ST
X-NUCLEO-IKS01A1 Environmental/Motion sensors data transmitted via X-NUCLEO-IDB04A1 BLE board. Compatible with iOS/Android ST BlueMS V2.1 application.
Dependencies: BLE_API X_NUCLEO_IDB0XA1 X_NUCLEO_IKS01A1 mbed
Fork of
Bluemicrosystem1
by 
ST Expansion SW Team
BlueMicrosystem application
This application is the mbed equivalent of ST BlueMicrosystem1 and provides an example of motion and environmental data exported via Bluetooth Low Energy to an Android or IOS device.
It runs on a ST NUCLEO-F401RE board connected with a X-NUCLEO-IKS01A1 and a X-NUCLEO-IDB04A1 expansion boards and is compatible with Android and iOS ST BlueMS smartphone applications (based on Android and iOS BlueST SDKs).
By default the application is not providing sensor fusion and activity recognition features. However sensor fusion can be enabled following the steps below:
- Download and install osxMotionFX library on your PC.
- Obtain the free license for your board following the instructions
- Copy the correct license into Middlewares/ST/STM32_OSX_MotionFX_Library/osx_license.h of your mbed program folder
- Copy Middlewares/ST/STM32_OSX_MotionFX_Library/Inc/osx_motion_fx.h file
- Rename the provided .lib Keil binary library giving it a .ar extension, then copy it into Middlewares/ST/STM32_OSX_MotionFX_Library/Lib of your mbed program folder
- Enable USE_SENSOR_FUSION_LIB macro into MotionFX_Manager.h file and recompile.
Diff: main.cpp
- Revision:
- 8:b042fe719f51
- Parent:
- 7:34014895dda8
- Child:
- 9:2693f9ef8ff7
--- a/main.cpp Thu Dec 17 15:58:35 2015 +0000
+++ b/main.cpp Mon Dec 21 13:05:16 2015 +0000
@@ -1,40 +1,7 @@
-/**
- ******************************************************************************
- * @file main.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 16-Dec-2015
- * @brief main of Bluemicrosystem1 application
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
#include "mbed.h"
+
+/*L0_BlueNRG_xx version main*/
+
#include <cmath>
#include <math.h>
#include "mbed.h"
@@ -58,10 +25,6 @@
int32_t AXIS_Z;
} AxesRaw_TypeDef;
-#ifdef CUST_BLEERR_MNGT
-#include "CustomBleErrManagement.h"
-#endif
-
#ifdef CUST_CONS_SERV
#include "CustomConsoleService.h"
#endif
@@ -97,6 +60,8 @@
static uint32_t timeoutMems =0;
static BLE * p_BLEdev = NULL;
static int32_t CounterAGM =0;
+static uint32_t bleTxErrCnt =0;
+
#ifdef CUST_CONS_SERV
static CustomConsoleService * p_customconsoleservice = NULL;
#endif
@@ -116,9 +81,6 @@
static CustomConfigService * p_customconfigservice = NULL;
#endif
-#ifdef CUST_BLEERR_MNGT
-static CustomBleErrManagement * p_customBleErrManagement = NULL;
-#endif
/*************************** Calibration functions **************************/
@@ -384,10 +346,12 @@
if (p_customsensorservice)
p_customsensorservice->enNotify (handle);
#endif
+
#ifdef CUST_SW_SERV
if (p_customsoftwareservice)
p_customsoftwareservice->enNotify (handle);
#endif
+
#ifdef CUST_CONFIG_SERV
if (p_customconfigservice) {
p_customconfigservice->enNotify (handle);
@@ -399,11 +363,7 @@
if (p_customconsoleservice)
p_customconsoleservice->enNotify (handle);
#endif
-#ifdef CUST_BLEERR_MNGT
- if (p_customBleErrManagement)
- p_customBleErrManagement->clearTxErr();
-#endif
- /* TODO inform other obj implementing BLE services if any other service is added */
+ /* TODO inform other obj implementing BLE services */
}
static void onUpdatesDisabledCallback(Gap::Handle_t handle)
@@ -413,10 +373,12 @@
if (p_customsensorservice)
p_customsensorservice->disNotify (handle);
#endif
+
#ifdef CUST_SW_SERV
if (p_customsoftwareservice)
p_customsoftwareservice->disNotify (handle);
#endif
+
#ifdef CUST_CONFIG_SERV
if (p_customconfigservice)
p_customconfigservice->disNotify (handle);
@@ -425,11 +387,7 @@
if (p_customconsoleservice)
p_customconsoleservice->disNotify (handle);
#endif
-#ifdef CUST_BLEERR_MNGT
- if (p_customBleErrManagement)
- p_customBleErrManagement->clearTxErr();
-#endif
- /* TODO inform other obj implementing BLE services if any other service is added */
+ /* TODO inform other obj implementing BLE services */
}
//static void onDisconnectionCallback(const Gap::Handle_t handle, const Gap::DisconnectionReason_t disConnectionReason)
