ST FP-SNS-FLIGHT1 User Manual

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www.st.com

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User manual

Getting started with the STM32 ODE function pack for IoT node with NFC,

BLE connectivity and environmental, motion and Time-of-Flight sensors

Introduction

FP-SNS-FLIGHT1 is an STM32 ODE function pack for connecting an IoT node to a smartphone via
Bluetooth low energy and view real time humidity, pressure, motion, proximity and ambient light sensor
data (for X-NUCLEO-6180XA1 only).

It uses the NDEF standard for simple and secure Bluetooth pairing, storing the necessary information on
the NFC tag and thus simplifying the device configuration. It includes the functionality to perform
firmware over-the-air updating (FOTA) with the ST BlueMS application for Android/iOS devices.

This package lets you jump-start your sensor node development so that you can focus on adding
desired functions.

The expansion is built on STM32Cube software technology to ease portability across different STM32
microcontrollers.

The software comes with sample driver implementations running on the X-NUCLEO-IKS01A2 (or X­NUCLEO-IKS01A1), X-NUCLEO-53L0A1 (or X-NUCLEO-6180XA1), X-NUCLEO-NFC01A1 and the X­NUCLEO-IDB05A1 (or X-NUCLEO-IDB04A1) boards connected to a NUCLEO-F401RE or NUCLEO­L476RG development board.

Contents

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Contents

1 Acronyms and abbreviations ......................................................... 5

2 FP-SNS-FLIGHT1 software description.......................................... 6

2.1 Overview ........................................................................................... 6

2.2 Architecture ....................................................................................... 7

2.3 Folder structure ................................................................................. 9

2.4 Flash organization ........................................................................... 10

2.5 The boot process ............................................................................ 11

2.6 The installation process .................................................................. 12

2.7 Firmware-over-the-air (FOTA) update ............................................. 17

2.8 APIs ................................................................................................ 17

2.9 Sample application description ........................................................ 17

2.10 Android and iOS sample client application ...................................... 23

2.11 Firmware over-the-air (FOTA) update with BlueMS ........................ 35

3 System setup guide ....................................................................... 39

3.1 Hardware description ...................................................................... 39

3.1.1 STM32 Nucleo platform .................................................................... 39

3.1.2 X-NUCLEO-IDB04A1 expansion board............................................ 40

3.1.3 X-NUCLEO-IDB05A1 expansion board............................................ 40

3.1.4 X-NUCLEO-NFC01A1 expansion board .......................................... 41

3.1.5 X-NUCLEO-IKS01A1 expansion board ............................................ 42

3.1.6 X-NUCLEO-IKS01A2 expansion board ............................................ 43

3.1.7 X-NUCLEO-6180XA1 expansion board ........................................... 44

3.1.8 X-NUCLEO-53L0A1 expansion board .............................................. 45

3.2 Software description ........................................................................ 46

3.3 Hardware and software setup ......................................................... 47

3.3.1 Hardware setup ................................................................................ 47

3.3.2 Software setup .................................................................................. 47

3.3.3 System setup guide .......................................................................... 47

4 Revision history ............................................................................ 49

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List of tables

Table 1: Acronyms and abbreviations ........................................................................................................ 5

Table 2: Document revision history .......................................................................................................... 49

List of figures

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List of figures

Figure 1: FP-SNS-FLIGHT1 software architecture ..................................................................................... 9

Figure 2: FP-SNS-FLIGHT1 package folder structure ................................................................................ 9

Figure 3: FP-SNS-FLIGHT1 Flash structure ............................................................................................ 11

Figure 4: Bootloader folder content .......................................................................................................... 12

Figure 5: FP-SNS-FLIGHT1 Flash structure ............................................................................................ 12

Figure 6: Binary folder content .................................................................................................................. 13

Figure 7: Content of a project folder ......................................................................................................... 14

Figure 8: BootLoader and FP-SNS-FLIGHT1 installation ......................................................................... 15

Figure 9: FP-SNS-FLIGHT1 dump process .............................................................................................. 16

Figure 10: Terminal setting ....................................................................................................................... 18

Figure 11: Initialization phase ................................................................................................................... 19

Figure 12: UART console output when the BLE services are started ...................................................... 20

Figure 13: UART console output when a device first connects with the board ........................................ 22

Figure 14: UART console output when one device are already trusted ................................................... 23

Figure 15: BlueMS (android version) main page (after BLE connection) ................................................. 24

Figure 16: BlueMS (Android version) MotionFX sensor fusion page ....................................................... 25

Figure 17: BlueMS (Android version) popup windows .............................................................................. 26

Figure 18: BlueMS (android version) example of plot value ..................................................................... 27

Figure 19: BlueMS (android version) menu selection ............................................................................... 28

Figure 20: BlueMS (android version) Serial console (stdout/stderr) ......................................................... 29

Figure 21: BlueMS (android version) Debug console (stdin/stdout/stderr) ............................................... 30

Figure 22: BlueMS (android version) Debug console - change transmission frequency ......................... 31

Figure 23: BlueMS (Android version) MotionAR activity recognition page ............................................... 32

Figure 24: BlueMS (Android version) MotionCP carry position recognition page .................................... 33

Figure 25: BlueMS (Android version) MotionGR gesture recognition page ............................................. 34

Figure 26: BlueMS (Android version) gesture detection page .................................................................. 35

Figure 27: BlueMS (Android version) firmware upgrade page ................................................................. 36

Figure 28: BlueMS (Android version) firmware update file selection ........................................................ 37

Figure 29: Terminal window information during FOTA ............................................................................. 38

Figure 30: BlueMS (Android version) application page during FOTA and on completion ........................ 38

Figure 31: STM32 Nucleo board ............................................................................................................... 39

