BLE MOTION

This is a project of a motion sensor server based on BNO080 and a ESP32 chip. It reports its data via Bluetooth Low Energy(BLE). The development environment is ESP-IDF v5.2.1.

Build Project

1. Clone the IMU library to components folder. 2. Check the Bluetooth support in sdkconfig

BLE Service

The GATT Server is implemented refering to ESP GATT Server example and Heiko Rothkranz's example. Attemptions are made to generalize the BLE Service definition.

To create a new customized BLE application, you can follow the steps below:

• create the backend that generates data and handles requests. For example, the imu.h and imu.c defines a IMU instance and a thread task to update the motion data. ble_update_xxx are going to be implemented in the BLE server.
• define the services using the ATT elements' structures defined in ble_service.h. For example, imu_bles.h enumerates the characteristics, descriptors in IMU service and imu_bles.c defines these elements and functions 1. to update attribute value by actual data(and generate notification); 2. callback to client write operation;
• set GAP parameters in ble_server.h. e.g. your device name, connection interval, ...
• in the main program, after setting up the bluetooth as shown in gatt_server example, call gaps_init() to start the service.

IMU: BNO08x

https://github.com/myles-parfeniuk/esp32_BNO08x.git is used as the library for reading BNO08x.

To make debugging easier, I recommend you to add this code block after this line:

    if(packet_length_rx == 0xFFFF){
        ESP_LOGE(TAG, "Peripheral Error.");
        return false;
    }

so that you are less likely to start debugging software before handling the hardware errors.