Add MotionService : expose step count and RAW X/Y/Z values to the host.
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d1f50157c7
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60a49af886
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@ -477,6 +477,7 @@ list(APPEND SOURCE_FILES
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components/ble/ImmediateAlertService.cpp
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components/ble/ServiceDiscovery.cpp
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components/ble/HeartRateService.cpp
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components/ble/MotionService.cpp
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components/firmwarevalidator/FirmwareValidator.cpp
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components/motor/MotorController.cpp
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components/settings/Settings.cpp
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@ -545,6 +546,7 @@ list(APPEND RECOVERY_SOURCE_FILES
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components/ble/ServiceDiscovery.cpp
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components/ble/NavigationService.cpp
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components/ble/HeartRateService.cpp
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components/ble/MotionService.cpp
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components/firmwarevalidator/FirmwareValidator.cpp
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components/settings/Settings.cpp
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components/timer/TimerController.cpp
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@ -652,6 +654,7 @@ set(INCLUDE_FILES
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components/ble/ServiceDiscovery.h
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components/ble/BleClient.h
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components/ble/HeartRateService.h
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components/ble/MotionService.h
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components/settings/Settings.h
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components/timer/TimerController.h
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components/alarm/AlarmController.h
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124
src/components/ble/MotionService.cpp
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124
src/components/ble/MotionService.cpp
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@ -0,0 +1,124 @@
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#include "MotionService.h"
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#include "components/motion//MotionController.h"
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#include "systemtask/SystemTask.h"
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using namespace Pinetime::Controllers;
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namespace {
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// 0002yyxx-78fc-48fe-8e23-433b3a1942d0
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constexpr ble_uuid128_t CharUuid(uint8_t x, uint8_t y) {
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return ble_uuid128_t{
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.u = {.type = BLE_UUID_TYPE_128},
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.value = { 0xd0, 0x42, 0x19, 0x3a, 0x3b, 0x43, 0x23, 0x8e, 0xfe, 0x48, 0xfc, 0x78, x, y, 0x02, 0x00 }
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};
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}
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// 00020000-78fc-48fe-8e23-433b3a1942d0
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constexpr ble_uuid128_t BaseUuid() {
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return CharUuid(0x00, 0x00);
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}
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constexpr ble_uuid128_t motionServiceUuid {BaseUuid()};
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constexpr ble_uuid128_t stepCountCharUuid {CharUuid(0x01, 0x00)};
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constexpr ble_uuid128_t motionValuesCharUuid {CharUuid(0x02, 0x00)};
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int MotionServiceCallback(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt* ctxt, void* arg) {
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auto* motionService = static_cast<MotionService*>(arg);
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return motionService->OnStepCountRequested(conn_handle, attr_handle, ctxt);
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}
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}
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// TODO Refactoring - remove dependency to SystemTask
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MotionService::MotionService(Pinetime::System::SystemTask& system, Controllers::MotionController& motionController)
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: system {system},
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motionController {motionController},
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characteristicDefinition {{.uuid = &stepCountCharUuid.u,
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.access_cb = MotionServiceCallback,
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.arg = this,
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.flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_NOTIFY,
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.val_handle = &stepCountHandle},
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{.uuid = &motionValuesCharUuid.u,
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.access_cb = MotionServiceCallback,
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.arg = this,
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.flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_NOTIFY,
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.val_handle = &motionValuesHandle},
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{0}},
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serviceDefinition {
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{
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.type = BLE_GATT_SVC_TYPE_PRIMARY,
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.uuid = &motionServiceUuid.u,
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.characteristics = characteristicDefinition
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},
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{0},
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} {
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// TODO refactor to prevent this loop dependency (service depends on controller and controller depends on service)
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motionController.SetService(this);
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}
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void MotionService::Init() {
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int res = 0;
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res = ble_gatts_count_cfg(serviceDefinition);
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ASSERT(res == 0);
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res = ble_gatts_add_svcs(serviceDefinition);
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ASSERT(res == 0);
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}
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int MotionService::OnStepCountRequested(uint16_t connectionHandle, uint16_t attributeHandle, ble_gatt_access_ctxt* context) {
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if (attributeHandle == stepCountHandle) {
