ST » Code » SunTracker_BLE

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.

/media/uploads/fabiombed/suntracker_server-client.png

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 structureis 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 efficiencywith 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.

/media/uploads/fabiombed/assembly.png

/media/uploads/fabiombed/mechanical_structure_and_motor_legs.png

FLAT CABLE ASSEMBLY

/media/uploads/fabiombed/flat_cable.png

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

/media/uploads/fabiombed/arduino_pinout.png /media/uploads/fabiombed/morpho_pinout.png

main_GOOD.cpp.h@7:54984d031243, 2016-02-10 (annotated)

Committer:: fabiombed
Date:: Wed Feb 10 12:52:55 2016 +0000
Revision:: 7:54984d031243

Only Flightsense and BLE

Who changed what in which revision?

User	Revision	Line number	New contents of line
fabiombed	7:54984d031243	1	/**
fabiombed	7:54984d031243	2	******************************************************************************
fabiombed	7:54984d031243	3	* @file main.cpp
fabiombed	7:54984d031243	4	* @author Fabio Brembilla
fabiombed	7:54984d031243	5	* @version V2.0.0
fabiombed	7:54984d031243	6	* @date February, 2016
fabiombed	7:54984d031243	7	* @brief SunTracker + RemoteControl Vertical Application
fabiombed	7:54984d031243	8	* This application use IHM01A1, 6180XA1, IKS01A1, IDB0XA1 expansion boards
fabiombed	7:54984d031243	9	******************************************************************************
fabiombed	7:54984d031243	10	* @attention
fabiombed	7:54984d031243	11	*
fabiombed	7:54984d031243	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
fabiombed	7:54984d031243	13	*
fabiombed	7:54984d031243	14	* Redistribution and use in source and binary forms, with or without modification,
fabiombed	7:54984d031243	15	* are permitted provided that the following conditions are met:
fabiombed	7:54984d031243	16	* 1. Redistributions of source code must retain the above copyright notice,
fabiombed	7:54984d031243	17	* this list of conditions and the following disclaimer.
fabiombed	7:54984d031243	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
fabiombed	7:54984d031243	19	* this list of conditions and the following disclaimer in the documentation
fabiombed	7:54984d031243	20	* and/or other materials provided with the distribution.
fabiombed	7:54984d031243	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
fabiombed	7:54984d031243	22	* may be used to endorse or promote products derived from this software
fabiombed	7:54984d031243	23	* without specific prior written permission.
fabiombed	7:54984d031243	24	*
fabiombed	7:54984d031243	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
fabiombed	7:54984d031243	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
fabiombed	7:54984d031243	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
fabiombed	7:54984d031243	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
fabiombed	7:54984d031243	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
fabiombed	7:54984d031243	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
fabiombed	7:54984d031243	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
fabiombed	7:54984d031243	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
fabiombed	7:54984d031243	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
fabiombed	7:54984d031243	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
fabiombed	7:54984d031243	35	*
fabiombed	7:54984d031243	36	******************************************************************************
fabiombed	7:54984d031243	37	*/
fabiombed	7:54984d031243	38
fabiombed	7:54984d031243	39	/* Includes ------------------------------------------------------------------*/
