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: main.cpp
- Revision:
- 0:e93a11b4e044
- Child:
- 1:5fb861c45605
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 12 15:16:57 2015 +0000
@@ -0,0 +1,976 @@
+#include "mbed.h"
+
+/*L0_BlueNRG_xx version main*/
+
+#include <cmath>
+#include <math.h>
+#include "mbed.h"
+#include "Gap.h"
+#include "debug.h"
+#include "btle.h"
+#include "blecommon.h"
+#include "BLE.h"
+#include "UUID.h"
+#include "Utils.h"
+#include "MotionFX_Manager.h"
+#include "InterruptManager.h"
+#include "DevI2C.h"
+#include "BlueNRGGattServer.h"
+#include "GattCharacteristic.h"
+#include "main.h" // contains the condt compiling configuration
+
+typedef struct {
+ int32_t AXIS_X;
+ int32_t AXIS_Y;
+ int32_t AXIS_Z;
+} AxesRaw_TypeDef;
+
+#ifdef CUST_CONS_SERV
+#include "CustomConsoleService.h"
+#endif
+
+#ifdef CUST_BATT_SERV
+#include "CustomBatteryService.h"
+#endif
+
+#ifdef CUST_SENS_SERV
+#include "x_nucleo_iks01a1.h"
+#include "CustomSensorsService.h"
+#endif
+
+#ifdef CUST_CONFIG_SERV
+#include "CustomConfigService.h"
+#endif
+
+#ifdef CUST_SW_SERV
+#include "CustomSoftwareService.h"
+#endif
+
+static bool isBlueButtonSequence = false;
+static Ticker BlueButtonTimer;
+static DigitalOut greenled(LED1);
+static int8_t txPower=-3;
+static unsigned char isCal = 0;
+static uint16_t TimeStamp=0;
+static int BLEConnectionStatus =0;
+static bool ForceReCalibration =0;
+static int HowManyButtonPress =0;
+static uint32_t timeoutEnv =0;
+static uint32_t timeoutCalib =0;
+static uint32_t timeoutMems =0;
+static BLE * p_BLEdev = NULL;
+static int32_t CounterAGM =0;
+#ifdef CUST_CONS_SERV
+static CustomConsoleService * p_customconsoleservice = NULL;
+#endif
+
+#ifdef CUST_SENS_SERV
+static CustomSensorService * p_customsensorservice = NULL;
+static X_NUCLEO_IKS01A1 * p_mems_expansion_board = NULL;
+#endif
+
+#ifdef CUST_SW_SERV
+static CustomSoftwareService * p_customsoftwareservice = NULL;
+#endif
+
+#ifdef CUST_CONFIG_SERV
+static CustomConfigService * p_customconfigservice = NULL;
+#endif
+
+static osxMFX_output * p_MotionFX_Engine_Out = NULL;
+static osxMFX_calibFactor magOffset;
+
+/*************************** Calibration functions **************************/
+
+/**
+ * @brief Check if there are a valid Calibration Values in Memory and read them
+ * @param None
+ * @retval unsigned char Success/Not Success
+ */
+static unsigned char ReCallCalibrationFromMemory(void)
+#ifdef BLUEMSYS_STORE_CALIB_FLASH
+{
+ /* ReLoad the Calibration Values from FLASH */
+ unsigned char Success=1;
+ uint32_t Address = BLUEMSYS_FLASH_ADD;
+ __IO uint32_t data32 = *(__IO uint32_t*) Address;
+ if(data32== BLUEMSYS_CHECK_CALIBRATION) {
+ int32_t ReadIndex;
+ uint32_t ReadmagOffset[7];
+
+ for(ReadIndex=0; ReadIndex<7; ReadIndex++) {
+ Address +=4;
+ data32 = *(__IO uint32_t*) Address;
+ ReadmagOffset[ReadIndex]=data32;
+ }
+
+ magOffset.magOffX = (signed short) ReadmagOffset[0];
+ magOffset.magOffY = (signed short) ReadmagOffset[1];
+ magOffset.magOffZ = (signed short) ReadmagOffset[2];
+ magOffset.magGainX = *((float *) &(ReadmagOffset[3]));
+ magOffset.magGainY = *((float *) &(ReadmagOffset[4]));
+ magOffset.magGainZ = *((float *) &(ReadmagOffset[5]));
+ magOffset.expMagVect = *((float *) &(ReadmagOffset[6]));
+
+#ifdef BLUEMSYS_DEBUG_CALIB
+ /* Debug */
+ printf("magOffX ->%d\r\n",magOffset.magOffX);
+ printf("magOffY ->%d\r\n",magOffset.magOffY);
+ printf("magOffZ ->%d\r\n",magOffset.magOffZ);
+ printf("magGainX ->%X\r\n",magOffset.magGainX);
+ printf("magGainY ->%X\r\n",magOffset.magGainY);
+ printf("magGainZ ->%X\r\n",magOffset.magGainZ);
+ printf("expMagVect->%X\r\n",magOffset.expMagVect);
+#endif /* BLUEMSYS_DEBUG_CALIB */
+
+ /* Set the Calibration Structure */
+#ifdef USE_SENSOR_FUSION_LIB
+ osx_MotionFX_setCalibrationData(&magOffset);
+#endif
+ printf("Calibration Read from Flash\r\n");
+#ifdef USE_SENSOR_FUSION_LIB
+ /* Control the calibration status */
+ isCal = osx_MotionFX_compass_isCalibrated();
+ printf("Check the Calibration =%d\r\n",isCal);
+#endif
+ } else {
+ printf("Calibration Not present in FLASH\r\n");
+ isCal=0;
+ }
+
+ return Success;
+}
+#else /* BLUEMSYS_STORE_CALIB_FLASH */
+{
+ /* ReLoad the Calibration Values from RAM */
+ unsigned char Success=1;
