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: CustomSoftwareService.h
- Revision:
- 6:c1b8fb74072e
- Parent:
- 0:e93a11b4e044
- Child:
- 7:34014895dda8
--- a/CustomSoftwareService.h Mon Dec 14 15:53:22 2015 +0000
+++ b/CustomSoftwareService.h Thu Dec 17 13:53:13 2015 +0000
@@ -1,17 +1,38 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
+/**
+ ******************************************************************************
+ * @file CustomSoftwareService.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 16-Dec-2015
+ * @brief Ble quaternion service of Bluemicrosystem1 application
+ ******************************************************************************
+ * @attention
*
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
*
- * http://www.apache.org/licenses/LICENSE-2.0
+ * 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.
*
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
+ * 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.
+ *
+ ******************************************************************************
*/
#ifndef __CUSTOM_BLE_SOFTWARE_SERVICE_H__
@@ -38,7 +59,7 @@
/* Custom Software Service */
class CustomSoftwareService {
public:
- CustomSoftwareService(BLEDevice &_ble) :
+ CustomSoftwareService(BLE &_ble, CustomBleErrManagement * ErrMgr=NULL ) :
ble(_ble),
swQuaternionsCharacteristic(QUATERNIONS_CHAR_UUID_128, swQuaternions, SIZEOF_QUAT, SIZEOF_QUAT,
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
@@ -66,45 +87,71 @@
serviceAdded = true;
}
- void updateQuaternions(AxesRaw_TypeDef *data, uint16_t TimeStamp) {
- STORE_LE_16(swQuaternions ,TimeStamp);
+ void updateQuaternions(AxesRaw_TypeDef *data, uint16_t TimeStamp) {
+ if (isEnabledQuatNotify) {
+ if (bleErrMgr != NULL) {
+ if (!bleErrMgr->isBleTxChannelOk()){
+ bleErrMgr->signalBleTxOk(); // skip tx because of previous error
+ return;
+ }
+ }
+ STORE_LE_16(swQuaternions ,TimeStamp);
#if SEND_N_QUATERNIONS == 1
- STORE_LE_16(swQuaternions+2,data[0].AXIS_X);
- STORE_LE_16(swQuaternions+4,data[0].AXIS_Y);
- STORE_LE_16(swQuaternions+6,data[0].AXIS_Z);
+ STORE_LE_16(swQuaternions+2,data[0].AXIS_X);
+ STORE_LE_16(swQuaternions+4,data[0].AXIS_Y);
+ STORE_LE_16(swQuaternions+6,data[0].AXIS_Z);
#elif SEND_N_QUATERNIONS == 2
- STORE_LE_16(swQuaternions+2,data[0].AXIS_X);
- STORE_LE_16(swQuaternions+4,data[0].AXIS_Y);
- STORE_LE_16(swQuaternions+6,data[0].AXIS_Z);
+ STORE_LE_16(swQuaternions+2,data[0].AXIS_X);
+ STORE_LE_16(swQuaternions+4,data[0].AXIS_Y);
+ STORE_LE_16(swQuaternions+6,data[0].AXIS_Z);
- STORE_LE_16(swQuaternions+8 ,data[1].AXIS_X);
- STORE_LE_16(swQuaternions+10,data[1].AXIS_Y);
- STORE_LE_16(swQuaternions+12,data[1].AXIS_Z);
+ STORE_LE_16(swQuaternions+8 ,data[1].AXIS_X);
+ STORE_LE_16(swQuaternions+10,data[1].AXIS_Y);
+ STORE_LE_16(swQuaternions+12,data[1].AXIS_Z);
#elif SEND_N_QUATERNIONS == 3
