up

Cargo.toml

@@ -1,27 +1,30 @@
 [workspace]
-members = ["tflite_demo", "lsm6ds3tr_demo"]
+members = [
+    "tflite_demo",
+    "lsm6ds3tr_demo",
+    "bluetooth_demo",
+    "blinky",
+    "bluetooth_recorder",
+]
+resolver = "2"
 
 [workspace.features]
-default = ["ble-l2cap", "ble-gatt-server", "ble-gatt-client", "ble-sec"]
+nrf52840 = ["embassy-nrf/nrf52840", "nrf-sdc/nrf52840"]
 
-ble-l2cap = ["nrf-softdevice/ble-l2cap"]
+defmt = [
-ble-gatt-server = ["nrf-softdevice/ble-gatt-server"]
+    "dep:defmt",
-ble-gatt-client = ["nrf-softdevice/ble-gatt-client"]
+    "trouble-host/defmt",
-ble-sec = ["nrf-softdevice/ble-sec"]
+    "bt-hci/defmt",
-
+    "embedded-io/defmt-03",
-nrf52840 = [
+    "embedded-hal/defmt-03",
-    "embassy-nrf/nrf52840",
-    "nrf-softdevice/nrf52840",
-    "nrf-softdevice/s140",
-    "dep:nrf-softdevice-s140",
 ]
+security = ["trouble-host/security"]
 
 [workspace.dependencies]
-assign-resources = "0.4.1"
 embassy-futures = { version = "0.1.0" }
 embassy-usb = { version = "0.3.0", features = ["defmt"] }
 embassy-executor = { version = "0.7.0", features = [
-    "task-arena-size-32768",
+    # "task-arena-size-32768",
     "arch-cortex-m",
     "executor-thread",
     "executor-interrupt",
@@ -41,38 +44,62 @@ embassy-nrf = { version = "0.3.1", features = [
     "reset-pin-as-gpio",
 ] }
 embassy-embedded-hal = "0.3.0"
-cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+embassy-sync = { version = "0.7.0" }
-cortex-m-rt = "0.7.0"
+
-defmt = "0.3"
+futures = { version = "0.3", default-features = false, features = [
-defmt-rtt = "0.4"
+    "async-await",
+] }
+nrf-sdc = { version = "0.1.0", default-features = false, features = [
+    "defmt",
+    "peripheral",
+    "central",
+    "nrf52",
+] }
+nrf-mpsl = { version = "0.1.0", default-features = false, features = [
+    "defmt",
+    "critical-section-impl",
+    "nrf52",
+] }
+bt-hci = { version = "0.3", default-features = false, features = ["defmt"] }
+trouble-host = { version = "0.2.0", features = ["derive", "scan"] }
+trouble-example-apps = { version = "0.1.0", path = "trouble-example-apps", features = [
+    "defmt",
+] }
+
+defmt = "1.0.1"
+defmt-rtt = "1.0.0"
+
+# cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m = { version = "0.7.6" }
+cortex-m-rt = "0.7.5"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
-nrf52840-hal = "0.16.0"
+rand = { version = "0.8.5", default-features = false }
-usb-device = "0.2.7"
+static_cell = "2.0.0"
-usbd-serial = "0.1.0"
+rand_core = { version = "0.6" }
-microflow = { path = "../microflow-rs" }
+rand_chacha = { version = "0.3", default-features = false }
-# nalgebra = { version = "0.33.2", default-features = false, features = [
+
-#     "macros",
+libm = "0.2.15"
-# ] }
-libm = "0.2"
 panic-halt = "1.0.0"
 heapless = "0.8.0"
-lsm6ds3tr = { git = "https://avoid.sh/PetActivityMonitor/lsm6ds3tr.git", rev = "b368f6200c3ec9a84114e8ca137eb5fe0aa08e29", features = [
+lsm6ds3tr = { git = "https://hax.avoid.sh/PetActivityMonitor/lsm6ds3tr.git", rev = "b368f6200c3ec9a84114e8ca137eb5fe0aa08e29", features = [
     "defmt",
 ] }
-embassy-sync = { version = "0.5.0" }
+assign-resources = "0.4.1"
-embedded-storage = "0.3.0"
+
-embedded-hal = "1.0.0"
-embedded-hal-async = { version = "1.0.0" }
-embedded-alloc = "0.6.0"
-nrf-softdevice = { version = "0.1.0", features = [
-    "defmt",
-    "ble-peripheral",
-    "ble-central",
-    "critical-section-impl",
-    "nrf52840",
-    "s140",
-] }
-nrf-softdevice-s140 = { version = "0.1.1" }
 fixed = "1.24.0"
 atomic-pool = "1.0.1"
-static_cell = "2.0.0"
+critical-once-cell = "0.2.0"
+
+microflow = { version = "0.1.3" }
+
+[patch.crates-io]
+nrf-sdc = { git = "https://github.com/alexmoon/nrf-sdc.git", rev = "7be9b853e15ca0404d65c623d1ec5795fd96c204" }
+nrf-mpsl = { git = "https://github.com/alexmoon/nrf-sdc.git", rev = "7be9b853e15ca0404d65c623d1ec5795fd96c204" }
+
+embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", rev = "f35aa4005a63e8d478b2b95aaa2bfb316b72dece" }
+embassy-nrf = { git = "https://github.com/embassy-rs/embassy.git", rev = "f35aa4005a63e8d478b2b95aaa2bfb316b72dece" }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "f35aa4005a63e8d478b2b95aaa2bfb316b72dece" }
+embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", rev = "f35aa4005a63e8d478b2b95aaa2bfb316b72dece" }
+embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "f35aa4005a63e8d478b2b95aaa2bfb316b72dece" }
+embassy-time-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "f35aa4005a63e8d478b2b95aaa2bfb316b72dece" }
+embassy-embedded-hal = { git = "https://github.com/embassy-rs/embassy.git", rev = "f35aa4005a63e8d478b2b95aaa2bfb316b72dece" }

blinky/Cargo.toml

@@ -0,0 +1,33 @@
+[package]
+name = "blinky"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+cortex-m.workspace = true
+cortex-m-rt.workspace = true
+# nrf52840-hal.workspace = true
+# microflow.workspace = true
+libm.workspace = true
+# nalgebra.workspace = true
+heapless.workspace = true
+lsm6ds3tr.workspace = true
+defmt.workspace = true
+defmt-rtt.workspace = true
+# embedded-alloc.workspace = true
+# embedded-hal.workspace = true
+# embedded-hal-async.workspace = true
+embassy-nrf.workspace = true
+embassy-time.workspace = true
+embassy-executor.workspace = true
+embassy-sync.workspace = true
+embassy-embedded-hal.workspace = true
+fixed.workspace = true
+atomic-pool.workspace = true
+static_cell.workspace = true
+embassy-usb.workspace = true
+embassy-futures.workspace = true
+panic-probe.workspace = true
+# assign-resources.workspace = true

blinky/src/common.rs

@@ -0,0 +1,4 @@
+#![macro_use]
+
+use defmt_rtt as _; // global logger
+use embassy_nrf as _; // time driver

blinky/src/main.rs

@@ -0,0 +1,32 @@
+#![no_main]
+#![no_std]
+
+use defmt::unwrap;
+use embassy_executor::Spawner;
+use embassy_nrf::gpio::{Level, Output, OutputDrive};
+use embassy_time::{Duration, Timer};
+
+mod common;
+
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    loop {}
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_nrf::init(Default::default());
+    let led = Output::new(p.P0_06, Level::Low, OutputDrive::Standard);
+
+    unwrap!(spawner.spawn(blinker(led, Duration::from_millis(300))));
+}
+
+#[embassy_executor::task]
+async fn blinker(mut led: Output<'static>, interval: Duration) {
+    loop {
+        led.set_high();
+        Timer::after(interval).await;
+        led.set_low();
+        Timer::after(interval).await;
+    }
+}

bluetooth_recorder/Cargo.toml

@@ -0,0 +1,43 @@
+[package]
+name = "bluetooth_recorder"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[features]
+nrf52840 = ["embassy-nrf/nrf52840", "nrf-sdc/nrf52840"]
+
+[dependencies]
+embassy-futures.workspace = true
+embassy-executor.workspace = true
+embassy-time.workspace = true
+embassy-nrf.workspace = true
+embassy-embedded-hal.workspace = true
+embassy-sync.workspace = true
+
+futures.workspace = true
+nrf-sdc.workspace = true
+nrf-mpsl.workspace = true
+bt-hci.workspace = true
+trouble-host.workspace = true
+trouble-example-apps.workspace = true
+
+defmt.workspace = true
+defmt-rtt.workspace = true
+
+cortex-m.workspace = true
+cortex-m-rt.workspace = true
+panic-probe.workspace = true
+rand.workspace = true
+static_cell.workspace = true
+rand_core.workspace = true
+rand_chacha.workspace = true
+
+libm.workspace = true
+heapless.workspace = true
+lsm6ds3tr.workspace = true
+
+fixed.workspace = true
+atomic-pool.workspace = true
+# critical-once-cell.workspace = true