+
+ if(CalibrationStructureRAM[0]== BLUEMSYS_CHECK_CALIBRATION) {
+ magOffset.magOffX = (signed short) CalibrationStructureRAM[1];
+ magOffset.magOffY = (signed short) CalibrationStructureRAM[2];
+ magOffset.magOffZ = (signed short) CalibrationStructureRAM[3];
+ magOffset.magGainX = *((float *) &(CalibrationStructureRAM[4]));
+ magOffset.magGainY = *((float *) &(CalibrationStructureRAM[5]));
+ magOffset.magGainZ = *((float *) &(CalibrationStructureRAM[6]));
+ magOffset.expMagVect = *((float *) &(CalibrationStructureRAM[7]));
+
+#ifdef BLUEMSYS_DEBUG_CALIB
+ /* Debug */
+ printf("magOffX ->%d\r\n",magOffset.magOffX);
+ printf("magOffY ->%d\r\n",magOffset.magOffY);
+ printf("magOffZ ->%d\r\n",magOffset.magOffZ);
+ printf("magGainX ->%X\r\n",magOffset.magGainX);
+ printf("magGainY ->%X\r\n",magOffset.magGainY);
+ printf("magGainZ ->%X\r\n",magOffset.magGainZ);
+ printf("expMagVect->%X\r\n",magOffset.expMagVect);
+#endif /* BLUEMSYS_DEBUG_CALIB */
+
+ /* Set the Calibration Structure */
+ osx_MotionFX_setCalibrationData(&magOffset);
+ printf("Calibration Read from RAM\r\n");
+
+ /* Control the calibration status */
+#ifdef USE_SENSOR_FUSION_LIB
+ isCal = osx_MotionFX_compass_isCalibrated();
+ printf("Check the Calibration =%d\r\n",isCal);
+#endif
+ } else {
+ printf("Calibration Not present in RAM\r\n");
+ isCal=0;
+ }
+
+ return Success;
+}
+#endif /* BLUEMSYS_STORE_CALIB_FLASH */
+
+static unsigned char ResetCalibrationInMemory(void)
+#ifdef BLUEMSYS_STORE_CALIB_FLASH
+{
+ /* Reset Calibration Values in FLASH */
+ unsigned char Success=1;
+
+ /* Erase First Flash sector */
+ FLASH_EraseInitTypeDef EraseInitStruct;
+ uint32_t SectorError = 0;
+
+ EraseInitStruct.TypeErase = TYPEERASE_SECTORS;
+ EraseInitStruct.VoltageRange = VOLTAGE_RANGE_3;
+ EraseInitStruct.Sector = BLUEMSYS_FLASH_SECTOR;
+ EraseInitStruct.NbSectors = 1;
+
+ /* Unlock the Flash to enable the flash control register access *************/
+ HAL_FLASH_Unlock();
+
+ if (HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError) != HAL_OK) {
+ /*
+ Error occurred while sector erase.
+ User can add here some code to deal with this error.
+ SectorError will contain the faulty sector and then to know the code error on this sector,
+ user can call function 'HAL_FLASH_GetError()'
+ */
+ /*
+ FLASH_ErrorTypeDef errorcode = HAL_FLASH_GetError();
+ */
+
+// Error_Handler();
+ Success=0;
+ } else {
+ printf("Erase calibration in FLASH Memory\r\n");
+ }
+
+ /* Lock the Flash to disable the flash control register access (recommended
+ to protect the FLASH memory against possible unwanted operation) *********/
+ HAL_FLASH_Lock();
+
+ return Success;
+}
+#else /* BLUEMSYS_STORE_CALIB_FLASH */
+{
+ /* Reset Calibration Values in RAM */
+ unsigned char Success=1;
+ int32_t Counter;
+
+ for(Counter=0; Counter<8; Counter++)
+ CalibrationStructureRAM[Counter]=0xFFFFFFFF;
+
+ printf("Erase Calibration in RAM Memory\r\n");
+ return Success;
+}
+#endif /* BLUEMSYS_STORE_CALIB_FLASH */
+
+/**
+ * @brief Save the Magnetometer Calibration Values to Memory
+ * @param None
+ * @retval unsigned char Success/Not Success
+ */
+static unsigned char SaveCalibrationToMemory(void)
+{
+ unsigned char Success=1;
+
+ /* Reset Before The data in Memory */
+ Success = ResetCalibrationInMemory();
+
+ if(Success)
+#ifdef BLUEMSYS_STORE_CALIB_FLASH
+ {
+ /* Store in Flash Memory */
+ uint32_t Address = BLUEMSYS_FLASH_ADD;
+ uint32_t WritemagOffset[8];
+ int32_t WriteIndex;
+ WritemagOffset[0] = BLUEMSYS_CHECK_CALIBRATION;
+ WritemagOffset[1] = (uint32_t) magOffset.magOffX;
+ WritemagOffset[2] = (uint32_t) magOffset.magOffY;
+ WritemagOffset[3] = (uint32_t) magOffset.magOffZ;
+ WritemagOffset[4] = *((uint32_t *) &(magOffset.magGainX));
+ WritemagOffset[5] = *((uint32_t *) &(magOffset.magGainY));
+ WritemagOffset[6] = *((uint32_t *) &(magOffset.magGainZ));
+ WritemagOffset[7] = *((uint32_t *) &(magOffset.expMagVect));
+
+ /* Unlock the Flash to enable the flash control register access *************/
+ HAL_FLASH_Unlock();
+
+ for(WriteIndex=0; WriteIndex<8; WriteIndex++) {
+ if (HAL_FLASH_Program(TYPEPROGRAM_WORD, Address,WritemagOffset[WriteIndex]) == HAL_OK) {
+ Address = Address + 4;
+ } else {
+ /* Error occurred while writing data in Flash memory.
