![](/media/cache/group/ST_logo_2020_blue_V_cmyk.jpg.50x50_q85.jpg)
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
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.
MotionFX_Manager.cpp
- Committer:
- mapellil
- Date:
- 2015-12-23
- Revision:
- 9:2693f9ef8ff7
- Parent:
- 0:e93a11b4e044
File content as of revision 9:2693f9ef8ff7:
/** ****************************************************************************** * @file MotionFX_Manager.c * @author Central Lab * @version V1.1.0 * @date 20-January-2015 * @brief This file includes sensor fusion interface functions ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> * * Licensed under MCD-ST Liberty SW License Agreement V2, (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.st.com/software_license_agreement_liberty_v2 * * 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. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "MotionFX_Manager.h" #ifdef USE_SENSOR_FUSION_LIB #include "osx_license.h" #define FROM_MG_TO_G 0.001 #define FROM_MDPS_TO_DPS 0.001 #define FROM_MGAUSS_TO_UT50 (0.1f/50.0f) /* SF Data structure */ static volatile osxMFX_output iDataOUT; static volatile osxMFX_input iDataIN; /* Private define ------------------------------------------------------------*/ #define SAMPLETODISCARD 15 /* Private Variables -------------------------------------------------------------*/ static volatile int sampleToDiscard = SAMPLETODISCARD; static float MotionFX_engine_deltatime = DELTATIMESENSORFUSION; static int discardedCount = 0; static osxMFX_knobs iKnobs; static osxMFX_knobs* ipKnobs; /** * @brief Run sensor fusion Algo * @param None * @retval None */ void MotionFX_manager_run(AxesRaw_t *ACC_Value, AxesRaw_t *GYR_Value, AxesRaw_t *MAG_Value, osxMFX_calibFactor & magOffset) { iDataIN.gyro[0] = GYR_Value->AXIS_X * FROM_MDPS_TO_DPS; iDataIN.gyro[1] = GYR_Value->AXIS_Y * FROM_MDPS_TO_DPS; iDataIN.gyro[2] = GYR_Value->AXIS_Z * FROM_MDPS_TO_DPS; iDataIN.acc[0] = ACC_Value->AXIS_X * FROM_MG_TO_G; iDataIN.acc[1] = ACC_Value->AXIS_Y * FROM_MG_TO_G; iDataIN.acc[2] = ACC_Value->AXIS_Z * FROM_MG_TO_G; iDataIN.mag[0] = (MAG_Value->AXIS_X - magOffset.magOffX) * FROM_MGAUSS_TO_UT50; iDataIN.mag[1] = (MAG_Value->AXIS_Y - magOffset.magOffY) * FROM_MGAUSS_TO_UT50; iDataIN.mag[2] = (MAG_Value->AXIS_Z - magOffset.magOffZ) * FROM_MGAUSS_TO_UT50; if(discardedCount == sampleToDiscard){ osx_MotionFX_propagate((osxMFX_output*)&iDataOUT, (osxMFX_input*)&iDataIN, MotionFX_engine_deltatime); osx_MotionFX_update((osxMFX_output*)&iDataOUT, (osxMFX_input*)&iDataIN, MotionFX_engine_deltatime, NULL); } else { discardedCount++; } } /** * @brief Initialise MotionFX engine * @param None * @retval None */ bool MotionFX_manager_init(bool DS3_OnBoard, osxMFX_calibFactor & magOffset) { // ST MotionFX Engine Initializations ipKnobs =&iKnobs; if(!osx_MotionFX_initialize()) { printf("Error License authentication\n\r"); return false; } else { char VersionMotionFX[36]; osx_MotionFX_getLibVersion(VersionMotionFX); printf("Enabled %s\n\r",VersionMotionFX); } osx_MotionFX_compass_init(); osx_MotionFX_getKnobs(ipKnobs); /* Values