bluetooth_recorder/src/main.rs

@@ -0,0 +1,489 @@
+#![no_std]
+#![no_main]
+
+use core::ops::Deref;
+
+use core::fmt::Write;
+use defmt::{info, unwrap, warn};
+use embassy_executor::Spawner;
+use embassy_nrf::gpio::{AnyPin, Level, Output, OutputDrive};
+use embassy_nrf::mode::Async;
+use embassy_nrf::peripherals::{self, RNG};
+use embassy_nrf::pwm::SequenceMode;
+use embassy_nrf::{bind_interrupts, rng, twim, Peri, Peripherals};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::mutex::Mutex;
+use heapless::String;
+use lsm6ds3tr::interface::I2cInterface;
+use lsm6ds3tr::{
+    registers::{GyroSampleRate, GyroScale},
+    AccelSampleRate, AccelScale, AccelSettings, GyroSettings, LsmSettings, LSM6DS3TR,
+};
+use nrf_sdc::mpsl::MultiprotocolServiceLayer;
+use nrf_sdc::{self as sdc, mpsl};
+use static_cell::{ConstStaticCell, StaticCell};
+use trouble_host::prelude::*;
+use {defmt_rtt as _, panic_probe as _};
+
+use embassy_futures::join::join;
+use embassy_futures::select::select;
+use embassy_time::Timer;
+
+bind_interrupts!(struct Irqs {
+    RNG => rng::InterruptHandler<RNG>;
+    EGU0_SWI0 => nrf_sdc::mpsl::LowPrioInterruptHandler;
+    CLOCK_POWER => nrf_sdc::mpsl::ClockInterruptHandler;
+    RADIO => nrf_sdc::mpsl::HighPrioInterruptHandler;
+    TIMER0 => nrf_sdc::mpsl::HighPrioInterruptHandler;
+    RTC0 => nrf_sdc::mpsl::HighPrioInterruptHandler;
+});
+
+#[embassy_executor::task]
+async fn mpsl_task(mpsl: &'static MultiprotocolServiceLayer<'static>) -> ! {
+    mpsl.run().await
+}
+
+/// How many outgoing L2CAP buffers per link
+const L2CAP_TXQ: u8 = 3;
+
+/// How many incoming L2CAP buffers per link
+const L2CAP_RXQ: u8 = 3;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 2; // Signal + att
+
+// GATT Server definition
+#[gatt_server]
+struct Server {
+    fake_service: FakeService,
+    led_service: LedService,
+    gyro_service: GyroService,
+}
+
+/// fakr service
+#[gatt_service(uuid = "18B10000-E8F2-537E-4F6C-D104768A1210")]
+struct FakeService {
+    /// Fake Life
+    #[descriptor(uuid = descriptors::VALID_RANGE, read, value = [0, 100])]
+    #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "hello", read, value = "Fake Life")]
+    #[characteristic(
+        uuid = "407813df-5dd4-1f87-ec11-cdb001100000",
+        read,
+        notify,
+        value = 10
+    )]
+    level: u8,
+    #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "boolean", read, value = "Bollean")]
+    #[characteristic(uuid = "408813df-5dd4-1f87-ec11-cdb001100000", write, read, notify)]
+    status: bool,
+}
+
+#[gatt_service(uuid = "17B10000-E8F2-537E-4F6C-D104768A1214")]
+struct LedService {
+    #[descriptor(
+        uuid = descriptors::MEASUREMENT_DESCRIPTION,
+        name = "led",
+        read,
+        value = "Led Toggle"
+    )]
+    #[characteristic(
+        uuid = "17B10000-E8F2-537E-4F6C-D104768A1215",
+        write,
+        read,
+        notify,
+        value = false
+    )]
+    on_off: bool,
+}
+
+#[gatt_service(uuid = "19B10000-E8F2-537E-4F6C-D104768A1214")]
+struct GyroService {
+    #[descriptor(
+        uuid = descriptors::MEASUREMENT_DESCRIPTION,
+        name = "gyro_toggle",
+        read,
+        value = "Gyro Toggle"
+    )]
+    #[characteristic(
+        uuid = "19B10000-E8F2-537E-4F6C-D104768A1215",
+        write,
+        read,
+        notify,
+        value = false
+    )]
+    on_off: bool, // This characteristic controls whether IMU data is sent
+    #[descriptor(
+        uuid = descriptors::MEASUREMENT_DESCRIPTION,
+        name = "imu_data",
+        read,
+        value = "Combined Gyro and Accel Data"
+    )]
+    #[characteristic(uuid = "19B10000-E8F2-537E-4F6C-D104768A1216", read, notify, value = [0;32])]
+    imu_data: [u8; 32], // Gyro (X, Y, Z), Accel (X, Y, Z) as 6 f32s = 24 bytes + Timestamp (u64) = 8 bytes = 32 bytes
+}
+fn build_sdc<'d, const N: usize>(
+    p: nrf_sdc::Peripherals<'d>,
+    rng: &'d mut rng::Rng<RNG, Async>,
+    mpsl: &'d MultiprotocolServiceLayer,
+    mem: &'d mut sdc::Mem<N>,
+) -> Result<nrf_sdc::SoftdeviceController<'d>, nrf_sdc::Error> {
+    sdc::Builder::new()?
+        .support_adv()?
+        .support_peripheral()?
+        .peripheral_count(1)?
+        .buffer_cfg(
+            DefaultPacketPool::MTU as u16,
+            DefaultPacketPool::MTU as u16,
+            L2CAP_TXQ,
+            L2CAP_RXQ,
+        )?
+        .build(p, rng, mpsl, mem)
+}
+
+bind_interrupts!(struct IrqsTest {
+    TWISPI0 => twim::InterruptHandler<peripherals::TWISPI0>;
+});
+
+type Imu<'a> = LSM6DS3TR<I2cInterface<twim::Twim<'a, peripherals::TWISPI0>>>;
+static IMU: StaticCell<Mutex<CriticalSectionRawMutex, Imu<'static>>> = StaticCell::new();
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_nrf::init(Default::default());
+
+    let mut pin = Output::new(p.P1_08, Level::High, OutputDrive::HighDrive);
+    pin.set_high();
+    Timer::after_millis(100).await;
+
+    let sda_pin = p.P0_07;
+    let scl_pin = p.P0_27;
+
+    let mut imu_config = twim::Config::default();
+    // This limits the ADXL355 ODR to 200Hz max.
+    imu_config.frequency = twim::Frequency::K400;
+    // Internal pullups for SCL and SDA must be enabled.
+    imu_config.scl_pullup = true;
+    imu_config.sda_pullup = true;
+
+    static RAM_BUFFER: ConstStaticCell<[u8; 16]> = ConstStaticCell::new([0; 16]);
+
+    let i2c = twim::Twim::new(
+        p.TWISPI0,
+        IrqsTest,
+        sda_pin,
+        scl_pin,
+        imu_config,
+        RAM_BUFFER.take(),
+    );
+    let settings = LsmSettings::basic()
+        .with_gyro(
+            GyroSettings::new()
+                .with_sample_rate(GyroSampleRate::_104Hz)
+                .with_scale(GyroScale::_2000DPS),
+        )
+        .with_accel(
+            AccelSettings::new()
+                .with_sample_rate(AccelSampleRate::_104Hz)
+                .with_scale(AccelScale::_4G),
+        );
+
+    let mut imu_driver = LSM6DS3TR::new(I2cInterface::new(i2c)).with_settings(settings);
+    imu_driver
+        .init()
+        .expect("LSM6DS3TR-C initialization failure!");
+
+    let imu = IMU.init(Mutex::new(imu_driver));
+
+    let mpsl_p =
+        mpsl::Peripherals::new(p.RTC0, p.TIMER0, p.TEMP, p.PPI_CH19, p.PPI_CH30, p.PPI_CH31);
+    let lfclk_cfg = mpsl::raw::mpsl_clock_lfclk_cfg_t {
+        source: mpsl::raw::MPSL_CLOCK_LF_SRC_RC as u8,
+        rc_ctiv: mpsl::raw::MPSL_RECOMMENDED_RC_CTIV as u8,
+        rc_temp_ctiv: mpsl::raw::MPSL_RECOMMENDED_RC_TEMP_CTIV as u8,
+        accuracy_ppm: mpsl::raw::MPSL_DEFAULT_CLOCK_ACCURACY_PPM as u16,
+        skip_wait_lfclk_started: mpsl::raw::MPSL_DEFAULT_SKIP_WAIT_LFCLK_STARTED != 0,
+    };
+    static MPSL: StaticCell<MultiprotocolServiceLayer> = StaticCell::new();
+    let mpsl = MPSL.init(unwrap!(mpsl::MultiprotocolServiceLayer::new(
+        mpsl_p, Irqs, lfclk_cfg
+    )));
+    spawner.must_spawn(mpsl_task(&*mpsl));
+
+    let sdc_p = sdc::Peripherals::new(
+        p.PPI_CH17, p.PPI_CH18, p.PPI_CH20, p.PPI_CH21, p.PPI_CH22, p.PPI_CH23, p.PPI_CH24,
+        p.PPI_CH25, p.PPI_CH26, p.PPI_CH27, p.PPI_CH28, p.PPI_CH29,
+    );
+
+    let mut rng = rng::Rng::new(p.RNG, Irqs);
+
+    let mut sdc_mem = sdc::Mem::<4720>::new();
+    let sdc = unwrap!(build_sdc(sdc_p, &mut rng, mpsl, &mut sdc_mem));
+
+    let led_pin = p.P0_06.into();
+
+    // peripheral::run(sdc).await;
+    run(sdc, led_pin, imu).await;
+}
+
+/// Run the BLE stack.
+pub async fn run<C>(
+    controller: C,
+    led_pin: Peri<'static, AnyPin>,
+    imu: &'static Mutex<CriticalSectionRawMutex, Imu<'static>>,
+) where
+    C: Controller,
+{
+    let mut led = Output::new(led_pin, Level::Low, OutputDrive::Standard);
+
+    // Using a fixed "random" address can be useful for testing. In real scenarios, one would
+    // use e.g. the MAC 6 byte array as the address (how to get that varies by the platform).
+    let address: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+    // info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> =
+        HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut peripheral,
+        runner,
+        ..
+    } = stack.build();
+
+    // info!("Starting advertising and GATT service");
+    let server = Server::new_with_config(GapConfig::Peripheral(PeripheralConfig {
+        name: "TrouBLE",
+        appearance: &appearance::power_device::GENERIC_POWER_DEVICE,
+    }))
+    .unwrap();
+
+    let _ = join(ble_task(runner), async {
+        loop {
+            match advertise("Trouble Example", &mut peripheral, &server).await {
+                Ok(conn) => {
+                    // set up tasks when the connection is established to a central, so they don't run when no one is connected.
+                    let a = gatt_events_task(&server, &conn);
+                    let b = custom_task(&server, &conn, &stack, &mut led, imu);
+                    // run until any task ends (usually because the connection has been closed),
+                    // then return to advertising state.
+                    select(a, b).await;
+                    // a.await;
+
+                    led.set_low();
+                }
+                Err(e) => {
+                    panic!("[adv] error: {:?}", e);
+                }
+            }
+        }
+    })
+    .await;
+}
+
+/// This is a background task that is required to run forever alongside any other BLE tasks.
+///
+/// ## Alternative
+///
+/// If you didn't require this to be generic for your application, you could statically spawn this with i.e.
+///
+/// ```rust,ignore
+///
+/// #[embassy_executor::task]
+/// async fn ble_task(mut runner: Runner<'static, SoftdeviceController<'static>>) {
+///     runner.run().await;
+/// }
+///
+/// spawner.must_spawn(ble_task(runner));
+/// ```
+async fn ble_task<C: Controller, P: PacketPool>(mut runner: Runner<'_, C, P>) {
+    loop {
+        if let Err(e) = runner.run().await {
+            panic!("[ble_task] error: {:?}", e);
+        }
+    }
+}
+
+/// Stream Events until the connection closes.
+///
+/// This function will handle the GATT events and process them.
+/// This is how we interact with read and write requests.
+async fn gatt_events_task<P: PacketPool>(
+    server: &Server<'_>,
+    conn: &GattConnection<'_, '_, P>,
+) -> Result<(), Error> {
+    let fake_level = server.fake_service.level;
+    let led_level = server.led_service.handle;
+    let reason = loop {
+        match conn.next().await {
+            GattConnectionEvent::Disconnected { reason } => break reason,
+            GattConnectionEvent::Gatt { event } => {
+                match &event {
+                    GattEvent::Read(event) => {
+                        // if event.handle() == fake_level.handle {
+                        //     let value = server.get(&fake_level);
+                        //     // info!("[gatt] Read Event to Level Characteristic: {:?}", value);
+                        // }
+                        if event.handle() == led_level {
+                            let value = server.get(&server.led_service.on_off);
+                            // info!("[gatt] Read Event to Level Characteristic: {:?}", value);
+                        }
+                    }
+                    GattEvent::Write(event) => {
+                        // if event.handle() == fake_level.handle {
+                        //     // info!(
+                        //     //     "[gatt] Write Event to Level Characteristic: {:?}",
+                        //     //     event.data()
+                        //     // );
+                        // }
+                        if event.handle() == led_level {
+                            // info!(
+                            //     "[gatt] Write Event to Level Characteristic: {:?}",
+                            //     event.data()
+                            // );
+                        }
+                    }
+                    _ => {}
+                };
+                // This step is also performed at drop(), but writing it explicitly is necessary
+                // in order to ensure reply is sent.
+                match event.accept() {
+                    Ok(reply) => reply.send().await,
+                    Err(e) => panic!("[gatt] error sending response"),
+                };
+            }
+            _ => {} // ignore other Gatt Connection Events
+        }
+    };
+    // info!("[gatt] disconnected: {:?}", reason);
+    Ok(())
+}
+
+/// Create an advertiser to use to connect to a BLE Central, and wait for it to connect.
+async fn advertise<'values, 'server, C: Controller>(
+    name: &'values str,
+    peripheral: &mut Peripheral<'values, C, DefaultPacketPool>,
+    server: &'server Server<'values>,
+) -> Result<GattConnection<'values, 'server, DefaultPacketPool>, BleHostError<C::Error>> {
+    let mut advertiser_data = [0; 31];
+    let len = AdStructure::encode_slice(
+        &[
+            AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
+            AdStructure::ServiceUuids16(&[[0x0f, 0x18]]),
+            AdStructure::CompleteLocalName(name.as_bytes()),
+        ],
+        &mut advertiser_data[..],
+    )?;
+    let advertiser = peripheral
+        .advertise(
+            &Default::default(),
+            Advertisement::ConnectableScannableUndirected {
+                adv_data: &advertiser_data[..len],
+                scan_data: &[],
+            },
+        )
+        .await?;
+    // info!("[adv] advertising");
+    let conn = advertiser.accept().await?.with_attribute_server(server)?;
+    // info!("[adv] connection established");
+    Ok(conn)
+}
+
+/// Example task to use the BLE notifier interface.
+/// This task will notify the connected central of a counter value every 2 seconds.
+/// It will also read the RSSI value every 2 seconds.
+/// and will stop when the connection is closed by the central or an error occurs.
+async fn custom_task<C: Controller, P: PacketPool>(
+    server: &Server<'_>,
+    conn: &GattConnection<'_, '_, P>,
+    stack: &Stack<'_, C, P>,
+    led: &mut Output<'static>,
+    imu: &'static Mutex<CriticalSectionRawMutex, Imu<'static>>,
+) {
+    let mut tick: u8 = 0;
+    let fake_level = server.fake_service.level;
+    let led_on_off = server.led_service.on_off;
+    let gyro_service_on_off = server.gyro_service.on_off; // Get gyro service toggle
+    let imu_data_char = &server.gyro_service.imu_data; // Combined IMU data characteristic
+
+    loop {
+        // Only read and send IMU data if the gyro_service_on_off characteristic is true
+        if gyro_service_on_off.get(server).unwrap_or(false) {
+            let mut imu_guard = imu.lock().await;
+
+            if let (Ok(xyz_a), Ok(xyz_g)) = (imu_guard.read_accel_raw(), imu_guard.read_gyro()) {
+                info!("Accel: x:{} y:{} z:{}", xyz_a.x, xyz_a.y, xyz_a.z);
+                info!("Gyro: x:{} y:{} z:{}", xyz_g.x, xyz_g.y, xyz_g.z);
+
+                // Capture timestamp immediately after reading IMU data for better accuracy
+                let current_time_us = embassy_time::Instant::now().as_micros();
+
+                // Convert i32 gyro values to f32 and then to their byte representation
+                let gx_f32 = xyz_g.x as f32;
+                let gy_f32 = xyz_g.y as f32;
+                let gz_f32 = xyz_g.z as f32;
+
+                // Convert i32 accel values to f32 and then to their byte representation
+                let ax_f32 = xyz_a.x as f32;
+                let ay_f32 = xyz_a.y as f32;
+                let az_f32 = xyz_a.z as f32;
+
+                let gx_bytes = gx_f32.to_le_bytes();
+                let gy_bytes = gy_f32.to_le_bytes();
+                let gz_bytes = gz_f32.to_le_bytes();
+                let ax_bytes = ax_f32.to_le_bytes();
+                let ay_bytes = ay_f32.to_le_bytes();
+                let az_bytes = az_f32.to_le_bytes();
+
+                // Combine gyro, accel, and timestamp byte arrays into a single [u8; 32] array
+                // Order: Gx, Gy, Gz, Ax, Ay, Az (each 4 bytes) then Timestamp (8 bytes)
+                let mut combined_imu_data = [0u8; 24];
+                combined_imu_data[0..4].copy_from_slice(&gx_bytes);
+                combined_imu_data[4..8].copy_from_slice(&gy_bytes);
+                combined_imu_data[8..12].copy_from_slice(&gz_bytes);
+                combined_imu_data[12..16].copy_from_slice(&ax_bytes);
+                combined_imu_data[16..20].copy_from_slice(&ay_bytes);
+                combined_imu_data[20..24].copy_from_slice(&az_bytes);
+                let timestamp_bytes = current_time_us.to_le_bytes();
+
+                let mut final_imu_packet = [0u8; 32];
+                final_imu_packet[0..24].copy_from_slice(&combined_imu_data);
+                final_imu_packet[24..32].copy_from_slice(&timestamp_bytes);
+
+                // Update combined IMU characteristic and notify
+                imu_data_char.set(server, &final_imu_packet);
+                if imu_data_char.notify(conn, &final_imu_packet).await.is_err() {
+                    info!(
+                        "[custom_task] error notifying combined IMU and timestamp characteristic"
+                    );
+                    break;
+                };
+            } else {
+                warn!("Could not read IMU data");
+            }
+        } // End of gyro_service_on_off check
+
+        tick = tick.wrapping_add(1);
+        // info!("[custom_task] notifying connection of tick {}", tick);
+        if fake_level.notify(conn, &tick).await.is_err() {
+            // info!("[custom_task] error notifying connection");
+            break;
+        };
+        // read RSSI (Received Signal Strength Indicator) of the connection.
+        if let Ok(rssi) = conn.raw().rssi(stack).await {
+            // info!("[custom_task] RSSI: {:?}", rssi);
+        } else {
+            // info!("[custom_task] error getting RSSI");
+            break;
+        };
+        if led_on_off.get(server).unwrap() == true {
+            led.set_high();
+        }
+        // Timer::after_millis(100).await;
+        if led_on_off.get(server).unwrap() == true {
+            led.set_low();
+        }
+        Timer::after_millis(100).await
+    }
+}

