件Python-2.7.2-xcompile.patch
2)编译PC上运行的pgen
./configure

make python Parser/pgen

mv python hostpython

mv Parser/pgen Parser/hostpgen

make distclean

3)给Python-2.7.2打补丁
patch -p1 < Python-2.7.2-xcompile.patch

4)交叉编译，编译器arm-linux-gnueabihf-
CC=arm-linux-gnueabihf-gcc
CXX=arm-linux-gnueabihf-g++ AR=arm-linux-gnueabihf-ar
RANLIB=arm-linux-gnueabihf-ranlib ./configure --host=arm-linux-gnueabihf
--build=x86_64-linux-gnu --prefix=/home/dong/_install

chmod 777 ./setup.py

如果空间紧张，可以更改Makefile,不需要debug，去掉-g，优化等级调成-o2
#OPT=        -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes
OPT=        -DNDEBUG -fwrapv -O2 -Wall -Wstrict-prototypes

make
HOSTPYTHON=./hostpython HOSTPGEN=./Parser/hostpgen
BLDSHARED="arm-linux-gnueabihf-gcc -shared"
CROSS_COMPILE=arm-linux-gnueabihf- CROSS_COMPILE_TARGET=yes
HOSTARCH=arm-linux-gnueabihf BUILDARCH=x86_64-linux-gnu

make
install HOSTPYTHON=./hostpython BLDSHARED="arm-linux-gnueabihf-gcc
-shared" CROSS_COMPILE=arm-linux-gnueabihf- CROSS_COMPILE_TARGET=yes
prefix=/home/dong/_install

如果安装报错
python: Syntax error: word unexpected (expecting ")")
将install-sh文件第一行#!/bin/sh改成#!/bin/bash

5)把安装目录下的文件复制到arm设备上，并吧Python路径添加到PATH中，然后执行测试
python /usr/local/python/lib/python2.7/test/test___all__.py

我的板内存空间紧张，先用nfs挂载来调试

转自
http://blog.csdn.net/xiwenfuor/article/details/38384687
http://blog.sina.com.cn/s/blog_609b4c0d01012j5q.html

我移植完了，发现这个blog写得很简洁。

https://blog.csdn.net/qq_28351465/article/details/54406180

4、板载python调试

python的库文件很大，还是跟上面调试bluez一样，采用nfs来调试

开发板添加环境变量
#add path
export PATH=/mnt/python/bin:$PATH
export LD_LIBRARY_PATH=/mnt/python/lib:$LD_LIBRARY_PATH

或者在/etc/profile里添加环境变量永久生效

export PATH=\
/bin:\
/sbin:\
/usr/bin:\
/usr/sbin:\
/usr/bin/X11:\
/usr/local/bin:\
/mnt/bluez/bin:\
/mnt/python/bin:\

export LD_LIBRARY_PATH=/mnt/bluez/lib:$LD_LIBRARY_PATH

export LD_LIBRARY_PATH=/mnt/python/lib:$LD_LIBRARY_PATH

source /etc/profile

挂载后运行python –V就可以看到python的版本信息了。

python /mnt/python/lib/python2.7/test/test___all__.py
运行结果
Following
modules have no __all__ and have been ignored: ['DocXMLRPCServer',
'HTMLParser', 'SimpleXMLRPCServer', 'UserDict', 'UserList',
'_LWPCookieJar', '_MozillaCookieJar', '__phello__.foo', 'abc', 'an]
Following modules failed to be imported: ['ctypes.wintypes', 'dbhash', 'gzip', 'idlelib.AutoComplete']
ok

----------------------------------------------------------------------
Ran 1 test in 48.532s

OK

5、运行simple-agent 或者 BlueZ SPP Demo
[root@sama5d3x /mnt]# python simple-agent
Traceback (most recent call last):
  File "simple-agent", line 7, in <module>
    import dbus
ImportError: No module named dbus

缺了dbus模块
交叉编译dbus-python-1.2.4

折腾一天看见这个心碎了

https://www.zhihu.com/question/34573048

找了一圈，只能用buildroot来制作支持python的文件系统

http://www.at91.com/linux4sam/bin/view/Linux4SAM/BuildRootBuild

https://www.cnblogs.com/chencanjian/p/6060448.html

6、buildroot编译dbus-python库

进入buildroot根目录

make menuconfig

找到

dbus-python

gobject

其实不用像上面那样单独移植python也可以，就在buildroot里把python和需要的库都选上更方便，

buildroot还可以压缩库文件，还更省空间。

用yocto或者 OpenEmbedded来构建文件系统貌似也行，没有验证

 

make编译完就有了dbus-python库，运行python simple-agent，缺哪个库就拷贝哪个库，一共需要10几个吧。

库都不缺了，发现连接不上dbus.SystemBus()

