ST / Mbed 2 deprecated 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 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

  • 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

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

Diff: main.cpp

Revision:
17:582eba752042
Parent:
16:d69c0d5d5ab2
Child:
18:319a1bb8f837
--- a/main.cpp	Tue Apr 12 09:20:52 2016 +0000
+++ b/main.cpp	Tue Apr 19 08:53:07 2016 +0000
@@ -3,7 +3,7 @@
  * @file    main.cpp
  * @author  Fabio Brembilla
  * @version V2.0.0
- * @date    March, 2016
+ * @date    April, 2016
  * @brief   SunTracker + BLE (Server) Vertical Application
  *          This application use IHM01A1, 6180XA1, IKS01A1, IDB0XA1 expansion boards
  ******************************************************************************
@@ -78,9 +78,10 @@
 #include "debug.h" // Need for PRINTF
 #include "Utils.h" // Need for STORE_LE_16 and STORE_LE_32
 
-const unsigned   LENGTH_OF_LONG_UUID = 16;
-typedef uint16_t ShortUUIDBytes_t;
-typedef uint8_t  LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
+// Not need to re-define it, it is already defined into UUID.h, just use UUID:: when you call it
+//const unsigned   LENGTH_OF_LONG_UUID = 16;
+//typedef uint16_t ShortUUIDBytes_t;
+//typedef uint8_t  LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
 
 typedef enum ConnectionStatus_t {
     DISCONNECTED    =0,
@@ -88,8 +89,8 @@
 } cns_t;
 
 #define BLE_DEV_NAME "SunTracker"
-#define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF // SERVER address (must be set into CLIENT BLE_peer_address_BE)
-//#define BLE_DEV_MAC 0xFD,0x66,0x05,0x13,0xBE,0xBA // Default ST
+//#define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF // SERVER address (must be set into CLIENT BLE_peer_address_BE)
+#define BLE_DEV_MAC 0xFD,0x66,0x05,0x13,0xBE,0xBA // Default ST address (must be set into CLIENT BLE_peer_address_BE)
 #define BLE_ADVERTISING_INTERVAL 1000
 
 #include "CustomControlService.h"
@@ -99,7 +100,10 @@
 static CustomControlService *p_customcontrolservice = NULL;
 static CustomSensorService  *p_customsensorservice = NULL;
 
-int16_t value_read = 0;
+#define FeatureStatus      0x00000400
+#define FeatureDifference  0x00000800
+#define FeaturePosition    0x00001000
+#define FeatureSunPanel    0x00002000
 
 #endif
 
@@ -125,12 +129,12 @@
 int16_t diff_abs=0;    // Abs of Babybear or Accelerometer difference
 int8_t left=0;         // Left Command for Rotate Direction
 int8_t right=0;        // Right Command for Rotate Direction
-int8_t start=0;        // Waiting User Button Push
 int16_t pos=0;         // Motor Position [--> Send BLE]
 int16_t measure=0;     // ADC Value from SunPanel [--> Send BLE]
-char DisplayStr[5];    // Status Display
-int8_t display=0;      // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control [--> Send BLE]
-int16_t status, status_t, status_b, status_l, status_r; // Babybear Status
+char DisplayStr[5];    // Display String
+int16_t Status=0;      // Status Shown on Display: 0 = Idle, 1 = Motor Speed, 2 = Solar Panel Value, 3 = Manual Control [--> Send BLE]
+int16_t status_bb, status_t, status_b, status_l, status_r; // Babybear Status
+uint16_t TimeStamp=0;  // TimeStamp for BLE
 
 /* Initializations ------------------------------------------------------------*/
 
@@ -161,24 +165,33 @@
 
 AnalogIn analog_read(PC_3); // A1 Conflict with BLE SPI_CS --> Changed in Morpho PC_3
 