build.rs

@@ -1,6 +1,22 @@
-fn main() {
+fn linker_data() -> %'static [u8] {
-    // Rebuild if memory.x file was rebuild.
+    return include_bytes!("memory.x");
-    // Linker seems to pick it up automatically.
+}
-    // (via the include in link.x which is added with a linker argument!)
+
-    println!("cargo:rerun-if-changed=memory.x");
+fn main() {
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(linker_data())
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+
+    println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tlink.x");
+    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
 }

build_and_flash.sh

@@ -1,28 +1,41 @@
 #!/bin/bash
 set -e
 
-COM_PORT=/dev/cu.usbmodem1101
+# Find the COM port dynamically
+COM_PORT=$(ls /dev/cu.usbmodem* 2>/dev/null | head -n 1)
 
-echo -e "bootloader" > $COM_PORT
+# Check if a COM port was found
+if [ -z "$COM_PORT" ]; then
+    echo "Error: No /dev/cu.usbmodem device found."
+    exit 1
+else
+    echo "Using COM Port: $COM_PORT"
+    # Your script logic goes here, using $COM_PORT
+    # For example:
+    # minicom -D $COM_PORT
+    # screen $COM_PORT 9600
+    # echo -e "bootloader" > $COM_PORT
 
-sleep 1s
+    # sleep 1s
 
-while getopts 'abc:h' opt; do
+    while getopts 'abc:h' opt; do
-  case "$opt" in
+      case "$opt" in
-    ?|h)
+        ?|h)
-      echo "Usage: $(basename $0) crate_name"
+          echo "Usage: $(basename $0) crate_name"
-      exit 1
+          exit 1
-      ;;
+          ;;
-  esac
+      esac
-done
+    done
-shift "$(($OPTIND -1))"
+    shift "$(($OPTIND -1))"
-CRATE=$1
+    CRATE=$1
+
+    cargo build -p $CRATE --release
+    arm-none-eabi-objcopy -O ihex target/thumbv7em-none-eabihf/release/$CRATE target/$CRATE.hex
+    adafruit-nrfutil dfu genpkg --dev-type 0x0052 --sd-req 0x0123 --application target/$CRATE.hex target/$CRATE.zip
+    # Use our custom reboot system to boot the controller into serial-only DFU mode.
+    # echo -e "bootloader" > $COM_PORT
+    # Wait for the reboot.
+    # sleep 1s
+    adafruit-nrfutil --verbose dfu serial -pkg target/$CRATE.zip -p $COM_PORT -b 115200 --singlebank
+fi
 