+ User can add here some code to deal with this error */
+ /*
+ FLASH_ErrorTypeDef errorcode = HAL_FLASH_GetError();
+ */
+// Error_Handler();
+ }
+ }
+#ifdef BLUEMSYS_DEBUG_CALIB
+ /* Debug */
+ printf("magOffX ->%d\r\n",magOffset.magOffX);
+ printf("magOffY ->%d\r\n",magOffset.magOffY);
+ printf("magOffZ ->%d\r\n",magOffset.magOffZ);
+ printf("magGainX ->%X\r\n",magOffset.magGainX);
+ printf("magGainY ->%X\r\n",magOffset.magGainY);
+ printf("magGainZ ->%X\r\n",magOffset.magGainZ);
+ printf("expMagVect->%X\r\n",magOffset.expMagVect);
+#endif /* BLUEMSYS_DEBUG_CALIB */
+
+ printf("New Calibration Values Saved in FLASH\r\n");
+
+ /* Lock the Flash to disable the flash control register access (recommended
+ to protect the FLASH memory against possible unwanted operation) *********/
+ HAL_FLASH_Lock();
+ }
+#else /* BLUEMSYS_STORE_CALIB_FLASH */
+ {
+ /* Store in RAM */
+ CalibrationStructureRAM[0] = BLUEMSYS_CHECK_CALIBRATION;
+ CalibrationStructureRAM[1] = (uint32_t) magOffset.magOffX;
+ CalibrationStructureRAM[2] = (uint32_t) magOffset.magOffY;
+ CalibrationStructureRAM[3] = (uint32_t) magOffset.magOffZ;
+ CalibrationStructureRAM[4] = *((uint32_t *) &(magOffset.magGainX));
+ CalibrationStructureRAM[5] = *((uint32_t *) &(magOffset.magGainY));
+ CalibrationStructureRAM[6] = *((uint32_t *) &(magOffset.magGainZ));
+ CalibrationStructureRAM[7] = *((uint32_t *) &(magOffset.expMagVect));
+
+#ifdef BLUEMSYS_DEBUG_CALIB
+ /* Debug */
+ printf("magOffX ->%d\r\n",magOffset.magOffX);
+ printf("magOffY ->%d\r\n",magOffset.magOffY);
+ printf("magOffZ ->%d\r\n",magOffset.magOffZ);
+ printf("magGainX ->%X\r\n",magOffset.magGainX);
+ printf("magGainY ->%X\r\n",magOffset.magGainY);
+ printf("magGainZ ->%X\r\n",magOffset.magGainZ);
+ printf("expMagVect->%X\r\n",magOffset.expMagVect);
+#endif /* BLUEMSYS_DEBUG_CALIB */
+
+ printf("New Calibration Values Saved in RAM\r\n");
+ }
+#endif /* BLUEMSYS_STORE_CALIB_FLASH */
+
+ return Success;
+}
+
+/*************************** End Calibration functions **************************/
+
+static void floatToInt(float in, int32_t *out_int, int32_t *out_dec, int32_t dec_prec)
+{
+ *out_int = (int32_t)in;
+ in = in - (float)(*out_int);
+// *out_dec = (int32_t)trunc(in*pow((float)10,(int)dec_prec));
+ *out_dec = (int32_t)(float)(int)(in*pow((float)10,(int)dec_prec));
+
+}
+
+static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
+{
+ DEBUG("onUpdatesEnabledCallback! handle: %x\n\r", handle);
+#ifdef CUST_SENS_SERV
+ if (p_customsensorservice)
+ p_customsensorservice->enNotify (handle);
+#endif
+
+#ifdef CUST_SW_SERV
+ if (p_customsoftwareservice)
+ p_customsoftwareservice->enNotify (handle);
+#endif
+
+#ifdef CUST_CONFIG_SERV
+ if (p_customconfigservice) {
+ p_customconfigservice->enNotify (handle);
+ p_customconfigservice->updateConfigState(MASK_CALIB_SENSORFUSION_SHORT, W2ST_COMMAND_CAL_STATUS, isCal, TimeStamp);
+ p_customconfigservice->updateConfigState(MASK_CALIB_SENSORFUSION_FLOAT, W2ST_COMMAND_CAL_STATUS, isCal, TimeStamp);
+ }
+#endif
+#ifdef CUST_CONS_SERV
+ if (p_customconsoleservice)
+ p_customconsoleservice->enNotify (handle);
+#endif
+ /* TODO inform other obj implementing BLE services */
+}
+
+static void onUpdatesDisabledCallback(Gap::Handle_t handle)
+{
+ DEBUG("onUpdatesDisabledCallback! handle: %x\n\r", handle);
+#ifdef CUST_SENS_SERV
+ if (p_customsensorservice)
+ p_customsensorservice->disNotify (handle);
+#endif
+
+#ifdef CUST_SW_SERV
+ if (p_customsoftwareservice)
+ p_customsoftwareservice->disNotify (handle);
+#endif
+
+#ifdef CUST_CONFIG_SERV
+ if (p_customconfigservice)
+ p_customconfigservice->disNotify (handle);
+#endif
+#ifdef CUST_CONS_SERV
+ if (p_customconsoleservice)
+ p_customconsoleservice->disNotify (handle);
+#endif
+ /* TODO inform other obj implementing BLE services */
+}
+
