ST
SunTracker_BLE
Dependencies: BLE_API X_NUCLEO_6180XA1 X_NUCLEO_IDB0XA1 X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A1 mbed
Fork of
SunTracker_BLE
by 
ST Expansion SW Team
Overview
The SunTracker is a demo application running on ST Nucleo-F401RE stacking a set of ST X-NUCLEO expansion boards.
Main features provided are:
- A solar panel follows the light source, orienting the panel in order to achieve the best panel efficiency.
- Orientation is controlled thanks to a couple of VL6180X FlightSense light sensors mounted on a X-NUCLEO-6180XA1 expansion board and driven by X-NUCLEO-IHM01A1 controlled stepper motor acting as actuator to orientate the panel.
- The system features a progressive control on the stepper motor in order to modulate the panel rotation speed according to the light angle.
- The application is also able to control the panel productivity reading the panel voltage through an ADC and proving feedback on the local display.
- A manual orientation is possible by using the accelerometer on a X-NUCLEO-IKS01A1 expansion board that, according on board tilt, controls the speed and the rotate direction.
- A remote control is available using a X-NUCLEO-IDB04A1 or a X-NUCLEO-IDB05A1 Bluetooth Low Energy expansion board. Remote control software is here.
Working Status
- SunTracker has 3 working status visible on FlightSense display and switchable by pressing the User Button:
Status 0 (Idle)
- Motor: Free Turning
- Display: Waiting for User Button
Status 1
- Motor: Driven by Light
- Display: Direction and Light Intensity = Direction and Motor Speed
Status 2
- Motor: Driven by Light
- Display: Solar Panel Efficiency
Status 3
- Motor: Driven by Accelerometer
- Display: Direction and Accelerometer Intensity
Server Startup
- When you plug the power supply, the word ‘PUSH’ is shown on display.
- You can manually rotate the structure to assign the ‘Zero Point’. Then press the User Button to launch the application.
- The display will show this status, which means that the structure is oriented to maximize the efficiency of the solar panel.
- If there is a light displacement, the structure will rotate, left or right, to follow the light source and on display is shown the direction and the speed.
- You can press the User Button to show the panel efficiency with 4 digits that represent the range from 0v (0000) to 3,3v (3300).
- Further pressing the User Button you will manual rotate the panel by tilt the Server or Client accelerometer depending by BLE connection.
Client Startup
- The Client application can remotely control the User Button and the Accelerometer functions.
- Power on the Client AFTER the Server, it will automatically search for the SunTracker and will establish a BLE connection.
- The Green Led on Nucleo Client board will be powered on.
Rotation Features
- It has been implemented a block of rotation to avoid cables twist.
- The blocking point can be set in the firmware by changing a constant.
- You can manually rotate the structure to assign the ‘Zero Point’ before press the User Button to launch the application.
- The system features a progressive control on the stepper motor in order to modulate the rotation speed according to the light or accelerometer angle.
List of Components
SERVER SunTracker_BLE
- Nucleo-F401RE platform using a STM32F401RET6 microcontroller.
- X-NUCLEO-IHM01A1 - Stepper motor driver board based on the EasySPIN L6474.
- X-NUCLEO-6180XA1 - 3-in-1 proximity and ambient light sensor board based on ST FlightSense technology.
- VL6180X-SATEL - Satellite boards compatible with X-NUCLEO-6180XA1 board.
- X-NUCLEO-IKS01A1 - Motion MEMS and environmental sensor board.
- X-NUCLEO-IDB04A1 or X-NUCLEO-IDB05A1 - Bluetooth Low Energy Bluetooth low energy evaluation board.
- Stepper Motor 400’’ (Part Number 5350401) - To orientate the Mechanical Structure.
- Solar Panel 0.446w (Part Number 0194127) - To capture sunlight and generate electrical current.
- Power Supply 12v (Part Number 7262993) - To provide power supply at the Stepper Motor.
- Flat Cable 6 ways (Part Number 1807010) - To plug VL6180X-SATEL with X-NUCLEO-6180XA1 (60cm length each x2).
