SunTracker_BLE
Dependencies: BLE_API X_NUCLEO_6180XA1 X_NUCLEO_IDB0XA1 X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A1 mbed
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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 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.
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
Diff: CustomSensorsService.h
- Revision:
- 14:644f9e7278e9
- Parent:
- 8:144855fe02bd
- Child:
- 15:019b8d60c89d
--- a/CustomSensorsService.h Fri Mar 11 09:53:49 2016 +0000 +++ b/CustomSensorsService.h Wed Mar 16 19:17:08 2016 +0000 @@ -34,24 +34,30 @@ ****************************************************************************** */ -#ifndef __CUSTOM_BLE_SENSORS_SERVICE_H__ -#define __CUSTOM_BLE_SENSORS_SERVICE_H__ #include "BLE.h" #include "UUID.h" -/* BLE Services: Primary + 2 Secondary (Char Desk) */ -const LongUUIDBytes_t SENS_SERVICE_UUID_128 = {0x00,0x00,0x00,0x00,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B}; //Primary -const LongUUIDBytes_t SENS_POSITION_CHAR_UUID_128 = {0x00,0x00,0x00,0x01,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B}; //Motor Position -const LongUUIDBytes_t SENS_SUNPANEL_CHAR_UUID_128 = {0x00,0x00,0x00,0x02,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B}; //SunPanel Voltage - -#define POSITION_DATA_LEN 2+2 -#define SUNPANEL_DATA_LEN 2+2 +/* BLE Services: Primary + 3 Secondary (Char Desk) */ +//const LongUUIDBytes_t SENS_SERVICE_UUID_128 = {0x00,0x00,0x00,0x00,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B}; //Primary +//const LongUUIDBytes_t SENS_DIFFERENCE_CHAR_UUID_128 = {0x00,0x00,0x00,0x01,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B}; //Difference Light/Mems +//const LongUUIDBytes_t SENS_POSITION_CHAR_UUID_128 = {0x00,0x00,0x00,0x02,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B}; //Motor Position +//const LongUUIDBytes_t SENS_SUNPANEL_CHAR_UUID_128 = {0x00,0x00,0x00,0x03,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B,0x0B}; //SunPanel Voltage +const ShortUUIDBytes_t SENS_SERVICE_UUID_128 = 0xB000; //Primary +const ShortUUIDBytes_t SENS_DIFFERENCE_CHAR_UUID_128 = 0xB001; //Difference Light/Mems Sensors +const ShortUUIDBytes_t SENS_POSITION_CHAR_UUID_128 = 0xB002; //Motor Position +const ShortUUIDBytes_t SENS_SUNPANEL_CHAR_UUID_128 = 0xB003; //SunPanel Voltage + +#define DIFFERENCE_DATA_LEN 4 +#define POSITION_DATA_LEN 4 +#define SUNPANEL_DATA_LEN 4 /* Custom Sensors Service */ class CustomSensorService { public: CustomSensorService(BLEDevice &_ble) : ble(_ble), + differenceCharacteristic(SENS_DIFFERENCE_CHAR_UUID_128, envDifference, DIFFERENCE_DATA_LEN, DIFFERENCE_DATA_LEN, + GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY), positionCharacteristic(SENS_POSITION_CHAR_UUID_128, envPosition, POSITION_DATA_LEN, POSITION_DATA_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY), sunpanelCharacteristic(SENS_SUNPANEL_CHAR_UUID_128, envSunpanel, SUNPANEL_DATA_LEN, SUNPANEL_DATA_LEN, @@ -62,32 +68,110 @@ return; } - GattCharacteristic *charTable[] = {&positionCharacteristic, &sunpanelCharacteristic}; - - GattService envService(SENS_SERVICE_UUID_128, charTable, sizeof(charTable) / sizeof(GattCharacteristic *)); - + GattCharacteristic *charTable[] = {&differenceCharacteristic, &positionCharacteristic, &sunpanelCharacteristic}; + GattService envService(SENS_SERVICE_UUID_128, charTable, sizeof(charTable) / sizeof(GattCharacteristic *)); ble.gattServer().addService(envService); + isEnabledDifferenceNotify = false; isEnabledPositionNotify = false; isEnabledSunpanelNotify = false; - - memset (envPosition, 0, POSITION_DATA_LEN); - memset (envSunpanel, 0, SUNPANEL_DATA_LEN); - + memset (envDifference, 0, DIFFERENCE_DATA_LEN); + memset (envPosition, 0, POSITION_DATA_LEN); + memset (envSunpanel, 0, SUNPANEL_DATA_LEN); isBTLEConnected = DISCONNECTED; serviceAdded = true; } // Tests Method + void sendEnvDifference (uint32_t Dif) { + STORE_LE_32(envDifference,Dif); + PRINTF("sendEnvDifference handle: %d\n\r", positionCharacteristic.getValueAttribute().getHandle()); + memcpy (pastenvDifference, envDifference, DIFFERENCE_DATA_LEN); + ble.gattServer().write(differenceCharacteristic.getValueAttribute().getHandle(), envDifference, DIFFERENCE_DATA_LEN, 0); + printf(" (Update)"); + } + + void updateEnvDifference (uint32_t Temp) { + if (memcmp (&pastenvDifference[0], &Temp, 4) != 0) { + sendEnvDifference (Temp); + } + } + + void sendEnvPosition (uint32_t Pos) { + STORE_LE_32(envPosition,Pos); + PRINTF("sendEnvPosition handle: %d\n\r", positionCharacteristic.getValueAttribute().getHandle()); + memcpy (pastenvPosition, envPosition, POSITION_DATA_LEN); + ble.gattServer().write(positionCharacteristic.getValueAttribute().getHandle(), envPosition, POSITION_DATA_LEN, 0); + printf(" (Update)"); + } + + void updateEnvPosition (uint32_t Temp) { + if (memcmp (&pastenvPosition[0], &Temp, 4) != 0) { + sendEnvPosition (Temp); + } + } + + void sendEnvSunpanel (uint32_t Sun) { + STORE_LE_32(envSunpanel,Sun); + PRINTF("sendEnvSunpanel handle: %d\n\r", sunpanelCharacteristic.getValueAttribute().getHandle()); + memcpy (pastenvSunpanel, envSunpanel, SUNPANEL_DATA_LEN); + ble.gattServer().write(sunpanelCharacteristic.getValueAttribute().getHandle(), envSunpanel, SUNPANEL_DATA_LEN, 0); + printf(" (Update)"); + } + + void updateEnvSunpanel (uint32_t Temp) { + if (memcmp (&pastenvSunpanel[0], &Temp, 4) != 0) { + sendEnvSunpanel (Temp); + } + } + +/* with TimeStamp + + void sendEnvDifference (int16_t Dif, uint16_t TimeStamp) { + STORE_LE_16(envDifference,TimeStamp); + STORE_LE_16(envDifference+2,Dif); + PRINTF("sendEnvDifference!! handle: %d\n\r", positionCharacteristic.getValueAttribute().getHandle()); + memcpy (pastenvDifference, envDifference, DIFFERENCE_DATA_LEN); + ble.gattServer().write(differenceCharacteristic.getValueAttribute().getHandle(), envDifference, DIFFERENCE_DATA_LEN, 0); + } + + void updateEnvDifference (int16_t Temp, uint16_t TimeStamp) { + if (memcmp (&pastenvDifference[2], &Temp, 2) != 0) { + sendEnvDifference (Temp, TimeStamp); + } + } + void sendEnvPosition (int16_t Pos, uint16_t TimeStamp) { STORE_LE_16(envPosition,TimeStamp); STORE_LE_16(envPosition+2,Pos); - PRINTF("sendEnvPosition!! handle: %d\n\r", positionCharacteristic.getValueAttribute().getHandle()); + PRINTF("sendEnvPosition!! handle: %d\n\r", positionCharacteristic.getValueAttribute().getHandle()); memcpy (pastenvPosition, envPosition, POSITION_DATA_LEN); ble.gattServer().write(positionCharacteristic.getValueAttribute().getHandle(), envPosition, POSITION_DATA_LEN, 0); } + void updateEnvPosition (int16_t Temp, uint16_t TimeStamp) { + if (memcmp (&pastenvPosition[2], &Temp, 2) != 0) { + sendEnvPosition (Temp, TimeStamp); + } + } + + void sendEnvSunpanel (int16_t Sun, uint16_t TimeStamp) { + STORE_LE_16(envSunpanel,TimeStamp); + STORE_LE_16(envSunpanel+2,Sun); + PRINTF("sendEnvSunpanel!! handle: %d\n\r", sunpanelCharacteristic.getValueAttribute().getHandle()); + memcpy (pastenvSunpanel, envSunpanel, SUNPANEL_DATA_LEN); + ble.gattServer().write(sunpanelCharacteristic.getValueAttribute().getHandle(), envSunpanel, SUNPANEL_DATA_LEN, 0); + } + + void updateEnvSunpanel (int16_t Temp, uint16_t TimeStamp) { + if (memcmp (&pastenvSunpanel[2], &Temp, 2) != 0) { + sendEnvSunpanel (Temp, TimeStamp); + } + } + +*/ + /* void sendEnvTemperature (int16_t Temp, uint16_t TimeStamp) { @@ -190,15 +274,21 @@ */ void enNotify (Gap::Handle_t handle) { + if (isDifferenceHandle(handle)) { isEnabledDifferenceNotify = true; memset(envDifference,0,DIFFERENCE_DATA_LEN); return; } if (isPositionHandle(handle)) { isEnabledPositionNotify = true; memset(envPosition,0,POSITION_DATA_LEN); return; } if (isSunpanelHandle(handle)) { isEnabledSunpanelNotify = true; memset(envSunpanel,0,SUNPANEL_DATA_LEN); return; } } void disNotify (Gap::Handle_t handle) { + if (isDifferenceHandle(handle)) { isEnabledDifferenceNotify = false; memset(envDifference,0,DIFFERENCE_DATA_LEN); return; } if (isPositionHandle(handle)) { isEnabledPositionNotify = false; memset(envPosition,0,POSITION_DATA_LEN); return; } if (isSunpanelHandle(handle)) { isEnabledSunpanelNotify = false; memset(envSunpanel,0,SUNPANEL_DATA_LEN); return; } } + bool isDifferenceNotificationEn (void) { + return isEnabledDifferenceNotify; + } + bool isPositionNotificationEn (void) { return isEnabledPositionNotify; } @@ -207,6 +297,11 @@ return isEnabledSunpanelNotify; } + bool isDifferenceHandle (Gap::Handle_t handle) { + if (handle == differenceCharacteristic.getValueAttribute().getHandle()) return true; + return false; + } + bool isPositionHandle (Gap::Handle_t handle) { if (handle == positionCharacteristic.getValueAttribute().getHandle()) return true; return false; @@ -218,9 +313,10 @@ } void updateConnectionStatus(ConnectionStatus_t status) { + isEnabledDifferenceNotify = false; isEnabledPositionNotify = false; isEnabledSunpanelNotify = false; - + memset (envDifference, 0, DIFFERENCE_DATA_LEN); memset (envPosition, 0, POSITION_DATA_LEN); memset (envSunpanel, 0, SUNPANEL_DATA_LEN); isBTLEConnected = status; @@ -230,19 +326,21 @@ private: BLEDevice &ble; + uint8_t envDifference [DIFFERENCE_DATA_LEN]; uint8_t envPosition [POSITION_DATA_LEN]; uint8_t envSunpanel [SUNPANEL_DATA_LEN]; + uint8_t pastenvDifference [POSITION_DATA_LEN]; uint8_t pastenvPosition [POSITION_DATA_LEN]; uint8_t pastenvSunpanel [SUNPANEL_DATA_LEN]; + GattCharacteristic differenceCharacteristic; GattCharacteristic positionCharacteristic; GattCharacteristic sunpanelCharacteristic; - + ConnectionStatus_t isBTLEConnected; + bool isEnabledDifferenceNotify; bool isEnabledPositionNotify; bool isEnabledSunpanelNotify; }; - -#endif /* #ifndef __CUSTOM_BLE_SENSORS_SERVICE_H__*/