fabiombed	7:54984d031243	40
fabiombed	7:54984d031243	41	// Mbed specific header files
fabiombed	7:54984d031243	42	#include "mbed.h"
fabiombed	7:54984d031243	43
fabiombed	7:54984d031243	44	// Helper header files
fabiombed	7:54984d031243	45	#include "DevSPI.h"
fabiombed	7:54984d031243	46	#include "DevI2C.h"
fabiombed	7:54984d031243	47
fabiombed	7:54984d031243	48	// Component specific header files
fabiombed	7:54984d031243	49	#include "l6474_class.h"
fabiombed	7:54984d031243	50	#include "x_nucleo_6180xa1.h"
fabiombed	7:54984d031243	51	#include "x_nucleo_iks01a1.h"
fabiombed	7:54984d031243	52
fabiombed	7:54984d031243	53	// C header files
fabiombed	7:54984d031243	54	#include <string.h>
fabiombed	7:54984d031243	55	#include <stdlib.h>
fabiombed	7:54984d031243	56	#include <stdio.h>
fabiombed	7:54984d031243	57	#include <assert.h>
fabiombed	7:54984d031243	58
fabiombed	7:54984d031243	59	/* BlueTooth -----------------------------------------------------------------*/
fabiombed	7:54984d031243	60
fabiombed	7:54984d031243	61	#include "debug.h" // Need for PRINTF
fabiombed	7:54984d031243	62	#include "Utils.h" // Need for STORE_LE_16 and _32
fabiombed	7:54984d031243	63
fabiombed	7:54984d031243	64	typedef struct {
fabiombed	7:54984d031243	65	int32_t AXIS_X;
fabiombed	7:54984d031243	66	int32_t AXIS_Y;
fabiombed	7:54984d031243	67	int32_t AXIS_Z;
fabiombed	7:54984d031243	68	} AxesRaw_TypeDef;
fabiombed	7:54984d031243	69
fabiombed	7:54984d031243	70	typedef enum ConnectionStatus_t {
fabiombed	7:54984d031243	71	DISCONNECTED =0,
fabiombed	7:54984d031243	72	CONNECTED =1
fabiombed	7:54984d031243	73	}cns_t;
fabiombed	7:54984d031243	74
fabiombed	7:54984d031243	75	const unsigned LENGTH_OF_LONG_UUID = 16;
fabiombed	7:54984d031243	76	typedef uint16_t ShortUUIDBytes_t;
fabiombed	7:54984d031243	77	typedef uint8_t LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
fabiombed	7:54984d031243	78
fabiombed	7:54984d031243	79	#include "CustomControlService.h"
fabiombed	7:54984d031243	80	#include "CustomSensorsService.h"
fabiombed	7:54984d031243	81
fabiombed	7:54984d031243	82	static BLE *p_BLEdev = NULL;
fabiombed	7:54984d031243	83
fabiombed	7:54984d031243	84	#define BLE_DEV_NAME "SunTracker"
fabiombed	7:54984d031243	85	#define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF
fabiombed	7:54984d031243	86	#define BLE_ADVERTISING_INTERVAL 1000
fabiombed	7:54984d031243	87
fabiombed	7:54984d031243	88	/* Definitions ---------------------------------------------------------------*/
fabiombed	7:54984d031243	89
fabiombed	7:54984d031243	90	#define SET_ACC 400 // Set Motor Acceleration
fabiombed	7:54984d031243	91	#define SET_DEC 400 // Set Motor Deceleration
fabiombed	7:54984d031243	92	#define SET_MAX 200 // Set Motor MaxSpeed
fabiombed	7:54984d031243	93	#define SET_MIN 100 // Set Motor MinSpeed
fabiombed	7:54984d031243	94	#define STOP 1000 // Set Motor Stop Position
fabiombed	7:54984d031243	95	#define TOLLERANCE 100 // Tollerance between Left and Right before Start Movement
fabiombed	7:54984d031243	96	#define RANGE_1 200 // Range 1 for Motor Speed
fabiombed	7:54984d031243	97	#define RANGE_2 500 // Range 2 for Motor Speed
fabiombed	7:54984d031243	98
fabiombed	7:54984d031243	99	/* Variables -----------------------------------------------------------------*/
fabiombed	7:54984d031243	100
fabiombed	7:54984d031243	101	int16_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise
fabiombed	7:54984d031243	102	int16_t changedir=0; // Change Direction: 0 = No, 1 = Yes
fabiombed	7:54984d031243	103	int16_t babybear=0; // Difference (in Lux) between Left and Right
fabiombed	7:54984d031243	104	int acc_data[3]; // Difference of Accelerometer
fabiombed	7:54984d031243	105	int16_t diff=0; // Abs of Babybear or Accelerometer difference