-cargo build -p $CRATE --release
-arm-none-eabi-objcopy -O ihex target/thumbv7em-none-eabihf/release/$CRATE target/$CRATE.hex
-adafruit-nrfutil dfu genpkg --dev-type 0x0052 --sd-req 0x0123 --application target/$CRATE.hex target/$CRATE.zip
-# Use our custom reboot system to boot the controller into serial-only DFU mode.
-# echo -e "bootloader" > $COM_PORT
-# Wait for the reboot.
-# sleep 1s
-adafruit-nrfutil --verbose dfu serial -pkg target/$CRATE.zip -p $COM_PORT -b 115200 --singlebank

mac_clear_ble_cache.sh

@@ -0,0 +1,8 @@
+#!/bin/zsh
+
+# A script to clear the macOS Bluetooth cache to get the latest BLE service changes.
+
+sudo pkill bluetoothd
+sudo rm /Library/Preferences/com.apple.Bluetooth.plist &> /dev/null
+rm ~/Library/Preferences/ByHost/com.apple.Bluetooth.*.plist &> /dev/null
+sudo pkill bluetoothd

memory-nrf52840.x

@@ -0,0 +1,20 @@
+MEMORY
+{
+  /* https://infocenter.nordicsemi.com/index.jsp?topic=%2Fsds_s140%2FSDS%2Fs1xx%2Fmem_usage%2Fmem_resource_reqs.html&cp=5_7_4_0_13_0_0 */
+
+  /* Need to leave space for the SoftDevice 
+    These values are confirmed working for S140 7.3.0
+
+    They were extracted from the Arduino IDE plugin linked indirectly at https://wiki.seeedstudio.com/XIAO_BLE/
+  */
+  FLASH (rx)     : ORIGIN = 0x27000, LENGTH = 0xED000 - 0x27000
+
+  /* SRAM required by Softdevice depend on
+   * - Attribute Table Size (Number of Services and Characteristics)
+   * - Vendor UUID count
+   * - Max ATT MTU
+   * - Concurrent connection peripheral + central + secure links
+   * - Event Len, HVN queue, Write CMD queue
+   */ 
+  RAM (rwx) :  ORIGIN = 0x20006000, LENGTH = 0x20040000 - 0x20006000
+}

trouble-example-apps/Cargo.toml

@@ -0,0 +1,33 @@
+[package]
+name = "trouble-example-apps"
+version = "0.1.0"
+edition = "2021"
+license = "MIT OR Apache-2.0"
+
+[dependencies]
+trouble-host = { version = "0.2.0", features = ["derive", "scan"] }
+bt-hci = { version = "0.3.2" }
+embassy-executor = { version = "0.7.0" }
+embassy-futures = "0.1.1"
+embassy-sync = { version = "0.7" }
+embassy-time = "0.4"
+embedded-hal = "1.0"
+static_cell = "2"
+embedded-io = "0.6"
+heapless = "0.8"
+rand_core = { version = "0.6", default-features = false }
+
+defmt = { version = "1.0.1", optional = true }
+log = { version = "0.4", optional = true }
+
+
+[features]
+defmt = [
+    "dep:defmt",
+    "trouble-host/defmt",
+    "bt-hci/defmt",
+    "embedded-io/defmt-03",
+    "embedded-hal/defmt-03",
+]
+log = ["dep:log", "trouble-host/log", "bt-hci/log"]
+security = ["trouble-host/security"]

trouble-example-apps/src/ble_advertise.rs

@@ -0,0 +1,62 @@
+use bt_hci::cmd::le::*;
+use bt_hci::controller::ControllerCmdSync;
+use embassy_futures::join::join;
+use embassy_time::{Duration, Timer};
+use trouble_host::prelude::*;
+
+pub async fn run<C>(controller: C)
+where
+    C: Controller
+        + for<'t> ControllerCmdSync<LeSetExtAdvData<'t>>
+        + ControllerCmdSync<LeClearAdvSets>
+        + ControllerCmdSync<LeSetExtAdvParams>
+        + ControllerCmdSync<LeSetAdvSetRandomAddr>
+        + ControllerCmdSync<LeReadNumberOfSupportedAdvSets>
+        + for<'t> ControllerCmdSync<LeSetExtAdvEnable<'t>>
+        + for<'t> ControllerCmdSync<LeSetExtScanResponseData<'t>>,
+{
+    let address: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, 0, 0> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut peripheral,
+        mut runner,
+        ..
+    } = stack.build();
+
+    let mut adv_data = [0; 31];
+    let len = AdStructure::encode_slice(
+        &[
+            AdStructure::CompleteLocalName(b"Trouble Advert"),
+            AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
+        ],
+        &mut adv_data[..],
+    )
+    .unwrap();
+
+    info!("Starting advertising");
+    let _ = join(runner.run(), async {
+        loop {
+            let mut params = AdvertisementParameters::default();
+            params.interval_min = Duration::from_millis(100);
+            params.interval_max = Duration::from_millis(100);
+            let _advertiser = peripheral
+                .advertise(
+                    &params,
+                    Advertisement::NonconnectableScannableUndirected {
+                        adv_data: &adv_data[..len],
+                        scan_data: &[],
+                    },
+                )
+                .await
+                .unwrap();
+            loop {
+                info!("Still running");
+                Timer::after(Duration::from_secs(60)).await;
+            }
+        }
+    })
+    .await;
+}

trouble-example-apps/src/ble_advertise_multiple.rs

@@ -0,0 +1,77 @@
+use bt_hci::cmd::le::*;
+use bt_hci::controller::ControllerCmdSync;
+use embassy_futures::join::join;
+use embassy_time::{Duration, Timer};
+use trouble_host::prelude::*;
+
+pub async fn run<C>(controller: C)
+where
+    C: Controller
+        + for<'t> ControllerCmdSync<LeSetExtAdvData<'t>>
+        + ControllerCmdSync<LeClearAdvSets>
+        + ControllerCmdSync<LeSetExtAdvParams>
+        + ControllerCmdSync<LeSetAdvSetRandomAddr>
+        + ControllerCmdSync<LeReadNumberOfSupportedAdvSets>
+        + for<'t> ControllerCmdSync<LeSetExtAdvEnable<'t>>
+        + for<'t> ControllerCmdSync<LeSetExtScanResponseData<'t>>,
+{
+    let address: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, 0, 0, 2> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut peripheral,
+        mut runner,
+        ..
+    } = stack.build();
+
+    let mut adv_data = [0; 31];
+    let len = AdStructure::encode_slice(
+        &[
+            AdStructure::CompleteLocalName(b"Trouble Multiadv"),
+            AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
+        ],
+        &mut adv_data[..],
+    )
+    .unwrap();
+
+    let mut params_1m = AdvertisementParameters::default();
+    params_1m.primary_phy = PhyKind::Le1M;
+    params_1m.secondary_phy = PhyKind::Le1M;
+    params_1m.interval_min = Duration::from_millis(160);
+    params_1m.interval_max = Duration::from_millis(160);
+
+    let mut params_coded = AdvertisementParameters::default();
+    params_coded.primary_phy = PhyKind::LeCoded;
+    params_coded.secondary_phy = PhyKind::LeCoded;
+    params_coded.interval_min = Duration::from_millis(400);
+    params_coded.interval_max = Duration::from_millis(400);
+    let sets = [
+        AdvertisementSet {
+            params: params_1m,
+            data: Advertisement::ExtNonconnectableScannableUndirected {
+                scan_data: &adv_data[..len],
+            },
+        },
+        AdvertisementSet {
+            params: params_coded,
+            data: Advertisement::ExtNonconnectableScannableUndirected {
+                scan_data: &adv_data[..len],
+            },
+        },
+    ];
+    let mut handles = AdvertisementSet::handles(&sets);
+
+    info!("Starting advertising");
+    let _ = join(runner.run(), async {
+        loop {
+            let _advertiser = peripheral.advertise_ext(&sets, &mut handles).await.unwrap();
+            loop {
+                info!("Still running");
+                Timer::after(Duration::from_secs(60)).await;
+            }
+        }
+    })
+    .await;
+}

trouble-example-apps/src/ble_bas_central.rs

@@ -0,0 +1,86 @@
+use embassy_futures::join::join;
+use embassy_time::{Duration, Timer};
+use trouble_host::prelude::*;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 3; // Signal + att + CoC
+
+pub async fn run<C>(controller: C)
+where
+    C: Controller,
+{
+    // Using a fixed "random" address can be useful for testing. In real scenarios, one would
+    // use e.g. the MAC 6 byte array as the address (how to get that varies by the platform).
+    let address: Address = Address::random([0xff, 0x8f, 0x1b, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut central,
+        mut runner,
+        ..
+    } = stack.build();
+
+    // NOTE: Modify this to match the address of the peripheral you want to connect to.
+    // Currently it matches the address used by the peripheral examples
+    let target: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+
+    let config = ConnectConfig {
+        connect_params: Default::default(),
+        scan_config: ScanConfig {
+            filter_accept_list: &[(target.kind, &target.addr)],
+            ..Default::default()
+        },
+    };
+
+    info!("Scanning for peripheral...");
+    let _ = join(runner.run(), async {
+        info!("Connecting");
+
+        let conn = central.connect(&config).await.unwrap();
+        info!("Connected, creating gatt client");
+
+        let client = GattClient::<C, DefaultPacketPool, 10>::new(&stack, &conn)
+            .await
+            .unwrap();
+
+        let _ = join(client.task(), async {
+            info!("Looking for battery service");
+            let services = client.services_by_uuid(&Uuid::new_short(0x180f)).await.unwrap();
+            let service = services.first().unwrap().clone();
+
+            info!("Looking for value handle");
+            let c: Characteristic<u8> = client
+                .characteristic_by_uuid(&service, &Uuid::new_short(0x2a19))
+                .await
+                .unwrap();
+
+            info!("Subscribing notifications");
+            let mut listener = client.subscribe(&c, false).await.unwrap();
+
+            let _ = join(
+                async {
+                    loop {
+                        let mut data = [0; 1];
+                        client.read_characteristic(&c, &mut data[..]).await.unwrap();
+                        info!("Read value: {}", data[0]);
+                        Timer::after(Duration::from_secs(10)).await;
+                    }
+                },
+                async {
+                    loop {
+                        let data = listener.next().await;
+                        info!("Got notification: {:?} (val: {})", data.as_ref(), data.as_ref()[0]);
+                    }
+                },
+            )
+            .await;
+        })
+        .await;
+    })
+    .await;
+}

