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
main.cpp
- Committer:
- fabiombed
- Date:
- 2016-02-12
- Revision:
- 8:144855fe02bd
- Parent:
- 7:54984d031243
- Child:
- 9:ca289bf57f52
File content as of revision 8:144855fe02bd:
/** ****************************************************************************** * @file main.cpp * @author Fabio Brembilla * @version V2.0.0 * @date February, 2016 * @brief SunTracker + RemoteControl Vertical Application * This application use IHM01A1, 6180XA1, IKS01A1, IDB0XA1 expansion boards ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ // Mbed specific header files #include "mbed.h" // Helper header files #include "DevSPI.h" #include "DevI2C.h" // Component specific header files #include "l6474_class.h" #include "x_nucleo_6180xa1.h" #include "x_nucleo_iks01a1.h" // C header files #include <string.h> #include <stdlib.h> #include <stdio.h> #include <assert.h> /* BlueTooth -----------------------------------------------------------------*/ #include "debug.h" // Need for PRINTF #include "Utils.h" // Need for STORE_LE_16 and _32 const unsigned LENGTH_OF_LONG_UUID = 16; typedef uint16_t ShortUUIDBytes_t; typedef uint8_t LongUUIDBytes_t[LENGTH_OF_LONG_UUID]; typedef struct { int32_t AXIS_X; int32_t AXIS_Y; int32_t AXIS_Z; } AxesRaw_TypeDef; typedef enum ConnectionStatus_t { DISCONNECTED =0, CONNECTED =1 } cns_t; #define BLE_DEV_NAME "SunTracker" #define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF #define BLE_ADVERTISING_INTERVAL 1000 #include "CustomControlService.h" #include "CustomSensorsService.h" static BLE *p_BLEdev = NULL; static CustomControlService *p_customcontrolservice = NULL; static CustomSensorService *p_customsensorservice = NULL; /* Definitions ---------------------------------------------------------------*/ #define SET_ACC 400 // Set Motor Acceleration #define SET_DEC 400 // Set Motor Deceleration #define SET_MAX 200 // Set Motor MaxSpeed #define SET_MIN 100 // Set Motor MinSpeed #define STOP 1000 // Set Motor Stop Position #define TOLLERANCE 100 // Tollerance between Left and Right before Start Movement #define RANGE_1 200 // Range 1 for Motor Speed #define RANGE_2 500 // Range 2 for Motor Speed /* Variables -----------------------------------------------------------------*/ int16_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise int16_t changedir=0; // Change Direction: 0 = No, 1 = Yes int16_t arrest=0; // Arrest: 0 = No, 1 = Yes int16_t babybear=0; // Difference (in Lux) between Left and Right int acc_data[3]; // Difference of Accelerometer int16_t diff=0; // Abs of Babybear or Accelerometer difference int16_t left=0; // Left Command for Rotate Direction int16_t right=0; // Right Command for Rotate Direction int16_t start=0; // Waiting User Button Push int32_t pos=0; // Motor Position char DisplayStr[5]; // Status Display int16_t Display=0; // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control int16_t status, status_t, status_b, status_l, status_r; // Babybear Status /* Initializations ------------------------------------------------------------*/ // Initializing SPI bus DevSPI dev_spi(D11, D12, D13); // Initializing I2C bus DevI2C dev_i2c(D14, D15); // Initializing Motor Component IHM01A1 static L6474 *motor; // Initializing Babybear Component 6180XA1 static X_NUCLEO_6180XA1 *board; MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right; // Initializing MEMS Component IKS01A1 static X_NUCLEO_IKS01A1 *mems; MotionSensor *accelerometer; InterruptIn mybutton(USER_BUTTON); //AnalogIn analog_read(A1); // A1 Conflict with BLE SPI_CS --> Changed it!!! /* User_Button_Pressed -------------------------------------------------------*/ void User_Button_Pressed() { if (start>0) { Display++; } if (Display>2) { Display=0; } if (start==0) { start=1; } printf("PUSH Display %d\r\n", Display); } /* Initialization ------------------------------------------------------------*/ bool Initialization(void) { // Initializing MEMS Component mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c); accelerometer = mems->GetAccelerometer(); //---- // Initializing Babybear Component //board=X_NUCLEO_6180XA1::Instance(&dev_i2c); board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC); //status=board->InitBoard(); //if(status) 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); //status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); // Set Babybears status_l=board->sensor_left->AlsSetAnalogueGain(3); status_r=board->sensor_right->AlsSetAnalogueGain(3); status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL); status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL); //---- // Initializing Motor Component motor = new L6474(D2, D8, D7, D9, D10, dev_spi); // D7 conflict with BNRG_RST (when motor change direction 0-1 reset BLE) if (motor->Init(NULL) != COMPONENT_OK) return false; motor->SetStepMode(STEP_MODE_1_8); // Default is STEP_MODE_1_16 // Set defaults Motor Speed motor->SetAcceleration(SET_ACC); motor->SetDeceleration(SET_DEC); motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors motor->SetMinSpeed(SET_MIN); return true; } /* Measure_Babybear ----------------------------------------------------------*/ void Measure_Babybear(void) { status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left); status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right); babybear = data_sensor_right.lux - data_sensor_left.lux; diff = abs(babybear); if (babybear>0) { left=0; right=1; } if (babybear<0) { left=1; right=0; } } /* Measure_Accelerometer -----------------------------------------------------*/ void Measure_Accelerometer(void) { accelerometer->Get_X_Axes(acc_data); diff = abs(acc_data[0]); if (acc_data[0]>0) { left=0; right=1; } if (acc_data[0]<0) { left=1; right=0; } } /* Control_Motor -------------------------------------------------------------*/ void Control_Motor(void) { //printf("Diff: %d lux/mems\n\r", diff); motor->SetMaxSpeed(diff); if (diff>TOLLERANCE) { if (diff <=RANGE_1) { if (left) { strcpy(DisplayStr,"E___"); } if (right) { strcpy(DisplayStr,"___3"); } } else if (diff >RANGE_1 & diff <=RANGE_2) { if (left) { strcpy(DisplayStr,"E==="); } if (right) { strcpy(DisplayStr,"===3"); } } else if (diff >RANGE_2) { if (left) { strcpy(DisplayStr,"E~~~"); } if (right) { strcpy(DisplayStr,"~~~3"); } } // In Case of Change Direction if (left & dir==2) { changedir=1; } if (right & dir==1) { changedir=1; } // Run only if Stop or Change Direction if (diff>TOLLERANCE & (dir==0 | changedir==1)) { if (left) { motor->Run(StepperMotor::FWD); dir=1; changedir=0; } if (right) { motor->Run(StepperMotor::BWD); dir=2; changedir=0; } printf("RUN\n\r"); } } // Get Motor Position and Control Rotation Block pos = motor->GetPosition(); if (pos>STOP | pos<-STOP) { if (pos>0) { motor->GoTo(STOP); } if (pos<0) { motor->GoTo(-STOP); } printf("GOTO\n\r"); } // Stop Motor if (diff<=TOLLERANCE) { arrest=1; if (Display==0) { strcpy(DisplayStr,"----"); } if (Display==2) { strcpy(DisplayStr,"E 3"); } } if (arrest==1 && dir!=0 ) { // Stop just one time motor->HardStop(); dir=0; changedir=0; arrest=0; printf("STOP\n\r"); } } /* Measure_SolarPanel --------------------------------------------------------*/ void Measure_SolarPanel(void) { // AnalogIn: 0V return 0.0 , 3.3V return 1.0 float measure = 0; //analog_read.read() * 3300; //printf("Measure = %.0f mV\r\n", measure); //board->display->DisplayDigit("A", 0); if (Display==1) { sprintf(DisplayStr, "%.0f", measure); } board->display->DisplayString(DisplayStr, 4); //printf("%s\n\r", DisplayStr); } /* Bluetooth CallBack ---------------------------------------------------------*/ static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle) { } static void onUpdatesDisabledCallback(Gap::Handle_t handle) { } static void onDataReadCallback(const GattReadCallbackParams *eventDataP) { } 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 ); if (p_customcontrolservice->isContHandle(eventDataP->handle)) // Only if write come from this Service { uint8_t Command = eventDataP->data[3]; // Riceve 8 byte: data[0] + data[1] + data[2] + data[3] printf("myonDataWriteCallback (Command %x)\r\n", Command); } } static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams) { printf("onConnectionCallback (Line %d)\r\n", __LINE__); } static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason) { printf("onDisconnectionCallback (Line %d)\r\n", __LINE__); p_BLEdev->gap().startAdvertising(); } /* Bluetooth Initialization ---------------------------------------------------*/ bool BLE_Initialization(void) { p_BLEdev = new BLE; if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); } const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC}; p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE); p_BLEdev->init(); // Set BLE CallBack Functions p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback); p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback); p_BLEdev->gattServer().onDataRead(onDataReadCallback); p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback); p_BLEdev->gap().onConnection(onConnectionCallback); p_BLEdev->gap().onDisconnection(onDisconnectionCallback); //p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback); //p_BLEdev->gattServer().onDataSent(onDataSentCallback); //p_BLEdev->gap().onTimeout(onTimeoutCallback); // BLE Services p_customcontrolservice = new CustomControlService(*p_BLEdev); p_customsensorservice = new CustomSensorService(*p_BLEdev); // Setup BLE Advertising const static char DEVICE_NAME[] = BLE_DEV_NAME; p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE); uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00}; p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6); p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN); p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME)); p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL); p_BLEdev->gap().startAdvertising(); return true; } /* Main ----------------------------------------------------------------------*/ int main() { // Printing to the console printf("SunTracker by Fabio Brembilla\r\n\n"); Initialization(); printf("Initialization OK (Line %d)\r\n", __LINE__); BLE_Initialization(); printf("BLE_Initialization OK (Line %d)\r\n", __LINE__); mybutton.fall(&User_Button_Pressed); printf("Wait Push Button\r\n"); // Loop until push User Button to Set 0 Point strcpy(DisplayStr,"pusH"); while(start<1) { board->display->DisplayString(DisplayStr, 4); p_BLEdev->waitForEvent(); //printf("%s\n\r", DisplayStr); } printf("Start Main Loop\r\n"); static int INTLOOP=0; // Main Loop while(true) { if (Display==0 | Display==1) { Measure_Babybear(); } if (Display==2) { Measure_Accelerometer(); } Control_Motor(); Measure_SolarPanel(); INTLOOP++; if (INTLOOP==100) { p_customsensorservice->sendEnvPosition(rand(),0); printf("Read BLE\n\r"); INTLOOP=0; } p_BLEdev->waitForEvent(); } //status_l=board->sensor_left->StopMeasurement(als_continuous_polling); //status_r=board->sensor_right->StopMeasurement(als_continuous_polling); }