+//static void onDisconnectionCallback(const Gap::Handle_t handle, const Gap::DisconnectionReason_t disConnectionReason)
+static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
+{
+ printf("Disconnected\n\r");
+ printf("Restarting the advertising process\n\r");
+ TimeStamp =0;
+ BLEConnectionStatus =0;
+#ifdef CUST_SENS_SERV
+ if (p_customsensorservice)
+ p_customsensorservice->updateConnectionStatus(DISCONNECTED);
+#endif
+#ifdef CUST_SW_SERV
+ if (p_customsoftwareservice)
+ p_customsoftwareservice->updateConnectionStatus(DISCONNECTED);
+#endif
+#ifdef CUST_CONFIG_SERV
+ if (p_customconfigservice)
+ p_customconfigservice->updateConnectionStatus(DISCONNECTED);
+#endif
+#ifdef CUST_CONS_SERV
+ if (p_customconsoleservice)
+ p_customconsoleservice->updateConnectionStatus(DISCONNECTED);
+#endif
+ if (p_BLEdev)
+ p_BLEdev->startAdvertising();
+}
+
+static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
+{
+ printf("\rConnected: %x", connectionParams->peerAddr[Gap::ADDR_LEN-1]);
+ for(int i=Gap::ADDR_LEN-2; i>=0; i--) printf(":%x", connectionParams->peerAddr[i]);
+ printf("\n\r");
+
+ TimeStamp =0;
+ BLEConnectionStatus =1;
+#ifdef CUST_SENS_SERV
+ if (p_customsensorservice)
+ p_customsensorservice->updateConnectionStatus(CONNECTED);
+#endif
+#ifdef CUST_SW_SERV
+ if (p_customsoftwareservice)
+ p_customsoftwareservice->updateConnectionStatus(CONNECTED);
+#endif
+#ifdef CUST_CONFIG_SERV
+ if (p_customconfigservice)
+ p_customconfigservice->updateConnectionStatus(CONNECTED);
+#endif
+#ifdef CUST_CONS_SERV
+ if (p_customconsoleservice)
+ p_customconsoleservice->updateConnectionStatus(CONNECTED);
+#endif
+}
+
+static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
+{
+ float temp, hum, pres;
+ int16_t TempToSend, HumToSend;
+ uint32_t PresToSend;
+ int32_t decPart, intPart;
+ AxesRaw_TypeDef Magn, Acc, Gyro;
+
+ printf ("onDataReadCallback\n\r");
+#ifdef CUST_SENS_SERV
+ if (p_customsensorservice->isTempHandle(eventDataP->handle)) {
+ p_mems_expansion_board->ht_sensor->GetTemperature(&temp);
+ floatToInt(temp, &intPart, &decPart, 1);
+ TempToSend = intPart*10+decPart;
+ p_customsensorservice->sendEnvTemperature(TempToSend, TimeStamp);
+
+ } else if (p_customsensorservice->isHumHandle(eventDataP->handle)) {
+ p_mems_expansion_board->ht_sensor->GetHumidity(&hum);
+ floatToInt(hum, &intPart, &decPart, 1);
+ HumToSend = intPart*10+decPart;
+ p_customsensorservice->sendEnvHumidity(HumToSend, TimeStamp);
+
+ } else if (p_customsensorservice->isPresHandle(eventDataP->handle)) {
+ p_mems_expansion_board->pt_sensor->GetPressure(&pres);
+ floatToInt(pres, &intPart, &decPart, 1);
+ PresToSend = intPart*100+decPart;
+ p_customsensorservice->sendEnvPressure(PresToSend, TimeStamp);
+
+ } else if (p_customsensorservice->isGyroHandle(eventDataP->handle)) {
+ p_mems_expansion_board->GetGyroscope()->Get_G_Axes((int32_t *)&Gyro);
+ p_customsensorservice->sendEnvGyroscope (&Gyro, TimeStamp);
+
+ } else if (p_customsensorservice->isAccHandle(eventDataP->handle)) {
+ p_mems_expansion_board->GetAccelerometer()->Get_X_Axes((int32_t *)&Acc);
+ p_customsensorservice->sendEnvAccelerometer (&Acc, TimeStamp);
+
+ } else if (p_customsensorservice->isMagHandle(eventDataP->handle)) {
+ p_mems_expansion_board->magnetometer->Get_M_Axes((int32_t *)&Magn);
+ p_customsensorservice->sendEnvMagnetometer(&Magn, TimeStamp, magOffset);
+
+ } else if (p_customsensorservice->isAccGyroMagHandle(eventDataP->handle)) {
+ p_customsensorservice->sendEnvAccGyroMag (&Acc, &Gyro, &Magn, TimeStamp, magOffset);
+ }
+#endif
+
+#ifdef CUST_SW_SERV
+ if (p_customsoftwareservice->isQuatHandle(eventDataP->handle)) {
+// p_customsoftwareservice->updateQuaternions(quat_axes, TimeStamp); // dont need to update because already calculated/update into main loop
+
+ } else if (p_customsoftwareservice->isFloatQuatHandle(eventDataP->handle)) {