trouble-example-apps/src/ble_bas_central_sec.rs

@@ -0,0 +1,98 @@
+use embassy_futures::join::join;
+use embassy_time::{Duration, Timer};
+use rand_core::{CryptoRng, RngCore};
+use trouble_host::prelude::*;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 3; // Signal + att + CoC
+
+pub async fn run<C, RNG>(controller: C, random_generator: &mut RNG)
+where
+    C: Controller,
+    RNG: RngCore + CryptoRng,
+{
+    // Using a fixed "random" address can be useful for testing. In real scenarios, one would
+    // use e.g. the MAC 6 byte array as the address (how to get that varies by the platform).
+    let address: Address = Address::random([0xff, 0x8f, 0x1b, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources)
+        .set_random_address(address)
+        .set_random_generator_seed(random_generator);
+
+    let Host {
+        mut central,
+        mut runner,
+        ..
+    } = stack.build();
+
+    // NOTE: Modify this to match the address of the peripheral you want to connect to.
+    // Currently it matches the address used by the peripheral examples
+    let target: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+
+    let config = ConnectConfig {
+        connect_params: Default::default(),
+        scan_config: ScanConfig {
+            filter_accept_list: &[(target.kind, &target.addr)],
+            ..Default::default()
+        },
+    };
+
+    info!("Scanning for peripheral...");
+    let _ = join(runner.run(), async {
+        info!("Connecting");
+
+        let conn = central.connect(&config).await.unwrap();
+        info!("Connected, creating gatt client");
+
+        #[cfg(feature = "security")]
+        {
+            if let Err(_error) = central.pairing(&conn).await {
+                error!("Pairing failed");
+            }
+        }
+
+        let client = GattClient::<C, DefaultPacketPool, 10>::new(&stack, &conn)
+            .await
+            .unwrap();
+
+        let _ = join(client.task(), async {
+            info!("Looking for battery service");
+            let services = client.services_by_uuid(&Uuid::new_short(0x180f)).await.unwrap();
+            let service = services.first().unwrap().clone();
+
+            info!("Looking for value handle");
+            let c: Characteristic<u8> = client
+                .characteristic_by_uuid(&service, &Uuid::new_short(0x2a19))
+                .await
+                .unwrap();
+
+            info!("Subscribing notifications");
+            let mut listener = client.subscribe(&c, false).await.unwrap();
+
+            let _ = join(
+                async {
+                    loop {
+                        let mut data = [0; 1];
+                        client.read_characteristic(&c, &mut data[..]).await.unwrap();
+                        info!("Read value: {}", data[0]);
+                        Timer::after(Duration::from_secs(10)).await;
+                    }
+                },
+                async {
+                    loop {
+                        let data = listener.next().await;
+                        info!("Got notification: {:?} (val: {})", data.as_ref(), data.as_ref()[0]);
+                    }
+                },
+            )
+            .await;
+        })
+        .await;
+    })
+    .await;
+}

trouble-example-apps/src/ble_bas_peripheral.rs

@@ -0,0 +1,195 @@
+use embassy_futures::join::join;
+use embassy_futures::select::select;
+use embassy_time::Timer;
+use trouble_host::prelude::*;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 2; // Signal + att
+
+// GATT Server definition
+#[gatt_server]
+struct Server {
+    battery_service: BatteryService,
+}
+
+/// Battery service
+#[gatt_service(uuid = service::BATTERY)]
+struct BatteryService {
+    /// Battery Level
+    #[descriptor(uuid = descriptors::VALID_RANGE, read, value = [0, 100])]
+    #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "hello", read, value = "Battery Level")]
+    #[characteristic(uuid = characteristic::BATTERY_LEVEL, read, notify, value = 10)]
+    level: u8,
+    #[characteristic(uuid = "408813df-5dd4-1f87-ec11-cdb001100000", write, read, notify)]
+    status: bool,
+}
+
+/// Run the BLE stack.
+pub async fn run<C>(controller: C)
+where
+    C: Controller,
+{
+    // Using a fixed "random" address can be useful for testing. In real scenarios, one would
+    // use e.g. the MAC 6 byte array as the address (how to get that varies by the platform).
+    let address: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut peripheral, runner, ..
+    } = stack.build();
+
+    info!("Starting advertising and GATT service");
+    let server = Server::new_with_config(GapConfig::Peripheral(PeripheralConfig {
+        name: "TrouBLE",
+        appearance: &appearance::power_device::GENERIC_POWER_DEVICE,
+    }))
+    .unwrap();
+
+    let _ = join(ble_task(runner), async {
+        loop {
+            match advertise("Trouble Example", &mut peripheral, &server).await {
+                Ok(conn) => {
+                    // set up tasks when the connection is established to a central, so they don't run when no one is connected.
+                    let a = gatt_events_task(&server, &conn);
+                    let b = custom_task(&server, &conn, &stack);
+                    // run until any task ends (usually because the connection has been closed),
+                    // then return to advertising state.
+                    select(a, b).await;
+                }
+                Err(e) => {
+                    #[cfg(feature = "defmt")]
+                    let e = defmt::Debug2Format(&e);
+                    panic!("[adv] error: {:?}", e);
+                }
+            }
+        }
+    })
+    .await;
+}
+
+/// This is a background task that is required to run forever alongside any other BLE tasks.
+///
+/// ## Alternative
+///
+/// If you didn't require this to be generic for your application, you could statically spawn this with i.e.
+///
+/// ```rust,ignore
+///
+/// #[embassy_executor::task]
+/// async fn ble_task(mut runner: Runner<'static, SoftdeviceController<'static>>) {
+///     runner.run().await;
+/// }
+///
+/// spawner.must_spawn(ble_task(runner));
+/// ```
+async fn ble_task<C: Controller, P: PacketPool>(mut runner: Runner<'_, C, P>) {
+    loop {
+        if let Err(e) = runner.run().await {
+            #[cfg(feature = "defmt")]
+            let e = defmt::Debug2Format(&e);
+            panic!("[ble_task] error: {:?}", e);
+        }
+    }
+}
+
+/// Stream Events until the connection closes.
+///
+/// This function will handle the GATT events and process them.
+/// This is how we interact with read and write requests.
+async fn gatt_events_task<P: PacketPool>(server: &Server<'_>, conn: &GattConnection<'_, '_, P>) -> Result<(), Error> {
+    let level = server.battery_service.level;
+    let reason = loop {
+        match conn.next().await {
+            GattConnectionEvent::Disconnected { reason } => break reason,
+            GattConnectionEvent::Gatt { event } => {
+                match &event {
+                    GattEvent::Read(event) => {
+                        if event.handle() == level.handle {
+                            let value = server.get(&level);
+                            info!("[gatt] Read Event to Level Characteristic: {:?}", value);
+                        }
+                    }
+                    GattEvent::Write(event) => {
+                        if event.handle() == level.handle {
+                            info!("[gatt] Write Event to Level Characteristic: {:?}", event.data());
+                        }
+                    }
+                    _ => {}
+                };
+                // This step is also performed at drop(), but writing it explicitly is necessary
+                // in order to ensure reply is sent.
+                match event.accept() {
+                    Ok(reply) => reply.send().await,
+                    Err(e) => warn!("[gatt] error sending response: {:?}", e),
+                };
+            }
+            _ => {} // ignore other Gatt Connection Events
+        }
+    };
+    info!("[gatt] disconnected: {:?}", reason);
+    Ok(())
+}
+
+/// Create an advertiser to use to connect to a BLE Central, and wait for it to connect.
+async fn advertise<'values, 'server, C: Controller>(
+    name: &'values str,
+    peripheral: &mut Peripheral<'values, C, DefaultPacketPool>,
+    server: &'server Server<'values>,
+) -> Result<GattConnection<'values, 'server, DefaultPacketPool>, BleHostError<C::Error>> {
+    let mut advertiser_data = [0; 31];
+    let len = AdStructure::encode_slice(
+        &[
+            AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
+            AdStructure::ServiceUuids16(&[[0x0f, 0x18]]),
+            AdStructure::CompleteLocalName(name.as_bytes()),
+        ],
+        &mut advertiser_data[..],
+    )?;
+    let advertiser = peripheral
+        .advertise(
+            &Default::default(),
+            Advertisement::ConnectableScannableUndirected {
+                adv_data: &advertiser_data[..len],
+                scan_data: &[],
+            },
+        )
+        .await?;
+    info!("[adv] advertising");
+    let conn = advertiser.accept().await?.with_attribute_server(server)?;
+    info!("[adv] connection established");
+    Ok(conn)
+}
+
+/// Example task to use the BLE notifier interface.
+/// This task will notify the connected central of a counter value every 2 seconds.
+/// It will also read the RSSI value every 2 seconds.
+/// and will stop when the connection is closed by the central or an error occurs.
+async fn custom_task<C: Controller, P: PacketPool>(
+    server: &Server<'_>,
+    conn: &GattConnection<'_, '_, P>,
+    stack: &Stack<'_, C, P>,
+) {
+    let mut tick: u8 = 0;
+    let level = server.battery_service.level;
+    loop {
+        tick = tick.wrapping_add(1);
+        info!("[custom_task] notifying connection of tick {}", tick);
+        if level.notify(conn, &tick).await.is_err() {
+            info!("[custom_task] error notifying connection");
+            break;
+        };
+        // read RSSI (Received Signal Strength Indicator) of the connection.
+        if let Ok(rssi) = conn.raw().rssi(stack).await {
+            info!("[custom_task] RSSI: {:?}", rssi);
+        } else {
+            info!("[custom_task] error getting RSSI");
+            break;
+        };
+        Timer::after_secs(2).await;
+    }
+}