- Cable Connector (Part Number 6737694) - To plug the Flat Cable (x4).
- Power Connector (Part Number 0487842) - To provide Power Supply to X-NUCLEO-IHM01A1.
CLIENT SunTracker_BLE_Remote
- Nucleo-F401RE platform using a STM32F401RET6 microcontroller.
- X-NUCLEO-IKS01A1 - Motion MEMS and environmental sensor board.
- X-NUCLEO-IDB04A1 or X-NUCLEO-IDB05A1- Bluetooth Low Energy Bluetooth low energy evaluation board.
MECHANICAL STRUCTURE
Find here the STL files to print with a 3D printer.
FLAT CABLE ASSEMBLY
HARDWARE SETUP
Nucleo ADC + Solar Panel
Connect Solar Panel cables to Nucleo Morpho PC_3 (white) and Nucleo Morpho GND (black). Connect a capacitor 10uF between PC_3 and GND to stabilize its voltage value shown on display.
EasySpin (L6474) + BLE
Hardware conflict between EasySpin DIR1 and BLE Reset, both on same Arduino Pin PA_8. Disconnect PA_8 between EasySpin and Nucleo by fold EasySpin Pin. PB_2 has been configured as EasySpin DIR1 in the firmware . Connect Nucleo Morpho PB_2 to FlightSense Arduino PA_8 by a wire.
FlightSense Satellites
In case of instability with I2C due to long flat cables, solder 4 SMD capacitors 47pF on FlightSense board in parallel between R15, R16, R17, R18 and plug 2 capacitors 15pF between FlightSense Arduino PB_8 and PB_9 to GND pin to cut-off noises over 720 KHz.
Arduino & Morpho Pinout
MotionFX_Manager.h@4:1d3d071a4c2c, 2016-01-26 (annotated)
- Committer:
- fabiombed
- Date:
- Tue Jan 26 13:29:53 2016 +0000
- Revision:
- 4:1d3d071a4c2c
fixed compile error and all libraries updated at last release
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| fabiombed | 4:1d3d071a4c2c | 1 | /** |
| fabiombed | 4:1d3d071a4c2c | 2 | ****************************************************************************** |
| fabiombed | 4:1d3d071a4c2c | 3 | * @file MotionFX_Manager.h |
| fabiombed | 4:1d3d071a4c2c | 4 | * @author Central Lab |
| fabiombed | 4:1d3d071a4c2c | 5 | * @version V1.1.0 |
| fabiombed | 4:1d3d071a4c2c | 6 | * @date 20-Jannuary-2015 |
| fabiombed | 4:1d3d071a4c2c | 7 | * @brief This file includes sensor fusion interface functions |
| fabiombed | 4:1d3d071a4c2c | 8 | ****************************************************************************** |
| fabiombed | 4:1d3d071a4c2c | 9 | * @attention |
| fabiombed | 4:1d3d071a4c2c | 10 | * |
| fabiombed | 4:1d3d071a4c2c | 11 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
| fabiombed | 4:1d3d071a4c2c | 12 | * |
| fabiombed | 4:1d3d071a4c2c | 13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); |
| fabiombed | 4:1d3d071a4c2c | 14 | * You may not use this file except in compliance with the License. |
| fabiombed | 4:1d3d071a4c2c | 15 | * You may obtain a copy of the License at: |
| fabiombed | 4:1d3d071a4c2c | 16 | * |
| fabiombed | 4:1d3d071a4c2c | 17 | * http://www.st.com/software_license_agreement_liberty_v2 |
| fabiombed | 4:1d3d071a4c2c | 18 | * |
