Merge pull request #754 from InfiniTimeOrg/add-motion-service

Add motion service
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JF 2021-10-24 20:06:52 +02:00 committed by GitHub
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12 changed files with 252 additions and 13 deletions

17
doc/MotionService.md Normal file
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@ -0,0 +1,17 @@
# Motion Service
## Introduction
The motion service exposes step count and raw X/Y/Z motion value as READ and NOTIFY characteristics.
## Service
The service UUID is **00020000-78fc-48fe-8e23-433b3a1942d0**
## Characteristics
### Step count (UUID 00020001-78fc-48fe-8e23-433b3a1942d0)
The current number of steps represented as a single `uint32_t` (4 bytes) value.
### Raw motion values (UUID 00020002-78fc-48fe-8e23-433b3a1942d0)
The current raw motion values. This is a 3 `int16_t` array:
- [0] : X
- [1] : Y
- [2] : Z

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@ -65,14 +65,19 @@ When the service does not exist in the BLE specification, InfiniTime implements
The following custom services are implemented in InfiniTime: The following custom services are implemented in InfiniTime:
- Since InfiniTime 0.8: - Since InfiniTime 0.8:
``` * Music Service : 00000000-78fc-48fe-8e23-433b3a1942d0
* Music Service : 00000000-78fc-48fe-8e23-433b3a1942d0
```
- Since InfiniTime 0.11: - Since InfiniTime 0.11:
``` * [Navigation Service](NavigationService.md) : 00010000-78fc-48fe-8e23-433b3a1942d0
* Navigation Service : 00010000-78fc-48fe-8e23-433b3a1942d0
```
- Since InfiniTime 0.13
* Call characteristic (extension to the Alert Notification Service): 00020001-78fc-48fe-8e23-433b3a1942d0
- Since InfiniTime 1.7:
* [Motion Service](MotionService.md) : 00030000-78fc-48fe-8e23-433b3a1942d0
--- ---

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@ -477,6 +477,7 @@ list(APPEND SOURCE_FILES
components/ble/ImmediateAlertService.cpp components/ble/ImmediateAlertService.cpp
components/ble/ServiceDiscovery.cpp components/ble/ServiceDiscovery.cpp
components/ble/HeartRateService.cpp components/ble/HeartRateService.cpp
components/ble/MotionService.cpp
components/firmwarevalidator/FirmwareValidator.cpp components/firmwarevalidator/FirmwareValidator.cpp
components/motor/MotorController.cpp components/motor/MotorController.cpp
components/settings/Settings.cpp components/settings/Settings.cpp
@ -545,6 +546,7 @@ list(APPEND RECOVERY_SOURCE_FILES
components/ble/ServiceDiscovery.cpp components/ble/ServiceDiscovery.cpp
components/ble/NavigationService.cpp components/ble/NavigationService.cpp
components/ble/HeartRateService.cpp components/ble/HeartRateService.cpp
components/ble/MotionService.cpp
components/firmwarevalidator/FirmwareValidator.cpp components/firmwarevalidator/FirmwareValidator.cpp
components/settings/Settings.cpp components/settings/Settings.cpp
components/timer/TimerController.cpp components/timer/TimerController.cpp
@ -652,6 +654,7 @@ set(INCLUDE_FILES
components/ble/ServiceDiscovery.h components/ble/ServiceDiscovery.h
components/ble/BleClient.h components/ble/BleClient.h
components/ble/HeartRateService.h components/ble/HeartRateService.h
components/ble/MotionService.h
components/settings/Settings.h components/settings/Settings.h
components/timer/TimerController.h components/timer/TimerController.h
components/alarm/AlarmController.h components/alarm/AlarmController.h