Figure 32: X-NUCLEO-IDB04A1 expansion board ................................................................................... 40

Figure 33: X-NUCLEO-IDB05A1 expansion board ................................................................................... 41

Figure 34: X-NUCLEO-NFC01A1 M24SR64-Y dynamic NFC tag expansion board ............................... 42

Figure 35: X-NUCLEO-IKS01A1 expansion board ................................................................................... 43

Figure 36: X-NUCLEO-IKS01A2 MEMS and environmental sensor expansion board ............................ 44

Figure 37: X-NUCLEO-6180XA1 expansion board .................................................................................. 45

Figure 38: X-NUCLEO-53L0A1 expansion board ..................................................................................... 46

Figure 39: STM32 Nucleo development board plus X-NUCLEO-IDB05A1, X-NUCLEO-NFC01A1, X-

NUCLEO-IKS01A1 and X-NUCLEO-6180XA1 expansion boards ........................................................... 48

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1 Acronyms and abbreviations

Table 1: Acronyms and abbreviations

Acronym

Description

BLE

Bluetooth low energy

NFC

Near field communication

NDEF

NFC data exchange format

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2 FP-SNS-FLIGHT1 software description

2.1 Overview

The key features of the FP-SNS-FLIGHT1 package are:
 For STM32 Nucleo board with X-NUCLEO-IKS01A1 expansion boards, complete

middleware to build applications using temperature and humidity sensors (HTS221),
pressure sensor (LPS25HB), motion sensors (LIS3MDL and LSM6DS0), motion
sensor LSM6DS3 mounted on a DIL24 expansion component, VL53L0X proximity
sensor (or VL6180X proximity and ambient light sensing) module and M24SR64-Y
dynamic NFC/RFID tag (using the NDEF standard).

 For STM32 Nucleo board with X-NUCLEO-IKS01A2 expansion boards, complete

middleware to build applications using temperature and humidity sensor (HTS221),
pressure sensor (LPS22HB), motion sensors (LSM303AGR and LSM6DSL), VL53L0X
proximity sensor (or VL6180X proximity and ambient light sensing) module and
M24SR64-Y Dynamic NFC/RFID tag (using the NDEF standard).

 Very low power Bluetooth low energy (BlueNRG) single-mode network processor,

compliant with Bluetooth specifications core for transmitting information to one client.

 MotionFX (iNEMOEngine PRO) real-time motion sensor data fusion to combine the

output from multiple MEMS sensors.

 MotionAR (iNEMOEngine PRO) real-time activity-recognition algorithm based only on

accelerometer data.

 MotionCP (iNEMOEngine PRO) carry position detection algorithm based only on

accelerometer data.

 MotionGR (iNEMOEngine PRO) gesture recognition algorithm based only on

accelerometer data.

 Proximity-based hand gesture detection algorithm based on VL53L0X (or VL6180X)

proximity sensors.

 Easy portability across different MCU families, thanks to STM32Cube.
 Compatible with BlueMS application for Android/iOS (ver. 2.0.0 or higher) available on

the respective online Google Play™/iTunes™ stores.

 Over-the-air firmware update using the BlueMS application version 3.0.0 or higher (for

X-NUCLEO-IDB05A1 Bluetooth low energy expansion board only).

 Free, user-friendly license terms.
 Sample implementation on X-NUCLEO-NFC01A1, X-NUCLEO-IKS01A2 (or X-

NUCLEO-IKS01A1), X-NUCLEO-53L0A1 (or X-NUCLEO-6180XA1) and X-NUCLEO­IDB05A1 (or X-NUCLEO-IDB04A1) expansion boards when connected to a NUCLEO-

F401RE or NUCLEO-L476RG development board.
This software creates the following Bluetooth services:
 the first service exposes all the hardware features and contains the following

characteristics:

 temperature

 pressure

 humidity

 luminosity (for X-NUCLEO-6180XA1 only)

 proximity

 3D gyroscope, 3D magnetometer, 3D accelerometer
 the second service exposes all the software features and contains the following

characteristics:

 quaternions generated by the MotionFX library in short precision

 recognized activity using the MotionAR algorithm

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 recognized carry position using the MotionCP algorithm

 recognized gesture using the MotionGR algorithm

 the hand gesture recognized by the gesture detection middleware
 the third is the Console service that includes two characteristics:

 stdin/stdout with bi-directional communication between client and server

 stderr for a mono-directional channel from the STM32 Nucleo board to an

Android/iOS device

 the last service is for transmitting/resetting the calibration status.
This software gathers:
 the temperature, humidity, pressure, light (for X-NUCLEO-6180XA1 only), distance

and motion sensor drivers for the HTS221, LPS25H, VL53L0A1 (or VL6180X),

LSM6DS0 (or LSM6DS3) and LIS3MDL devices for STM32 Nucleo expansion boards

with X-NUCLEO-IKS01A1.
 the temperature, humidity, pressure, light (with only X-NUCLEO-6180XA1), distance

and motion sensor drivers for the HTS221, LPS22H, VL53L0A1 (or VL6180X),

LSM6DSL and LSM303AGR devices for STM32 Nucleo expansion boards with X-

NUCLEO-IKS01A2.
This package is compatible with the BlueMS Android/iOS (ver. 2.2.0 or higher) application,

available at the respective Google Play/iTunes stores, which can be used for displaying
information sent via the Bluetooth low energy protocol. BlueMS version 3.0.0 and above is
required for Over-The-Air firmware updates (for X-NUCLEO-IDB05A1 Bluetooth low energy
expansion board only).

