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\ change the compiling option from

        if target.core == "Cortex-M4F":


        if target.core == "Cortex-M4F":

and compile.


RevisionDateWhoCommit message
36:7abc45e9b0a5 2017-10-19 mapellil Updated libs default tip
35:8c3f581dc845 2017-10-18 mapellil Updated LIS3MDL lib
34:00643b22fb56 2017-10-18 mapellil Improved sensors ID print on splash screen
33:dec779879624 2017-10-17 mapellil Added support for DISCO_L475VG_IOT01A, code cleanup
32:f47005b845b4 2017-10-13 mapellil Added support for Nucleo_401RE + IKS01A2 (added HTS221)
31:2480e8ed274c 2017-10-12 mapellil Renamed lib
30:a3f042e4b569 2017-10-12 mapellil Added lib
29:95acd2d877bc 2017-10-12 mapellil Led flashing while BLE is disconnected. Led on if mag calibrated.
28:a1364ca7b456 2017-10-11 mapellil Disabled flash storage
27:dccb3b0fae57 2017-10-11 mapellil Only cumulative BLE characteristics exposed (Environmental, Motion).
26:1bc571e52ad9 2017-10-10 mapellil Specific CLI build for SensorTile+MiniCradle
25:9e720d968dc0 2017-10-06 mapellil Added HTS221 sensor
24:b374c444d8ad 2017-10-03 mapellil Removed IKS lib, added separate sensor libs
23:667a4d385cbd 2017-10-03 mapellil Updated libs
22:295266d61fef 2017-09-21 mapellil none
21:3514475bdb66 2017-09-20 mapellil Upd libs
20:b97e14ade434 2017-09-20 mapellil Updated mbed-os to 5.5 (w SPI3W), updated BLE, updated IKS (now allocating directly sensors),
19:ad9b6e58aeb5 2017-06-09 mapellil Merge
18:e2360c944484 2017-06-09 mapellil Manage async bleInitComplete using mbed-os IPC
17:2f8701aa72a8 2017-06-08 mapellil Updated dep libs
16:b794ff225d9d 2017-06-08 mapellil Thread implementation of sensors (temp, press, acc, gyro, magn, hum HTS221 on mini cradle not managed ) reading and sending to BLE.
15:df9d639c9d4a 2017-06-08 mapellil Added .json file for CLI compile
14:41d7d6618604 2017-05-25 mapellil first commit
13:d00147d01d4e 2016-06-21 mapellil updated BLE lib link, defined BLE offsets as #define
12:baf8b5294320 2016-06-20 mapellil Fixed BLE handles offset according to updated BLE API
11:ff82699c696e 2016-06-17 mapellil Updated BLE (with mac addr self generated) and Mbed
10:d19d8a60d3e5 2016-04-13 mapellil Completely removed app lvl BLE congestion control, improved stability, updated libs IDB, API, IKS.
9:2693f9ef8ff7 2015-12-23 mapellil Update BLE API and X-NUCLEO-IDB0XA1
8:b042fe719f51 2015-12-21 mapellil Reworked ble congestion control
7:34014895dda8 2015-12-17 mapellil Updated BLE stack/API (now BigEndian UUID), set max tx power
6:c1b8fb74072e 2015-12-17 mapellil I2C@400KHz, BLE app congestion management, license disclaimer
5:c3ba16d6612d 2015-12-14 mapellil Fixed DEBUG macro issue with sensor fusion enabled
4:007539036889 2015-11-20 mapellil Updated BLE API, IDB and MBED libs
3:a24a30b28dd7 2015-10-13 mapellil Changed BLE dev name to BlueMbed
2:d61a6f4d9682 2015-10-13 mapellil Added osx library empty tree
1:5fb861c45605 2015-10-13 mapellil Default no flash storage of calib data
0:e93a11b4e044 2015-10-12 mapellil dft DS3 not present