+// p_customsoftwareservice->updateFloatQuaternions(QuatFloat, TimeStamp); // dont need to update because already calculated/update into main loop
+ }
+#endif
+
+#ifdef CUST_CONFIG_SERV
+ if (p_customconfigservice->isConfHandle(eventDataP->handle)) {
+ p_customconfigservice->sendConfigState(MASK_CALIB_SENSORFUSION_SHORT, W2ST_COMMAND_CAL_STATUS, isCal, TimeStamp);
+ p_customconfigservice->sendConfigState(MASK_CALIB_SENSORFUSION_FLOAT, W2ST_COMMAND_CAL_STATUS, isCal, TimeStamp);
+ }
+#endif
+}
+
+static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
+{
+ DEBUG("onEventCallback!!\n\r");
+ printf (" myonDataWriteCallback attr_handle: %x att_data[0]: %d data_length: %d\n\r", eventDataP->handle, eventDataP->data[0], eventDataP->len );
+
+
+#ifdef CUST_CONFIG_SERV
+ if (p_customconfigservice->isConfHandle(eventDataP->handle)) {
+ /* Received one write command from Client on calibration characteristc */
+ uint32_t FeatureMask = (eventDataP->data[3]) | (eventDataP->data[2]<<8) | (eventDataP->data[1]<<16) | (eventDataP->data[0]<<24);
+ uint8_t Command = eventDataP->data[4];
+ switch (Command) {
+ case W2ST_COMMAND_CAL_STATUS:
+
+ /* Replay with the calibration status for the feature */
+ // Config_Notify(FeatureMask,Command,isCal);
+ p_customconfigservice->sendConfigState(FeatureMask, Command, isCal, TimeStamp);
+ break;
+ case W2ST_COMMAND_CAL_RESET:
+
+ /* Reset the calibration */
+ ForceReCalibration=1;
+ break;
+ case W2ST_COMMAND_CAL_STOP:
+
+ /* Do nothing in this case */
+ break;
+ default:
+// if(StdErrNotification){
+// BytesToWrite = sprintf((char *)BufferToWrite, "Calibration UNKNOW Signal For Features=%x\n\r",FeatureMask);
+// Stderr_Update(BufferToWrite,BytesToWrite);
+// } else {
+// printf("Calibration UNKNOW Signal For Features=%x\n\r",FeatureMask);
+// }
+ break;
+ }
+
+ }
+#endif
+#ifdef CUST_CONS_SERV
+// printf ("-------------->>> attr_handle: %x\n\r", attr_handle);
+// if (p_customconsoleservice->isTermHandle(attr_handle -1)) {
+// p_customconsoleservice->updateTerm(att_data,data_length);
+// }
+#endif
+
+
+}
+
+static void onDataSentCallback(unsigned count)
+{
+ DEBUG("onDataSentCallback!!\n\r");
+}
+
+
+static void onTimeoutCallback(Gap::TimeoutSource_t source)
+{
+ DEBUG("onTimeoutCallback!!\n\r");
+}
+
+static void onConfirmationReceivedCallback(uint16_t attributeHandle)
+{
+ DEBUG("onConfirmationReceivedCallback!!\n\r");
+}
+
+
+static void Ticker_BlueButton(void)
+{
+#ifdef CUST_CONS_SERV
+static uint8_t BufferToWrite[W2ST_CONSOLE_MAX_CHAR_LEN];
+static uint8_t BytesToWrite;
+#endif
+
+ BlueButtonTimer.detach();
+ printf (" butt time expired \n\r");
+#ifdef CUST_CONS_SERV
+ BytesToWrite = sprintf((char *)BufferToWrite, "nr%d push in %1.1fs\r\n",HowManyButtonPress, BUTTON_TIME);
+ p_customconsoleservice->updateTerm(BufferToWrite,BytesToWrite);
+#endif
+ isBlueButtonSequence = false;
+ HowManyButtonPress =0;
+
+}
+
+/**
+ * CB Triggered by the user blue button press;
+ */
+static void BlueButtonPressed ()
+{
+ //printf (" CB BlueButtonPressed PRESSED!!!!!!!!! %d\n\r", HowManyButtonPress);
+ if (HowManyButtonPress == 0) { // first push
+ BlueButtonTimer.attach(&Ticker_BlueButton, BUTTON_TIME);
+ HowManyButtonPress++;
+ isBlueButtonSequence = false;
+ } else {
+ HowManyButtonPress++;
+ if (HowManyButtonPress == BLUEMSYS_N_BUTTON_PRESS ) {
+ BlueButtonTimer.detach();
+ printf (" CB BlueButtoon SEQUENCE!!!!!!!!! \n\r");
+ HowManyButtonPress =0;
+ if (BLEConnectionStatus) isBlueButtonSequence = true;
+ }
+ }
+}
+
+/**
+ * CB Triggered periodically by the 'ticker' interrupt;
+ */
+static void Ticker_Env(void)
+{
+ timeoutEnv = 1;
+}
+
+static void Ticker_Calib(void)
+{
+ timeoutCalib = 1;
+}
+
+static void Ticker_Mems(void)
+{
+ TimeStamp++;
+ CounterAGM++;
+ timeoutMems = 1;
+}
+
+
+int main()
+{
+ Ticker EnvTimer;
+ Ticker CalibTimer;
+ Ticker MemsTimer;