2.2 Architecture

This software is based on the STM32CubeHAL hardware abstraction layer for the STM32
microcontroller. The package extends STM32Cube by providing a board support package
(BSP) for the BlueNRG-1 sensor expansion board, proximity and ambient light sensing (for
X-NUCLEO-6180XA1 only) module and the dynamic NFC tag expansion boards, and some
middleware components for communication with other Bluetooth low energy devices: it also
enables data exchange with an NFC-ready device using the NDEF standard.

BlueNRG is a very low power Bluetooth low energy (BLE) single-mode network processor.
The MotionFX (iNEMOEngine PRO) filtering and predictive suite uses advanced algorithms

to intelligently integrate multiple MEMS sensor outputs, regardless of environmental
conditions achieving an optimal performance. Real-time motion sensor data fusion is set to
increase accuracy, resolution, stability and response time.

The MotionAR (iNEMOEngine PRO) real-time software acquires data from the
accelerometer to recognize user activities. The software can also be combined with other
human motion recognition algorithms and can significantly improve user experience in
advanced motion-based applications in consumer, computer, industrial and medical fields.

The MotionCP (iNEMOEngine PRO) real-time software acquires data from the
accelerometer to recognize board positions (on desk, on head, near head, shirt pocket,
trousers pocket and in swinging arm).

The MotionGR (iNEMOEngine PRO) real-time software acquires data from the
accelerometer and recognizes user gestures (pick up, glance and wake up).

The gesture detect software library uses the X-NUCLEO-53L0A1 (or X-NUCLEO­6180XA10) on-board sensor plus two additional satellites to detect tap and swipe (from left
to right and from right to left) gestures.

Activity recognition, carry position and gesture recognition are managed through a specific
software for mobile and wearable applications, and the exclusive use of the accelerometer

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by MotionAR, MotionCP, and MotionGR facilitates the low power consumption required in
this field of application, in compliance with Bluetooth specifications core 4.0 (X-NUCLEO­IDB04A1) or 4.2 (X-NUCLEO-IDB05A1) for STM32 Nucleo boards. The drivers abstract
low-level hardware details and allow the middleware components and applications to
access the Dynamic NFC tag and all the other sensors in a hardware-independent manner.

The package includes a sample application that the developer can use to start
experimenting with the code. The sample application was developed to enable NFC pairing
and to transmit the values read from all the sensors (temperature, humidity, pressure,
luminosity, proximity, accelerometer, magnetometer and gyroscope) to a Bluetooth low
energy-enabled device such as an Android™ or iOS™-based smartphone.

You can use the BlueMS Android/iOS application (version 2.2.0 or higher), from the
respective Google Play™ and iTunes™ stores, to visualize the results of the MotionFX,
MotionAR, MotionCP, MotionGR and gesture detection algorithms and display the values
read from the accelerometer, magnetometer, gyroscope, temperature, humidity, pressure,
luminosity and proximity sensors.

Version 3.0.0 or higher allows over-the-air firmware update (with X-NUCLEO-IDB05A1
Bluetooth low energy expansion boards only).

The ST BlueMS Android/iOS application was developed to enable NFC pairing prior to
sensor data transmission.

The software layers used by the application software to access and use the Sensors
expansion boards are:

 STM32Cube HAL driver layer: provides a simple, generic, multi-instance set of APIs

(application programming interfaces) to interact with the upper layers (application,

libraries and stacks). It is composed of generic and extension APIs and is directly built

around a generic architecture and allows the layers built on top of it, such as the

middleware layer, to implement their functions without dependending on the specific

hardware configuration for a given microcontroller unit (MCU). This structure improves

library code reusability and guarantees an easy portability across other devices.
 Board Support Package (BSP) layer: provides support for the peripherals (excluding

the MCU) on the STM32 Nucleo board through the board support package (BSP). The

BSP is a limited set of APIs which provides a programming interface for certain board-

specific peripherals like the LED, the user button, etc.

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The next figure outlines the software architecture of the package:

Figure 1: FP-SNS-FLIGHT1 software architecture

2.3 Folder structure

Figure 2: FP-SNS-FLIGHT1 package folder structure

The following folders are included in the software package:
 Documentation: contains a compiled HTML file generated from the source code,

detailing the software components and APIs.
 Drivers: contains the HAL drivers, the board specific drivers for each supported board

or hardware platform, including the on-board components and the CMSIS vendor-

independent hardware abstraction layer for the Cortex-M processor series.
 Middlewares: contains libraries and protocols for BlueNRG-1 Bluetooth low energy

and NDEF devices, the Meta Data Manager, MotionFX (iNEMOEngine PRO) sensor

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fusion library, MotionAR (iNEMOEngine PRO) activity-recognition library, MotionCP

(iNEMOEngine PRO) carry-position recognition library, MotionGR (iNEMOEngine

PRO) gesture recognition library and for the gesture detection algorithm.
 Projects: contains a sample application used to transmit the sensor data and

MotionFX sensor fusion output, MotionAR activity-recognition, MotionCP carry-

position, MotionGR gesture recognition and for the gesture detection algorithm via the

Bluetooth low energy protocol provided for the NUCLEO-F401RE/NUCLEO-L476RG

platforms through the IAR Embedded Workbench for ARM, RealView Microcontroller

Development Kit (MDK-ARM) and System Workbench for STM32 development

environments.
 Utilities: contains the boot loader binary ready to be flashed for the STM32F401RE

and STM32L476RG Nucleo boards.

2.4 Flash organization

Apart from storing its code, FP-SNS-FLIGHT1 uses the Flash memory to allow the
Firmware-Over-The-Air update.

