ST
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: CustomSensorsService.h
- Revision:
- 27:dccb3b0fae57
- Parent:
- 20:b97e14ade434
--- a/CustomSensorsService.h Tue Oct 10 18:06:27 2017 +0200
+++ b/CustomSensorsService.h Wed Oct 11 15:07:23 2017 +0200
@@ -43,17 +43,20 @@
#include "ble_debug.h"
#include "UUID.h"
-//#define DISAGGREGATED_ENV_CHAR // uncomment to enable the disaggregated environmental temp,hum,pres characteristics, attention because of mem limitations
- // the maximum number of characteristics is limited check BLUENRG_STACK_MODE
+//#define DISAGGREGATED_ENV_CHAR // uncomment to enable the disaggregated environmental temp,hum,pres characteristics, attention because of BLE mem limitations // the maximum number of characteristics is limited check BLUENRG_STACK_MODE
+//#define DISAGGREGATED_MOT_CHAR // " motion acc, gyro, mag "
+
const UUID::LongUUIDBytes_t SENS_SERVICE_UUID_128 = { 0x00,0x00,0x00,0x00,0x00,0x01,0x11,0xe1,0x9a,0xb4,0x00,0x02,0xa5,0xd5,0xc5,0x1b }; // temp, pressure, humidity,
#ifdef DISAGGREGATED_ENV_CHAR
const UUID::LongUUIDBytes_t SENS_TEMP_CHAR_UUID_128 = { 0x00,0x04,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b };
const UUID::LongUUIDBytes_t SENS_HUMI_CHAR_UUID_128 = { 0x00,0x08,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b };
const UUID::LongUUIDBytes_t SENS_PRES_CHAR_UUID_128 = { 0x00,0x10,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b };
#endif
+#ifdef DISAGGREGATED_MOT_CHAR
const UUID::LongUUIDBytes_t SENS_MAGN_CHAR_UUID_128 = { 0x00,0x20,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b };
const UUID::LongUUIDBytes_t SENS_GYRO_CHAR_UUID_128 = { 0x00,0x40,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b };
const UUID::LongUUIDBytes_t SENS_ACCE_CHAR_UUID_128 = { 0x00,0x80,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b };
+#endif
const UUID::LongUUIDBytes_t SENS_ACC_GYRO_MAG_CHAR_UUID_128 = { 0x00,0xE0,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b };
const UUID::LongUUIDBytes_t SENS_PRES_HUM_TEMP_CHAR_UUID_128= { 0x00,0x1C,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b };
@@ -80,13 +83,15 @@
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
envPressureCharacteristic(SENS_PRES_CHAR_UUID_128, envPressure, PRES_DATA_LEN, PRES_DATA_LEN,
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
-#endif
+#endif
+#ifdef DISAGGREGATED_MOT_CHAR
envMagnetometerCharacteristic(SENS_MAGN_CHAR_UUID_128,envMagn, MAG_DATA_LEN, MAG_DATA_LEN,
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
envAccelerometerCharacteristic(SENS_ACCE_CHAR_UUID_128,envAcce, ACC_DATA_LEN, ACC_DATA_LEN,
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
envGyroCharacteristic(SENS_GYRO_CHAR_UUID_128,envGyro, GYRO_DATA_LEN, GYRO_DATA_LEN,
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
+#endif
envAccGyroMagCharacteristic(SENS_ACC_GYRO_MAG_CHAR_UUID_128,envAccGyroMag, ACCGYROMAG_DATA_LEN, ACCGYROMAG_DATA_LEN,
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
envPresHumTempCharacteristic(SENS_PRES_HUM_TEMP_CHAR_UUID_128,envPresHumTemp, PRESHUMTEMP_DATA_LEN, PRESHUMTEMP_DATA_LEN,
@@ -101,10 +106,11 @@
GattCharacteristic *charTable[] = {
#ifdef DISAGGREGATED_ENV_CHAR
&envTemperatureCharacteristic, &envHumidityCharacteristic, &envPressureCharacteristic,
-#else
+#endif
&envPresHumTempCharacteristic,
-#endif
+#ifdef DISAGGREGATED_MOT_CHAR
&envMagnetometerCharacteristic, &envAccelerometerCharacteristic, &envGyroCharacteristic,
+#endif
&envAccGyroMagCharacteristic
};
@@ -116,10 +122,12 @@
isEnabledTempNotify = false;