+ int32_t decPart, intPart;
+ int16_t TempToSend,HumToSend;
+ uint32_t PresToSend;
+ float temp,hum,pres;
+ AxesRaw_TypeDef Magn;
+ AxesRaw_TypeDef Acc;
+ AxesRaw_TypeDef Gyro;
+ bool isgyro_lsm6ds0Present=false;
+ bool isgyro_lsm6ds3Present=false;
+#ifdef CUST_CONS_SERV
+ static uint8_t BufferToWrite[256];
+ static uint8_t BytesToWrite;
+#endif
+ static bool SensorFusionOK = false;
+
+ DevI2C *i2c = new DevI2C(I2C_SDA, I2C_SCL);
+ i2c->frequency(NUCLEO_I2C_SHIELDS_SPEED);
+
+#ifdef CUST_SENS_SERV
+ p_mems_expansion_board = X_NUCLEO_IKS01A1::Instance(i2c);
+ if (p_mems_expansion_board->gyro_lsm6ds0) isgyro_lsm6ds0Present=true;
+ if (p_mems_expansion_board->gyro_lsm6ds3) isgyro_lsm6ds3Present=true;
+#endif
+//#ifdef CUST_CONFIG_SERV
+ InterruptIn BlueButton(USER_BUTTON);
+ BlueButton.fall(&BlueButtonPressed);
+//#endif
+ printf("\r\nSTMicroelectronics BlueMicrosystem1 W2ST:\r\n"
+#ifdef CUST_SENS_SERV
+ ,"\tGyro lsmds0 present: %d, lsmds3 present: %d\n\r"
+ "\tSend Every %dmS Temperature/Humidity/Pressure\r\n"
+ "\tSend Every %dmS Acc/Gyro/Magneto\r\n\n"
+#endif
+#ifdef CUST_SW_SERV
+ ,"\tSend Every %dmS %d Quaternions\r\n"
+ "\tSend Every %dmS Float precision Quaternion\r\n"
+#endif
+#ifdef CUST_SENS_SERV
+ ,isgyro_lsm6ds0Present,
+ isgyro_lsm6ds3Present,
+ ENV_TIMER/1000,
+ MEMS_TIMER/1000*ACC_GYRO_MAG_UPDATE_MUL_10MS
+#endif
+#ifdef CUST_SW_SERV
+ ,MEMS_TIMER/1000*SEND_N_QUATERNIONS,SEND_N_QUATERNIONS,
+ MEMS_TIMER/1000*QUAT_FLOAT_UPDATE_MUL_10MS
+#endif
+ );
+
+
+ if (NUCLEO_I2C_SHIELDS_SPEED < MAX_I2C_SPEED)
+ printf ("Warning I2C speed set to: %d (max: %d)\n\r", NUCLEO_I2C_SHIELDS_SPEED, MAX_I2C_SPEED);
+
+ p_BLEdev = new BLE;
+ if (!p_BLEdev) {
+ printf("\r\nBLE Device creation failed\r\n");
+ return 0;
+ }
+ const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};
+ p_BLEdev->gap().setAddress(Gap::ADDR_TYPE_PUBLIC, BLE_address_BE);
+
+ p_BLEdev->init();
+
+ greenled = 0;//Switch OFF LED1
+
+ /* set the BLE CB functions */
+ p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback);
+ p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback);
+ p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback);
+ p_BLEdev->gattServer().onDataSent(onDataSentCallback);
+ p_BLEdev->gattServer().onDataRead(onDataReadCallback);
+ p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
+ p_BLEdev->gap().onConnection(onConnectionCallback);
+ p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
+ p_BLEdev->gap().onTimeout(onTimeoutCallback);
+
+
+ /* Initialize MotionFX library */
+ bool DS3_OnBoard = DS3_ONBOARD;
+ if (MotionFX_manager_init(DS3_OnBoard, magOffset)) {
+ MotionFX_manager_start_9X();
+ SensorFusionOK = true;
+ printf("SW Service sensor fusion library added successfully\r\n");
+ } else { /* sensor fusion lib init failed: likely because of wrong license */
+ printf("sensor fusion lib init failed: likely because of wrong license \n\r");
+ SensorFusionOK = false;
+ }
+
+#ifdef CUST_CONFIG_SERV
+ p_customconfigservice = new CustomConfigService(*p_BLEdev);
+ if (!p_customconfigservice) {
+ printf("SW Service W2ST calibration add FAILED!\n\r");
+ return 0;
+ }
+ printf("SW Service W2ST calibration added successfully\r\n");
+#endif
+#ifdef CUST_CONS_SERV
+ p_customconsoleservice = new CustomConsoleService(*p_BLEdev);
+ if (!p_customconsoleservice) {
+ printf("\n\rHW Service W2ST console add FAILED!\n\r");
+ return 0;
+ }
+ printf("\rHW Service W2ST console added successfully\r\n");
+#endif
+#ifdef CUST_SENS_SERV
+ p_customsensorservice = new CustomSensorService(*p_BLEdev);
+ if (!p_customsensorservice) {
+ printf("\n\rHW Service W2ST sensors add FAILED!\n\r");
+ return 0;
+ }
+ printf("\rHW Service W2ST sensors added successfully\r\n");
+#endif
+#ifdef CUST_SW_SERV
+ AxesRaw_TypeDef quat_axes[SEND_N_QUATERNIONS];
+ float QuatFloat[SEND_N_QUATERNIONS];