To enable this feature the Flash memory is divided into three different regions (see Figure

3: "FP-SNS-FLIGHT1 Flash structure"):

1. the first region contains a custom boot loader

2. the second region contains the FP-SNS-FLIGHT1 firmware

3. the third region is used to store the FOTA before the update
Even if the STM32F401RE (512 KB) and the STM32L476RG (1024 KB) cache sizes and

arrangements differ, the same Flash arrangement has been used for both.
For further information, refer to:
 (RM0368) Reference manual STM32F401xB/C and STM32F401xD/E advanced

ARM®-based 32-bit MCUs
 (RM0351) Reference manual STM32L4x6 advanced ARM®-based 32-bit MCUs

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Figure 3: FP-SNS-FLIGHT1 Flash structure

2.5 The boot process

The FP-SNS-FLIGHT1 cannot be flashed at the beginning of the Flash memory (address
0x08000000); therefore it is compiled to run from the beginning of the second Flash region
(0x08004000).

To enable this behavior, the vector table offset has been set in Src/system_stm32f4xx.c
(for STM32F401) and Src/system_stm32l4xx.c (for STM32L476) thus: #define
VECT_TAB_OFFSET 0x4000.

The linker script has also been changed.
For example, the linker script for SP-SNS-FLIGHT1 running on STM32F401RE and

compiled using IAR Embedded Workbench for ARM is:

define symbol __ICFEDIT_intvec_start__ = 0x08004000;

/*-Memory Regions-*/
define symbol __ICFEDIT_region_ROM_start__ = 0x08004000;
define symbol __ICFEDIT_region_ROM_end__ = 0x0803FFFF;
define symbol __ICFEDIT_region_RAM_start__ = 0x20000000;

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define symbol __ICFEDIT_region_RAM_end__ = 0x20017FFF;
/*-Sizes-*/
define symbol __ICFEDIT_size_cstack__ = 0x8000;
define symbol __ICFEDIT_size_heap__ = 0x800;

Using the above linker script, the maximum usable code size is fixed at 240 KB.
You must flash the appropriate bootloader binary for STM32F401RE or STM32L476RG ,

found in the Utilities\BootLoader folder, to the first Flash region (address 0x08000000).

Figure 4: Bootloader folder content

At any board reset:
 if there is a FOTA in the third Flash region, the bootloader overwrites the second Flash

region (with FP-SNS-FLIGHT1 firmware) and replaces its content with the FOTA

restarting the board;
 if there is no FOTA, the bootloader jumps to the FP-SNS-FLIGHT1 firmware.

Figure 5: FP-SNS-FLIGHT1 Flash structure

2.6 The installation process

The package Binary directory contains an image (in .bin and .hex format) for each platform
(NUCLEO-F401RE, NUCLEO-L476RG), including:

 pre-compiled FLIGHT1 firmware that may be flashed with ST-LINK to the correct

memory address (0x08004000) of a supported STM32 Nucleo development

boardNote that this pre-compiled binary is compatible with the FOTA update

procedure
 pre-compiled FLIGHT1 plus BootLoader firmware that may be directly flashed to a

supported STM32 Nucleo development board with the ST-LINK or via a Drag & Drop

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operation (STM32 Nucleo boards only)Note that this pre-compiled binary is not

compatible with the FOTA update procedure

Figure 6: Binary folder content

To flash modified FLIGHT1 firmware, simply flash the compiled FP-SNS-FLIGHT1 firmware
to the correct address (0x08004000).

A batch script has been provided to simplify this operation by saving the firmware and the
BootLoader on the right position; it is available for each platform (NUCLEO-F401RE,
NUCLEO-L476RG) and for each IDE (IAR/RealView/System Workbench):

 IAR toolchain Embedded Workbench V7.70.2:

 For Nucleo F4:

 CleanFLIGHT1_IAR_53L0A1_NF401
 CleanFLIGHT1_IAR_6180XA1_NF401.bat

 For Nucleo L4:

 CleanFLIGHT1_IAR_53L0A1_NL476.bat
 CleanFLIGHT1_IAR_6180XA1_NL476.bat

 µVision toolchain - MDK-ARM Professional Version: 5.21.1:

 For Nucleo F4:

 CleanFLIGHT1_MDK_ARM_53L0A1_NF401.bat
 CleanFLIGHT1_MDK_ARM_6180XA1_NF401.bat

 For Nucleo L4:

 CleanFLIGHT1_MDK_ARM_53L0A1_NL476.bat
 CleanFLIGHT1_MDK_ARM_6180XA1_NL476.bat

 System Workbench for STM32 Version 1.13.1.201701200843:

 For Nucleo F4:

 CleanFLIGHT1_SW4STM32_53L0A1_NF401.bat
 CleanFLIGHT1_SW4STM32_6180XA1_NF401.bat

 For Nucleo L4:

 CleanFLIGHT1_SW4STM32_53L0A1_NL476.bat
 CleanFLIGHT1_SW4STM32_6180XA1_NL476.bat

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Figure 7: Content of a project folder

This script:

 performs a full Flash erase to start from a clean system
 flashes the BootLoader to the correct position 0x08000000
 flashes the firmware to the correct position 0x08004000

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Figure 8: BootLoader and FP-SNS-FLIGHT1 installation

The script also dumps an image containing the BootLoader and the firmware. This image
file can be directly flashed to the beginning of the Flash memory like in the same way as
the image provided in the Binary folder.

