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.

CustomConsoleService.h

Committer:
mapellil
Date:
2015-10-13
Revision:
2:d61a6f4d9682
Parent:
0:e93a11b4e044
Child:
4:007539036889

File content as of revision 2:d61a6f4d9682:

/* 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_CONSOLE_SERVICE_H__
#define __CUSTOM_BLE_CONSOLE_SERVICE_H__

#include "BLE.h"

const LongUUIDBytes_t CONS_SERVICE_UUID_128 =                   { 0x1b,0xc5,0xa5,0xd5,0x02,0x00,0xb4,0x9a,0xe1,0x11,0x0E,0x00,0x00,0x00,0x00,0x00 }; 

const LongUUIDBytes_t CONS_TERM_CHAR_UUID_128 =                 { 0x1b,0xc5,0xa5,0xd5,0x02,0x00,0x36,0xac,0xe1,0x11,0x0E,0x00,0x01,0x00,0x00,0x00 };  
const LongUUIDBytes_t CONS_STDERR_CHAR_UUID_128 =               { 0x1b,0xc5,0xa5,0xd5,0x02,0x00,0x36,0xac,0xe1,0x11,0x0E,0x00,0x02,0x00,0x00,0x00 };  

#define W2ST_CONSOLE_MAX_CHAR_LEN   20

/* Custom Sensors Service */
class CustomConsoleService  {
public:
    CustomConsoleService(BLEDevice &_ble) :
        ble(_ble),
        consTermCharacteristic(CONS_TERM_CHAR_UUID_128,LastTermBuffer, W2ST_CONSOLE_MAX_CHAR_LEN, W2ST_CONSOLE_MAX_CHAR_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE |
                                GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY),
        consStderrCharacteristic(CONS_STDERR_CHAR_UUID_128, LastStderrBuffer, W2ST_CONSOLE_MAX_CHAR_LEN, W2ST_CONSOLE_MAX_CHAR_LEN,
                                 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY)
        {
 
            static bool serviceAdded = false; /* We should only ever need to add the env service once. */
            if (serviceAdded) {
            return;
            }

            GattCharacteristic *charTable[] = {&consTermCharacteristic, &consStderrCharacteristic};        
                        
            GattService   consService(CONS_SERVICE_UUID_128, charTable, sizeof(charTable) / sizeof(GattCharacteristic *));               
                
            ble.gattServer().addService(consService);             

            memset (LastTermBuffer, 0, W2ST_CONSOLE_MAX_CHAR_LEN);  
            memset (LastStderrBuffer, 0, W2ST_CONSOLE_MAX_CHAR_LEN);           
                                                                         
            isBTLEConnected                     = DISCONNECTED;  
            isEnabledTermNotify                 = false;
            isEnabledStderrNotify               = false;                                                                            
            serviceAdded                        = true;                                                                                                                                  
        }

    tBleStatus updateTerm (uint8_t *data,uint8_t length) {
        tBleStatus ret;
        uint8_t Offset;
        uint8_t DataToSend;
//        uint8_t BufferToWrite[W2ST_CONSOLE_MAX_CHAR_LEN];
//        uint8_t BytesToWrite;    

        if (isEnabledTermNotify && isBTLEConnected==CONNECTED) {
        /* Split the code in packages */
            for(Offset =0; Offset<length; Offset +=W2ST_CONSOLE_MAX_CHAR_LEN){
                DataToSend = (length-Offset);
                DataToSend = (DataToSend>W2ST_CONSOLE_MAX_CHAR_LEN) ?  W2ST_CONSOLE_MAX_CHAR_LEN : DataToSend;

                /* keep a copy */
                memcpy(LastTermBuffer,data+Offset,DataToSend);
                LastTermLen = DataToSend;       
                DEBUG("updateTerm handle: %d string: %s\n\r", consTermCharacteristic.getValueAttribute().getHandle(), LastTermBuffer);
                ret = ble.gattServer().write(consTermCharacteristic.getValueAttribute().getHandle(), data+Offset, DataToSend, 0);
                if (ret != BLE_ERROR_NONE) {  /* FIXME the wrong errcode from BLE requires BLE fix */
//                    BytesToWrite = sprintf((char *)BufferToWrite, "Error Updating Stdout Char\r\n");
//                    updateStderr(BufferToWrite,BytesToWrite);               
                }
                return ret;               
            }
        }
        return BLE_STATUS_SUCCESS;
    }
       
    tBleStatus updateStderr (uint8_t *data,uint8_t length) {

        uint8_t Offset;
        uint8_t DataToSend;
        
        if (isEnabledStderrNotify && isBTLEConnected==CONNECTED) {
        /* Split the code in packages */
            for(Offset =0; Offset<length; Offset +=W2ST_CONSOLE_MAX_CHAR_LEN){
                DataToSend = (length-Offset);
                DataToSend = (DataToSend>W2ST_CONSOLE_MAX_CHAR_LEN) ?  W2ST_CONSOLE_MAX_CHAR_LEN : DataToSend;

                /* keep a copy */
                memcpy(LastStderrBuffer,data+Offset,DataToSend);
                LastStderrLen = DataToSend;
                DEBUG("updateStderr handle: %d string: %s\n\r", consStderrCharacteristic.getValueAttribute().getHandle(), LastStderrBuffer);
                return (ble.gattServer().write(consStderrCharacteristic.getValueAttribute().getHandle(), data+Offset, DataToSend, 0));                          
            }
        }
        return BLE_STATUS_SUCCESS;
    }

    void updateConnectionStatus (ConnectionStatus_t status){
            isBTLEConnected = status;                      
            isEnabledTermNotify                 = false;
            isEnabledStderrNotify               = false;                 
    }             

    bool isTermHandle (Gap::Handle_t handle) {
            if (handle == consTermCharacteristic.getValueAttribute().getHandle()) return true;
            return false;
    }

    bool isStderrHandle (Gap::Handle_t handle) {
            if (handle == consStderrCharacteristic.getValueAttribute().getHandle()) return true;
            return false;
    }
    
    void enNotify (Gap::Handle_t handle)  {
            if (isTermHandle(handle))   { isEnabledTermNotify = true; return; }    
            if (isStderrHandle(handle)) { isEnabledStderrNotify = true; return; }                
    }
        
    void disNotify (Gap::Handle_t handle) {
            if (isTermHandle(handle))   { isEnabledTermNotify = false; return; }    
            if (isStderrHandle(handle)) { isEnabledStderrNotify = false; return; }                            
    }


private:
    BLEDevice           &ble;
    uint8_t             LastTermBuffer     [W2ST_CONSOLE_MAX_CHAR_LEN]; 
    uint8_t             LastTermLen;
    uint8_t             LastStderrBuffer   [W2ST_CONSOLE_MAX_CHAR_LEN];   
    uint8_t             LastStderrLen;                   
     
    GattCharacteristic  consTermCharacteristic;     
    GattCharacteristic  consStderrCharacteristic;   
    ConnectionStatus_t  isBTLEConnected;
    bool                isEnabledTermNotify;
    bool                isEnabledStderrNotify;    
};

#endif /* #ifndef __CUSTOM_BLE_CONSOLE_SERVICE_H__*/