For DS0/DS3: These values must be not changed */ ipKnobs->gbias_acc_th_sc_6X = 2*0.000765; ipKnobs->gbias_gyro_th_sc_6X = 2*0.002; ipKnobs->gbias_mag_th_sc_6X = 2*0.001500; ipKnobs->gbias_acc_th_sc_9X = 2*0.000765; ipKnobs->gbias_gyro_th_sc_9X = 2*0.002; ipKnobs->gbias_mag_th_sc_9X = 2*0.001500; if(DS3_OnBoard) { /* DS3 */ ipKnobs->acc_orientation[0] ='n'; ipKnobs->acc_orientation[1] ='w'; ipKnobs->acc_orientation[2] ='u'; ipKnobs->gyro_orientation[0] = 'n'; ipKnobs->gyro_orientation[1] = 'w'; ipKnobs->gyro_orientation[2] = 'u'; } else { /* DS0 */ ipKnobs->acc_orientation[0] ='e'; ipKnobs->acc_orientation[1] ='n'; ipKnobs->acc_orientation[2] ='u'; ipKnobs->gyro_orientation[0] = 'e'; ipKnobs->gyro_orientation[1] = 'n'; ipKnobs->gyro_orientation[2] = 'u'; } ipKnobs->mag_orientation[0] = 's'; ipKnobs->mag_orientation[1] = 'e'; ipKnobs->mag_orientation[2] = 'u'; ipKnobs->output_type = OSXMFX_ENGINE_OUTPUT_ENU; ipKnobs->LMode = 1; ipKnobs->modx = 1; osx_MotionFX_setKnobs(ipKnobs); osx_MotionFX_enable_6X(OSXMFX_ENGINE_DISABLE); osx_MotionFX_enable_9X(OSXMFX_ENGINE_DISABLE); /* Number of Sample to Discard */ sampleToDiscard = SAMPLETODISCARD; discardedCount = 0; MotionFX_engine_deltatime = DELTATIMESENSORFUSION; /* Reset MagnetoOffset */ magOffset.magOffX = magOffset.magOffY= magOffset.magOffZ=0; return true; } /** * @brief Starts 6 axes MotionFX engine * @param None * @retval None */ void MotionFX_manager_start_6X(void) { osx_MotionFX_enable_6X(OSXMFX_ENGINE_ENABLE); } /** * @brief Stops 6 axes MotionFX engine * @param None * @retval None */ void MotionFX_manager_stop_6X(void) { osx_MotionFX_enable_6X(OSXMFX_ENGINE_DISABLE); } /** * @brief Starts 9 axes MotionFX engine * @param None * @retval None */ void MotionFX_manager_start_9X(void) { sampleToDiscard = SAMPLETODISCARD; osx_MotionFX_enable_9X(OSXMFX_ENGINE_ENABLE); } /** * @brief Stops 9 axes MotionFX engine * @param None * @retval None */ void MotionFX_manager_stop_9X(void) { osx_MotionFX_enable_9X(OSXMFX_ENGINE_DISABLE); } /** * @brief Get MotionFX Engine data Out * @param None * @retval osxMFX_output *iDataOUT MotionFX Engine data Out */ osxMFX_output* MotionFX_manager_getDataOUT(void) { return (osxMFX_output*)&iDataOUT; } /** * @brief Get MotionFX Engine data IN * @param None * @retval osxMFX_input *iDataIN MotionFX Engine data IN */ osxMFX_input* MotionFX_manager_getDataIN(void) { return (osxMFX_input*)&iDataIN; } #else /** USE_SENSOR_FUSION_LIB generate stub functions **/ void MotionFX_manager_run(AxesRaw_t *ACC_Value, AxesRaw_t *GYR_Value, AxesRaw_t *MAG_Value, osxMFX_calibFactor & magOffset) { } bool MotionFX_manager_init(bool DS3_OnBoard, osxMFX_calibFactor & magOffset) { return false; } void MotionFX_manager_start_6X(void) { } void MotionFX_manager_stop_6X(void) { } void MotionFX_manager_start_9X(void) { } void MotionFX_manager_stop_9X(void) { } osxMFX_output* MotionFX_manager_getDataOUT(void) { return NULL; } osxMFX_input* MotionFX_manager_getDataIN(void) { return NULL; } #endif /** USE_SENSOR_FUSION_LIB **/ /******************* (C) COPYRIGHT 2015 STMicroelectronics *****END OF FILE****/