@@ -454,14 +412,10 @@
#ifdef CUST_CONS_SERV
if (p_customconsoleservice)
p_customconsoleservice->updateConnectionStatus(DISCONNECTED);
-#endif
-#ifdef CUST_BLEERR_MNGT
- if (p_customBleErrManagement)
- p_customBleErrManagement->updateConnectionStatus(DISCONNECTED);
#endif
- /* TODO inform other obj implementing BLE services if any other service is added */
if (p_BLEdev)
p_BLEdev->startAdvertising();
+ bleTxErrCnt =0;
}
static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
@@ -488,11 +442,7 @@
if (p_customconsoleservice)
p_customconsoleservice->updateConnectionStatus(CONNECTED);
#endif
-#ifdef CUST_BLEERR_MNGT
- if (p_customBleErrManagement)
- p_customBleErrManagement->updateConnectionStatus(CONNECTED);
-#endif
- /* TODO inform other obj implementing BLE services if any other service is added */
+ bleTxErrCnt =0;
}
static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
@@ -678,7 +628,7 @@
static void Ticker_Mems(void)
{
TimeStamp++;
- CounterAGM++;
+ CounterAGM++;
timeoutMems = 1;
}
@@ -697,16 +647,15 @@
AxesRaw_TypeDef Gyro;
bool isgyro_lsm6ds0Present=false;
bool isgyro_lsm6ds3Present=false;
-
+#ifdef CUST_CONS_SERV
+// static uint8_t BufferToWrite[256];
+// static uint8_t BytesToWrite;
+#endif
static bool SensorFusionOK = false;
DevI2C *i2c = new DevI2C(I2C_SDA, I2C_SCL);
i2c->frequency(NUCLEO_I2C_SHIELDS_SPEED);
-#ifdef CUST_BLEERR_MNGT
- p_customBleErrManagement = CustomBleErrManagement::Instance();
-#endif
-
#ifdef CUST_SENS_SERV
p_mems_expansion_board = X_NUCLEO_IKS01A1::Instance(i2c);
if (p_mems_expansion_board->gyro_lsm6ds0) isgyro_lsm6ds0Present=true;
@@ -760,7 +709,7 @@
p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback);
p_BLEdev->gattServer().onDataSent(onDataSentCallback);
p_BLEdev->gattServer().onDataRead(onDataReadCallback);
- p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
+ p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
p_BLEdev->gap().onConnection(onConnectionCallback);
p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
p_BLEdev->gap().onTimeout(onTimeoutCallback);
@@ -778,7 +727,7 @@
}
#ifdef CUST_CONFIG_SERV
- p_customconfigservice = new CustomConfigService(*p_BLEdev, p_customBleErrManagement);
+ p_customconfigservice = new CustomConfigService(*p_BLEdev);
if (!p_customconfigservice) {
printf("SW Service W2ST calibration add FAILED!\n\r");
return 0;
@@ -786,7 +735,7 @@
printf("SW Service W2ST calibration added successfully\r\n");
#endif
#ifdef CUST_CONS_SERV
- p_customconsoleservice = new CustomConsoleService(*p_BLEdev, p_customBleErrManagement);
+ p_customconsoleservice = new CustomConsoleService(*p_BLEdev);
if (!p_customconsoleservice) {
printf("\n\rHW Service W2ST console add FAILED!\n\r");
return 0;
@@ -794,7 +743,7 @@
printf("\rHW Service W2ST console added successfully\r\n");
#endif
#ifdef CUST_SENS_SERV
- p_customsensorservice = new CustomSensorService(*p_BLEdev, p_customBleErrManagement);
+ p_customsensorservice = new CustomSensorService(*p_BLEdev);
if (!p_customsensorservice) {
printf("\n\rHW Service W2ST sensors add FAILED!\n\r");
return 0;
@@ -805,7 +754,7 @@
AxesRaw_TypeDef quat_axes[SEND_N_QUATERNIONS];
float QuatFloat[SEND_N_QUATERNIONS];
if (SensorFusionOK) {
- p_customsoftwareservice = new CustomSoftwareService(*p_BLEdev, p_customBleErrManagement);
+ p_customsoftwareservice = new CustomSoftwareService(*p_BLEdev);
if (!p_customsoftwareservice) {
printf("SW Service W2ST quaternions add FAILED!\n\r");
return 0;
@@ -817,9 +766,7 @@
const static char DEVICE_NAME[] = BLE_DEV_NAME;
/* Setup advertising. */
p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
- p_BLEdev->gap().accumulateAdvertisingPayloadTxPower(8);
- p_BLEdev->gap().setTxPower(8);
-
+// p_BLEdev->gap().accumulateAdvertisingPayloadTxPower(txPower);
#ifdef USE_SENSOR_FUSION_LIB
uint8_t dat[]= {0x01,0x80,0x00,0xFC,0x01,0x80};
#else
@@ -901,12 +848,61 @@
}
if(CounterAGM >= ACC_GYRO_MAG_UPDATE_MUL_10MS) {
CounterAGM=0;
- p_customsensorservice->updateEnvAccelerometer (&Acc, TimeStamp);
- p_customsensorservice->updateEnvGyroscope(&Gyro, TimeStamp);
- p_customsensorservice->updateEnvMagnetometer(&Magn, TimeStamp, magOffset);