+/* Update_Status ------------------------------------------------------------*/
+
+void Update_Status(int16_t Stat)
+{
+
+    char State[12]; // Characters into State must be <12 and never =>12 or it crash!!!
+    if (Stat==1) strcpy(State,"FlightSense");
+    if (Stat==2) strcpy(State,"ADCSunPanel");
+    if (Stat==3) strcpy(State,"Sensors");
+    printf("\r\n\r\nPUSH Status: %s", State);
+
+}
+
 /* User_Button_Pressed -------------------------------------------------------*/
 
 void User_Button_Pressed(void)
 {
 
-    if (start>0)    { display++; }
+    Status++;
+
 #ifdef Sensors
-    if (display>2)  { display=0; }
+    if (Status>3)  { Status=1; }
 #else
-    if (display>1)  { display=0; }
+    if (Status>2)  { Status=1; }
 #endif 
-    if (start==0)   { start=1; }
 
-    char State[12]; // Characters into State must be <12 and never =>12 or it crash!!!
-    if (display==0) strcpy(State,"FlightSense");
-    if (display==1) strcpy(State,"ADCSunPanel");
-    if (display==2) strcpy(State,"Sensors");
-    printf("\r\n\r\nPUSH Display: %s", State);
+    Update_Status(Status);
 
 }
 
@@ -188,7 +201,9 @@
 
 static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
 {
-    if (p_customcontrolservice->isContHandle(handle)) p_customcontrolservice->enNotify(handle);
+    if (p_customcontrolservice->isCommandHandle(handle)) p_customcontrolservice->enNotify(handle); 
+    
+    if (p_customsensorservice->isStatusHandle(handle)) p_customsensorservice->enNotify(handle); 
     if (p_customsensorservice->isDifferenceHandle(handle)) p_customsensorservice->enNotify(handle);  
     if (p_customsensorservice->isPositionHandle(handle)) p_customsensorservice->enNotify(handle);
     if (p_customsensorservice->isSunpanelHandle(handle)) p_customsensorservice->enNotify(handle);     
@@ -196,7 +211,9 @@
 
 static void onUpdatesDisabledCallback(Gap::Handle_t handle)
 {
-    if (p_customcontrolservice->isContHandle(handle)) p_customcontrolservice->disNotify(handle);
+    if (p_customcontrolservice->isCommandHandle(handle)) p_customcontrolservice->disNotify(handle); 
+    
+    if (p_customsensorservice->isStatusHandle(handle)) p_customsensorservice->disNotify(handle); 
     if (p_customsensorservice->isDifferenceHandle(handle)) p_customsensorservice->disNotify(handle);  
     if (p_customsensorservice->isPositionHandle(handle)) p_customsensorservice->disNotify(handle);
     if (p_customsensorservice->isSunpanelHandle(handle)) p_customsensorservice->disNotify(handle);    
@@ -204,33 +221,71 @@
 
 static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
 {
-    
+/*
+    // if receive a manual Read request
+
+    if (p_customsensorservice->isStatusHandle(eventDataP->handle))
+    {   
+        printf("\n\r\n\rSend BLE Display Status %d", Status);
+        p_customsensorservice->sendEnvStatus(Status, TimeStamp);
+        
+    } else if (p_customsensorservice->isDifferenceHandle(eventDataP->handle)) {
+
+        printf("\n\rSend BLE Difference %d lux/mems", diff); // Send BLE diff, no diff_abs
+        p_customsensorservice->sendEnvDifference(diff, TimeStamp);
+
+    } else if (p_customsensorservice->isPositionHandle(eventDataP->handle)) {
+
+        printf("\n\rSend BLE Position %d", pos);
+        p_customsensorservice->sendEnvPosition(pos, TimeStamp);
+
+    } else if (p_customsensorservice->isSunpanelHandle(eventDataP->handle)) {
+
+        printf("\n\rSend BLE Sunpanel %d mV", measure);            
+        p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
+
+    }
+*/  
 }
 
 // This Callback happen when it RECEIVE a WRITE
 static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
 {   
-    //printf ("myonDataWriteCallback attr_handle: %x  att_data[3]: %x  data_length: %d\n\r", eventDataP->handle, eventDataP->data[3], eventDataP->len );
 
