The simplest wireless method of connecting to an iOS-based mobile device is to use BLE. Unlike Bluetooth Classic, BLE connectivity is not restricted on iOS devices. As an added benefit, Android Version 4.3 can also support BLE, provided the device has the hardware and is supported by the manufacture for BLE connectivity. BLE is not currently supported by existing mobile devices for TCP/IP connectivity.
In order to provide BLE connectivity to a mobile device, the BeagleBone needs to be configured to act as a GATT server. BlueZ contains examples of how to implement a GATT server. Refer to the BlueZ source code and documentation for more detail.
Unfortunately, at the time of writing this book, there are no simple examples of a GATT server for BlueZ.
However, if the goal is to connect to a mobile device that...