[root@sama5d3x /mnt]# python
Python 2.7.2 (default, Jan 20 2018, 15:29:23)
[GCC 4.7.3 20121205 (prerelease)] on linux4
Type "help", "copyright", "credits" or "license" for more information.
>>> from __future__ import absolute_import, print_function, unicode_literals
>>> import gobject as GObject
>>> import sys
>>> import dbus
>>> import dbus.service
>>> import dbus.mainloop.glib
>>> from optparse import OptionParser
>>> dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)
<dbus.mainloop.NativeMainLoop object at 0x2ecc08>
>>> bus = dbus.SystemBus()
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/usr/lib/python2.7/site-packages/dbus/_dbus.py", line 194, in __new__
  File "/usr/lib/python2.7/site-packages/dbus/_dbus.py", line 100, in __new__
  File "/usr/lib/python2.7/site-packages/dbus/bus.py", line 122, in __new__
dbus.exceptions.DBusException: org.freedesktop.DBus.Error.FileNotFound: Failed to connect to socket /var/run/dbus/system_bus_socket: No such file or directory

连不上dbus的socket，就差一口气了......

突然发现dbus-1.8.库编译的时候没打开--with-system-socket

参考http://www.linuxfromscratch.org/blfs/view/svn/general/dbus.html

./configure --prefix=/usr                        \
            --sysconfdir=/etc                    \
            --localstatedir=/var                 \
            --disable-doxygen-docs               \
            --disable-xml-docs                   \
            --disable-static                     \
            --docdir=/usr/share/doc/dbus-1.8. \
            --with-console-auth-dir=/run/console \
            --with-system-pid-file=/run/dbus/pid \
            --with-system-socket=/run/dbus/system_bus_socket &&
make

更改上面dbus-1.8.的编译配置，上面已经改过来了，重新编译，再运行配对例子

[root@sama5d3x test]# hciconfig hci0 pscan
[root@sama5d3x test]# hciconfig hci0 noauth
[root@sama5d3x test]# python simple-agent
Agent registered
RequestConfirmation (/org/bluez/hci0/dev_E4_46_DA_6E_8D_85, )
Confirm passkey (yes/no): yes
[root@sama5d3x test]# cd ..
[root@sama5d3x /mnt]# python SPP-loopback.py
NewConnection(/org/bluez/hci0/dev_E4_46_DA_6E_8D_85, )
received: aaa
received: step by step
received: BlueZ SPP OK !

配对simple-agent和蓝牙透传SPP-loopback.py都正常，再把bluez和python库裁剪，整理好就可以植入产品里了。

SPP-loopback.py蓝牙串口透传例子是intel的Edison模块的，也可以用在这里。

intel edison bluetooth guide 这个文档比较完整。

http://download.intel.com/support/edison/sb/edisonbluetooth_331704004.pdf

我整理的启动脚本 bluez_init.sh

#power on
echo  > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio49/direction
echo  > /sys/class/gpio/gpio49/value
sleep 0.2
echo  > /sys/class/gpio/gpio49/value
sleep 0.2
 
#load firmware
hciattach -s  /dev/ttyS2 texas  flow
sleep
hciconfig hci0 up
sleep 0.1
hciconfig hci0 iscan
sleep 0.1
 
#add dbus dir
rm -r /usr/local/bluez/var/run/dbus
ln -s /run/dbus/ /usr/local/bluez/var/run/
rm -rf /usr/local/bluez/var/run/dbus/pid
mkdir /run/dbus 
 
#boot bluez process
dbus-daemon --system
sleep
bluetoothd &
sleep  
 
#run user app
python simple-agent &
sleep 0.1
python SPP-loopback.py &
sleep 0.1
hciconfig hci0 name "bluez_test"
hciconfig hci0 piscan

将bluez-5.18的simple-agent文件中配对认证注释掉,设备就不认证了

    def AuthorizeService(self, device, uuid):
        print("AuthorizeService (%s, %s)" % (device, uuid))
        #authorize = ask("Authorize connection (yes/no): ")
        #if (authorize == "yes"):
        #    return
        #raise Rejected("Connection rejected by user")
...
...
 
    def RequestConfirmation(self, device, passkey):
        print("RequestConfirmation (%s, %06d)" % (device, passkey))
        #confirm = ask("Confirm passkey (yes/no): ")
        #if (confirm == "yes"):
        set_trusted(device)
        #    return
        #raise Rejected("Passkey doesn't match")
 