| fabiombed | 4:1d3d071a4c2c | 19 | * Redistribution and use in source and binary forms, with or without modification, |
| fabiombed | 4:1d3d071a4c2c | 20 | * are permitted provided that the following conditions are met: |
| fabiombed | 4:1d3d071a4c2c | 21 | * 1. Redistributions of source code must retain the above copyright notice, |
| fabiombed | 4:1d3d071a4c2c | 22 | * this list of conditions and the following disclaimer. |
| fabiombed | 4:1d3d071a4c2c | 23 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| fabiombed | 4:1d3d071a4c2c | 24 | * this list of conditions and the following disclaimer in the documentation |
| fabiombed | 4:1d3d071a4c2c | 25 | * and/or other materials provided with the distribution. |
| fabiombed | 4:1d3d071a4c2c | 26 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| fabiombed | 4:1d3d071a4c2c | 27 | * may be used to endorse or promote products derived from this software |
| fabiombed | 4:1d3d071a4c2c | 28 | * without specific prior written permission. |
| fabiombed | 4:1d3d071a4c2c | 29 | * |
| fabiombed | 4:1d3d071a4c2c | 30 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| fabiombed | 4:1d3d071a4c2c | 31 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| fabiombed | 4:1d3d071a4c2c | 32 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| fabiombed | 4:1d3d071a4c2c | 33 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| fabiombed | 4:1d3d071a4c2c | 34 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| fabiombed | 4:1d3d071a4c2c | 35 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| fabiombed | 4:1d3d071a4c2c | 36 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| fabiombed | 4:1d3d071a4c2c | 37 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| fabiombed | 4:1d3d071a4c2c | 38 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| fabiombed | 4:1d3d071a4c2c | 39 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| fabiombed | 4:1d3d071a4c2c | 40 | * |
| fabiombed | 4:1d3d071a4c2c | 41 | ****************************************************************************** |
| fabiombed | 4:1d3d071a4c2c | 42 | */ |
| fabiombed | 4:1d3d071a4c2c | 43 | |
| fabiombed | 4:1d3d071a4c2c | 44 | #ifndef _MOTIONFX_MANAGER_H_ |
| fabiombed | 4:1d3d071a4c2c | 45 | #define _MOTIONFX_MANAGER_H_ |
| fabiombed | 4:1d3d071a4c2c | 46 | |
| fabiombed | 4:1d3d071a4c2c | 47 | #ifdef __cplusplus |
| fabiombed | 4:1d3d071a4c2c | 48 | extern "C" { |
| fabiombed | 4:1d3d071a4c2c | 49 | #endif |
| fabiombed | 4:1d3d071a4c2c | 50 | |
| fabiombed | 4:1d3d071a4c2c | 51 | //#define USE_SENSOR_FUSION_LIB /** uncomment only if STM32_OSX_MotionFX_Library is linked and licensed **/ |
| fabiombed | 4:1d3d071a4c2c | 52 | |
| fabiombed | 4:1d3d071a4c2c | 53 | #include <cstdio> |
| fabiombed | 4:1d3d071a4c2c | 54 | #include <stdint.h> |
| fabiombed | 4:1d3d071a4c2c | 55 | #include <stdio.h> |
| fabiombed | 4:1d3d071a4c2c | 56 | |
| fabiombed | 4:1d3d071a4c2c | 57 | #ifdef USE_SENSOR_FUSION_LIB |