fabiombed	7:54984d031243	106	int16_t left=0; // Left Command for Rotate Direction
fabiombed	7:54984d031243	107	int16_t right=0; // Right Command for Rotate Direction
fabiombed	7:54984d031243	108	int16_t start=0; // Waiting User Button Push
fabiombed	7:54984d031243	109	int32_t pos=0; // Motor Position
fabiombed	7:54984d031243	110	char DisplayStr[5]; // Status Display
fabiombed	7:54984d031243	111	int16_t Display=0; // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control
fabiombed	7:54984d031243	112	int16_t status, status_t, status_b, status_l, status_r; // Babybear Status
fabiombed	7:54984d031243	113
fabiombed	7:54984d031243	114	/* ---------------------------------------------------------------------------*/
fabiombed	7:54984d031243	115
fabiombed	7:54984d031243	116	// Initializing SPI bus
fabiombed	7:54984d031243	117	DevSPI dev_spi(D11, D12, D13);
fabiombed	7:54984d031243	118
fabiombed	7:54984d031243	119	// Initializing I2C bus
fabiombed	7:54984d031243	120	DevI2C dev_i2c(D14, D15);
fabiombed	7:54984d031243	121
fabiombed	7:54984d031243	122	// Initializing Motor Component IHM01A1
fabiombed	7:54984d031243	123	static L6474 *motor;
fabiombed	7:54984d031243	124
fabiombed	7:54984d031243	125	// Initializing Babybear Component 6180XA1
fabiombed	7:54984d031243	126	//static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
fabiombed	7:54984d031243	127	//MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
fabiombed	7:54984d031243	128	static X_NUCLEO_6180XA1 *board;
fabiombed	7:54984d031243	129	MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
fabiombed	7:54984d031243	130
fabiombed	7:54984d031243	131	// Initializing MEMS Component IKS01A1
fabiombed	7:54984d031243	132	//static X_NUCLEO_IKS01A1 *mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
fabiombed	7:54984d031243	133	//MotionSensor *accelerometer = mems->GetAccelerometer();
fabiombed	7:54984d031243	134	static X_NUCLEO_IKS01A1 *mems;
fabiombed	7:54984d031243	135	MotionSensor *accelerometer;
fabiombed	7:54984d031243	136
fabiombed	7:54984d031243	137	void DISP_ExecLoopBody(void) {};
fabiombed	7:54984d031243	138
fabiombed	7:54984d031243	139	//AnalogIn analog_read(A1); // A1 Conflict with BLE SPI_CS --> Changed in A????
fabiombed	7:54984d031243	140
fabiombed	7:54984d031243	141	InterruptIn mybutton(USER_BUTTON);
fabiombed	7:54984d031243	142
fabiombed	7:54984d031243	143	/* User_Button_Pressed -------------------------------------------------------*/
fabiombed	7:54984d031243	144
fabiombed	7:54984d031243	145	void User_Button_Pressed()
fabiombed	7:54984d031243	146	{
fabiombed	7:54984d031243	147
fabiombed	7:54984d031243	148	if (start>0) {
fabiombed	7:54984d031243	149	Display++;
fabiombed	7:54984d031243	150	}
fabiombed	7:54984d031243	151	if (Display>2) {
fabiombed	7:54984d031243	152	Display=0;
fabiombed	7:54984d031243	153	}
fabiombed	7:54984d031243	154	if (start==0) {
fabiombed	7:54984d031243	155	start=1;
fabiombed	7:54984d031243	156	}
fabiombed	7:54984d031243	157
fabiombed	7:54984d031243	158	printf("PUSH Display %d Start %d\r\n", Display, start);
fabiombed	7:54984d031243	159
fabiombed	7:54984d031243	160	}
fabiombed	7:54984d031243	161
fabiombed	7:54984d031243	162	/* Initialization ------------------------------------------------------------*/
fabiombed	7:54984d031243	163
fabiombed	7:54984d031243	164	bool Initialization(void)
fabiombed	7:54984d031243	165	{
fabiombed	7:54984d031243	166
fabiombed	7:54984d031243	167	// Initializing MEMS Component
fabiombed	7:54984d031243	168	mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
fabiombed	7:54984d031243	169	accelerometer = mems->GetAccelerometer();
fabiombed	7:54984d031243	170
fabiombed	7:54984d031243	171	//----
fabiombed	7:54984d031243	172
fabiombed	7:54984d031243	173	// Initializing Babybear Component