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NRF_LOG_INFO("Motion-stepcount : handle = %d", stepCountHandle);
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uint32_t buffer = motionController.NbSteps();
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int res = os_mbuf_append(context->om, &buffer, 4);
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return (res == 0) ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
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} else if(attributeHandle == motionValuesHandle) {
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int16_t buffer[3] = { motionController.X(), motionController.Y(), motionController.Z() };
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int res = os_mbuf_append(context->om, buffer, 3 * sizeof(int16_t));
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return (res == 0) ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
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}
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return 0;
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}
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void MotionService::OnNewStepCountValue(uint8_t stepCount) {
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if(!stepCountNoficationEnabled) return;
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uint32_t buffer = stepCount;
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auto* om = ble_hs_mbuf_from_flat(&buffer, 4);
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uint16_t connectionHandle = system.nimble().connHandle();
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if (connectionHandle == 0 || connectionHandle == BLE_HS_CONN_HANDLE_NONE) {
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return;
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}
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ble_gattc_notify_custom(connectionHandle, stepCountHandle, om);
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}
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void MotionService::OnNewMotionValues(int16_t x, int16_t y, int16_t z) {
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if(!motionValuesNoficationEnabled) return;
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int16_t buffer[3] = { motionController.X(), motionController.Y(), motionController.Z() };
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auto* om = ble_hs_mbuf_from_flat(buffer, 3 * sizeof(int16_t));
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uint16_t connectionHandle = system.nimble().connHandle();
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if (connectionHandle == 0 || connectionHandle == BLE_HS_CONN_HANDLE_NONE) {
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return;
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}
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ble_gattc_notify_custom(connectionHandle, motionValuesHandle, om);
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}
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void MotionService::SubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle) {
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if(attributeHandle == stepCountHandle)
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stepCountNoficationEnabled = true;
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else if(attributeHandle == motionValuesHandle)
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motionValuesNoficationEnabled = true;
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}
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void MotionService::UnsubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle) {
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if(attributeHandle == stepCountHandle)
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stepCountNoficationEnabled = false;
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else if(attributeHandle == motionValuesHandle)
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motionValuesNoficationEnabled = false;
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}
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39
src/components/ble/MotionService.h
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39
src/components/ble/MotionService.h
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@ -0,0 +1,39 @@
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#pragma once
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#define min // workaround: nimble's min/max macros conflict with libstdc++
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#define max
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#include <host/ble_gap.h>
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#include <atomic>
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#undef max
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#undef min
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namespace Pinetime {
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namespace System {
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class SystemTask;
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}
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namespace Controllers {
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class MotionController;
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class MotionService {
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public:
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MotionService(Pinetime::System::SystemTask& system, Controllers::MotionController& motionController);
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void Init();
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int OnStepCountRequested(uint16_t connectionHandle, uint16_t attributeHandle, ble_gatt_access_ctxt* context);
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void OnNewStepCountValue(uint8_t stepCount);
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void OnNewMotionValues(int16_t x, int16_t y, int16_t z);
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void SubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle);
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void UnsubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle);
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private:
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Pinetime::System::SystemTask& system;
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Controllers::MotionController& motionController;
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struct ble_gatt_chr_def characteristicDefinition[3];
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struct ble_gatt_svc_def serviceDefinition[2];
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uint16_t stepCountHandle;
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uint16_t motionValuesHandle;
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std::atomic_bool stepCountNoficationEnabled {false};
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std::atomic_bool motionValuesNoficationEnabled {false};
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};
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}
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}
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@ -23,7 +23,8 @@ NimbleController::NimbleController(Pinetime::System::SystemTask& systemTask,
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Pinetime::Controllers::NotificationManager& notificationManager,
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Controllers::Battery& batteryController,
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Pinetime::Drivers::SpiNorFlash& spiNorFlash,
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Controllers::HeartRateController& heartRateController)
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Controllers::HeartRateController& heartRateController,