| fabiombed | 4:1d3d071a4c2c | 58 | #include "osx_motion_fx.h" |
| fabiombed | 4:1d3d071a4c2c | 59 | #else |
| fabiombed | 4:1d3d071a4c2c | 60 | |
| fabiombed | 4:1d3d071a4c2c | 61 | #define NUM_AXES 3 |
| fabiombed | 4:1d3d071a4c2c | 62 | #define QNUM_AXES 4 |
| fabiombed | 4:1d3d071a4c2c | 63 | |
| fabiombed | 4:1d3d071a4c2c | 64 | typedef struct |
| fabiombed | 4:1d3d071a4c2c | 65 | { |
| fabiombed | 4:1d3d071a4c2c | 66 | float mag[NUM_AXES]; /* calibrated mag [uT]/50 */ |
| fabiombed | 4:1d3d071a4c2c | 67 | float acc[NUM_AXES]; /* acc [g] */ |
| fabiombed | 4:1d3d071a4c2c | 68 | float gyro[NUM_AXES]; /* gyro [dps] */ |
| fabiombed | 4:1d3d071a4c2c | 69 | } osxMFX_input; |
| fabiombed | 4:1d3d071a4c2c | 70 | |
| fabiombed | 4:1d3d071a4c2c | 71 | typedef struct |
| fabiombed | 4:1d3d071a4c2c | 72 | { |
| fabiombed | 4:1d3d071a4c2c | 73 | float rotation_9X[NUM_AXES]; /* 9 axes yaw, pitch and roll */ |
| fabiombed | 4:1d3d071a4c2c | 74 | float quaternion_9X[QNUM_AXES]; /* 9 axes quaternion */ |
| fabiombed | 4:1d3d071a4c2c | 75 | float gravity_9X[NUM_AXES]; /* 9 axes device frame gravity */ |
| fabiombed | 4:1d3d071a4c2c | 76 | float linear_acceleration_9X[NUM_AXES]; /* 9 axes device frame linear acceleration */ |
| fabiombed | 4:1d3d071a4c2c | 77 | float heading_9X; /* 9 axes heading */ |
| fabiombed | 4:1d3d071a4c2c | 78 | float rotation_6X[NUM_AXES]; /* 6 axes yaw, pitch and roll */ |
| fabiombed | 4:1d3d071a4c2c | 79 | float quaternion_6X[QNUM_AXES]; /* 6 axes quaternion */ |
| fabiombed | 4:1d3d071a4c2c | 80 | float gravity_6X[NUM_AXES]; /* 6 axes device frame gravity */ |
| fabiombed | 4:1d3d071a4c2c | 81 | float linear_acceleration_6X[NUM_AXES]; /* 6 axes device frame linear acceleration */ |
| fabiombed | 4:1d3d071a4c2c | 82 | float heading_6X; /* 6 axes heading */ |
| fabiombed | 4:1d3d071a4c2c | 83 | } osxMFX_output; |
| fabiombed | 4:1d3d071a4c2c | 84 | |
| fabiombed | 4:1d3d071a4c2c | 85 | typedef struct |
| fabiombed | 4:1d3d071a4c2c | 86 | { |
| fabiombed | 4:1d3d071a4c2c | 87 | signed short magOffX; /* X axis Offset */ |
| fabiombed | 4:1d3d071a4c2c | 88 | signed short magOffY; /* Y axis Offset */ |
| fabiombed | 4:1d3d071a4c2c | 89 | signed short magOffZ; /* Z axis Offset */ |
| fabiombed | 4:1d3d071a4c2c | 90 | float magGainX; /* X axis Gain */ |
| fabiombed | 4:1d3d071a4c2c | 91 | float magGainY; /* Y axis Gain */ |
| fabiombed | 4:1d3d071a4c2c | 92 | float magGainZ; /* Z axis Gain */ |
| fabiombed | 4:1d3d071a4c2c | 93 | float expMagVect; /* expected magnetic field */ |
| fabiombed | 4:1d3d071a4c2c | 94 | } osxMFX_calibFactor; |
| fabiombed | 4:1d3d071a4c2c | 95 | |
| fabiombed | 4:1d3d071a4c2c | 96 | unsigned char osx_MotionFX_compass_isCalibrated(void); |
| fabiombed | 4:1d3d071a4c2c | 97 | void osx_MotionFX_compass_forceReCalibration(void); |
| fabiombed | 4:1d3d071a4c2c | 98 | void osx_MotionFX_compass_saveAcc(int acc_x, int acc_y, int acc_z); |