+ if (SensorFusionOK) {
+ p_customsoftwareservice = new CustomSoftwareService(*p_BLEdev);
+ if (!p_customsoftwareservice) {
+ printf("SW Service W2ST quaternions add FAILED!\n\r");
+ return 0;
+ }
+ printf("SW Service W2ST quaternions added successfully\r\n");
+ }
+#endif
+
+ const static char DEVICE_NAME[] = BLE_DEV_NAME;
+ /* Setup advertising. */
+ p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
+// p_BLEdev->gap().accumulateAdvertisingPayloadTxPower(txPower);
+#ifdef USE_SENSOR_FUSION_LIB
+ uint8_t dat[]= {0x01,0x80,0x00,0xFC,0x01,0x80};
+#else
+ uint8_t dat[]= {0x01,0x80,0x00,0xFC,0x00,0x00};
+#endif
+ p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6);
+ p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
+ p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
+ p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+ p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL);
+
+ printf("SERVER: BLE Stack Initialized\r\n");
+ printf("Starting Advertising...\n\r");
+ p_BLEdev->gap().startAdvertising();
+
+ TimeStamp =0;
+ EnvTimer.attach_us(&Ticker_Env, ENV_TIMER);
+ CalibTimer.attach_us(&Ticker_Calib, CALIB_TIMER );
+ MemsTimer.attach_us(&Ticker_Mems, MEMS_TIMER);
+
+ /* Control if the calibration is already available in memory */
+ if (SensorFusionOK) {
+ ReCallCalibrationFromMemory();
+
+ /* Switch on/off the LED according to calibration */
+ if(isCal) {
+ greenled =1;
+ } else {
+ greenled =0;
+ }
+ }
+ uint32_t QuaternionNumber =0;
+ uint32_t CounterFloat =0;
+
+
+ while(1) {
+
+ if (BLEConnectionStatus) {
+ if ((isBlueButtonSequence || ForceReCalibration) && SensorFusionOK ) {
+ printf("ForceReCalibration\r\n");
+ /* Reset the Compass Calibration */
+ isCal=0;
+ ForceReCalibration =0;
+ isBlueButtonSequence = false;
+ /* Notifications of Compass Calibration */
+#ifdef CUST_CONFIG_SERV
+ p_customconfigservice->sendConfigState(MASK_CALIB_SENSORFUSION_SHORT, W2ST_COMMAND_CAL_STATUS, isCal, TimeStamp);
+ p_customconfigservice->sendConfigState(MASK_CALIB_SENSORFUSION_FLOAT, W2ST_COMMAND_CAL_STATUS, isCal, TimeStamp);
+#endif
+#ifdef USE_SENSOR_FUSION_LIB
+ /* Reset the Calibration */
+ osx_MotionFX_compass_forceReCalibration();
+#endif
+ ResetCalibrationInMemory();
+
+ /* Reset Calibration offset */
+ magOffset.magOffX = magOffset.magOffY= magOffset.magOffZ=0;
+ greenled =0;
+ }
+ }
+ // Update MEMS @ 100Hz and calculate quaternions
+ if (timeoutMems && BLEConnectionStatus) {
+ timeoutMems =0;
+
+#ifdef CUST_SENS_SERV
+ int32_t err;
+ err = p_mems_expansion_board->GetAccelerometer()->Get_X_Axes((int32_t *)&Acc);
+ if (err != IMU_6AXES_OK) {
+ printf ("= * ERROR %d GetAccelerometer\n\r", err);
+ }
+ err = p_mems_expansion_board->GetGyroscope()->Get_G_Axes((int32_t *)&Gyro);
+ if (err != IMU_6AXES_OK) {
+ printf ("= * ERROR %d GetGyroscope\n\r", err);
+ }
+ err = p_mems_expansion_board->magnetometer->Get_M_Axes((int32_t *)&Magn);
+ if (err != MAGNETO_OK) {
+ printf ("= * ERROR %d Get_M_Axes\n\r", err);
+ }
+ if(CounterAGM >= ACC_GYRO_MAG_UPDATE_MUL_10MS) {
+ CounterAGM=0;
+ p_customsensorservice->updateEnvAccelerometer (&Acc, TimeStamp);
+ p_customsensorservice->updateEnvGyroscope(&Gyro, TimeStamp);
+ p_customsensorservice->updateEnvMagnetometer(&Magn, TimeStamp, magOffset);
+ p_customsensorservice->updateEnvAccGyroMag (&Acc, &Gyro, &Magn, TimeStamp, magOffset);
+ }
+#endif
+
+#ifdef USE_SENSOR_FUSION_LIB
+ if (SensorFusionOK) {
+ MotionFX_manager_run((AxesRaw_t*)&Acc, (AxesRaw_t*)&Gyro, (AxesRaw_t*)&Magn, magOffset);
+ p_MotionFX_Engine_Out = MotionFX_manager_getDataOUT();
+ }
+#endif
+#ifdef CUST_SW_SERV
+ if (SensorFusionOK) {
+ /* Update quaternions */
+ if(p_MotionFX_Engine_Out->quaternion_9X[3] < 0) {
+ quat_axes[QuaternionNumber].AXIS_X = (int)(p_MotionFX_Engine_Out->quaternion_9X[0] * (-10000));