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Figure 9: FP-SNS-FLIGHT1 dump process

For the Linux or iOS operating systems, there is a similar script that uses OpenOCD
instead of the ST-LINK command line. The script is available for each platform, but is only
included in the System Workbench IDE:

 CleanFLIGHT1_SW4STM32_53L0A1_NF401.sh
 CleanFLIGHT1_SW4STM32_6180XA1_NF401.sh
 CleanFLIGHT1_SW4STM32_53L0A1_NL476.sh
 CleanFLIGHT1_SW4STM32_6180XA1_NL476.sh

To function, the script must be modified with:

 the installation path for OpenOCD
 the installation path for STM32 OpenOCD scritps
 the Library path for OpenOCD

TheOpenOCD script section to be edited is:

# 1) Set the Installation path for OpenOCD
# example:
#OpenOCD_DIR="C:/Ac6/SystemWorkbench/plugins/fr.ac6.mcu.externaltools.openocd.win32_

1.13.0.201701121612/tools/openocd/"
OpenOCD_DIR=""

# 2) Set the installation path for stm32 OpenOCD scritps
# example:
#OpenOCD_CFC="C:/Ac6/SystemWorkbench/plugins/fr.ac6.mcu.debug_1.12.0.201701121612/re
sources/openocd/scripts"
OpenOCD_CFC=""

# 3) Only for Linux/iOS add openocd library path to _LIBRARY_PATH:
# For iOS example:
#export DYLD_LIBRARY_PATH=${DYLD_LIBRARY_PATH}:${OpenOCD_DIR}"lib/"

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# For Linux example:
#export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${OpenOCD_DIR}"lib/"

2.7 Firmware-over-the-air (FOTA) update

For the X-NUCLEO-IDB05A1 Bluetooth low energy expansion board only, the FP-SNS­FLIGHT1 firmware may be updated over-the-air (FOTA) through the connected
Android/iOS device via Bluetooth using the BlueMS application (ver. 3.0.0 and above)
available at their respective application web stores.

The application sends the update and associated CRC (cyclic-redundancy-check) value
that the FP-SNS_FLIGHT1 checks against the hardware cyclic redundancy check
calculation unit on the STM32F401/STM32L476 processor to ensure update integrity.

If the CRC calculation matches the BlueMS CRC value, the new firmware is written from
the beginning of the third Flash region.

A “magic number” prompts the boot loader that a firmware update has been received,

checked and is ready to replace the current FP-SNS-FLIGHT1 firmware (see Section 2.11:

"Firmware over-the-air (FOTA) update with BlueMS").

2.8 APIs

Detailed technical information regarding the APIs available to the user can be found in a

compiled HTML file located inside the “Documentation” folder of the software package,

where all the functions and parameters are fully described.

2.9 Sample application description

A sample application using the X-NUCLEO-NFC01A1, X-NUCLEO-IKS01A2 (or X­NUCLEO-IKS01A1), X-NUCLEO-53L0A1 (or X-NUCLEO-6180XA1) and X-NUCLEO­IDB05A1 (or X-NUCLEO-IDB04A1) expansion boards with the NUCLEO-F401RE or
NUCLEO-L476RG board is provided in the “Projects” directory. Ready-to-build projects are
available for multiple IDEs.

You can set up a terminal window for the appropriate UART communication port (using the
baud, data, parity and stop settings below) to control the initialization phase.

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Figure 10: Terminal setting

When you first press the reset button, the application:

1. starts initializing the UART, I²C

2. declares which MEMS sensor expansion board is plugged and if all the sensors are

working

3. with X-NUCLEO-IKS01A1, checks whether the LSM6DS3 DIL24 extension is present

4. with the NDEF protocol, writes the www.st.com/stm32ode URI to the M24SR dynamic

NFC tag on the X-NUCLEO-NFC01A1 expansion board

5. declares whether the firmware is compiled for X-NUCLEO-53L0A1 or X-NUCLEO-

6180XA1

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Figure 11: Initialization phase

When reading the NFC tag content with an Android device, the browser automatically starts
and tries to connect to that URI.

When the user presses the blue user button (see Figure 12: "UART console output when

the BLE services are started"), the program:

1. initializes the proximity sensor and discovery of the satellites

2. initializes the SPI interface used for communicating with the BlueNRG-1 expansion

board

3. determines which BlueNRG-1 expansion board (X-NUCLEO-IDB04A1 or X-

NUCLEOIDB05A1) is connected to the STM32 Nucleo board and the hardware and

firmware versions

4. creates the random BLE MAC address and PIN necessary for the connection

5. initializes the BLE hardware service (adding the temperature, humidity, pressure,

ambient light for VL6180X only, distance, 3D gyroscope, 3D magnetometer and 3D

accelerometer characteristics)

6. initializes the BLE console service adding the stdin/stdout and stderr characteristics

7. initializes the BLE configuration service

8. changes the content of the M24SR64-Y dynamic NFC tag (using NDEF) in order to

write all the information necessary to automatically launch the BlueMS Android

application (name of application, BLE advertise data, BLE MAC address and BLE

connection PIN).

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Figure 12: UART console output when the BLE services are started

When reading the above NFC content on an Android device with the BlueMS application
installed, it is possible to automatically launch the BlueMS application to connect the device

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with the STM32 Nucleo board, without having to scan for the board or manually insert the
PIN.

iOS does not allow the use of NFC for this purpose, so you must manually run the
application, scan for the STM32 Nucleo board and enter the connection PIN.

The FLIGHT1_SECURE_CONNECTION define in the
Projects\Multi\Applications\FLIGHT1\Inc\flight1_config.h file controls whether the STM32
Nucleo board only accepts secure connections (default) or any connection (define is
commented), so you do not have to enter the BLE connection PIN for a device to connect
to the STM32 Nucleo board.

As the console output shows, the application sends:
 the values of temperature/humidity/pressure and abient light (for X-NUCLEO-6180XA1

only) every 500 ms
 the values of the 3D accelerometer, 3D gyroscope and 3D magnetometer every

100 ms
 the proximity values every 50 ms

Connection of an Android/iOS device to the STM32 Nucleo board starts with the secure
pairing procedure, where ping information is sent to the stdout console BLE characteristic.