| fabiombed | 4:1d3d071a4c2c | 99 | void osx_MotionFX_compass_saveMag(int mag_x, int mag_y, int mag_z); |
| fabiombed | 4:1d3d071a4c2c | 100 | int osx_MotionFX_compass_run(void); |
| fabiombed | 4:1d3d071a4c2c | 101 | void osx_MotionFX_setCalibrationData(osxMFX_calibFactor* CalibrationData); |
| fabiombed | 4:1d3d071a4c2c | 102 | void osx_MotionFX_getCalibrationData(osxMFX_calibFactor* CalibrationData); |
| fabiombed | 4:1d3d071a4c2c | 103 | |
| fabiombed | 4:1d3d071a4c2c | 104 | #endif |
| fabiombed | 4:1d3d071a4c2c | 105 | |
| fabiombed | 4:1d3d071a4c2c | 106 | |
| fabiombed | 4:1d3d071a4c2c | 107 | typedef struct { |
| fabiombed | 4:1d3d071a4c2c | 108 | int32_t AXIS_X; |
| fabiombed | 4:1d3d071a4c2c | 109 | int32_t AXIS_Y; |
| fabiombed | 4:1d3d071a4c2c | 110 | int32_t AXIS_Z; |
| fabiombed | 4:1d3d071a4c2c | 111 | } AxesRaw_t; |
| fabiombed | 4:1d3d071a4c2c | 112 | |
| fabiombed | 4:1d3d071a4c2c | 113 | /* Exported functions ------------------------------------------------------- */ |
| fabiombed | 4:1d3d071a4c2c | 114 | |
| fabiombed | 4:1d3d071a4c2c | 115 | bool MotionFX_manager_init(bool DS3_OnBoard, osxMFX_calibFactor & magOffset); |
| fabiombed | 4:1d3d071a4c2c | 116 | void MotionFX_manager_run(AxesRaw_t *ACC_Value, AxesRaw_t *GYR_Value, AxesRaw_t *MAG_Value, osxMFX_calibFactor & magOffset); |
| fabiombed | 4:1d3d071a4c2c | 117 | void MotionFX_manager_start_6X(void); |
| fabiombed | 4:1d3d071a4c2c | 118 | void MotionFX_manager_stop_6X(void); |
| fabiombed | 4:1d3d071a4c2c | 119 | void MotionFX_manager_start_9X(void); |
| fabiombed | 4:1d3d071a4c2c | 120 | void MotionFX_manager_stop_9X(void); |
| fabiombed | 4:1d3d071a4c2c | 121 | |
| fabiombed | 4:1d3d071a4c2c | 122 | void MotionFX_manager_setDependencies(uint8_t sf, int32_t sensorMask); |
| fabiombed | 4:1d3d071a4c2c | 123 | void MotionFX_manager_resetDependencies(uint8_t sf, int32_t sensorMask); |
| fabiombed | 4:1d3d071a4c2c | 124 | uint32_t MotionFX_manager_getDependencies(uint8_t sf); |
| fabiombed | 4:1d3d071a4c2c | 125 | |
| fabiombed | 4:1d3d071a4c2c | 126 | osxMFX_output* MotionFX_manager_getDataOUT(void); |
| fabiombed | 4:1d3d071a4c2c | 127 | osxMFX_input* MotionFX_manager_getDataIN(void); |
| fabiombed | 4:1d3d071a4c2c | 128 | |
| fabiombed | 4:1d3d071a4c2c | 129 | /* Exported constants --------------------------------------------------------*/ |
| fabiombed | 4:1d3d071a4c2c | 130 | |
| fabiombed | 4:1d3d071a4c2c | 131 | /* Delta time mSec for Deltafusion */ |
| fabiombed | 4:1d3d071a4c2c | 132 | #define DELTATIMESENSORFUSION 0.01 |
| fabiombed | 4:1d3d071a4c2c | 133 | |
| fabiombed | 4:1d3d071a4c2c | 134 | #ifdef __cplusplus |
| fabiombed | 4:1d3d071a4c2c | 135 | } |
| fabiombed | 4:1d3d071a4c2c | 136 | #endif |
| fabiombed | 4:1d3d071a4c2c | 137 | |
| fabiombed | 4:1d3d071a4c2c | 138 | #endif //_MOTIONFX_MANAGER_H_ |
| fabiombed | 4:1d3d071a4c2c | 139 | |
| fabiombed | 4:1d3d071a4c2c | 140 | /******************* (C) COPYRIGHT 2015 STMicroelectronics *****END OF FILE****/ |