ST / Mbed OS MOTENV_Mbed

Motion and Environmental sensor reader application connected via BLE to ST BlueMS iOS/Android application.

Dependencies:   HTS221 LIS3MDL LPS22HB LSM303AGR LSM6DSL

Fork of MOTENV_Mbed by ST Expansion SW Team

This application supports three different sets of ST hardware boards:

  • STEVAL-STLKT01V1 (aka SensorTile)
  • X-NUCLEO-IDB05A1 and X-NUCLEO-IKS01A2 expansion boards
  • B-L475E-IOT01A IoT Discovery board

    and runs over four different target configurations:

  • Nucleo F401RE + X-NUCLEO-IDB05A1 + X-NUCLEO-IKS01A2 (set target NUCLEO_F401RE)
  • DISCO_L475VG_IOT01A (set target DISCO_L475VG_IOT01A)
  • Nucleo L476RG + CRADLE + SENSORTILE (set compile target NUCLEO_L476RG)
  • Nucleo L476RG + CRADLE_EXPANSION_BOARD + SENSORTILE (set compile target NUCLEO_L476RG, remove macro MINI_CRADLE from mbed_app.json)

The first 2 configurations do not require any HW modifications (just use the above indicated targets).

Third configuration (CRADLE ) only requires to remove the two ST-LINK jumpers and JP6 from the Nucleo L476RG board in order to allow flashing the SensorTile through the Nucleo Jtag controller. Once flashed, if the battery is properly plugged and charged, the SensorTile could be mounted in the plastic enclosure being able to run as a small stand alone wearable device. Please note that this configuration do not provide a serial console for printf.

To enable last configuration (CRADLE_EXPANSION_BOARD), follow the steps below:

  • On Nucleo L476RG
    • open the two "ST-LINK" jumpers
    • open the MCU power supply jumper JP6
    • close the solder bridges SB63 and SB62 (to enable the serial console)
  • On SensorTile Arduino Cradle close the solder bridges SB21 and SB10 (to enable the serial console) and move the jumper J2 to the 5V position
  • Plug the Sensor Tile on the Arduino Cradle
  • Plug the Cradle on the Nucleo Arduino connector and connect the debug flat cable between Cradle and Nucleo Jtag connector (the cradle pin1 -identified by a dot- must be connected to the Nucleo pin1 (dot) of SWD CN4 jtag connector)
  • Plug the Nucleo USB cable on PC (a new COM port should appear); no need to plug the micro USB cable on the cradle.
  • Open a PC terminal to see the messages
  • Compile from mbed CLI or on-line compiler removing macro MINI_CRADLE from mbed_app.json file and selecting NUCLEO_ L476RG target
  • Flash the board with the binary

For all configurations on an Android or iOS device download and open the ST BlueMS application and connect to "MotEnvMbedOS" BLE device to see the sensor data.

For all configurations is also possible to add a 9 axis MotionFX sensor fusion library, which is part of the X-CUBE-MEMS package at this link.
The library comes in three flavours, choose your preferred according to the toolchain used (IAR, Keil or GC, Keil version should be used for the online compiler) and copy it in the Middlewares\ST\STM32_MotionFX_Library\Lib directory changing the file extension according to the toolchain used (.a for GCC, .ar for Keil).
In the file mbed_app.json add the macro definition "USE_SENSOR_FUSION_LIB" to the chosen target.
If compiling from CLI and using GCC_ARM toolchain option, in the file \mbed-os\tools\toolchains\gcc.py change the compiling option from

        if target.core == "Cortex-M4F":
            self.cpu.append("-mfpu=fpv4-sp-d16")
            self.cpu.append("-mfloat-abi=softfp")

to

        if target.core == "Cortex-M4F":
            self.cpu.append("-mfpu=fpv4-sp-d16")
            self.cpu.append("-mfloat-abi=hard")

and compile.

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>&copy; 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__*/