fabiombed	7:54984d031243	174	board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
fabiombed	7:54984d031243	175
fabiombed	7:54984d031243	176	/* FABIO
fabiombed	7:54984d031243	177	status=board->InitBoard();
fabiombed	7:54984d031243	178	if(status) VL6180x_ErrLog("Failed to init the board!\n\r");
fabiombed	7:54984d031243	179	*/
fabiombed	7:54984d031243	180
fabiombed	7:54984d031243	181	// Put GPIO not used as Interrupt in Hi-Z
fabiombed	7:54984d031243	182	status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	7:54984d031243	183	//status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present
fabiombed	7:54984d031243	184	status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	7:54984d031243	185	status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	7:54984d031243	186
fabiombed	7:54984d031243	187	// Set Babybears
fabiombed	7:54984d031243	188	status_l=board->sensor_left->AlsSetAnalogueGain(3);
fabiombed	7:54984d031243	189	status_r=board->sensor_right->AlsSetAnalogueGain(3);
fabiombed	7:54984d031243	190	status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed	7:54984d031243	191	status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed	7:54984d031243	192
fabiombed	7:54984d031243	193	//----
fabiombed	7:54984d031243	194
fabiombed	7:54984d031243	195	// Initializing Motor Component
fabiombed	7:54984d031243	196	motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
fabiombed	7:54984d031243	197	if (motor->Init(NULL) != COMPONENT_OK)
fabiombed	7:54984d031243	198	return false;
fabiombed	7:54984d031243	199
fabiombed	7:54984d031243	200	motor->SetStepMode(STEP_MODE_1_8); // Default is STEP_MODE_1_16
fabiombed	7:54984d031243	201
fabiombed	7:54984d031243	202	// Set defaults Motor Speed
fabiombed	7:54984d031243	203	motor->SetAcceleration(SET_ACC);
fabiombed	7:54984d031243	204	motor->SetDeceleration(SET_DEC);
fabiombed	7:54984d031243	205	motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors
fabiombed	7:54984d031243	206	motor->SetMinSpeed(SET_MIN);
fabiombed	7:54984d031243	207
fabiombed	7:54984d031243	208	return true;
fabiombed	7:54984d031243	209
fabiombed	7:54984d031243	210	}
fabiombed	7:54984d031243	211
fabiombed	7:54984d031243	212	/* Measure_Babybear ----------------------------------------------------------*/
fabiombed	7:54984d031243	213
fabiombed	7:54984d031243	214	void Measure_Babybear(void)
fabiombed	7:54984d031243	215	{
fabiombed	7:54984d031243	216
fabiombed	7:54984d031243	217	status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left);
fabiombed	7:54984d031243	218	status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right);
fabiombed	7:54984d031243	219
fabiombed	7:54984d031243	220	babybear = data_sensor_right.lux - data_sensor_left.lux;
fabiombed	7:54984d031243	221
fabiombed	7:54984d031243	222	diff = abs(babybear);
fabiombed	7:54984d031243	223
fabiombed	7:54984d031243	224	if (babybear>0) {
fabiombed	7:54984d031243	225	left=0;
fabiombed	7:54984d031243	226	right=1;
fabiombed	7:54984d031243	227	}
fabiombed	7:54984d031243	228	if (babybear<0) {
fabiombed	7:54984d031243	229	left=1;
fabiombed	7:54984d031243	230	right=0;
fabiombed	7:54984d031243	231	}
fabiombed	7:54984d031243	232
fabiombed	7:54984d031243	233	}
fabiombed	7:54984d031243	234
fabiombed	7:54984d031243	235	/* Measure_Accelerometer -----------------------------------------------------*/
fabiombed	7:54984d031243	236
fabiombed	7:54984d031243	237	void Measure_Accelerometer(void)
fabiombed	7:54984d031243	238	{
fabiombed	7:54984d031243	239
fabiombed	7:54984d031243	240	accelerometer->Get_X_Axes(acc_data);
fabiombed	7:54984d031243	241
fabiombed	7:54984d031243	242	diff = abs(acc_data[0]);
fabiombed	7:54984d031243	243
fabiombed	7:54984d031243	244	if (acc_data[0]>0) {