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Figure 13: UART console output when a device first connects with the board

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The application has a white list of one element, so subsequent connections with the last
trusted device are automatically authenticated (see figure below).

Figure 14: UART console output when one device are already trusted

2.10 Android and iOS sample client application

The FP-SNS-FLIGHT1 software for STM32Cube is compatible with the BlueMS
Android/iOS applications (Version 2.2.0 and above), available at the respective Google
Play/iOS stores.

Version 3.0.0 or above is required for over-the-air firmware updates (for X-NUCLEO­IDB05A1 Bluetooth low energy expansion boards only).

The Android application is used here to show how the application works.
After connection, BlueMS starts with the main page shown below,where the values of

temperature, ambient light (only for VL6180X), pressure and humidity are displayed.

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Figure 15: BlueMS (android version) main page (after BLE connection)

If the MotionFX sensor fusion library is enabled, the following page shows a cube that
rotates according to the board movement.

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Figure 16: BlueMS (Android version) MotionFX sensor fusion page

In the page above:
 the central button enables or disables the proximity sensor, which triggers the cube

zooming out or in as a function of the proximity measured by the X-NUCLEO-53L0A1

(or X-NUCLEO-6180XA1) expansion board;

 the left button resets the cube position;
 the right button shows the MotionFX library calibration status (black for not calibrated,

green for calibrated). Clicking it forces a magneto calibration.

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When a button is pressed, the application pops up a window describing how to position the
board for a correct cube rotation and how to move the board to facilitate calibration (see
figure below).

Figure 17: BlueMS (Android version) popup windows

On the next page to the left, you can plot any value from the sensor expansion boards.

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Figure 18: BlueMS (android version) example of plot value

In the option menu below, you can access:

 Serial or Debug (with stdin) console
 firmware upgrade

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Figure 19: BlueMS (android version) menu selection

If the Serial console is enabled, stdout/stderr is displayed, as shown below.

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Figure 20: BlueMS (android version) Serial console (stdout/stderr)

If the Debug console is enabled, stdin is displayed and any message written in the Debug
console triggers a reply with the same message, as shown below.

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Figure 21: BlueMS (android version) Debug console (stdin/stdout/stderr)

Through the Debug console, you can change the sensor value transmission frequency.

 For temperature/humidity/pressure with the command:

 @TL: the application sends environmental data every 5 s

 @TM: the application sends environmental data every 1 s

 @TH: the application sends environmental data every 100 ms

 @TD: the application sends environmental data as default (500 ms).
 For 3D accelerometer, 3D gyroscope and 3D magnetometer with the command:

 @AL: the application sends the data every 500 ms

 @AM: the application sends the data every 100 ms

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 @AH: the application sends the data every 50 ms

 @AD: the application sends the data as default (100 ms).
 For ambient light (lux) with the command (for VL6180X only):

 @LL: the application sends environmental data every 5 s

 @LM: the application sends environmental data every 1 s

 @LH: the application sends environmental data every 100 ms

 @LD: the application sends environmental data as default (500 ms).
 For distance (proximity) with the command:

 @PL: the application sends the data every 500 ms

 @PM: the application sends the data every 100 ms

 @PH: the application sends the data every 50 ms

 @PD: the application sends the data as default (50 ms).

Figure 22: BlueMS (android version) Debug console - change transmission frequency

If the MotionAR algorithm is enabled, the page shown below is available, signaling one of
the following recognized activities:

 stationary
 walking
 fast walking

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 jogging
 biking
 driving

Figure 23: BlueMS (Android version) MotionAR activity recognition page

If the MotionCP algorithm is enabled, the page shown below is available, with information
about how the user is carrying the board, which equates to phone carry positions:

 on desk
 in hand
 near head
 shirt pocket
 trousers pocket
 arm swing

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Figure 24: BlueMS (Android version) MotionCP carry position recognition page

If the MotionGR algorithm is enabled, the page shown below is available with gesture
recognition information:

 pick up
 glance
 wake up in hand

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Figure 25: BlueMS (Android version) MotionGR gesture recognition page

If gesture detection is enabled, the page shown below displays the results of the detected
gestures, which can be a single tap (indicated by the circular symbol) or directional swipes
(indicated by the double arrows).

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Figure 26: BlueMS (Android version) gesture detection page

2.11 Firmware over-the-air (FOTA) update with BlueMS

If the 'Firmware upgrade' menu option is selected in the BlueMS main application page, the
following page appears:

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Figure 27: BlueMS (Android version) firmware upgrade page

The BlueMS application shows which version of the FP-SNS-FLIGHT1 software is running
and the board type. To apply an update, press the red button and select the appropriate
update file.

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Figure 28: BlueMS (Android version) firmware update file selection

BlueMS sends to FP-SNS-FLIGHT1 an update of a certain byte size and corresponding
CRC value.

The figure below shows the terminal window with the debug information returned during
FOTA for an STM32 Nucleo platform (STM32F401RE/L476RG) when we use a UART to
control FP-SNS-FLIGHT1 behavior.

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Figure 29: Terminal window information during FOTA

During the FOTA procedure, the BlueMS application shows the remaining packets to be
sent, and the total update time when the procedure has finished.

Figure 30: BlueMS (Android version) application page during FOTA and on completion

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3 System setup guide

3.1 Hardware description

This section describes the hardware components needed for sensor-based application
development.

3.1.1 STM32 Nucleo platform

STM32 Nucleo development boards provide an affordable and flexible way for users to test
solutions and build prototypes with any STM32 microcontroller line.

The Arduino™ connectivity support and ST morpho connectors make it easy to expand the
functionality of the STM32 Nucleo open development platform with a wide range of
specialized expansion boards to choose from.

The STM32 Nucleo board does not require separate probes as it integrates the ST­LINK/V2-1 debugger/programmer.