isEnabledHumNotify = false;
isEnabledPresNotify = false;
-#endif
+#endif
+#ifdef DISAGGREGATED_ENV_CHAR
isEnabledGyroNotify = false;
isEnabledAccNotify = false;
isEnabledMagNotify = false;
+#endif
isEnabledAccGyroMagNotify = false;
isEnabledPresHumTempNotify = false;
@@ -210,7 +218,7 @@
}
return 0;
}
-
+#ifdef DISAGGREGATED_MOT_CHAR
uint32_t sendEnvMagnetometer(AxesRaw_TypeDef *Magn, uint16_t TimeStamp, osxMFX_calibFactor *magOffset) {
STORE_LE_16(envMagn,TimeStamp);
STORE_LE_16(envMagn+2,(Magn->AXIS_X - magOffset->magOffX));
@@ -249,7 +257,7 @@
if (isGyroNotificationEn()) return sendEnvGyroscope (Gyro, TimeStamp);
return 0;
}
-
+#endif
uint32_t sendEnvAccGyroMag (AxesRaw_TypeDef *Acc, AxesRaw_TypeDef *Gyro, AxesRaw_TypeDef *Magn, uint16_t TimeStamp, osxMFX_calibFactor *magOffset) {
STORE_LE_16(envAccGyroMag,TimeStamp);
STORE_LE_16(envAccGyroMag+2,Acc->AXIS_X);
@@ -291,7 +299,8 @@
printf ("isPresHandle en\n\r");
return;
}
-#endif
+#endif
+#ifdef DISAGGREGATED_ENV_CHAR
if (isGyroHandle(handle)) {
isEnabledGyroNotify = true;
printf ("isGyroHandle en\n\r");
@@ -307,6 +316,7 @@
printf ("isMagHandle en\n\r");
return;
}
+#endif
if (isAccGyroMagHandle(handle)) {
isEnabledAccGyroMagNotify = true;
printf ("isAccGyroMagHandle en\n\r");
@@ -340,7 +350,8 @@
printf ("isPresHandle dis\n\r");
return;
}
-#endif
+#endif
+#ifdef DISAGGREGATED_ENV_CHAR
if (isGyroHandle(handle)) {
isEnabledGyroNotify = false;
printf ("isGyroHandle dis\n\r");
@@ -356,6 +367,7 @@
printf ("isMagHandle dis\n\r");
return;
}
+#endif
if (isAccGyroMagHandle(handle)) {
isEnabledAccGyroMagNotify = false;
printf ("isAccGyroMagHandle dis\n\r");
@@ -380,6 +392,7 @@
return isEnabledPresNotify;
}
#endif
+#ifdef DISAGGREGATED_MOT_CHAR
bool isGyroNotificationEn (void) {
return isEnabledGyroNotify;
}
@@ -391,7 +404,7 @@
bool isMagNotificationEn (void) {
return isEnabledMagNotify;
}
-
+#endif
bool isAccGyroMagNotificationEn (void) {
return isEnabledAccGyroMagNotify;
}
@@ -415,6 +428,7 @@
return false;
}
#endif
+#ifdef DISAGGREGATED_MOT_CHAR
bool isMagHandle (Gap::Handle_t handle) {
if (handle == envMagnetometerCharacteristic.getValueAttribute().getHandle() - BLE_HANDLE_VALUE_OFFSET) return true;
return false;
@@ -427,6 +441,7 @@
if (handle == envGyroCharacteristic.getValueAttribute().getHandle() - BLE_HANDLE_VALUE_OFFSET) return true;
return false;
}
+#endif
bool isAccGyroMagHandle (Gap::Handle_t handle) {
if (handle == envAccGyroMagCharacteristic.getValueAttribute().getHandle() - BLE_HANDLE_VALUE_OFFSET) return true;
return false;
@@ -442,10 +457,12 @@
isEnabledTempNotify = false;
isEnabledHumNotify = false;
isEnabledPresNotify = false;
-#endif
+#endif
+#ifdef DISAGGREGATED_MOT_CHAR
isEnabledGyroNotify = false;
isEnabledAccNotify = false;
isEnabledMagNotify = false;
+#endif
isEnabledPresHumTempNotify = false;
isEnabledAccGyroMagNotify = false;
@@ -480,10 +497,12 @@
GattCharacteristic envTemperatureCharacteristic;
GattCharacteristic envHumidityCharacteristic;
GattCharacteristic envPressureCharacteristic;
-#endif
+#endif
+#ifdef DISAGGREGATED_MOT_CHAR
GattCharacteristic envMagnetometerCharacteristic;
GattCharacteristic envAccelerometerCharacteristic;
GattCharacteristic envGyroCharacteristic;
+#endif
GattCharacteristic envAccGyroMagCharacteristic;
GattCharacteristic envPresHumTempCharacteristic;
@@ -493,9 +512,11 @@
bool isEnabledHumNotify;
bool isEnabledPresNotify;
#endif
+#ifdef DISAGGREGATED_MOT_CHAR
bool isEnabledGyroNotify;
bool isEnabledAccNotify;
bool isEnabledMagNotify;
+#endif
bool isEnabledAccGyroMagNotify;
bool isEnabledPresHumTempNotify;