- p_customsensorservice->updateEnvAccGyroMag (&Acc, &Gyro, &Magn, TimeStamp, magOffset);
+ uint32_t bleerr;
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsensorservice->updateEnvAccelerometer (&Acc, TimeStamp);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", err);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
+#endif
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsensorservice->updateEnvGyroscope(&Gyro, TimeStamp);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", err);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
+#endif
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsensorservice->updateEnvMagnetometer(&Magn, TimeStamp, magOffset);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", err);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
+#endif
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsensorservice->updateEnvAccGyroMag (&Acc, &Gyro, &Magn, TimeStamp, magOffset);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", err);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
}
#endif
+#endif
#ifdef USE_SENSOR_FUSION_LIB
if (SensorFusionOK) {
@@ -927,8 +923,21 @@
quat_axes[QuaternionNumber].AXIS_Z = (int)(p_MotionFX_Engine_Out->quaternion_9X[2] * 10000);
}
+ uint32_t bleerr;
if (QuaternionNumber == SEND_N_QUATERNIONS-1) {
- p_customsoftwareservice->updateQuaternions(quat_axes, TimeStamp);
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsoftwareservice->updateQuaternions(quat_axes, TimeStamp);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", bleerr);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
+#endif
QuaternionNumber =0;
} else {
QuaternionNumber++;
@@ -946,7 +955,20 @@
QuatFloat[1] = p_MotionFX_Engine_Out->quaternion_9X[1];
QuatFloat[2] = p_MotionFX_Engine_Out->quaternion_9X[2];
}
- p_customsoftwareservice->updateFloatQuaternions(QuatFloat, TimeStamp);
+ uint32_t bleerr;
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsoftwareservice->updateFloatQuaternions(QuatFloat, TimeStamp);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", bleerr);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
+#endif
CounterFloat=0;
} else {
CounterFloat++;
@@ -995,34 +1017,73 @@
#ifdef CUST_SENS_SERV
if (p_customsensorservice->isTempNotificationEn()) {
err = p_mems_expansion_board->ht_sensor->GetTemperature(&temp);
- if ( err != HUM_TEMP_OK) {
+ if ( err != HUM_TEMP_OK) {
printf ("= * ERROR %d GetTemperature\n\r", err);
} else {
floatToInt(temp, &intPart, &decPart, 1);
TempToSend = intPart*10+decPart;
- p_customsensorservice->updateEnvTemperature(TempToSend, TimeStamp);
+ uint32_t bleerr;
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsensorservice->updateEnvTemperature(TempToSend, TimeStamp);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", bleerr);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
+#endif
}
}
if (p_customsensorservice->isHumNotificationEn()) {
err = p_mems_expansion_board->ht_sensor->GetHumidity(&hum);
- if ( err != HUM_TEMP_OK) {
+ if ( err != HUM_TEMP_OK) {
printf ("= * ERROR %d GetHumidity\n\r", err);
} else {
floatToInt(hum, &intPart, &decPart, 1);
HumToSend = intPart*10+decPart;
- p_customsensorservice->updateEnvHumidity(HumToSend, TimeStamp);
+uint32_t bleerr;
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsensorservice->updateEnvHumidity(HumToSend, TimeStamp);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", err);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
+#endif
}
}
if (p_customsensorservice->isPresNotificationEn()) {
err = p_mems_expansion_board->pt_sensor->GetPressure(&pres);
- if ( err != PRESSURE_OK) {
+ if ( err != PRESSURE_OK) {
printf ("= * ERROR GetPressure\n\r");
} else {
floatToInt(pres, &intPart, &decPart, 1);
PresToSend = intPart*100+decPart;
- p_customsensorservice->updateEnvPressure(PresToSend, TimeStamp);
+uint32_t bleerr;
+#ifdef BLE_TX_ERR_MNG
+ if (bleTxErrCnt == 0) {
+#endif
+ bleerr = p_customsensorservice->updateEnvPressure(PresToSend, TimeStamp);
+#ifdef BLE_TX_ERR_MNG
+ if (bleerr) {
+ bleTxErrCnt = BLE_TX_SKIP_NUM;
+ printf ("===> BLE_TX_ERR %d\n\r", err);
+ }
+ } else {
+ bleTxErrCnt--;
+ }
+#endif
}
}
#endif