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.
main.cpp
- Committer:
- mapellil
- Date:
- 2017-06-09
- Revision:
- 18:e2360c944484
- Parent:
- 16:b794ff225d9d
- Child:
- 20:b97e14ade434
File content as of revision 18:e2360c944484:
/**
******************************************************************************
* @file main.cpp
* @author Central Labs / AST
* @version V0.9.0
* @date 23-Dec-2015
* @brief Main program body
******************************************************************************
* @attention
*
* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
*
* 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.
*
******************************************************************************
*/
#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
#include "ble_utils.h"
#ifdef DEBUG
#include <stdio.h>
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
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 "XNucleoIKS01A2.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;
static bool SensorFusionOK = false;
static EventQueue eventQueue(/* event count */ 16 * /* event size */ 32);
static Queue <char, 5>QueueMainActivity;
#define TMO_MEMS 1
#define TMO_CALIB 2
#define TMO_SENSOR_FUSION 3
#define TMO_ENV 4
#define BLE_STARTED 5
#ifdef CUST_CONS_SERV
static CustomConsoleService * p_customconsoleservice = NULL;
#endif
#ifdef CUST_SENS_SERV
#define IMU_6AXES_OK 0
#define MAGNETO_OK 0
#define HUM_TEMP_OK 0
#define PRESSURE_OK 0
static CustomSensorService * p_customsensorservice = NULL;
//static X_NUCLEO_IKS01A1 * p_mems_expansion_board = NULL;
SPI3W sens_intf(PB_15, NC, PB_13); // 3W mosi, sclk on Nucleo L476 same as BTLE
LPS22HBSensor press_temp(&sens_intf, PA_3); // on SensorTile L476JG
LSM6DSLSensor acc_gyro(&sens_intf, PB_12, NC, PA_2 ); // on SensorTile L476JG
LSM303AGRMagSensor mag(&sens_intf, PB_1 ); //on SensorTile L476JG
LSM303AGRAccSensor acc(&sens_intf, PC_4 ); //on SensorTile L476JG
#endif
#ifdef CUST_SW_SERV
static CustomSoftwareService * p_customsoftwareservice = NULL;
static osxMFX_output * p_MotionFX_Engine_Out = NULL;
#endif
static osxMFX_calibFactor magOffset;
#ifdef CUST_CONFIG_SERV
static CustomConfigService * p_customconfigservice = NULL;
#endif
/*************************** 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);
printf("Calibration Read from Flash\r\n");
/* 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 */
#ifdef USE_SENSOR_FUSION_LIB
/* Set the Calibration Structure */
osx_MotionFX_setCalibrationData(&magOffset);
printf("Calibration Read from RAM\r\n");
/* Control the calibration status */
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)
{
PRINTF("onUpdatesEnabledCallback! handle: %x\n\r", handle);
printf("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)
{
PRINTF("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;
Gap::Handle_t handle = eventDataP->handle - BLE_HANDLE_VALUE_OFFSET;
#ifdef CUST_SENS_SERV
if (p_customsensorservice->isTempHandle(handle)) {
// p_mems_expansion_board->ht_sensor->GetTemperature(&temp);
press_temp.get_temperature(&temp);
floatToInt(temp, &intPart, &decPart, 1);
TempToSend = intPart*10+decPart;
p_customsensorservice->sendEnvTemperature(TempToSend, TimeStamp);
} else if (p_customsensorservice->isHumHandle(handle)) {
// p_mems_expansion_board->ht_sensor->GetHumidity(&hum); /** FIXME Hum not present */
floatToInt(hum, &intPart, &decPart, 1);
HumToSend = intPart*10+decPart;
p_customsensorservice->sendEnvHumidity(HumToSend, TimeStamp);
} else if (p_customsensorservice->isPresHandle(handle)) {
// p_mems_expansion_board->pt_sensor->GetPressure(&pres);
press_temp.get_pressure(&pres);
floatToInt(pres, &intPart, &decPart, 1);
PresToSend = intPart*100+decPart;
p_customsensorservice->sendEnvPressure(PresToSend, TimeStamp);
} else if (p_customsensorservice->isGyroHandle(handle)) {
// p_mems_expansion_board->GetGyroscope()->Get_G_Axes((int32_t *)&Gyro);