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@ -8,7 +8,7 @@ constexpr ble_uuid16_t HeartRateService::heartRateServiceUuid;
constexpr ble_uuid16_t HeartRateService::heartRateMeasurementUuid; constexpr ble_uuid16_t HeartRateService::heartRateMeasurementUuid;
namespace { namespace {
int HeartRateServiceServiceCallback(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt* ctxt, void* arg) { int HeartRateServiceCallback(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt* ctxt, void* arg) {
auto* heartRateService = static_cast<HeartRateService*>(arg); auto* heartRateService = static_cast<HeartRateService*>(arg);
return heartRateService->OnHeartRateRequested(conn_handle, attr_handle, ctxt); return heartRateService->OnHeartRateRequested(conn_handle, attr_handle, ctxt);
} }
@ -19,7 +19,7 @@ HeartRateService::HeartRateService(Pinetime::System::SystemTask& system, Control
: system {system}, : system {system},
heartRateController {heartRateController}, heartRateController {heartRateController},
characteristicDefinition {{.uuid = &heartRateMeasurementUuid.u, characteristicDefinition {{.uuid = &heartRateMeasurementUuid.u,
.access_cb = HeartRateServiceServiceCallback, .access_cb = HeartRateServiceCallback,
.arg = this, .arg = this,
.flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_NOTIFY, .flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_NOTIFY,
.val_handle = &heartRateMeasurementHandle}, .val_handle = &heartRateMeasurementHandle},
@ -56,6 +56,8 @@ int HeartRateService::OnHeartRateRequested(uint16_t connectionHandle, uint16_t a
} }
void HeartRateService::OnNewHeartRateValue(uint8_t heartRateValue) { void HeartRateService::OnNewHeartRateValue(uint8_t heartRateValue) {
if(!heartRateMeasurementNotificationEnable) return;
uint8_t buffer[2] = {0, heartRateController.HeartRate()}; // [0] = flags, [1] = hr value uint8_t buffer[2] = {0, heartRateController.HeartRate()}; // [0] = flags, [1] = hr value
auto* om = ble_hs_mbuf_from_flat(buffer, 2); auto* om = ble_hs_mbuf_from_flat(buffer, 2);
@ -67,3 +69,13 @@ void HeartRateService::OnNewHeartRateValue(uint8_t heartRateValue) {
ble_gattc_notify_custom(connectionHandle, heartRateMeasurementHandle, om); ble_gattc_notify_custom(connectionHandle, heartRateMeasurementHandle, om);
} }
void HeartRateService::SubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle) {
if(attributeHandle == heartRateMeasurementHandle)
heartRateMeasurementNotificationEnable = true;
}
void HeartRateService::UnsubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle) {
if(attributeHandle == heartRateMeasurementHandle)
heartRateMeasurementNotificationEnable = false;
}

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@ -2,6 +2,7 @@
#define min // workaround: nimble's min/max macros conflict with libstdc++ #define min // workaround: nimble's min/max macros conflict with libstdc++
#define max #define max
#include <host/ble_gap.h> #include <host/ble_gap.h>
#include <atomic>
#undef max #undef max
#undef min #undef min
@ -18,6 +19,9 @@ namespace Pinetime {
int OnHeartRateRequested(uint16_t connectionHandle, uint16_t attributeHandle, ble_gatt_access_ctxt* context); int OnHeartRateRequested(uint16_t connectionHandle, uint16_t attributeHandle, ble_gatt_access_ctxt* context);
void OnNewHeartRateValue(uint8_t hearRateValue); void OnNewHeartRateValue(uint8_t hearRateValue);
void SubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle);
void UnsubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle);
private: private:
Pinetime::System::SystemTask& system; Pinetime::System::SystemTask& system;
Controllers::HeartRateController& heartRateController; Controllers::HeartRateController& heartRateController;
@ -28,10 +32,11 @@ namespace Pinetime {
static constexpr ble_uuid16_t heartRateMeasurementUuid {.u {.type = BLE_UUID_TYPE_16}, .value = heartRateMeasurementId}; static constexpr ble_uuid16_t heartRateMeasurementUuid {.u {.type = BLE_UUID_TYPE_16}, .value = heartRateMeasurementId};
struct ble_gatt_chr_def characteristicDefinition[3]; struct ble_gatt_chr_def characteristicDefinition[2];
struct ble_gatt_svc_def serviceDefinition[2]; struct ble_gatt_svc_def serviceDefinition[2];
uint16_t heartRateMeasurementHandle; uint16_t heartRateMeasurementHandle;
std::atomic_bool heartRateMeasurementNotificationEnable {false};
}; };
} }
} }