-    // Return original value after inverted with STORE_LE_16 to send by BLE
-    value_read = eventDataP->data[0] + (eventDataP->data[1]<<8);
-    
-    if (p_customcontrolservice->isContHandle(eventDataP->handle))
-    {
-        //printf("\r\n\r\nmyonDataWriteCallback (data[0] %x)", eventDataP->data[0]);
-        //printf("\r\nmyonDataWriteCallback (data[1] %x)", eventDataP->data[1]);
-        printf("\r\n\r\nonDataRead BUTTON (data %d)", value_read);
+    if (p_customcontrolservice->isCommandHandle(eventDataP->handle))
+    {       
+        // From CLIENT it receives a command in this format: Feature (4) + Type (1) + Data (2)        
+        uint32_t Feature = eventDataP->data[0]<<24 | eventDataP->data[1]<<16 | eventDataP->data[2]<<8 | eventDataP->data[3];
+        uint8_t Type = eventDataP->data[4];
+        int16_t Data = eventDataP->data[5]<<8 | eventDataP->data[6];
         
-        User_Button_Pressed(); // Change Display Status
-    }
-    
-    if (p_customsensorservice->isDifferenceHandle(eventDataP->handle))
-    {
-        //printf("\r\n\r\nmyonDataWriteCallback (data[0] %x)", eventDataP->data[0]);
-        //printf("\r\nmyonDataWriteCallback (data[1] %x)", eventDataP->data[1]);
-        //printf("\r\n\r\nonDataRead (data %d)", value_read);
-        
-        diff = value_read; // Change Diff
+        //printf("\r\n\r\nmyonDataWriteCallback (Feature %x)", Feature);
+        //printf("\r\nmyonDataWriteCallback (Type %x)", Type);        // Not Used
+        //printf("\r\nmyonDataWriteCallback (Data Hex %x)", Data);
+        //printf("\r\nmyonDataWriteCallback (Data Dec %d)", Data);
+               
+        switch(Feature)
+        {
+            case FeatureStatus:
+                printf("\r\n\r\nReceived STATUS %d", Data);
+                Status = Data;
+                Update_Status(Data);
+                break;
+     
+            case FeatureDifference:
+                printf("\r\n\r\nReceived DIFF %d", Data);
+                diff = Data;
+                break;
+ 
+            case FeaturePosition:
+                break;
+            
+            case FeatureSunPanel:
+                break;
+                
+            default:
+                break;
+        }
     }
     
 }
@@ -310,8 +365,8 @@
     // Initializing FlightSense Component
     board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC); // NC as Interrupt fixed from FlightSense library 42
 
-    status=board->InitBoard();
-    if(status) VL6180x_ErrLog("Failed to init the board!\n\r");
+    status_bb=board->InitBoard();
+    if(status_bb) VL6180x_ErrLog("Failed to init the board!\n\r");
 
     // Put GPIO not used as Interrupt in Hi-Z
     status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
@@ -456,8 +511,8 @@
     // Stop Motor
     if (diff_abs<=TOLLERANCE) { 
         arrest=1; 
-        if (display==0) { strcpy(DisplayStr,"----"); }
-        if (display==2) { strcpy(DisplayStr,"E  3"); }
+        if (Status==1) { strcpy(DisplayStr,"----"); }
+        if (Status==3) { strcpy(DisplayStr,"E  3"); }
     }
         
     if (arrest==1 && dir!=0 ) { // Stop just one time
@@ -482,7 +537,7 @@
     //printf("Measure = %.0f mV\r\n", measure);
     //board->display->DisplayDigit("A", 0);
 
-    if (display==1) { sprintf(DisplayStr, "%d", measure); }
+    if (Status==2) { sprintf(DisplayStr, "%d", measure); }
      
 }
 
@@ -499,34 +554,49 @@
     
     mybutton.fall(&User_Button_Pressed);
 