acc_gyro.get_g_axes((int32_t *)&Gyro);
p_customsensorservice->sendEnvGyroscope (&Gyro, TimeStamp);
} else if (p_customsensorservice->isAccHandle(handle)) {
// p_mems_expansion_board->GetAccelerometer()->Get_X_Axes((int32_t *)&Acc);
acc_gyro.get_x_axes((int32_t *)&Acc);
p_customsensorservice->sendEnvAccelerometer (&Acc, TimeStamp);
} else if (p_customsensorservice->isMagHandle(handle)) {
// p_mems_expansion_board->magnetometer->Get_M_Axes((int32_t *)&Magn);
mag.get_m_axes((int32_t *)&Magn);
p_customsensorservice->sendEnvMagnetometer(&Magn, TimeStamp, magOffset);
} else if (p_customsensorservice->isAccGyroMagHandle(handle)) {
p_customsensorservice->sendEnvAccGyroMag (&Acc, &Gyro, &Magn, TimeStamp, magOffset);
}
#endif
#ifdef CUST_SW_SERV
if (p_customsoftwareservice->isQuatHandle(handle)) {
// p_customsoftwareservice->updateQuaternions(quat_axes, TimeStamp); // dont need to update because already calculated/update into main loop
} else if (p_customsoftwareservice->isFloatQuatHandle(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(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 onDataWriteCallback(const GattWriteCallbackParams *eventDataP)
{
Gap::Handle_t handle = eventDataP->handle - BLE_HANDLE_VALUE_OFFSET;
PRINTF("onEventCallback!!\n\r");
printf (" myonDataWriteCallback attr_handle: %x att_data[4]: %d data_length: %d\n\r", eventDataP->handle, eventDataP->data[4], eventDataP->len );
#ifdef CUST_CONFIG_SERV
if (p_customconfigservice->isConfHandle(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
if (p_customconsoleservice->isTermHandle(handle)) {
printf ("Console handle: %x data: %s\n\r", handle, eventDataP->data);
// p_customconsoleservice->updateTerm((uint8_t*)eventDataP->data,eventDataP->len);
}
#endif
}
static void onDataSentCallback(unsigned count)
{
PRINTF("onDataSentCallback!!\n\r");
}
static void onTimeoutCallback(Gap::TimeoutSource_t source)
{
PRINTF("onTimeoutCallback!!\n\r");
}
static void onConfirmationReceivedCallback(uint16_t attributeHandle)
{
PRINTF("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)
{
char msg;
msg = TMO_ENV;
QueueMainActivity.put((char*)msg);
}
static void Ticker_Calib(void)
{
char msg;
timeoutCalib = 1;
}
static void Ticker_Mems(void)
{
char msg;
TimeStamp++;
CounterAGM++;
msg = TMO_MEMS;
QueueMainActivity.put((char*)msg);
}
static int ble_started=0;
void onBleInitError(BLE &ble, ble_error_t error)
{
(void)ble;
(void)error;
printf ("--->> onBleInitError\n\r");
/* Initialization error handling should go here */
}
void bleInitComplete(BLE::InitializationCompleteCallbackContext *params)
{
BLE& ble = params->ble;
ble_error_t error = params->error;
if (error != BLE_ERROR_NONE) {
onBleInitError(ble, error);
printf ("--->> bleInitComplete ERROR\n\r");
return;
}
if (ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
return;
}
char msg;
msg = BLE_STARTED;
QueueMainActivity.put((char*)msg);
}
void scheduleBleEventsProcessing(BLE::OnEventsToProcessCallbackContext* context) {
BLE &ble = BLE::Instance();
eventQueue.call(Callback<void()>(&ble, &BLE::processEvents));
}
/* Helper function for printing floats & doubles */
static char *print_double(char* str, double v, int decimalDigits=2)
{
int i = 1;
int intPart, fractPart;
int len;
char *ptr;
/* prepare decimal digits multiplicator */
for (;decimalDigits!=0; i*=10, decimalDigits--);
/* calculate integer & fractinal parts */
intPart = (int)v;
fractPart = (int)((v-(double)(int)v)*i);
/* fill in integer part */
sprintf(str, "%i.", intPart);
/* prepare fill in of fractional part */
len = strlen(str);
ptr = &str[len];
/* fill in leading fractional zeros */
for (i/=10;i>1; i/=10, ptr++) {
if (fractPart >= i) {
break;
}
*ptr = '0';
}
/* fill in (rest of) fractional part */
sprintf(ptr, "%i", fractPart);
return str;
}
void updateSensorValue() {
// Do blocking calls or whatever is necessary for sensor polling.