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@ -0,0 +1,124 @@
#include "MotionService.h"
#include "components/motion//MotionController.h"
#include "systemtask/SystemTask.h"
using namespace Pinetime::Controllers;
namespace {
// 0002yyxx-78fc-48fe-8e23-433b3a1942d0
constexpr ble_uuid128_t CharUuid(uint8_t x, uint8_t y) {
return ble_uuid128_t{
.u = {.type = BLE_UUID_TYPE_128},
.value = { 0xd0, 0x42, 0x19, 0x3a, 0x3b, 0x43, 0x23, 0x8e, 0xfe, 0x48, 0xfc, 0x78, x, y, 0x03, 0x00 }
};
}
// 00020000-78fc-48fe-8e23-433b3a1942d0
constexpr ble_uuid128_t BaseUuid() {
return CharUuid(0x00, 0x00);
}
constexpr ble_uuid128_t motionServiceUuid {BaseUuid()};
constexpr ble_uuid128_t stepCountCharUuid {CharUuid(0x01, 0x00)};
constexpr ble_uuid128_t motionValuesCharUuid {CharUuid(0x02, 0x00)};
int MotionServiceCallback(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt* ctxt, void* arg) {
auto* motionService = static_cast<MotionService*>(arg);
return motionService->OnStepCountRequested(conn_handle, attr_handle, ctxt);
}
}
// TODO Refactoring - remove dependency to SystemTask
MotionService::MotionService(Pinetime::System::SystemTask& system, Controllers::MotionController& motionController)
: system {system},
motionController {motionController},
characteristicDefinition {{.uuid = &stepCountCharUuid.u,
.access_cb = MotionServiceCallback,
.arg = this,
.flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_NOTIFY,
.val_handle = &stepCountHandle},
{.uuid = &motionValuesCharUuid.u,
.access_cb = MotionServiceCallback,
.arg = this,
.flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_NOTIFY,
.val_handle = &motionValuesHandle},
{0}},
serviceDefinition {
{
.type = BLE_GATT_SVC_TYPE_PRIMARY,
.uuid = &motionServiceUuid.u,
.characteristics = characteristicDefinition
},
{0},
} {
// TODO refactor to prevent this loop dependency (service depends on controller and controller depends on service)
motionController.SetService(this);
}
void MotionService::Init() {
int res = 0;
res = ble_gatts_count_cfg(serviceDefinition);
ASSERT(res == 0);
res = ble_gatts_add_svcs(serviceDefinition);
ASSERT(res == 0);
}
int MotionService::OnStepCountRequested(uint16_t connectionHandle, uint16_t attributeHandle, ble_gatt_access_ctxt* context) {
if (attributeHandle == stepCountHandle) {
NRF_LOG_INFO("Motion-stepcount : handle = %d", stepCountHandle);
uint32_t buffer = motionController.NbSteps();
int res = os_mbuf_append(context->om, &buffer, 4);
return (res == 0) ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
} else if(attributeHandle == motionValuesHandle) {
int16_t buffer[3] = { motionController.X(), motionController.Y(), motionController.Z() };
int res = os_mbuf_append(context->om, buffer, 3 * sizeof(int16_t));
return (res == 0) ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
}
return 0;
}
void MotionService::OnNewStepCountValue(uint8_t stepCount) {
if(!stepCountNoficationEnabled) return;
uint32_t buffer = stepCount;
auto* om = ble_hs_mbuf_from_flat(&buffer, 4);
uint16_t connectionHandle = system.nimble().connHandle();
if (connectionHandle == 0 || connectionHandle == BLE_HS_CONN_HANDLE_NONE) {
return;
}
ble_gattc_notify_custom(connectionHandle, stepCountHandle, om);
}
void MotionService::OnNewMotionValues(int16_t x, int16_t y, int16_t z) {
if(!motionValuesNoficationEnabled) return;
int16_t buffer[3] = { motionController.X(), motionController.Y(), motionController.Z() };
auto* om = ble_hs_mbuf_from_flat(buffer, 3 * sizeof(int16_t));
uint16_t connectionHandle = system.nimble().connHandle();
if (connectionHandle == 0 || connectionHandle == BLE_HS_CONN_HANDLE_NONE) {
return;
}
ble_gattc_notify_custom(connectionHandle, motionValuesHandle, om);
}
void MotionService::SubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle) {
if(attributeHandle == stepCountHandle)
stepCountNoficationEnabled = true;
else if(attributeHandle == motionValuesHandle)
motionValuesNoficationEnabled = true;
}
void MotionService::UnsubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle) {
if(attributeHandle == stepCountHandle)
stepCountNoficationEnabled = false;
else if(attributeHandle == motionValuesHandle)
motionValuesNoficationEnabled = false;
}