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Controllers::MotionController& motionController)
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: systemTask {systemTask},
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bleController {bleController},
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dateTimeController {dateTimeController},
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@ -39,6 +40,7 @@ NimbleController::NimbleController(Pinetime::System::SystemTask& systemTask,
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batteryInformationService {batteryController},
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immediateAlertService {systemTask, notificationManager},
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heartRateService {systemTask, heartRateController},
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motionService{systemTask, motionController},
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serviceDiscovery({¤tTimeClient, &alertNotificationClient}) {
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}
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@ -81,6 +83,7 @@ void NimbleController::Init() {
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batteryInformationService.Init();
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immediateAlertService.Init();
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heartRateService.Init();
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motionService.Init();
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int rc;
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rc = ble_hs_util_ensure_addr(0);
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@ -19,6 +19,7 @@
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#include "NavigationService.h"
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#include "ServiceDiscovery.h"
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#include "HeartRateService.h"
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#include "MotionService.h"
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namespace Pinetime {
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namespace Drivers {
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@ -43,7 +44,8 @@ namespace Pinetime {
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Pinetime::Controllers::NotificationManager& notificationManager,
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Controllers::Battery& batteryController,
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Pinetime::Drivers::SpiNorFlash& spiNorFlash,
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Controllers::HeartRateController& heartRateController);
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Controllers::HeartRateController& heartRateController,
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Controllers::MotionController& motionController);
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void Init();
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void StartAdvertising();
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int OnGAPEvent(ble_gap_event* event);
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@ -95,6 +97,7 @@ namespace Pinetime {
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BatteryInformationService batteryInformationService;
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ImmediateAlertService immediateAlertService;
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HeartRateService heartRateService;
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MotionService motionService;
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uint8_t addrType; // 1 = Random, 0 = PUBLIC
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uint16_t connectionHandle = BLE_HS_CONN_HANDLE_NONE;
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@ -3,6 +3,14 @@
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using namespace Pinetime::Controllers;
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void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) {
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if (this->nbSteps != nbSteps && service != nullptr) {
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service->OnNewStepCountValue(nbSteps);
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}
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if(service != nullptr && (this->x != x || this->y != y || this->z != z)) {
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service->OnNewMotionValues(x, y, z);
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}
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this->x = x;
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this->y = y;
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this->z = z;
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@ -41,3 +49,6 @@ void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
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default: this->deviceType = DeviceTypes::Unknown; break;
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}
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}
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void MotionController::SetService(Pinetime::Controllers::MotionService* service) {
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this->service = service;
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}
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@ -2,6 +2,7 @@
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#include <cstdint>
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#include <drivers/Bma421.h>
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#include <components/ble/MotionService.h>
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namespace Pinetime {
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namespace Controllers {
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}
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void Init(Pinetime::Drivers::Bma421::DeviceTypes types);
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void SetService(Pinetime::Controllers::MotionService* service);
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private:
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uint32_t nbSteps;
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@ -48,6 +50,7 @@ namespace Pinetime {
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int16_t lastYForWakeUp = 0;
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bool isSensorOk = false;
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DeviceTypes deviceType = DeviceTypes::Unknown;
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Pinetime::Controllers::MotionService* service = nullptr;
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};
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}
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}
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@ -101,7 +101,8 @@ SystemTask::SystemTask(Drivers::SpiMaster& spi,
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heartRateApp(heartRateApp),
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fs {fs},
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touchHandler {touchHandler},
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nimbleController(*this, bleController, dateTimeController, notificationManager, batteryController, spiNorFlash, heartRateController) {
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nimbleController(*this, bleController, dateTimeController, notificationManager,
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batteryController, spiNorFlash, heartRateController, motionController) {
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}
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void SystemTask::Start() {
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