fabiombed	7:54984d031243	245	left=0;
fabiombed	7:54984d031243	246	right=1;
fabiombed	7:54984d031243	247	}
fabiombed	7:54984d031243	248	if (acc_data[0]<0) {
fabiombed	7:54984d031243	249	left=1;
fabiombed	7:54984d031243	250	right=0;
fabiombed	7:54984d031243	251	}
fabiombed	7:54984d031243	252
fabiombed	7:54984d031243	253	}
fabiombed	7:54984d031243	254
fabiombed	7:54984d031243	255	/* Control_Motor -------------------------------------------------------------*/
fabiombed	7:54984d031243	256
fabiombed	7:54984d031243	257	void Control_Motor(void)
fabiombed	7:54984d031243	258	{
fabiombed	7:54984d031243	259
fabiombed	7:54984d031243	260	//printf("Diff: %d lux/mems\n\r", diff);
fabiombed	7:54984d031243	261	motor->SetMaxSpeed(diff);
fabiombed	7:54984d031243	262
fabiombed	7:54984d031243	263	if (diff>TOLLERANCE) {
fabiombed	7:54984d031243	264	if (diff <=RANGE_1)
fabiombed	7:54984d031243	265	{
fabiombed	7:54984d031243	266	if (left) { strcpy(DisplayStr,"E___"); }
fabiombed	7:54984d031243	267	if (right) { strcpy(DisplayStr,"___3"); }
fabiombed	7:54984d031243	268	}
fabiombed	7:54984d031243	269	else if (diff >RANGE_1 & diff <=RANGE_2)
fabiombed	7:54984d031243	270	{
fabiombed	7:54984d031243	271	if (left) { strcpy(DisplayStr,"E==="); }
fabiombed	7:54984d031243	272	if (right) { strcpy(DisplayStr,"===3"); }
fabiombed	7:54984d031243	273	}
fabiombed	7:54984d031243	274	else if (diff >RANGE_2)
fabiombed	7:54984d031243	275	{
fabiombed	7:54984d031243	276	if (left) { strcpy(DisplayStr,"E~~~"); }
fabiombed	7:54984d031243	277	if (right) { strcpy(DisplayStr,"~~~3"); }
fabiombed	7:54984d031243	278	}
fabiombed	7:54984d031243	279
fabiombed	7:54984d031243	280	// In Case of Change Direction
fabiombed	7:54984d031243	281	if (left & dir==2) { changedir=1; }
fabiombed	7:54984d031243	282	if (right & dir==1) { changedir=1; }
fabiombed	7:54984d031243	283
fabiombed	7:54984d031243	284	// Run only if Stop or Change Direction
fabiombed	7:54984d031243	285	if (diff>TOLLERANCE & (dir==0 \| changedir==1)) {
fabiombed	7:54984d031243	286	if (left) { motor->Run(StepperMotor::FWD); dir=1; changedir=0; }
fabiombed	7:54984d031243	287	if (right) { motor->Run(StepperMotor::BWD); dir=2; changedir=0; }
fabiombed	7:54984d031243	288	}
fabiombed	7:54984d031243	289	}
fabiombed	7:54984d031243	290
fabiombed	7:54984d031243	291	// Get Motor Position and Control Rotation Block
fabiombed	7:54984d031243	292	pos = motor->GetPosition();
fabiombed	7:54984d031243	293	if (pos>STOP \| pos<-STOP) {
fabiombed	7:54984d031243	294	if (pos>0) { motor->GoTo(STOP); }
fabiombed	7:54984d031243	295	if (pos<0) { motor->GoTo(-STOP); }
fabiombed	7:54984d031243	296	printf("GOTO\n\r"); // Without this command, the motor remain in stop
fabiombed	7:54984d031243	297	}
fabiombed	7:54984d031243	298
fabiombed	7:54984d031243	299	// Stop Motor
fabiombed	7:54984d031243	300	if (diff<=TOLLERANCE) { // It continues to send the command to stop the motor. Think to do it just one time
fabiombed	7:54984d031243	301	motor->HardStop();
fabiombed	7:54984d031243	302	if (Display==0) { strcpy(DisplayStr,"----"); }
fabiombed	7:54984d031243	303	if (Display==2) { strcpy(DisplayStr,"E 3"); }
fabiombed	7:54984d031243	304	dir=0;
fabiombed	7:54984d031243	305	changedir=0;
fabiombed	7:54984d031243	306	//printf("STOP\n\r");
fabiombed	7:54984d031243	307	}
fabiombed	7:54984d031243	308
fabiombed	7:54984d031243	309	}
fabiombed	7:54984d031243	310
fabiombed	7:54984d031243	311	/* Measure_SolarPanel --------------------------------------------------------*/
fabiombed	7:54984d031243	312
fabiombed	7:54984d031243	313	void Measure_SolarPanel(void)
fabiombed	7:54984d031243	314	{
fabiombed	7:54984d031243	315
fabiombed	7:54984d031243	316	// AnalogIn: 0V return 0.0 , 3.3V return 1.0