+ quat_axes[QuaternionNumber].AXIS_Y = (int)(p_MotionFX_Engine_Out->quaternion_9X[1] * (-10000));
+ quat_axes[QuaternionNumber].AXIS_Z = (int)(p_MotionFX_Engine_Out->quaternion_9X[2] * (-10000));
+ } else {
+ quat_axes[QuaternionNumber].AXIS_X = (int)(p_MotionFX_Engine_Out->quaternion_9X[0] * 10000);
+ quat_axes[QuaternionNumber].AXIS_Y = (int)(p_MotionFX_Engine_Out->quaternion_9X[1] * 10000);
+ quat_axes[QuaternionNumber].AXIS_Z = (int)(p_MotionFX_Engine_Out->quaternion_9X[2] * 10000);
+ }
+
+ if (QuaternionNumber == SEND_N_QUATERNIONS-1) {
+ p_customsoftwareservice->updateQuaternions(quat_axes, TimeStamp);
+ QuaternionNumber =0;
+ } else {
+ QuaternionNumber++;
+ }
+
+ /* Update Float Quaternions */
+ /* Every QUAT_FLOAT_UPDATE_MUL_10MS*10 mSeconds Send Float Quaternion informations via bluetooth */
+ if(CounterFloat==QUAT_FLOAT_UPDATE_MUL_10MS) {
+ if(p_MotionFX_Engine_Out->quaternion_9X[3] < 0) {
+ QuatFloat[0] = - p_MotionFX_Engine_Out->quaternion_9X[0];
+ QuatFloat[1] = - p_MotionFX_Engine_Out->quaternion_9X[1];
+ QuatFloat[2] = - p_MotionFX_Engine_Out->quaternion_9X[2];
+ } else {
+ QuatFloat[0] = p_MotionFX_Engine_Out->quaternion_9X[0];
+ QuatFloat[1] = p_MotionFX_Engine_Out->quaternion_9X[1];
+ QuatFloat[2] = p_MotionFX_Engine_Out->quaternion_9X[2];
+ }
+ p_customsoftwareservice->updateFloatQuaternions(QuatFloat, TimeStamp);
+ CounterFloat=0;
+ } else {
+ CounterFloat++;
+ }
+ }
+#endif
+ }
+
+ /* Check if is calibrated @ 25Hz */
+ if(isCal!=0x01 && timeoutCalib && BLEConnectionStatus && SensorFusionOK ) {
+ timeoutCalib =0;
+ /* Run Compass Calibration @ 25Hz */
+#ifdef USE_SENSOR_FUSION_LIB
+ osx_MotionFX_compass_saveAcc(Acc.AXIS_X, Acc.AXIS_Y, Acc.AXIS_Z); /* Accelerometer data ENU systems coordinate */
+ osx_MotionFX_compass_saveMag(Magn.AXIS_X, Magn.AXIS_Y, Magn.AXIS_Z); /* Magnetometer data ENU systems coordinate */
+ osx_MotionFX_compass_run();
+
+ /* Control the calibration status */
+ isCal = osx_MotionFX_compass_isCalibrated();
+#endif
+ if(isCal == 0x01) {
+
+ printf("Compass Calibrated\n\r");
+ /* Get new magnetometer offset */
+#ifdef USE_SENSOR_FUSION_LIB
+ osx_MotionFX_getCalibrationData(&magOffset);
+#endif
+ /* Save the calibration in Memory */
+ SaveCalibrationToMemory();
+
+ /* Switch on the Led */
+ greenled = 1;
+
+ /* Notifications of Compass Calibration */
+#ifdef CUST_CONFIG_SERV
+ p_customconfigservice->updateConfigState(MASK_CALIB_SENSORFUSION_SHORT, W2ST_COMMAND_CAL_STATUS, isCal, TimeStamp);
+ p_customconfigservice->updateConfigState(MASK_CALIB_SENSORFUSION_FLOAT, W2ST_COMMAND_CAL_STATUS, isCal, TimeStamp);
+#endif
+ }
+ }
+
+ // Update environmental sensors @ 2Hz
+ if (timeoutEnv && BLEConnectionStatus) {
+ timeoutEnv =0;
+ int32_t err;
+#ifdef CUST_SENS_SERV
+ if (p_customsensorservice->isTempNotificationEn()) {
+ err = p_mems_expansion_board->ht_sensor->GetTemperature(&temp);
+ if ( err != HUM_TEMP_OK) {
+ printf ("= * ERROR %d GetTemperature\n\r", err);
+ } else {
+ floatToInt(temp, &intPart, &decPart, 1);
+ TempToSend = intPart*10+decPart;
+ p_customsensorservice->updateEnvTemperature(TempToSend, TimeStamp);
+ }
+ }
+
+ if (p_customsensorservice->isHumNotificationEn()) {
+ err = p_mems_expansion_board->ht_sensor->GetHumidity(&hum);
+ if ( err != HUM_TEMP_OK) {
+ printf ("= * ERROR %d GetHumidity\n\r", err);
+ } else {
+ floatToInt(hum, &intPart, &decPart, 1);
+ HumToSend = intPart*10+decPart;
+ p_customsensorservice->updateEnvHumidity(HumToSend, TimeStamp);
+ }
+ }
+
+ if (p_customsensorservice->isPresNotificationEn()) {
+ err = p_mems_expansion_board->pt_sensor->GetPressure(&pres);
+ if ( err != PRESSURE_OK) {
+ printf ("= * ERROR GetPressure\n\r");
+ } else {
+ floatToInt(pres, &intPart, &decPart, 1);
+ PresToSend = intPart*100+decPart;
+ p_customsensorservice->updateEnvPressure(PresToSend, TimeStamp);
+ }
+ }
+#endif
+ }
+ p_BLEdev->waitForEvent();
+ }
+}