- STORE_LE_16(swQuaternions+2,data[0].AXIS_X);
- STORE_LE_16(swQuaternions+4,data[0].AXIS_Y);
- STORE_LE_16(swQuaternions+6,data[0].AXIS_Z);
+ STORE_LE_16(swQuaternions+2,data[0].AXIS_X);
+ STORE_LE_16(swQuaternions+4,data[0].AXIS_Y);
+ STORE_LE_16(swQuaternions+6,data[0].AXIS_Z);
- STORE_LE_16(swQuaternions+8 ,data[1].AXIS_X);
- STORE_LE_16(swQuaternions+10,data[1].AXIS_Y);
- STORE_LE_16(swQuaternions+12,data[1].AXIS_Z);
+ STORE_LE_16(swQuaternions+8 ,data[1].AXIS_X);
+ STORE_LE_16(swQuaternions+10,data[1].AXIS_Y);
+ STORE_LE_16(swQuaternions+12,data[1].AXIS_Z);
- STORE_LE_16(swQuaternions+14,data[2].AXIS_X);
- STORE_LE_16(swQuaternions+16,data[2].AXIS_Y);
- STORE_LE_16(swQuaternions+18,data[2].AXIS_Z);
+ STORE_LE_16(swQuaternions+14,data[2].AXIS_X);
+ STORE_LE_16(swQuaternions+16,data[2].AXIS_Y);
+ STORE_LE_16(swQuaternions+18,data[2].AXIS_Z);
#else
#error SEND_N_QUATERNIONS could be only 1,2,3
#endif
- ble.gattServer().write(swQuaternionsCharacteristic.getValueAttribute().getHandle(), swQuaternions, SIZEOF_QUAT,0);
+ uint32_t err = ble.gattServer().write(swQuaternionsCharacteristic.getValueAttribute().getHandle(), swQuaternions, SIZEOF_QUAT,0);
+ if (!err) {
+ bleErrMgr->signalBleTxOk();
+ }else{
+ bleErrMgr->signalBleTxErr(err);
+ }
+ }
}
void updateFloatQuaternions(float *QuatFloat, uint16_t TimeStamp) {
- STORE_LE_16(swFloatQuaternions ,TimeStamp);
- STORE_LE_32(swFloatQuaternions+2 ,((uint32_t*)(QuatFloat))[0]);
- STORE_LE_32(swFloatQuaternions+6 ,((uint32_t*)(QuatFloat))[1]);
- STORE_LE_32(swFloatQuaternions+10,((uint32_t*)(QuatFloat))[2]);
+ if (isEnabledFloatQuatnotify) {
+ if (bleErrMgr != NULL) {
+ if (!bleErrMgr->isBleTxChannelOk()){
+ bleErrMgr->signalBleTxOk(); // skip tx because of previous error
+ return;
+ }
+ }
+ STORE_LE_16(swFloatQuaternions ,TimeStamp);
+ STORE_LE_32(swFloatQuaternions+2 ,((uint32_t*)(QuatFloat))[0]);
+ STORE_LE_32(swFloatQuaternions+6 ,((uint32_t*)(QuatFloat))[1]);
+ STORE_LE_32(swFloatQuaternions+10,((uint32_t*)(QuatFloat))[2]);
- ble.gattServer().write(swFloatQuaternionsCharacteristic.getValueAttribute().getHandle(), swFloatQuaternions, SIZEOF_FLOAT_QUAT,0);
+ uint32_t err = ble.gattServer().write(swFloatQuaternionsCharacteristic.getValueAttribute().getHandle(), swFloatQuaternions, SIZEOF_FLOAT_QUAT,0);
+ if (!err) {
+ bleErrMgr->signalBleTxOk();
+ }else{
+ bleErrMgr->signalBleTxErr(err);
+ }
+ }
}
void enNotify (Gap::Handle_t handle) {
@@ -135,17 +182,14 @@
}
private:
- BLEDevice &ble;
+ BLE &ble;
+ CustomBleErrManagement *bleErrMgr;
GattCharacteristic swQuaternionsCharacteristic;
GattCharacteristic swFloatQuaternionsCharacteristic;
-
uint8_t swQuaternions[SIZEOF_QUAT];
uint8_t swFloatQuaternions[SIZEOF_FLOAT_QUAT];
-
bool isEnabledQuatNotify;
bool isEnabledFloatQuatnotify;
-
- ConnectionStatus_t isBTLEConnected;
};
#endif /* #ifndef __CUSTOM_BLE_CONFIG_SERVICE_H__*/