ST BLE Sensor App - Android - Sensor fusion

[darla14]

Does the ST BLE Sensor provided on github has the rotating cube code?

Do the inputs provided to the rotating cube is coming from the sensor-fusion running on the embedded device or on the App side?

Can you please point the code and the source files which is taking the input

Regards,

[Winfred LU]

Sensor fusion is done in App.

Please refer to:

https://github.com/STMicroelectronics/BlueSTSDK_Android/blob/master/BlueSTSDK/src/main/java/com/st/BlueSTSDK/Features/FeatureMemsSensorFusion.java

https://github.com/STMicroelectronics/STBlueMS_Android/blob/master/BlueMS/src/main/java/com/st/BlueMS/demos/memsSensorFusion/MemsSensorFusionFragment.java

[darla14]

Thanks for the reply,

I was checking this code of the firmware :

https://www.st.com/content/my_st_com/en/products/embedded-software/mcu-mpu-embedded-software/stm32-embedded-software/stm32-ode-function-pack-sw/fp-sns-motenvwb1.license=1629827087075.product=FP-SNS-MOTENVWB1.version=1.0.0.html

Here , the Quaternion characteristics are defined and I think here we are calling the below method to get the quaternions from the sensor fusion which is running in the Firmware ( STM32WB side) and then update the characteristics which are being received by the Classes you mention above in the App.

ComputeQuaternions >

 /* Run Sensor Fusion algorithm */

 MotionFX_manager_run(pdata_in, pdata_out, MOTIONFX_ENGINE_DELTATIME);

> Quat_Update(MOTIONFX_Server_App_Context.quat_axes); > this then calls the  MOTENV_STM_App_Update_Char(MOTION_FX_CHAR_UUID, VALUE_LEN_QUAT, (uint8_t *)&value); which finally update the Quternion Charactertics and then it is being recieved by the App and Cube is rotated.

Please correct me !

Regards,

D