    @dbus.service.method(AGENT_INTERFACE,
                    in_signature="o", out_signature="")
    def RequestAuthorization(self, device):
        print("RequestAuthorization (%s)" % (device))
        #auth = ask("Authorize? (yes/no): ")
        #if (auth == "yes"):
        #    return
        #raise Rejected("Pairing rejected")

给板子上电，挂载好bluez和python的库文件，然后运行上面的启动脚本 ./bluez.init.sh

[root@sama5d3x /root]# mount -t nfs -o nolock 192.168.10.6:/home/dong/nfs /mnt  
[root@sama5d3x /root]# cd /mnt/                                                 
[root@sama5d3x /mnt]# ./bluez.init.sh                                           
Found a Texas Instruments' chip!                                                
Firmware file : /lib/firmware/ti-connectivity/TIInit_11.8.32.bts                
Loaded BTS script version 1                                                     
Device setup complete                                                           
[root@sama5d3x /mnt]# Agent registered                                          
RequestConfirmation (/org/bluez/hci0/dev_E4_46_DA_6E_8D_85, 345760)             
NewConnection(/org/bluez/hci0/dev_E4_46_DA_6E_8D_85, 9)                         
received: step by step                                                          
received: step by step                                                          
received: step by step

7、python与c之间的交互

可以用的方式很多，共享内存，消息队列，管道，进程池或者直接封装接口互相调用函数。

搜一下就有了.下面是我找的共享内存机制

1) Python读取c语言进程的内存块

http://chl0000.iteye.com/blog/1915303

http://www.linuxidc.com/Linux/2012-03/57430.htm

2) python和c语言参数传递

c--->python
http://blog.csdn.net/JoeBlackzqq/article/details/10441017
http://blog.csdn.net/chenyulancn/article/details/8158168
python--->c
http://blog.csdn.net/mrcheny/article/details/79022973

3) 实例：导出python进程的数据

我这个项目需要导出python进程的数据给c进程处理

给c语言进程提供一个数据结构

bluetooth_data.c

#include <stdio.h>
 
struct bluetooth_t{
    int status;
    char *buf;
};
 
int bluetooth_cb(struct bluetooth_t bluetooth)
{
        printf("bluetooth status:%d, bluetooth buf:%s \n", bluetooth.status,bluetooth.buf);
        return ;
}

编译成so库文件

gcc/arm-linux-gnueabihf-gcc -o bluetooth_data.so -shared -fPIC bluetooth_data.c

然后python进程把需要的数据写到上面的数据结构

data_test.py

#!/usr/bin/python
import ctypes
from ctypes import *
 
class bluetooth(Structure):
        _fields_=[('status',c_int),('buf',c_char_p)]
 
if __name__ == "__main__":
 
    func = ctypes.cdll.LoadLibrary("./bluetooth_data.so")
 
    s = bluetooth()
    s.status = 1
    s.buf = bytes('hello,world')
    func.bluetooth_cb(s)

运行python data_test.py就可以打印出导出的数据

bluetooth status:1, bluetooth buf:hello，world.

8、bluez的BLE工作模式

只有bluez-5.xx以上版本才支持低功耗模式，配置跟普通模式有细微差别

我配置的BLE模式启动脚本 bluez_le_init.sh

#power on
echo  > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio49/direction
echo  > /sys/class/gpio/gpio49/value
sleep 0.2
echo  > /sys/class/gpio/gpio49/value
sleep 0.2
 
#load firmware
hciattach -s  /dev/ttyS2 texas  flow
sleep
hciconfig hci0 up
sleep 0.1
hciconfig hci0 iscan
sleep 0.1
 
#add dbus dir
rm -r /usr/local/bluez/var/run/dbus
ln -s /run/dbus/ /usr/local/bluez/var/run/
rm -rf /usr/local/bluez/var/run/dbus/pid
mkdir /run/dbus 
 
#boot bluez process
dbus-daemon --system
sleep
bluetoothd &
sleep  
 
#run user app
python simple-agent &
sleep 0.1
 
if false ; then
#Bluetooth SPP
python SPP-loopback.py &
else
#Bluetooth profile
hciconfig hci0 up
sleep 0.1
hciconfig hci0 leadv
fi
 
sleep 0.1
hciconfig hci0 name "bluez_test"
hciconfig hci0 piscan

用了个

if false ; then

...

else

...

