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:
- 0:e93a11b4e044
- Child:
- 6:c1b8fb74072e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CustomSoftwareService.h Mon Oct 12 15:16:57 2015 +0000
@@ -0,0 +1,151 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * 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
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * 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.
+ */
+
+#ifndef __CUSTOM_BLE_SOFTWARE_SERVICE_H__
+#define __CUSTOM_BLE_SOFTWARE_SERVICE_H__
+#include "BLE.h"
+
+#define SEND_N_QUATERNIONS 3 // The number of quaternions to be sent per BLE update (could be 1,2,3)
+
+#if SEND_N_QUATERNIONS == 1
+#elif SEND_N_QUATERNIONS == 2
+#elif SEND_N_QUATERNIONS == 3
+#else
+#error SEND_N_QUATERNIONS could be only 1,2,3
+#endif
+
+#define SIZEOF_QUAT 2+2*3*SEND_N_QUATERNIONS // timestamp+sizeof(quat)*xyz*nquat
+#define SIZEOF_FLOAT_QUAT 2+4*3
+
+
+const LongUUIDBytes_t SOFTWARE_SERVICE_UUID_128 = { 0x1b,0xc5,0xa5,0xd5,0x02,0x00,0xb4,0x9a,0xe1,0x11,0x02,0x00,0x00,0x00,0x00,0x00};
+const LongUUIDBytes_t QUATERNIONS_CHAR_UUID_128 = { 0x1b,0xc5,0xa5,0xd5,0x02,0x00,0x36,0xac,0xe1,0x11,0x01,0x00,0x00,0x01,0x00,0x00};
+const LongUUIDBytes_t QUATERNIONS_FLOAT_CHAR_UUID_128 = { 0x1b,0xc5,0xa5,0xd5,0x02,0x00,0x36,0xac,0xe1,0x11,0x01,0x00,0x80,0x00,0x00,0x00};
+
+/* Custom Software Service */
+class CustomSoftwareService {
+public:
+ CustomSoftwareService(BLEDevice &_ble) :
+ ble(_ble),
+ swQuaternionsCharacteristic(QUATERNIONS_CHAR_UUID_128, swQuaternions, SIZEOF_QUAT, SIZEOF_QUAT,
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
+ swFloatQuaternionsCharacteristic(QUATERNIONS_FLOAT_CHAR_UUID_128, swFloatQuaternions, SIZEOF_FLOAT_QUAT, SIZEOF_FLOAT_QUAT,
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY)
+ {
+
+ static bool serviceAdded = false; /* We should only ever need to add the heart rate service once. */
+ if (serviceAdded) {
+ return;
+ }
+
+ GattCharacteristic *charTable[] = {&swQuaternionsCharacteristic, &swFloatQuaternionsCharacteristic};
+
+ GattService quaternionsService(SOFTWARE_SERVICE_UUID_128, charTable, sizeof(charTable) / sizeof(GattCharacteristic *));
+
+ ble.gattServer().addService(quaternionsService);
+
+ isEnabledQuatNotify = false;
+ isEnabledFloatQuatnotify = false;
+
+ memset (swQuaternions, 0, SIZEOF_QUAT);
+ memset (swFloatQuaternions, 0, SIZEOF_FLOAT_QUAT);
+
+ serviceAdded = true;
+ }
+
+ void updateQuaternions(AxesRaw_TypeDef *data, uint16_t TimeStamp) {
+ 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);
+#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+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+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);
+#else
+#error SEND_N_QUATERNIONS could be only 1,2,3
+#endif
+ ble.gattServer().write(swQuaternionsCharacteristic.getValueAttribute().getHandle(), swQuaternions, SIZEOF_QUAT,0);
+ }
+
+ 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]);
+
+ ble.gattServer().write(swFloatQuaternionsCharacteristic.getValueAttribute().getHandle(), swFloatQuaternions, SIZEOF_FLOAT_QUAT,0);
+ }
+
+ void enNotify (Gap::Handle_t handle) {
+ if (isQuatHandle(handle)) { isEnabledQuatNotify = true; return; }
+ if (isFloatQuatHandle(handle)) { isEnabledFloatQuatnotify = true; return; }
+ }
+
+ void disNotify (Gap::Handle_t handle) {
+ if (isQuatHandle(handle)) { isEnabledQuatNotify = false; return; }
+ if (isFloatQuatHandle(handle)) { isEnabledFloatQuatnotify = false; return; }
+ }
+
+ bool isQuatHandle (Gap::Handle_t handle) {
+ if (handle == swQuaternionsCharacteristic.getValueAttribute().getHandle()) return true;
+ return false;
+ }
+
+ bool isFloatQuatHandle (Gap::Handle_t handle) {
+ if (handle == swFloatQuaternionsCharacteristic.getValueAttribute().getHandle()) return true;
+ return false;
+ }
+
+ void updateConnectionStatus(ConnectionStatus_t status) {
+ isEnabledQuatNotify = false;
+ isEnabledFloatQuatnotify = false;
+ memset (swQuaternions, 0, SIZEOF_QUAT);
+ memset (swFloatQuaternions, 0, SIZEOF_FLOAT_QUAT);
+ }
+
+private:
+ BLEDevice &ble;
+ 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__*/