From 60a49af886f16b4bbd8012cd711374f3fdb94efc Mon Sep 17 00:00:00 2001 From: Jean-François Milants Date: Sun, 17 Oct 2021 08:23:44 +0200 Subject: Add MotionService : expose step count and RAW X/Y/Z values to the host. --- src/components/ble/MotionService.cpp | 124 ++++++++++++++++++++++++++++++++ src/components/ble/MotionService.h | 39 ++++++++++ src/components/ble/NimbleController.cpp | 5 +- src/components/ble/NimbleController.h | 5 +- 4 files changed, 171 insertions(+), 2 deletions(-) create mode 100644 src/components/ble/MotionService.cpp create mode 100644 src/components/ble/MotionService.h (limited to 'src/components/ble') diff --git a/src/components/ble/MotionService.cpp b/src/components/ble/MotionService.cpp new file mode 100644 index 00000000..2bb5289c --- /dev/null +++ b/src/components/ble/MotionService.cpp @@ -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, 0x02, 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(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; +} diff --git a/src/components/ble/MotionService.h b/src/components/ble/MotionService.h new file mode 100644 index 00000000..75ad5182 --- /dev/null +++ b/src/components/ble/MotionService.h @@ -0,0 +1,39 @@ +#pragma once +#define min // workaround: nimble's min/max macros conflict with libstdc++ +#define max +#include +#include +#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}; + }; + } +} diff --git a/src/components/ble/NimbleController.cpp b/src/components/ble/NimbleController.cpp index 931c3ae1..09a9b99f 100644 --- a/src/components/ble/NimbleController.cpp +++ b/src/components/ble/NimbleController.cpp @@ -23,7 +23,8 @@ NimbleController::NimbleController(Pinetime::System::SystemTask& systemTask, Pinetime::Controllers::NotificationManager& notificationManager, Controllers::Battery& batteryController, Pinetime::Drivers::SpiNorFlash& spiNorFlash, - Controllers::HeartRateController& heartRateController) + Controllers::HeartRateController& heartRateController, + Controllers::MotionController& motionController) : systemTask {systemTask}, bleController {bleController}, dateTimeController {dateTimeController}, @@ -39,6 +40,7 @@ NimbleController::NimbleController(Pinetime::System::SystemTask& systemTask, batteryInformationService {batteryController}, immediateAlertService {systemTask, notificationManager}, heartRateService {systemTask, heartRateController}, + motionService{systemTask, motionController}, serviceDiscovery({¤tTimeClient, &alertNotificationClient}) { } @@ -81,6 +83,7 @@ void NimbleController::Init() { batteryInformationService.Init(); immediateAlertService.Init(); heartRateService.Init(); + motionService.Init(); int rc; rc = ble_hs_util_ensure_addr(0); diff --git a/src/components/ble/NimbleController.h b/src/components/ble/NimbleController.h index 473bb1af..76f89ba8 100644 --- a/src/components/ble/NimbleController.h +++ b/src/components/ble/NimbleController.h @@ -19,6 +19,7 @@ #include "NavigationService.h" #include "ServiceDiscovery.h" #include "HeartRateService.h" +#include "MotionService.h" namespace Pinetime { namespace Drivers { @@ -43,7 +44,8 @@ namespace Pinetime { Pinetime::Controllers::NotificationManager& notificationManager, Controllers::Battery& batteryController, Pinetime::Drivers::SpiNorFlash& spiNorFlash, - Controllers::HeartRateController& heartRateController); + Controllers::HeartRateController& heartRateController, + Controllers::MotionController& motionController); void Init(); void StartAdvertising(); int OnGAPEvent(ble_gap_event* event); @@ -95,6 +97,7 @@ namespace Pinetime { BatteryInformationService batteryInformationService; ImmediateAlertService immediateAlertService; HeartRateService heartRateService; + MotionService motionService; uint8_t addrType; // 1 = Random, 0 = PUBLIC uint16_t connectionHandle = BLE_HS_CONN_HANDLE_NONE; -- cgit v1.2.3