fabiombed	7:54984d031243	317	// float measure = analog_read.read() * 3300;
fabiombed	7:54984d031243	318	float measure = 0;
fabiombed	7:54984d031243	319	//printf("Measure = %.0f mV\r\n", measure);
fabiombed	7:54984d031243	320	//board->display->DisplayDigit("A", 0);
fabiombed	7:54984d031243	321
fabiombed	7:54984d031243	322	if (Display==1) {
fabiombed	7:54984d031243	323	sprintf(DisplayStr, "%.0f", measure);
fabiombed	7:54984d031243	324	}
fabiombed	7:54984d031243	325
fabiombed	7:54984d031243	326	board->display->DisplayString(DisplayStr, 4);
fabiombed	7:54984d031243	327	printf("%s\n\r", DisplayStr);
fabiombed	7:54984d031243	328
fabiombed	7:54984d031243	329	}
fabiombed	7:54984d031243	330
fabiombed	7:54984d031243	331	/* Bluetooth CallBack ---------------------------------------------------------*/
fabiombed	7:54984d031243	332
fabiombed	7:54984d031243	333	static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
fabiombed	7:54984d031243	334	{
fabiombed	7:54984d031243	335
fabiombed	7:54984d031243	336	}
fabiombed	7:54984d031243	337
fabiombed	7:54984d031243	338	static void onUpdatesDisabledCallback(Gap::Handle_t handle)
fabiombed	7:54984d031243	339	{
fabiombed	7:54984d031243	340
fabiombed	7:54984d031243	341	}
fabiombed	7:54984d031243	342
fabiombed	7:54984d031243	343	static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
fabiombed	7:54984d031243	344	{
fabiombed	7:54984d031243	345
fabiombed	7:54984d031243	346	}
fabiombed	7:54984d031243	347
fabiombed	7:54984d031243	348	static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
fabiombed	7:54984d031243	349	{
fabiombed	7:54984d031243	350
fabiombed	7:54984d031243	351	}
fabiombed	7:54984d031243	352
fabiombed	7:54984d031243	353	static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
fabiombed	7:54984d031243	354	{
fabiombed	7:54984d031243	355
fabiombed	7:54984d031243	356	}
fabiombed	7:54984d031243	357
fabiombed	7:54984d031243	358	static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
fabiombed	7:54984d031243	359	{
fabiombed	7:54984d031243	360
fabiombed	7:54984d031243	361	}
fabiombed	7:54984d031243	362
fabiombed	7:54984d031243	363	/* Bluetooth Initialization ---------------------------------------------------*/
fabiombed	7:54984d031243	364
fabiombed	7:54984d031243	365	void BLE_Initialization(void)
fabiombed	7:54984d031243	366	{
fabiombed	7:54984d031243	367
fabiombed	7:54984d031243	368	p_BLEdev = new BLE;
fabiombed	7:54984d031243	369	if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); }
fabiombed	7:54984d031243	370	const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};
fabiombed	7:54984d031243	371	p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE);
fabiombed	7:54984d031243	372
fabiombed	7:54984d031243	373	p_BLEdev->init();
fabiombed	7:54984d031243	374
fabiombed	7:54984d031243	375	// Set BLE CallBack Functions
fabiombed	7:54984d031243	376	p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback);
fabiombed	7:54984d031243	377	p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback);
fabiombed	7:54984d031243	378	p_BLEdev->gattServer().onDataRead(onDataReadCallback);
fabiombed	7:54984d031243	379	p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
fabiombed	7:54984d031243	380	p_BLEdev->gap().onConnection(onConnectionCallback);
fabiombed	7:54984d031243	381	p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
fabiombed	7:54984d031243	382	//p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback);
fabiombed	7:54984d031243	383	//p_BLEdev->gattServer().onDataSent(onDataSentCallback);
fabiombed	7:54984d031243	384	//p_BLEdev->gap().onTimeout(onTimeoutCallback);
fabiombed	7:54984d031243	385
fabiombed	7:54984d031243	386	// Setup BLE Advertising
fabiombed	7:54984d031243	387	const static char DEVICE_NAME[] = BLE_DEV_NAME;