fi

把普通模式和BLE模式分开

给板子上电后运行./bluez.le.init.sh

找个蓝牙4.0的工具( 我用的BLE Tool )就能扫到BlueZ-5.18的设备, 读几个自带的特征值profile都正常。

9、蓝牙NFS挂载模式应用（nfs_debug）

首次运行需要配置相关系统参数

1)#配置内核蓝牙选项

2)#添加进程消息通道
addgroup -S messagebus
adduser -S messagebus -G messagebus

3#添加lp
vi /etc/group
lp:x:7:

4)#配置网卡
modprobe g_multi.ko file=/dev/mmcblk0p5,/dev/mmcblk0p6 ro=0,0 luns=2 stall=0 removable=1,1 iSerialNumber=3000111
ifconfig usb0 192.168.10.2

5)在ubuntu端打开网卡
不同主机生成的网卡名称可能不一样，ifconfig查看，这个是我的台式机，下面那个是我的笔记本
sudo ifconfig enp0s20f0u2 192.168.10.6 netmask 255.255.255.0
sudo ifconfig enp0s20f0u2 up 192.168.10.6

sudo ifconfig enp0s20f0u4 192.168.10.6 netmask 255.255.255.0
sudo ifconfig enp0s20f0u4 up 192.168.10.6

6)#在开发板端挂载ubuntu上的nfs服务器
mount -t nfs -o nolock 192.168.10.6:/home/dong/nfs /mnt/nfs
#umount -t nfs -a nolock 192.168.10.6:/home/dong/nfs /mnt/nfs

7)#添加环境变量

export PATH=\
/bin:\
/sbin:\
/usr/bin:\
/usr/sbin:\
/usr/bin/X11:\
/usr/local/bin:\
/mnt/nfs/bluez/bin:\
/mnt/nfs/python/bin:\

...

export LD_LIBRARY_PATH=/mnt/nfs/bluez/lib:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/mnt/nfs/python/lib:$LD_LIBRARY_PATH

source /etc/profile

8）添加bluez配置文件
#cp -r /mnt/bluez /usr/local/
#cp -r /mnt/python /usr/local/
cp -r config/bluez /usr/local/

9) 启动蓝牙应用
./bluez.init.sh

10、蓝牙正式应用（readme）

蓝牙文件系统构建：

1) 配置内核蓝牙选项

2) 添加进程消息通道
addgroup -S messagebus
adduser -S messagebus -G messagebus

3) 添加lp
vi /etc/group
lp:x:7:

4) 拷贝库文件
cp -r bluez /usr/local/                                    
cp -r python /usr/local/

5）拷贝应用程序
cp bluez.init.sh SPP-loopback.py /usr/local/project/
cp -r test /usr/local/project/

6）添加dbus软链接
rm -r /usr/local/bluez/var/run/dbus
ln -s /run/dbus/ /usr/local/bluez/var/run/

7）启动蓝牙进程bluez_init.sh

三、Bluetooth Audio ALSA Backend

https://github.com/Arkq/bluez-alsa

四、BLE4.0 Gatt-server

除了bluez的test目录python脚本 example-gatt-server（依赖的组件比较多，可能运行起来有点困难）

还有两种方案添加gatt自定义服务,都是开源的

一种是用bleno库，一种是go-server

我用的芯片不支持完整的BLE4.0，不能自定义用户profile 和 gatt service

一般完整支持BLE4.0或以上的芯片都是带flash的，需要更改蓝牙协议栈固件，能够作为IoT场景应用的蓝牙IC除了少部分通用芯片，大部分都是定制的专用芯片，像csr1000系列，TI的cc25xx cc26xx系列，nordic的rf51xx rf52xx系列等，都需要用厂商的专用工具来配置profile和gatt service.

下面参考文献是我收集的蓝牙自定义gatt-server方案和应用实例。

参考文献

1）RPi Bluetooth LE

2）用树莓派玩转蓝牙

3）A Node.js module for implementing BLE (Bluetooth Low Energy) peripherals

4）Package gatt provides a Bluetooth Low Energy GATT implementation

5）玩转BLE(3)_使用微信蓝牙精简协议伪造记步数据

6）Implementation of BLE peripheral using bleno

7）Python BLE GATT Server (peripheral)

8）Standalone D-Bus-based BlueZ BLE GATT server for C/C++

9）A custom Prosthetic GATT profile BLE Server / Peripheral implementation for prototyping and GA integration testing.

越折腾越深入，工作上做的产品最多也就用到这些内容，你愿意将业余时间花在蓝牙协议栈上面，深挖到底吗？对不起，我不舍得，就此打住！

最后总结：从0到调试完成，整个过程需要点耐心，我前面因为太急躁导致多做了不少无用功，欲速则不达。

end