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@ -0,0 +1,39 @@
#pragma once
#define min // workaround: nimble's min/max macros conflict with libstdc++
#define max
#include <host/ble_gap.h>
#include <atomic>
#undef max
#undef min
namespace Pinetime {
namespace System {
class SystemTask;
}
namespace Controllers {
class MotionController;
class MotionService {
public:
MotionService(Pinetime::System::SystemTask& system, Controllers::MotionController& motionController);
void Init();
int OnStepCountRequested(uint16_t connectionHandle, uint16_t attributeHandle, ble_gatt_access_ctxt* context);
void OnNewStepCountValue(uint8_t stepCount);
void OnNewMotionValues(int16_t x, int16_t y, int16_t z);
void SubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle);
void UnsubscribeNotification(uint16_t connectionHandle, uint16_t attributeHandle);
private:
Pinetime::System::SystemTask& system;
Controllers::MotionController& motionController;
struct ble_gatt_chr_def characteristicDefinition[3];
struct ble_gatt_svc_def serviceDefinition[2];
uint16_t stepCountHandle;
uint16_t motionValuesHandle;
std::atomic_bool stepCountNoficationEnabled {false};
std::atomic_bool motionValuesNoficationEnabled {false};
};
}
}

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@ -23,7 +23,8 @@ NimbleController::NimbleController(Pinetime::System::SystemTask& systemTask,
Pinetime::Controllers::NotificationManager& notificationManager, Pinetime::Controllers::NotificationManager& notificationManager,
Controllers::Battery& batteryController, Controllers::Battery& batteryController,
Pinetime::Drivers::SpiNorFlash& spiNorFlash, Pinetime::Drivers::SpiNorFlash& spiNorFlash,
Controllers::HeartRateController& heartRateController) Controllers::HeartRateController& heartRateController,
Controllers::MotionController& motionController)
: systemTask {systemTask}, : systemTask {systemTask},
bleController {bleController}, bleController {bleController},
dateTimeController {dateTimeController}, dateTimeController {dateTimeController},
@ -39,6 +40,7 @@ NimbleController::NimbleController(Pinetime::System::SystemTask& systemTask,
batteryInformationService {batteryController}, batteryInformationService {batteryController},
immediateAlertService {systemTask, notificationManager}, immediateAlertService {systemTask, notificationManager},
heartRateService {systemTask, heartRateController}, heartRateService {systemTask, heartRateController},
motionService{systemTask, motionController},
serviceDiscovery({&currentTimeClient, &alertNotificationClient}) { serviceDiscovery({&currentTimeClient, &alertNotificationClient}) {
} }
@ -81,6 +83,7 @@ void NimbleController::Init() {
batteryInformationService.Init(); batteryInformationService.Init();
immediateAlertService.Init(); immediateAlertService.Init();
heartRateService.Init(); heartRateService.Init();
motionService.Init();
int rc; int rc;
rc = ble_hs_util_ensure_addr(0); rc = ble_hs_util_ensure_addr(0);
@ -215,6 +218,19 @@ int NimbleController::OnGAPEvent(ble_gap_event* event) {
event->subscribe.prev_notify, event->subscribe.prev_notify,
event->subscribe.cur_notify, event->subscribe.cur_notify,
event->subscribe.prev_indicate); event->subscribe.prev_indicate);
if(event->subscribe.reason == BLE_GAP_SUBSCRIBE_REASON_TERM) {
heartRateService.UnsubscribeNotification(event->subscribe.conn_handle, event->subscribe.attr_handle);
motionService.UnsubscribeNotification(event->subscribe.conn_handle, event->subscribe.attr_handle);
}
else if(event->subscribe.prev_notify == 0 && event->subscribe.cur_notify == 1) {
heartRateService.SubscribeNotification(event->subscribe.conn_handle, event->subscribe.attr_handle);
motionService.SubscribeNotification(event->subscribe.conn_handle, event->subscribe.attr_handle);
}
else if(event->subscribe.prev_notify == 1 && event->subscribe.cur_notify == 0) {
heartRateService.UnsubscribeNotification(event->subscribe.conn_handle, event->subscribe.attr_handle);
motionService.UnsubscribeNotification(event->subscribe.conn_handle, event->subscribe.attr_handle);
}
break; break;
case BLE_GAP_EVENT_MTU: case BLE_GAP_EVENT_MTU:

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@ -19,6 +19,7 @@
#include "NavigationService.h" #include "NavigationService.h"
#include "ServiceDiscovery.h" #include "ServiceDiscovery.h"
#include "HeartRateService.h" #include "HeartRateService.h"
#include "MotionService.h"
namespace Pinetime { namespace Pinetime {
namespace Drivers { namespace Drivers {
@ -43,7 +44,8 @@ namespace Pinetime {
Pinetime::Controllers::NotificationManager& notificationManager, Pinetime::Controllers::NotificationManager& notificationManager,
Controllers::Battery& batteryController, Controllers::Battery& batteryController,
Pinetime::Drivers::SpiNorFlash& spiNorFlash, Pinetime::Drivers::SpiNorFlash& spiNorFlash,
Controllers::HeartRateController& heartRateController); Controllers::HeartRateController& heartRateController,
Controllers::MotionController& motionController);
void Init(); void Init();
void StartAdvertising(); void StartAdvertising();
int OnGAPEvent(ble_gap_event* event); int OnGAPEvent(ble_gap_event* event);
@ -95,6 +97,7 @@ namespace Pinetime {
BatteryInformationService batteryInformationService; BatteryInformationService batteryInformationService;
ImmediateAlertService immediateAlertService; ImmediateAlertService immediateAlertService;
HeartRateService heartRateService; HeartRateService heartRateService;
MotionService motionService;
uint8_t addrType; // 1 = Random, 0 = PUBLIC uint8_t addrType; // 1 = Random, 0 = PUBLIC
uint16_t connectionHandle = BLE_HS_CONN_HANDLE_NONE; uint16_t connectionHandle = BLE_HS_CONN_HANDLE_NONE;

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@ -3,6 +3,14 @@
using namespace Pinetime::Controllers; using namespace Pinetime::Controllers;
void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) { void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) {
if (this->nbSteps != nbSteps && service != nullptr) {
service->OnNewStepCountValue(nbSteps);
}
if(service != nullptr && (this->x != x || this->y != y || this->z != z)) {
service->OnNewMotionValues(x, y, z);
}
this->x = x; this->x = x;
this->y = y; this->y = y;
this->z = z; this->z = z;
@ -41,3 +49,6 @@ void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
default: this->deviceType = DeviceTypes::Unknown; break; default: this->deviceType = DeviceTypes::Unknown; break;
} }
} }
void MotionController::SetService(Pinetime::Controllers::MotionService* service) {
this->service = service;
}

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@ -2,6 +2,7 @@
#include <cstdint> #include <cstdint>
#include <drivers/Bma421.h> #include <drivers/Bma421.h>
#include <components/ble/MotionService.h>
namespace Pinetime { namespace Pinetime {
namespace Controllers { namespace Controllers {
@ -39,6 +40,7 @@ namespace Pinetime {
} }
void Init(Pinetime::Drivers::Bma421::DeviceTypes types); void Init(Pinetime::Drivers::Bma421::DeviceTypes types);
void SetService(Pinetime::Controllers::MotionService* service);
private: private:
uint32_t nbSteps; uint32_t nbSteps;
@ -48,6 +50,7 @@ namespace Pinetime {
int16_t lastYForWakeUp = 0; int16_t lastYForWakeUp = 0;
bool isSensorOk = false; bool isSensorOk = false;
DeviceTypes deviceType = DeviceTypes::Unknown; DeviceTypes deviceType = DeviceTypes::Unknown;
Pinetime::Controllers::MotionService* service = nullptr;
}; };
} }
} }

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@ -101,7 +101,8 @@ SystemTask::SystemTask(Drivers::SpiMaster& spi,
heartRateApp(heartRateApp), heartRateApp(heartRateApp),
fs {fs}, fs {fs},
touchHandler {touchHandler}, touchHandler {touchHandler},
nimbleController(*this, bleController, dateTimeController, notificationManager, batteryController, spiNorFlash, heartRateController) { nimbleController(*this, bleController, dateTimeController, notificationManager,
batteryController, spiNorFlash, heartRateController, motionController) {
} }
void SystemTask::Start() { void SystemTask::Start() {