fabiombed	7:54984d031243	388	p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED \| GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
fabiombed	7:54984d031243	389	#ifdef USE_SENSOR_FUSION_LIB
fabiombed	7:54984d031243	390	uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x01,0x80};
fabiombed	7:54984d031243	391	#else
fabiombed	7:54984d031243	392	uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00};
fabiombed	7:54984d031243	393	#endif
fabiombed	7:54984d031243	394	p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6);
fabiombed	7:54984d031243	395	p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
fabiombed	7:54984d031243	396	p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
fabiombed	7:54984d031243	397	p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
fabiombed	7:54984d031243	398	p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL);
fabiombed	7:54984d031243	399	p_BLEdev->gap().startAdvertising();
fabiombed	7:54984d031243	400
fabiombed	7:54984d031243	401	}
fabiombed	7:54984d031243	402
fabiombed	7:54984d031243	403	/* Main ----------------------------------------------------------------------*/
fabiombed	7:54984d031243	404
fabiombed	7:54984d031243	405	int main()
fabiombed	7:54984d031243	406	{
fabiombed	7:54984d031243	407
fabiombed	7:54984d031243	408	// Printing to the console
fabiombed	7:54984d031243	409	printf("SunTracker by Fabio Brembilla\r\n\n");
fabiombed	7:54984d031243	410
fabiombed	7:54984d031243	411	Initialization();
fabiombed	7:54984d031243	412
fabiombed	7:54984d031243	413	printf("Initialization OK (Line %d)\r\n", __LINE__);
fabiombed	7:54984d031243	414
fabiombed	7:54984d031243	415	BLE_Initialization();
fabiombed	7:54984d031243	416
fabiombed	7:54984d031243	417	printf("BLE_Initialization OK (Line %d)\r\n", __LINE__);
fabiombed	7:54984d031243	418
fabiombed	7:54984d031243	419	mybutton.fall(&User_Button_Pressed);
fabiombed	7:54984d031243	420
fabiombed	7:54984d031243	421	printf("Main Initializations OK (Line %d)\r\n", __LINE__);
fabiombed	7:54984d031243	422	printf("Wait Push Button\r\n");
fabiombed	7:54984d031243	423
fabiombed	7:54984d031243	424	// Loop until push User Button to Set 0 Point
fabiombed	7:54984d031243	425	strcpy(DisplayStr,"pusH");
fabiombed	7:54984d031243	426	while(start<1) {
fabiombed	7:54984d031243	427	board->display->DisplayString(DisplayStr, 4);
fabiombed	7:54984d031243	428	printf("%s\n\r", DisplayStr);
fabiombed	7:54984d031243	429	//wait(0.1); // Need one command otherwise remain always in loop
fabiombed	7:54984d031243	430	}
fabiombed	7:54984d031243	431
fabiombed	7:54984d031243	432	printf("Start Main Loop\r\n");
fabiombed	7:54984d031243	433
fabiombed	7:54984d031243	434	// Main Loop
fabiombed	7:54984d031243	435	while(true) {
fabiombed	7:54984d031243	436	if (Display==0 \| Display==1) {
fabiombed	7:54984d031243	437	Measure_Babybear();
fabiombed	7:54984d031243	438	}
fabiombed	7:54984d031243	439	if (Display==2) {
fabiombed	7:54984d031243	440	Measure_Accelerometer();
fabiombed	7:54984d031243	441	}
fabiombed	7:54984d031243	442
fabiombed	7:54984d031243	443	Control_Motor();
fabiombed	7:54984d031243	444	Measure_SolarPanel();
fabiombed	7:54984d031243	445
fabiombed	7:54984d031243	446	p_BLEdev->waitForEvent();
fabiombed	7:54984d031243	447	}
fabiombed	7:54984d031243	448
fabiombed	7:54984d031243	449	//status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
fabiombed	7:54984d031243	450	//status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
fabiombed	7:54984d031243	451
fabiombed	7:54984d031243	452	}

Repository toolbox

Import into Keil Studio

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 May 2016
Imports:	42
Forks:	0
Commits:	26
Dependents:	0
Dependencies:	6
Followers:	406

The code in this repository is Apache licensed.