The STM32 Nucleo board comes with the comprehensive STM32 software HAL library
together with various packaged software examples.

Figure 31: STM32 Nucleo board

Information regarding the STM32 Nucleo board is available at www.st.com/stm32nucleo

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3.1.2 X-NUCLEO-IDB04A1 expansion board

The X-NUCLEO-IDB04A1 is a Bluetooth BlueNRG expansion board usable with the
STM32 Nucleo system. The BlueNRG is a very low power Bluetooth low energy (BLE)
single-mode network processor, compliant with Bluetooth specifications core 4.0.

Figure 32: X-NUCLEO-IDB04A1 expansion board

Information regarding the X-NUCLEO-IDB04A1 expansion board is available on
www.st.com at http://www.st.com/x-nucleo.

3.1.3 X-NUCLEO-IDB05A1 expansion board

The X-NUCLEO-IDB05A1 is a Bluetooth low energy expansion board based on the
SPBTLE-RF BlueNRG-MS RF module to allow expansion of the STM32 Nucleo boards.
The SPBTLE-RF module is FCC (FCC ID: S9NSPBTLERF) and IC certified (IC: 8976C­SPBTLERF). The BlueNRG-MS is a very low power Bluetooth low energy (BLE) single­mode network processor, compliant with Bluetooth specification v4.2. X-NUCLEO-IDB05A1

is compatible with the ST morpho and Arduino™ UNO R3 connector layout. This expansion

board can be plugged into the Arduino UNO R3 connectors of any STM32 Nucleo board.

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Figure 33: X-NUCLEO-IDB05A1 expansion board

Information about the X-NUCLEO-IDB05A1 expansion board is available on www.st.com at

http://www.st.com/x-nucleo

3.1.4 X-NUCLEO-NFC01A1 expansion board

The X-NUCLEO-NFC01A1 is an expansion board based on the M24SR64-Y device. This
expansion board can be plugged on the Arduino UNO R3 connectors of any STM32 Nucleo
board.

The M24SR64-Y device is a dynamic NFC/RFID tag IC with a dual interface. It embeds 64
Kbit EEPROM memory, and can be operated from:

 an I²C interface
 a 13.56 MHz RFID reader or a NFC phone.

The I²C interface uses a two-wire serial interface, consisting of a bidirectional data line and
a clock line. It behaves as a slave with respect to the I²C protocol.

The RF protocol is compatible with:

 ISO/IEC 14443 Type A
 NFC Forum Type 4 Tag.

The board is powered through the Arduino UNO R3 connectors and includes three general
purpose LEDs.

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Figure 34: X-NUCLEO-NFC01A1 M24SR64-Y dynamic NFC tag expansion board

Information regarding the X-NUCLEO-NFC01A1 expansion board is available on
www.st.com at http://www.st.com/x-nucleo

3.1.5 X-NUCLEO-IKS01A1 expansion board

The X-NUCLEO-IKS01A1 is a sensor expansion board for the STM32 Nucleo board. It is
also compatible with Arduino UNO R3 connector layout and is designed around humidity
(HTS221), pressure (LPS25HB) and motion (LIS3MDL and LSM6DS0) sensing devices.
The X-NUCLEO-IKS01A1 interfaces with the STM32 MCU via the I²C pin, and the user can
change the default I²C port and the device IRQ by changing a resistor on the evaluation
board.

You can attach the LSM6DS3 DIL24 expansion component and use it instead of the one of
the LSM6DS0 sensors.

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Figure 35: X-NUCLEO-IKS01A1 expansion board

3.1.6 X-NUCLEO-IKS01A2 expansion board

The X-NUCLEO-IKS01A2 is a motion MEMS and environmental sensor expansion board
for the STM32 Nucleo.

It is equipped with Arduino UNO R3 connector layout, and is designed around the
LSM6DSL 3D accelerometer and 3D gyroscope, the LSM303AGR 3D accelerometer and
3D magnetometer, the HTS221 humidity and temperature sensor and the LPS22HB
pressure sensor.

The X-NUCLEO-IKS01A2 interfaces with the STM32 microcontroller via the I²C pin, and it
is possible to change the default I²C port.

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Figure 36: X-NUCLEO-IKS01A2 MEMS and environmental sensor expansion board

3.1.7 X-NUCLEO-6180XA1 expansion board

The X-NUCLEO-6180XA1 is an expansion board for the STM32 Nucleo system, also
compatible with Arduino UNO R3 connector layout and designed around
STMicroelectronics VL6180X proximity, gesture and ALS sensor, based on the ST
FlightSense™ Time-of-Flight technology.

The board allows the user to test VL6180X functionality and develop relevant applications.
It includes:

 a 4-Digit display to render either the range value in mm or the ambient light value in

lux

 a switch to select the value type to be displayed
 a 2.8 V regulator to supply the VL6180X
 two level shifters to adapt the I/O level to the microcontroller main board
 the necessary connectivity for the application

For applications which implement gesture recognition, you need to plug two additional
satellite sensors to the connectors marked LEFT and RIGHT. The third connector
(BOTTOM) is not used.

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Figure 37: X-NUCLEO-6180XA1 expansion board

3.1.8 X-NUCLEO-53L0A1 expansion board

The X-NUCLEO-53L0A1 is an expansion board for the STM32 Nucleo system, also
compatible with Arduino UNO R3 connector layout and designed around ST VL53L0X
ranging and gesture detection sensor, based on ST FlightSense™, Time-of-Flight
technology.

Several ST expansion boards can be superposed through the Arduino connectors, which
allows, for example, to develop VL53L0X applications with Bluetooth or Wi-Fi interface.