trouble-example-apps/src/ble_bas_peripheral_sec.rs

@@ -0,0 +1,228 @@
+use embassy_futures::join::join;
+use embassy_futures::select::select;
+use embassy_time::Timer;
+use rand_core::{CryptoRng, RngCore};
+use trouble_host::prelude::*;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 2; // Signal + att
+
+// GATT Server definition
+#[gatt_server]
+struct Server {
+    battery_service: BatteryService,
+}
+
+/// Battery service
+#[gatt_service(uuid = service::BATTERY)]
+struct BatteryService {
+    /// Battery Level
+    #[descriptor(uuid = descriptors::VALID_RANGE, read, value = [0, 100])]
+    #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "hello", read, value = "Battery Level")]
+    #[characteristic(uuid = characteristic::BATTERY_LEVEL, read, notify, value = 10)]
+    level: u8,
+    #[characteristic(uuid = "408813df-5dd4-1f87-ec11-cdb001100000", write, read, notify)]
+    status: bool,
+}
+
+/// Run the BLE stack.
+pub async fn run<C, RNG>(controller: C, random_generator: &mut RNG)
+where
+    C: Controller,
+    RNG: RngCore + CryptoRng,
+{
+    // Using a fixed "random" address can be useful for testing. In real scenarios, one would
+    // use e.g. the MAC 6 byte array as the address (how to get that varies by the platform).
+    let address: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+    info!("Our address = {}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> =
+        HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources)
+        .set_random_address(address)
+        .set_random_generator_seed(random_generator);
+    let Host {
+        mut peripheral,
+        runner,
+        ..
+    } = stack.build();
+
+    info!("Starting advertising and GATT service");
+    let server = Server::new_with_config(GapConfig::Peripheral(PeripheralConfig {
+        name: "TrouBLE",
+        appearance: &appearance::power_device::GENERIC_POWER_DEVICE,
+    }))
+    .unwrap();
+
+    let _ = join(ble_task(runner), async {
+        loop {
+            match advertise("Trouble Example", &mut peripheral, &server).await {
+                Ok(conn) => {
+                    // set up tasks when the connection is established to a central, so they don't run when no one is connected.
+                    let a = gatt_events_task(&server, &conn);
+                    let b = custom_task(&server, &conn, &stack);
+                    // run until any task ends (usually because the connection has been closed),
+                    // then return to advertising state.
+                    select(a, b).await;
+                }
+                Err(e) => {
+                    #[cfg(feature = "defmt")]
+                    let e = defmt::Debug2Format(&e);
+                    panic!("[adv] error: {:?}", e);
+                }
+            }
+        }
+    })
+    .await;
+}
+
+/// This is a background task that is required to run forever alongside any other BLE tasks.
+///
+/// ## Alternative
+///
+/// If you didn't require this to be generic for your application, you could statically spawn this with i.e.
+///
+/// ```rust,ignore
+///
+/// #[embassy_executor::task]
+/// async fn ble_task(mut runner: Runner<'static, SoftdeviceController<'static>>) {
+///     runner.run().await;
+/// }
+///
+/// spawner.must_spawn(ble_task(runner));
+/// ```
+async fn ble_task<C: Controller, P: PacketPool>(mut runner: Runner<'_, C, P>) {
+    loop {
+        if let Err(e) = runner.run().await {
+            #[cfg(feature = "defmt")]
+            let e = defmt::Debug2Format(&e);
+            panic!("[ble_task] error: {:?}", e);
+        }
+    }
+}
+
+/// Stream Events until the connection closes.
+///
+/// This function will handle the GATT events and process them.
+/// This is how we interact with read and write requests.
+async fn gatt_events_task(
+    server: &Server<'_>,
+    conn: &GattConnection<'_, '_, DefaultPacketPool>,
+) -> Result<(), Error> {
+    let level = server.battery_service.level;
+    let reason = loop {
+        match conn.next().await {
+            GattConnectionEvent::Disconnected { reason } => break reason,
+            GattConnectionEvent::Gatt { event } => {
+                let result = match &event {
+                    GattEvent::Read(event) => {
+                        if event.handle() == level.handle {
+                            let value = server.get(&level);
+                            info!("[gatt] Read Event to Level Characteristic: {:?}", value);
+                        }
+                        #[cfg(feature = "security")]
+                        if conn.raw().encrypted() {
+                            None
+                        } else {
+                            Some(AttErrorCode::INSUFFICIENT_ENCRYPTION)
+                        }
+                        #[cfg(not(feature = "security"))]
+                        None
+                    }
+                    GattEvent::Write(event) => {
+                        if event.handle() == level.handle {
+                            info!(
+                                "[gatt] Write Event to Level Characteristic: {:?}",
+                                event.data()
+                            );
+                        }
+                        #[cfg(feature = "security")]
+                        if conn.raw().encrypted() {
+                            None
+                        } else {
+                            Some(AttErrorCode::INSUFFICIENT_ENCRYPTION)
+                        }
+                        #[cfg(not(feature = "security"))]
+                        None
+                    }
+                    _ => None,
+                };
+
+                let reply_result = if let Some(code) = result {
+                    event.reject(code)
+                } else {
+                    event.accept()
+                };
+                match reply_result {
+                    Ok(reply) => reply.send().await,
+                    Err(e) => warn!("[gatt] error sending response: {:?}", e),
+                }
+            }
+            _ => {} // ignore other Gatt Connection Events
+        }
+    };
+    info!("[gatt] disconnected: {:?}", reason);
+    Ok(())
+}
+
+/// Create an advertiser to use to connect to a BLE Central, and wait for it to connect.
+async fn advertise<'values, 'server, C: Controller>(
+    name: &'values str,
+    peripheral: &mut Peripheral<'values, C, DefaultPacketPool>,
+    server: &'server Server<'values>,
+) -> Result<GattConnection<'values, 'server, DefaultPacketPool>, BleHostError<C::Error>> {
+    let mut advertiser_data = [0; 31];
+    let len = AdStructure::encode_slice(
+        &[
+            AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
+            AdStructure::ServiceUuids16(&[[0x0f, 0x18]]),
+            AdStructure::CompleteLocalName(name.as_bytes()),
+        ],
+        &mut advertiser_data[..],
+    )?;
+    let advertiser = peripheral
+        .advertise(
+            &Default::default(),
+            Advertisement::ConnectableScannableUndirected {
+                adv_data: &advertiser_data[..len],
+                scan_data: &[],
+            },
+        )
+        .await?;
+    info!("[adv] advertising");
+    let conn = advertiser.accept().await?.with_attribute_server(server)?;
+    info!("[adv] connection established");
+    Ok(conn)
+}
+
+/// Example task to use the BLE notifier interface.
+/// This task will notify the connected central of a counter value every 2 seconds.
+/// It will also read the RSSI value every 2 seconds.
+/// and will stop when the connection is closed by the central or an error occurs.
+async fn custom_task<C: Controller, P: PacketPool>(
+    server: &Server<'_>,
+    conn: &GattConnection<'_, '_, P>,
+    stack: &Stack<'_, C, P>,
+) {
+    let mut tick: u8 = 0;
+    let level = server.battery_service.level;
+    loop {
+        tick = tick.wrapping_add(1);
+        info!("[custom_task] notifying connection of tick {}", tick);
+        if level.notify(conn, &tick).await.is_err() {
+            info!("[custom_task] error notifying connection");
+            break;
+        };
+        // read RSSI (Received Signal Strength Indicator) of the connection.
+        if let Ok(rssi) = conn.raw().rssi(stack).await {
+            info!("[custom_task] RSSI: {:?}", rssi);
+        } else {
+            info!("[custom_task] error getting RSSI");
+            break;
+        };
+        Timer::after_secs(2).await;
+    }
+}

trouble-example-apps/src/ble_beacon.rs

@@ -0,0 +1,109 @@
+// BLE beacon example
+//
+// A beacon is a device that advertises packets that are constantly being
+// updated to reflect the current state of the device, but usually does not
+// accept any conections. This allows broadcasting device information.
+//
+
+use bt_hci::cmd::le::*;
+use bt_hci::controller::ControllerCmdSync;
+use embassy_futures::join::join;
+use embassy_time::{Duration, Instant, Timer};
+use trouble_host::prelude::*;
+
+// Use your company ID (register for free with Bluetooth SIG)
+const COMPANY_ID: u16 = 0xFFFF;
+
+fn make_adv_payload(start: Instant, update_count: u32) -> [u8; 8] {
+    let mut data = [0u8; 8];
+    let elapsed_ms = Instant::now().duration_since(start).as_millis() as u32;
+    data[0..4].copy_from_slice(&update_count.to_be_bytes());
+    data[4..8].copy_from_slice(&elapsed_ms.to_be_bytes());
+    data
+}
+
+pub async fn run<C>(controller: C)
+where
+    C: Controller
+        + for<'t> ControllerCmdSync<LeSetExtAdvData<'t>>
+        + ControllerCmdSync<LeClearAdvSets>
+        + ControllerCmdSync<LeSetExtAdvParams>
+        + ControllerCmdSync<LeSetAdvSetRandomAddr>
+        + ControllerCmdSync<LeReadNumberOfSupportedAdvSets>
+        + for<'t> ControllerCmdSync<LeSetExtAdvEnable<'t>>
+        + for<'t> ControllerCmdSync<LeSetExtScanResponseData<'t>>,
+{
+    let address: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, 0, 0, 27> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut peripheral,
+        mut runner,
+        ..
+    } = stack.build();
+
+    let mut adv_data = [0; 64];
+    let mut update_count = 0u32;
+    let start = Instant::now();
+    let len = AdStructure::encode_slice(
+        &[
+            AdStructure::CompleteLocalName(b"Trouble Beacon"),
+            AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
+            AdStructure::ManufacturerSpecificData {
+                company_identifier: COMPANY_ID,
+                payload: &make_adv_payload(start, update_count),
+            },
+        ],
+        &mut adv_data[..],
+    )
+    .unwrap();
+
+    info!("Starting advertising");
+    let _ = join(runner.run(), async {
+        loop {
+            let mut params = AdvertisementParameters::default();
+            params.interval_min = Duration::from_millis(25);
+            params.interval_max = Duration::from_millis(150);
+            let _advertiser = peripheral
+                .advertise(
+                    &params,
+                    Advertisement::NonconnectableNonscannableUndirected {
+                        adv_data: &adv_data[..len],
+                    },
+                )
+                .await
+                .unwrap();
+            loop {
+                Timer::after(Duration::from_millis(10)).await;
+                update_count = update_count.wrapping_add(1);
+
+                let len = AdStructure::encode_slice(
+                    &[
+                        AdStructure::CompleteLocalName(b"Trouble Beacon"),
+                        AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
+                        AdStructure::ManufacturerSpecificData {
+                            company_identifier: COMPANY_ID,
+                            payload: &make_adv_payload(start, update_count),
+                        },
+                    ],
+                    &mut adv_data[..],
+                )
+                .unwrap();
+
+                peripheral
+                    .update_adv_data(Advertisement::NonconnectableNonscannableUndirected {
+                        adv_data: &adv_data[..len],
+                    })
+                    .await
+                    .unwrap();
+
+                if update_count % 100 == 0 {
+                    info!("Still running: Updated the beacon {} times", update_count);
+                }
+            }
+        }
+    })
+    .await;
+}