+    #ifdef Ble
+    static int INTLOOP=0;
+    #endif
+
     // Loop until push User Button to Set 0 Point
     printf("\r\nWait PUSH Button");
     strcpy(DisplayStr,"pusH");
-    while(start<1) {
+    while(Status==0) {
         #ifdef FlightSense
         board->display->DisplayString(DisplayStr, 4);
-        p_BLEdev->waitForEvent();
         //printf("%s\n\r", DisplayStr);
+        #endif
+        
+        #ifdef Ble
+        /*
+        INTLOOP++;
+        if (INTLOOP==100)
+        {
+            p_customsensorservice->sendEnvStatus(Status, TimeStamp);
+            p_customsensorservice->sendEnvDifference(diff, TimeStamp);
+            p_customsensorservice->sendEnvPosition(pos, TimeStamp);
+            p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
+            INTLOOP=0;
+        }
+        */    
+        //p_BLEdev->waitForEvent(); // Without it the CLIENT can't start to communicate
         #endif 
     }
 
     printf("\r\n\r\nStart Main Loop");
-
+    INTLOOP=0;
+    
     #ifdef EasySpin
     motor->Enable(); // To put the motor on hold by execute CmdEnable
     #endif
 
-    #ifdef Ble
-    static int INTLOOP=0;
-    #endif
-
     // Main Loop
     while(true)
     {
-        if (display==0 | display==1)    { Measure_Babybear(); }
+        if (Status==1 | Status==2)    { Measure_Babybear(); }
         
         #ifndef Ble // without BLE it uses Accelerometer from SERVER, otherwise receive the value from CLIENT
-        if (display==2)                 { Measure_Accelerometer(); }
+        if (Status==3)                { Measure_Accelerometer(); }
         #endif
         
         Control_Motor();
@@ -538,34 +608,37 @@
         #endif   
         
         #ifdef Ble
+        
         INTLOOP++;
         if (INTLOOP==100)
         {    
-            //if (p_customcontrolservice->isControlNotificationEn()) {
-                printf("\n\r\n\rSend BLE Display %d", display);
-                p_customcontrolservice->sendControlState(display);
-                //p_customcontrolservice->updateControlState(display);            
+            //if (p_customsensorservice->isStatusNotificationEn()) {
+                printf("\n\r\n\rSend BLE Display Status %d", Status);
+                p_customsensorservice->sendEnvStatus(Status, TimeStamp);
+                //p_customsensorservice->updateEnvStatus(Status, TimeStamp));            
             //}
             //if (p_customsensorservice->isDifferenceNotificationEn()) {
                 printf("\n\rSend BLE Difference %d lux/mems", diff); // Send BLE diff, no diff_abs
-                p_customsensorservice->sendEnvDifference(diff);
-                //p_customsensorservice->updateEnvDifference(diff);
+                p_customsensorservice->sendEnvDifference(diff, TimeStamp);
+                //p_customsensorservice->updateEnvDifference(diff, TimeStamp));
             //}
             //if (p_customsensorservice->isPositionNotificationEn()) {            
                 printf("\n\rSend BLE Position %d", pos);
-                p_customsensorservice->sendEnvPosition(pos);
-                //p_customsensorservice->updateEnvPosition(pos);
+                p_customsensorservice->sendEnvPosition(pos, TimeStamp);
+                //p_customsensorservice->updateEnvPosition(pos, TimeStamp));
             //}
             //if (p_customsensorservice->isSunpanelNotificationEn()) {            
                 printf("\n\rSend BLE Sunpanel %d mV", measure);            
-                p_customsensorservice->sendEnvSunpanel(measure);
-                //p_customsensorservice->updateEnvSunpanel(measure);
+                p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
+                //p_customsensorservice->updateEnvSunpanel(measure, TimeStamp));
             //}
             INTLOOP=0;
+            //diff=0; // To reset it in case from Mems don't arrive a future value
         }
-
+        
         p_BLEdev->waitForEvent();
         #endif
+        
     }
 
     //status_l=board->sensor_left->StopMeasurement(als_continuous_polling);