To allow the user to quickly access the gesture recognition demonstration, the X-NUCLEO­53L0A1 expansion board is delivered with two VL53L0X satellites.

The key features are:

 VL53L0X ranging and gesture detection sensor module;
 accurate absolute ranging distance, independent of the reflectance of the target;
 a 4-digit display, displaying the distance of a target from the ranging sensor;
 two 10-pin connectors;
 a cover glass holder;
 3 different spacers of 0.25, 0.5 and 1 mm height to be fitted below the cover glass in

order to simulate various air gaps.

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Figure 38: X-NUCLEO-53L0A1 expansion board

3.2 Software description

The following software components are required to establish a suitable development
environment for creating applications for the STM32 Nucleo equipped with the NFC,
sensors, FlightSense and BlueNRG expansion boards:

 FP-SNS-FLIGHT1: a Bluetooth low energy, sensors and NFC tag software for

STM32Cube. The FP-SNS-FLIGHT1 firmware and related documentation is available

on www.st.com.
 Development tool-chain and Compiler: The STM32Cube expansion software supports

the three following environments:

 IAR Embedded Workbench for ARM® (EWARM) toolchain + ST-LINK

 RealView Microcontroller Development Kit (MDK-ARM) toolchain + ST-LINK

 System Workbench for STM32 (SW4STM32) + ST-LINK

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3.3 Hardware and software setup

This section describes the hardware and software setup procedures. It also describes the
system setup needed for the above.

3.3.1 Hardware setup

The following hardware components are needed:
 One STM32 Nucleo Development platform (order code: NUCLEO-F401RE or

NUCLEO-L476RG)

 One NFC expansion board (order code: X-NUCLEO-NFC01A1)
 One sensors expansion board (order code: X-NUCLEO-IKS01A2 or X-NUCLEO-

IKS01A1)
 One FlightSense expansion board (order code: X-NUCLEO-53L0A1 or X-NUCLEO-

6180XA1)
 One BlueNRG Bluetooth low energy expansion board (order code: X-NUCLEO-

IDB04A1 or X-NUCLEO-IDB05A1)
 One USB type A to Mini-B USB cable to connect the STM32 Nucleo to the PC

3.3.2 Software setup

This section lists the minimum requirements for the developer to setup the SDK, run the
sample testing scenario based on the GUI utility and customize applications.

3.3.2.1 Development tool-chains and compilers

Select one of the Integrated Development Environments supported by the STM32Cube
expansion software and follow the system and setup information provided by the selected
IDE provider.

3.3.3 System setup guide

This section describes how to set up different hardware parts before writing and executing
an application on the STM32 Nucleo board with the sensors expansion board.

3.3.3.1 STM32 Nucleo and sensor expansion boards setup

The STM32 Nucleo board integrates the ST-LINK/V2-1 debugger/programmer. You can
download the relevant version of the ST-LINK/V2-1 USB driver by searching STSW­LINK008 or STSW-LINK009 on www.st.com (based on your version of Microsoft Windows).

Connect the following boards through the Arduino UNO R3 extension connector:

1. The X-NUCLEO-IDB05A1 (or X-NUCLEO-IDB04A1) expansion board on the STM32

Nucleo development board.

2. The X-NUCLEO-NFC01A1 expansion board on the X-NUCLEO-IDB05A1 (or X-

NUCLEO-IDB04A1).

3. The X-NUCLEO-IKS01A2 (or X-NUCLEO-IKS01A1 ) expansion board on the X-

NUCLEO-NFC01A1.

4. The X-NUCLEO-53L0A1 (or X-NUCLEO-6180XA1) expansion board on the X-

NUCLEO-IKS01A2 (or X-NUCLEO-IKS01A1 ) expansion.

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Figure 39: STM32 Nucleo development board plus X-NUCLEO-IDB05A1, X-NUCLEO-NFC01A1,

X-NUCLEO-IKS01A1 and X-NUCLEO-6180XA1 expansion boards

You must connect the boards in the sequence described above to optimize the
performance of the SPBTLE-RF module on the X-NUCLEO-IDB05A1 expansion
board and to reduce interference from its antenna.

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4 Revision history

Table 2: Document revision history

Date

Version

Changes

25-Feb-2016

1

Initial release.

05-Dec-2016

2

Updated Section "Introduction", Section 2.1: "Overview ", Figure 4:
"Initialization phase", Figure 5: "UART console output when the BLE
services are started", Figure 6: "UART console output when a device
first connects with the board", Figure 15: "BlueMS (android version)
initial page after BLE connection", Figure 1: "FP-SNS-FLIGHT1
software architecture" and Figure 18: "BlueMS (android version) Serial
console (stdout/stderr)"; Added Section 2.6: "Flash organization",
Section 2.7: "The boot process", Section 2.8: "Firmware-Over-The-Air
(FOTA) update" and Section 2.9: "Firmware Over The Air (FOTA)
update with BlueMS"

20-Feb-2017

3

Throughout document:

- minor text and formatting changes.

- added IKS01A2 expansion board compatibility information

Added Section 2.6: " The installation process"
Updated Section 2.9: "Sample application description", Section 2.10:

" Android and iOS sample client application" and Section 2.11:
"Firmware-over-the-air (FOTA) update with BlueMS"

31-Mar-2017

4

Updated title, Introduction, Section 2.1: "Overview ", Section 2.2:

"Architecture", Section 2.3: "Folder structure", Section 2.6: "The
installation process", Section 2.9: "Sample application description",
Section 2.10: "Android and iOS sample client application", Section 2.11:
"Firmware over-the-air (FOTA) update with BlueMS".

Added X-NUCLEO-53L0A1 expansion board compatibility information.
Added Section 3.1.8: "X-NUCLEO-53L0A1 expansion board".

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