trouble-example-apps/src/ble_l2cap_central.rs

@@ -0,0 +1,74 @@
+use embassy_futures::join::join;
+use embassy_time::{Duration, Timer};
+use trouble_host::prelude::*;
+
+use crate::common::PSM_L2CAP_EXAMPLES;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 3; // Signal + att + CoC
+
+pub async fn run<C>(controller: C)
+where
+    C: Controller,
+{
+    // Using a fixed "random" address can be useful for testing. In real scenarios, one would
+    // use e.g. the MAC 6 byte array as the address (how to get that varies by the platform).
+    let address: Address = Address::random([0xff, 0x8f, 0x1b, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut central,
+        mut runner,
+        ..
+    } = stack.build();
+
+    // NOTE: Modify this to match the address of the peripheral you want to connect to.
+    // Currently, it matches the address used by the peripheral examples
+    let target: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+
+    let config = ConnectConfig {
+        connect_params: Default::default(),
+        scan_config: ScanConfig {
+            filter_accept_list: &[(target.kind, &target.addr)],
+            ..Default::default()
+        },
+    };
+
+    info!("Scanning for peripheral...");
+    let _ = join(runner.run(), async {
+        loop {
+            let conn = central.connect(&config).await.unwrap();
+            info!("Connected, creating l2cap channel");
+            const PAYLOAD_LEN: usize = 27;
+            let config = L2capChannelConfig {
+                mtu: Some(PAYLOAD_LEN as u16),
+                ..Default::default()
+            };
+            let mut ch1 = L2capChannel::create(&stack, &conn, PSM_L2CAP_EXAMPLES, &config)
+                .await
+                .unwrap();
+            info!("New l2cap channel created, sending some data!");
+            for i in 0..10 {
+                let tx = [i; PAYLOAD_LEN];
+                ch1.send(&stack, &tx).await.unwrap();
+            }
+            info!("Sent data, waiting for them to be sent back");
+            let mut rx = [0; PAYLOAD_LEN];
+            for i in 0..10 {
+                let len = ch1.receive(&stack, &mut rx).await.unwrap();
+                assert_eq!(len, rx.len());
+                assert_eq!(rx, [i; PAYLOAD_LEN]);
+            }
+
+            info!("Received successfully!");
+
+            Timer::after(Duration::from_secs(60)).await;
+        }
+    })
+    .await;
+}

trouble-example-apps/src/ble_l2cap_peripheral.rs

@@ -0,0 +1,88 @@
+use embassy_futures::join::join;
+use embassy_time::{Duration, Timer};
+use trouble_host::prelude::*;
+
+use crate::common::PSM_L2CAP_EXAMPLES;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 3; // Signal + att + CoC
+
+pub async fn run<C>(controller: C)
+where
+    C: Controller,
+{
+    // Hardcoded peripheral address
+    let address: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut peripheral,
+        mut runner,
+        ..
+    } = stack.build();
+
+    let mut adv_data = [0; 31];
+    let adv_data_len = AdStructure::encode_slice(
+        &[AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED)],
+        &mut adv_data[..],
+    )
+    .unwrap();
+
+    let mut scan_data = [0; 31];
+    let scan_data_len =
+        AdStructure::encode_slice(&[AdStructure::CompleteLocalName(b"Trouble")], &mut scan_data[..]).unwrap();
+
+    let _ = join(runner.run(), async {
+        loop {
+            info!("Advertising, waiting for connection...");
+            let advertiser = peripheral
+                .advertise(
+                    &Default::default(),
+                    Advertisement::ConnectableScannableUndirected {
+                        adv_data: &adv_data[..adv_data_len],
+                        scan_data: &scan_data[..scan_data_len],
+                    },
+                )
+                .await
+                .unwrap();
+            let conn = advertiser.accept().await.unwrap();
+
+            info!("Connection established");
+
+            let config = L2capChannelConfig {
+                mtu: Some(PAYLOAD_LEN as u16),
+                ..Default::default()
+            };
+            let mut ch1 = L2capChannel::accept(&stack, &conn, &[PSM_L2CAP_EXAMPLES], &config)
+                .await
+                .unwrap();
+
+            info!("L2CAP channel accepted");
+
+            // Size of payload we're expecting
+            const PAYLOAD_LEN: usize = 27;
+            let mut rx = [0; PAYLOAD_LEN];
+            for i in 0..10 {
+                let len = ch1.receive(&stack, &mut rx).await.unwrap();
+                assert_eq!(len, rx.len());
+                assert_eq!(rx, [i; PAYLOAD_LEN]);
+            }
+
+            info!("L2CAP data received, echoing");
+            Timer::after(Duration::from_secs(1)).await;
+            for i in 0..10 {
+                let tx = [i; PAYLOAD_LEN];
+                ch1.send(&stack, &tx).await.unwrap();
+            }
+            info!("L2CAP data echoed");
+
+            Timer::after(Duration::from_secs(60)).await;
+        }
+    })
+    .await;
+}

trouble-example-apps/src/ble_scanner.rs

@@ -0,0 +1,66 @@
+use bt_hci::cmd::le::LeSetScanParams;
+use bt_hci::controller::ControllerCmdSync;
+use core::cell::RefCell;
+use embassy_futures::join::join;
+use embassy_time::{Duration, Timer};
+use heapless::Deque;
+use trouble_host::prelude::*;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+const L2CAP_CHANNELS_MAX: usize = 1;
+
+pub async fn run<C>(controller: C)
+where
+    C: Controller + ControllerCmdSync<LeSetScanParams>,
+{
+    // Using a fixed "random" address can be useful for testing. In real scenarios, one would
+    // use e.g. the MAC 6 byte array as the address (how to get that varies by the platform).
+    let address: Address = Address::random([0xff, 0x8f, 0x1b, 0x05, 0xe4, 0xff]);
+
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+
+    let Host {
+        central, mut runner, ..
+    } = stack.build();
+
+    let printer = Printer {
+        seen: RefCell::new(Deque::new()),
+    };
+    let mut scanner = Scanner::new(central);
+    let _ = join(runner.run_with_handler(&printer), async {
+        let mut config = ScanConfig::default();
+        config.active = true;
+        config.phys = PhySet::M1;
+        config.interval = Duration::from_secs(1);
+        config.window = Duration::from_secs(1);
+        let mut _session = scanner.scan(&config).await.unwrap();
+        // Scan forever
+        loop {
+            Timer::after(Duration::from_secs(1)).await;
+        }
+    })
+    .await;
+}
+
+struct Printer {
+    seen: RefCell<Deque<BdAddr, 128>>,
+}
+
+impl EventHandler for Printer {
+    fn on_adv_reports(&self, mut it: LeAdvReportsIter<'_>) {
+        let mut seen = self.seen.borrow_mut();
+        while let Some(Ok(report)) = it.next() {
+            if seen.iter().find(|b| b.raw() == report.addr.raw()).is_none() {
+                info!("discovered: {:?}", report.addr);
+                if seen.is_full() {
+                    seen.pop_front();
+                }
+                seen.push_back(report.addr).unwrap();
+            }
+        }
+    }
+}

trouble-example-apps/src/common.rs

@@ -0,0 +1,7 @@
+// PSM from the dynamic range (0x0080-0x00FF) according to the Bluetooth
+// Specification for L2CAP channels using LE Credit Based Flow Control mode.
+// used for the BLE L2CAP examples.
+//
+// https://www.bluetooth.com/wp-content/uploads/Files/Specification/HTML/Core-60/out/en/host/logical-link-control-and-adaptation-protocol-specification.html#UUID-1ffdf913-7b8a-c7ba-531e-2a9c6f6da8fb
+//
+pub(crate) const PSM_L2CAP_EXAMPLES: u16 = 0x0081;

trouble-example-apps/src/fmt.rs

@@ -0,0 +1,259 @@
+#![macro_use]
+#![allow(unused_macros)]
+
+use core::fmt::{Debug, Display, LowerHex};
+
+#[cfg(all(feature = "defmt", feature = "log"))]
+compile_error!("You may not enable both `defmt` and `log` features.");
+
+macro_rules! assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! todo {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::todo!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::todo!($($x)*);
+        }
+    };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::core::unreachable!($($x)*)
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
+    };
+}
+
+macro_rules! panic {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::panic!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::panic!($($x)*);
+        }
+    };
+}
+
+macro_rules! trace {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::trace!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::trace!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! debug {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::debug!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! info {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::info!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::info!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! warn {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::warn!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::warn!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! error {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::error!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::error!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unwrap {
+    ($($x:tt)*) => {
+        ::defmt::unwrap!($($x)*)
+    };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! unwrap {
+    ($arg:expr) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
+            }
+        }
+    };
+    ($arg:expr, $($msg:expr),+ $(,)? ) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
+            }
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+pub struct NoneError;
+
+pub trait Try {
+    type Ok;
+    type Error;
+    #[allow(dead_code)]
+    fn into_result(self) -> Result<Self::Ok, Self::Error>;
+}
+
+impl<T> Try for Option<T> {
+    type Ok = T;
+    type Error = NoneError;
+
+    #[inline]
+    fn into_result(self) -> Result<T, NoneError> {
+        self.ok_or(NoneError)
+    }
+}
+
+impl<T, E> Try for Result<T, E> {
+    type Ok = T;
+    type Error = E;
+
+    #[inline]
+    fn into_result(self) -> Self {
+        self
+    }
+}
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

