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: MotionFX_Manager.h
- Revision:
- 20:b97e14ade434
- Parent:
- 9:2693f9ef8ff7
diff -r ad9b6e58aeb5 -r b97e14ade434 MotionFX_Manager.h
--- a/MotionFX_Manager.h Fri Jun 09 14:00:14 2017 +0200
+++ b/MotionFX_Manager.h Wed Sep 20 17:08:56 2017 +0200
@@ -1,20 +1,14 @@
/**
******************************************************************************
- * @file MotionFX_Manager.h
- * @author Central Lab
- * @version V1.1.0
- * @date 20-January-2015
- * @brief This file includes sensor fusion interface functions
+ * @file MotionFA_Manager.h
+ * @author MEMS Application Team
+ * @version V2.0.0
+ * @date 01-May-2017
+ * @brief Header for MotionCP_Manager.c module
******************************************************************************
* @attention
*
- * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Licensed under MCD-ST Liberty SW License Agreement V2, (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.st.com/software_license_agreement_liberty_v2
+ * <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
@@ -40,101 +34,73 @@
*
******************************************************************************
*/
-
-#ifndef _MOTIONFX_MANAGER_H_
-#define _MOTIONFX_MANAGER_H_
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef _MOTIONFA_MANAGER_H_
+#define _MOTIONFA_MANAGER_H_
#ifdef __cplusplus
- extern "C" {
+extern "C" {
#endif
-//#define USE_SENSOR_FUSION_LIB /** uncomment only if STM32_OSX_MotionFX_Library is linked and licensed **/
-
-#include <cstdio>
-#include <stdint.h>
-#include <stdio.h>
-
-#ifdef USE_SENSOR_FUSION_LIB
-#include "osx_motion_fx.h"
-#else
+/* Includes ------------------------------------------------------------------*/
+#include "string.h"
+#include "motion_fx.h"
-#define NUM_AXES 3
-#define QNUM_AXES 4
-
-typedef struct
-{
- float mag[NUM_AXES]; /* calibrated mag [uT]/50 */
- float acc[NUM_AXES]; /* acc [g] */
- float gyro[NUM_AXES]; /* gyro [dps] */
-} osxMFX_input;
+#define USE_IKS01A2
-typedef struct
-{
- float rotation_9X[NUM_AXES]; /* 9 axes yaw, pitch and roll */
- float quaternion_9X[QNUM_AXES]; /* 9 axes quaternion */
- float gravity_9X[NUM_AXES]; /* 9 axes device frame gravity */
- float linear_acceleration_9X[NUM_AXES]; /* 9 axes device frame linear acceleration */
- float heading_9X; /* 9 axes heading */
- float rotation_6X[NUM_AXES]; /* 6 axes yaw, pitch and roll */
- float quaternion_6X[QNUM_AXES]; /* 6 axes quaternion */
- float gravity_6X[NUM_AXES]; /* 6 axes device frame gravity */
- float linear_acceleration_6X[NUM_AXES]; /* 6 axes device frame linear acceleration */
- float heading_6X; /* 6 axes heading */
-} osxMFX_output;
+#define LSM6DSL_G_0 0
+#define LSM6DS3_G_0 1
+#define LSM6DS0_G_0 2
typedef struct
{
signed short magOffX; /* X axis Offset */
signed short magOffY; /* Y axis Offset */
signed short magOffZ; /* Z axis Offset */
- float magGainX; /* X axis Gain */
- float magGainY; /* Y axis Gain */
- float magGainZ; /* Z axis Gain */
- float expMagVect; /* expected magnetic field */
} osxMFX_calibFactor;
-
-unsigned char osx_MotionFX_compass_isCalibrated(void);
-void osx_MotionFX_compass_forceReCalibration(void);
-void osx_MotionFX_compass_saveAcc(int acc_x, int acc_y, int acc_z);
-void osx_MotionFX_compass_saveMag(int mag_x, int mag_y, int mag_z);
-int osx_MotionFX_compass_run(void);
-void osx_MotionFX_setCalibrationData(osxMFX_calibFactor* CalibrationData);
-void osx_MotionFX_getCalibrationData(osxMFX_calibFactor* CalibrationData);
+
+/** @addtogroup MOTION_FA_Applications
+ * @{
+ */
-#endif
-
-
-typedef struct {
- int32_t AXIS_X;
- int32_t AXIS_Y;
- int32_t AXIS_Z;
-} AxesRaw_t;
-
-/* Exported functions ------------------------------------------------------- */
+/** @addtogroup FITNESS_ACTIVITIES
+ * @{
+ */
-bool MotionFX_manager_init(bool DS3_OnBoard, osxMFX_calibFactor & magOffset);
-void MotionFX_manager_run(AxesRaw_t *ACC_Value, AxesRaw_t *GYR_Value, AxesRaw_t *MAG_Value, osxMFX_calibFactor & magOffset);
+/* Extern Variables ----------------------------------------------------------*/
+/* Exported Macros -----------------------------------------------------------*/
+/* Exported Types ------------------------------------------------------------*/
+/* Imported Variables --------------------------------------------------------*/
+/* Exported Functions Prototypes ---------------------------------------------*/
+//void MotionFX_manager_init(void *handle);
+void MotionFX_manager_init(unsigned char instance);
+void MotionFX_manager_run(MFX_input_t *data_in, MFX_output_t *data_out, float delta_time);
void MotionFX_manager_start_6X(void);
void MotionFX_manager_stop_6X(void);
void MotionFX_manager_start_9X(void);
void MotionFX_manager_stop_9X(void);
-void MotionFX_manager_setDependencies(uint8_t sf, int32_t sensorMask);
-void MotionFX_manager_resetDependencies(uint8_t sf, int32_t sensorMask);
-uint32_t MotionFX_manager_getDependencies(uint8_t sf);
+void MotionFX_manager_MagCal_run(MFX_MagCal_input_t *data_in, MFX_MagCal_output_t *data_out);
+void MotionFX_manager_MagCal_start(int sampletime);
+void MotionFX_manager_MagCal_stop(int sampletime);
+
+char MotionFX_LoadMagCalFromNVM(unsigned short int dataSize, unsigned int *data);
+char MotionFX_SaveMagCalInNVM(unsigned short int dataSize, unsigned int *data);
-osxMFX_output* MotionFX_manager_getDataOUT(void);
-osxMFX_input* MotionFX_manager_getDataIN(void);
+/**
+ * @}
+ */
-/* Exported constants --------------------------------------------------------*/
-
-/* Delta time mSec for Deltafusion */
-#define DELTATIMESENSORFUSION 0.01
+/**
+ * @}
+ */
#ifdef __cplusplus
}
#endif
-#endif //_MOTIONFX_MANAGER_H_
+#endif /* _MOTIONFA_MANAGER_H_ */
-/******************* (C) COPYRIGHT 2015 STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+