// In our case, we simply update the HRM measurement.
float value1, value2;
char buffer1[32], buffer2[32];
int32_t axes[3];
#ifdef CUST_SENS_SERV
press_temp.get_temperature(&value1);
press_temp.get_pressure(&value2);
printf("LPS22HB: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
mag.get_m_axes(axes);
printf("LSM303AGR [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
acc.get_x_axes(axes);
printf("LSM303AGR [acc/mg]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
acc_gyro.get_x_axes(axes);
printf("LSM6DSL [acc/mg]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
acc_gyro.get_g_axes(axes);
printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
#endif
}
void periodicCallback(void)
{
// led1 = !led1; /* Do blinky on LED1 while we're waiting for BLE events */
if (BLE::Instance().getGapState().connected) {
// eventQueue.call(updateSensorValue);
}
}
void ThreadMainActivity (void) {
float temp, hum, pres;
AxesRaw_TypeDef Magn, Acc, Gyro;
int32_t decPart, intPart;
int16_t TempToSend, HumToSend;
uint32_t PresToSend;
osEvent RxEvt;
while(1) {
RxEvt = QueueMainActivity.get();
switch (RxEvt.value.v) {
case TMO_MEMS:
timeoutMems =1;
break;
case TMO_CALIB:
break;
case TMO_SENSOR_FUSION:
break;
case TMO_ENV:
timeoutEnv =1;
break;
default:
printf ("ERROR unrecognized event\n\r");
}
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=IMU_6AXES_OK;
err=acc_gyro.get_x_axes((int32_t *)&Acc);
if (err != IMU_6AXES_OK) {
printf ("= * ERROR %d GetAccelerometer\n\r", err);
}
err=acc_gyro.get_g_axes((int32_t *)&Gyro);
if (err != IMU_6AXES_OK) {
printf ("= * ERROR %d GetGyroscope\n\r", err);
}
err=mag.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=press_temp.get_temperature(&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 0 // Hum sensor not present on SensorTile (hum is HTS221 on mini cradle)
if (p_customsensorservice->isHumNotificationEn()) {
// err = p_mems_expansion_board->ht_sensor->GetHumidity(&hum); /** FIXME no hum sens on Tile */
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);
}
}
#endif
if (p_customsensorservice->isPresNotificationEn()) {
err=press_temp.get_pressure(&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
}
}
}
int main()
{
Ticker EnvTimer;
Ticker CalibTimer;
Ticker MemsTimer;
bool isgyro_lsm6ds0Present=false;
bool isgyro_lsm6ds3Present=false;
#ifdef CUST_CONS_SERV
// static uint8_t BufferToWrite[256];
// static uint8_t BytesToWrite;
#endif
// 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
);
// eventQueue.call_every(500, periodicCallback);
BLE &ble = BLE::Instance();
p_BLEdev = &ble;
p_BLEdev->onEventsToProcess(scheduleBleEventsProcessing);
p_BLEdev->init(bleInitComplete);
ble_started = 0;
osEvent RxEvt = QueueMainActivity.get(); // waiting for bleInitComplete cb to be called
if (RxEvt.value.v == BLE_STARTED) ble_started = 1;
// 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(onDataWriteCallback);
p_BLEdev->gap().onConnection(onConnectionCallback);
p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
/* p_BLEdev->gap().onTimeout(onTimeoutCallback);
*/
/* Initialize MotionFX library */
#ifdef USE_SENSOR_FUSION_LIB
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;
}
#else
printf("sensor fusion lib disabled \n\r");
SensorFusionOK = false;
#endif
#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_SENS_SERV
press_temp.enable();
acc_gyro.enable_x();
acc_gyro.enable_g();
mag.enable();
acc.enable();
uint8_t id22=0, idLSM6=0, id303mag=0, id303acc=0;
press_temp.read_id(&id22);
acc_gyro.read_id(&idLSM6);
mag.read_id(&id303mag);
acc.read_id(&id303acc);
printf("LS303acc ID %x LS303mag ID %x LSM6DSL ID %x LPS22HB ID %x \r\n", id303acc, id303mag, idLSM6, id22);
printf("\r\n");
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_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_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().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, SENS_SERVICE_UUID_128, sizeof(SENS_SERVICE_UUID_128));
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;
}
}
#ifdef CUST_SW_SERV
uint32_t QuaternionNumber =0;
uint32_t CounterFloat =0;
#endif
Thread ThObjMainActivity;
ThObjMainActivity.start(Callback<void()>(ThreadMainActivity));
eventQueue.dispatch_forever();
}