trouble-example-apps/src/high_throughput_ble_l2cap_central.rs

@@ -0,0 +1,128 @@
+use bt_hci::cmd::le::{LeReadLocalSupportedFeatures, LeSetDataLength, LeSetPhy};
+use bt_hci::controller::{ControllerCmdAsync, ControllerCmdSync};
+use embassy_futures::join::join;
+use embassy_time::{Duration, Instant, Timer};
+use trouble_host::prelude::*;
+
+use crate::common::PSM_L2CAP_EXAMPLES;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 3; // Signal + att + CoC
+
+pub async fn run<C, P>(controller: C)
+where
+    C: Controller
+        + ControllerCmdSync<LeSetDataLength>
+        + ControllerCmdAsync<LeSetPhy>
+        + ControllerCmdSync<LeReadLocalSupportedFeatures>,
+    P: PacketPool,
+{
+    // Using a fixed "random" address can be useful for testing. In real scenarios, one would
+    // use e.g. the MAC 6 byte array as the address (how to get that varies by the platform).
+    let address: Address = Address::random([0xff, 0x8f, 0x1b, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<P, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut central,
+        mut runner,
+        ..
+    } = stack.build();
+
+    // NOTE: Modify this to match the address of the peripheral you want to connect to.
+    // Currently, it matches the address used by the peripheral examples
+    let target: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+
+    let config = ConnectConfig {
+        connect_params: ConnectParams {
+            min_connection_interval: Duration::from_millis(80),
+            max_connection_interval: Duration::from_millis(80),
+            ..Default::default()
+        },
+        scan_config: ScanConfig {
+            filter_accept_list: &[(target.kind, &target.addr)],
+            ..Default::default()
+        },
+    };
+
+    info!("Scanning for peripheral...");
+    let _ = join(runner.run(), async {
+        loop {
+            // Check that the controller used supports the necessary features for high throughput.
+            let res = stack
+                .command(LeReadLocalSupportedFeatures::new())
+                .await
+                .expect("LeReadLocalSupportedFeatures command failed");
+            assert!(res.supports_le_data_packet_length_extension());
+            assert!(res.supports_le_2m_phy());
+
+            let conn = central.connect(&config).await.expect("Connect failed");
+            info!("Connected, creating l2cap channel");
+
+            // Once connected, request a change in the PDU data length.
+            stack
+                .command(LeSetDataLength::new(conn.handle(), 251, 2120))
+                .await
+                .expect("LeSetDataLength command failed");
+
+            // and request changing the physical link to 2M PHY.
+            // *Note* Change to the PDU data length and PHY can also be initiated by the peripheral.
+            conn.set_phy(&stack, PhyKind::Le2M)
+                .await
+                .expect("set phy command failed");
+
+            const PAYLOAD_LEN: usize = 2510;
+            const L2CAP_MTU: usize = 251;
+            let l2cap_channel_config = L2capChannelConfig {
+                mtu: Some(PAYLOAD_LEN as u16 - 6),
+                mps: Some(L2CAP_MTU as u16 - 4),
+                // Ensure there will be enough credits to send data throughout the entire connection event.
+                flow_policy: CreditFlowPolicy::Every(50),
+                initial_credits: Some(200),
+            };
+
+            let mut ch1 = L2capChannel::create(&stack, &conn, PSM_L2CAP_EXAMPLES, &l2cap_channel_config)
+                .await
+                .expect("L2capChannel create failed");
+
+            // Wait for the ratios to switch to 2M PHY.
+            // If we do not wait, communication will still occur at 1M for the first 500 ms.
+            Timer::after(Duration::from_secs(1)).await;
+
+            info!("New l2cap channel created, sending some data!");
+
+            const NUM_PAYLOADS: u8 = 40;
+
+            let start = Instant::now();
+
+            for i in 0..NUM_PAYLOADS {
+                let tx = [i; PAYLOAD_LEN];
+                ch1.send(&stack, &tx).await.expect("L2CAP send failed");
+            }
+
+            let duration = start.elapsed();
+
+            info!(
+                "Sent {} bytes at {} kbps, waiting for them to be sent back.",
+                (PAYLOAD_LEN as u64 * NUM_PAYLOADS as u64),
+                ((PAYLOAD_LEN as u64 * NUM_PAYLOADS as u64 * 8).div_ceil(duration.as_millis()))
+            );
+
+            let mut rx = [0; PAYLOAD_LEN];
+            for i in 0..NUM_PAYLOADS {
+                let len = ch1.receive(&stack, &mut rx).await.expect("L2CAP receive failed");
+                assert_eq!(len, rx.len());
+                assert_eq!(rx, [i; PAYLOAD_LEN]);
+            }
+
+            info!("Received successfully!");
+
+            Timer::after(Duration::from_secs(60)).await;
+        }
+    })
+    .await;
+}

trouble-example-apps/src/high_throughput_ble_l2cap_peripheral.rs

@@ -0,0 +1,115 @@
+use bt_hci::cmd::le::LeReadLocalSupportedFeatures;
+use bt_hci::controller::ControllerCmdSync;
+use embassy_futures::join::join;
+use embassy_time::{Duration, Instant, Timer};
+use trouble_host::prelude::*;
+
+use crate::common::PSM_L2CAP_EXAMPLES;
+
+/// Max number of connections
+const CONNECTIONS_MAX: usize = 1;
+
+/// Max number of L2CAP channels.
+const L2CAP_CHANNELS_MAX: usize = 3; // Signal + att + CoC
+
+pub async fn run<C, P>(controller: C)
+where
+    C: Controller + ControllerCmdSync<LeReadLocalSupportedFeatures>,
+    P: PacketPool,
+{
+    // Hardcoded peripheral address
+    let address: Address = Address::random([0xff, 0x8f, 0x1a, 0x05, 0xe4, 0xff]);
+    info!("Our address = {:?}", address);
+
+    let mut resources: HostResources<P, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> = HostResources::new();
+    let stack = trouble_host::new(controller, &mut resources).set_random_address(address);
+    let Host {
+        mut peripheral,
+        mut runner,
+        ..
+    } = stack.build();
+
+    let mut adv_data = [0; 31];
+    let adv_data_len = AdStructure::encode_slice(
+        &[AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED)],
+        &mut adv_data[..],
+    )
+    .unwrap();
+
+    let mut scan_data = [0; 31];
+    let scan_data_len =
+        AdStructure::encode_slice(&[AdStructure::CompleteLocalName(b"TroubleHT")], &mut scan_data[..]).unwrap();
+
+    let _ = join(runner.run(), async {
+        loop {
+            // Check that the controller used supports the necessary features for high throughput.
+            let res = stack
+                .command(LeReadLocalSupportedFeatures::new())
+                .await
+                .expect("LeReadLocalSupportedFeatures command failed");
+            assert!(res.supports_le_data_packet_length_extension());
+            assert!(res.supports_le_2m_phy());
+
+            info!("Advertising, waiting for connection...");
+            let advertiser = peripheral
+                .advertise(
+                    &Default::default(),
+                    Advertisement::ConnectableScannableUndirected {
+                        adv_data: &adv_data[..adv_data_len],
+                        scan_data: &scan_data[..scan_data_len],
+                    },
+                )
+                .await
+                .expect("Advertising failed");
+            let conn = advertiser.accept().await.expect("Connection failed");
+
+            info!("Connection established");
+
+            const PAYLOAD_LEN: usize = 2510;
+            const L2CAP_MTU: usize = 251;
+            let l2cap_channel_config = L2capChannelConfig {
+                mtu: Some(PAYLOAD_LEN as u16 - 6),
+                mps: Some(L2CAP_MTU as u16 - 4),
+                // Ensure there will be enough credits to send data throughout the entire connection event.
+                flow_policy: CreditFlowPolicy::Every(50),
+                initial_credits: Some(200),
+            };
+
+            let mut ch1 = L2capChannel::accept(&stack, &conn, &[PSM_L2CAP_EXAMPLES], &l2cap_channel_config)
+                .await
+                .expect("L2capChannel create failed");
+
+            info!("L2CAP channel accepted");
+
+            // Size of payload we're expecting
+            const NUM_PAYLOADS: u8 = 40;
+            let mut rx = [0; PAYLOAD_LEN];
+            for i in 0..NUM_PAYLOADS {
+                let len = ch1.receive(&stack, &mut rx).await.expect("L2CAP receive failed");
+                assert_eq!(len, rx.len());
+                assert_eq!(rx, [i; PAYLOAD_LEN]);
+            }
+
+            info!("L2CAP data received, echoing");
+            Timer::after(Duration::from_secs(1)).await;
+
+            let start = Instant::now();
+
+            for i in 0..NUM_PAYLOADS {
+                let tx = [i; PAYLOAD_LEN];
+                ch1.send(&stack, &tx).await.expect("L2CAP send failed");
+            }
+
+            let duration = start.elapsed();
+
+            info!(
+                "L2CAP data of {} bytes echoed at {} kbps.",
+                (PAYLOAD_LEN as u64 * NUM_PAYLOADS as u64),
+                ((PAYLOAD_LEN as u64 * NUM_PAYLOADS as u64 * 8).div_ceil(duration.as_millis()))
+            );
+
+            Timer::after(Duration::from_secs(60)).await;
+        }
+    })
+    .await;
+}

trouble-example-apps/src/lib.rs

@@ -0,0 +1,18 @@
+#![no_std]
+#![allow(dead_code)]
+
+pub(crate) mod common;
+pub(crate) mod fmt;
+
+pub mod ble_advertise;
+pub mod ble_advertise_multiple;
+pub mod ble_bas_central;
+pub mod ble_bas_central_sec;
+pub mod ble_bas_peripheral;
+pub mod ble_bas_peripheral_sec;
+pub mod ble_beacon;
+pub mod ble_l2cap_central;
+pub mod ble_l2cap_peripheral;
+pub mod ble_scanner;
+pub mod high_throughput_ble_l2cap_central;
+pub mod high_throughput_ble_l2cap_peripheral;