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.cpp@6:4cbf7303b496, 2016-02-08 (annotated)

Committer:: fabiombed
Date:: Mon Feb 08 11:12:07 2016 +0000
Revision:: 6:4cbf7303b496
Parent:: 5:76fb6b783487
Child:: 7:54984d031243

Work all except FlightSense with BLE

Who changed what in which revision?

User	Revision	Line number	New contents of line
fabiombed	0:becf0d313663	1	/**
fabiombed	0:becf0d313663	2	******************************************************************************
fabiombed	0:becf0d313663	3	* @file main.cpp
fabiombed	1:8f312c1686b6	4	* @author Fabio Brembilla
fabiombed	4:1d3d071a4c2c	5	* @version V2.0.0
fabiombed	6:4cbf7303b496	6	* @date February, 2016
fabiombed	1:8f312c1686b6	7	* @brief SunTracker + RemoteControl Vertical Application
fabiombed	1:8f312c1686b6	8	* This application use IHM01A1, 6180XA1, IKS01A1, IDB0XA1 expansion boards
fabiombed	0:becf0d313663	9	******************************************************************************
fabiombed	0:becf0d313663	10	* @attention
fabiombed	4:1d3d071a4c2c	11	*
fabiombed	4:1d3d071a4c2c	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
fabiombed	0:becf0d313663	13	*
fabiombed	0:becf0d313663	14	* Redistribution and use in source and binary forms, with or without modification,
fabiombed	0:becf0d313663	15	* are permitted provided that the following conditions are met:
fabiombed	0:becf0d313663	16	* 1. Redistributions of source code must retain the above copyright notice,
fabiombed	0:becf0d313663	17	* this list of conditions and the following disclaimer.
fabiombed	0:becf0d313663	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
fabiombed	0:becf0d313663	19	* this list of conditions and the following disclaimer in the documentation
fabiombed	0:becf0d313663	20	* and/or other materials provided with the distribution.
fabiombed	0:becf0d313663	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
fabiombed	0:becf0d313663	22	* may be used to endorse or promote products derived from this software
fabiombed	0:becf0d313663	23	* without specific prior written permission.
fabiombed	0:becf0d313663	24	*
fabiombed	0:becf0d313663	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
fabiombed	0:becf0d313663	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
fabiombed	0:becf0d313663	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
fabiombed	0:becf0d313663	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
fabiombed	0:becf0d313663	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
fabiombed	0:becf0d313663	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
fabiombed	0:becf0d313663	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
fabiombed	0:becf0d313663	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
fabiombed	0:becf0d313663	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
fabiombed	0:becf0d313663	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
fabiombed	0:becf0d313663	35	*
fabiombed	0:becf0d313663	36	******************************************************************************
fabiombed	0:becf0d313663	37	*/
fabiombed	4:1d3d071a4c2c	38
fabiombed	0:becf0d313663	39	/* Includes ------------------------------------------------------------------*/
fabiombed	4:1d3d071a4c2c	40
fabiombed	6:4cbf7303b496	41	// Mbed specific header files
fabiombed	0:becf0d313663	42	#include "mbed.h"
fabiombed	4:1d3d071a4c2c	43
fabiombed	6:4cbf7303b496	44	// Helper header files
fabiombed	0:becf0d313663	45	#include "DevSPI.h"
fabiombed	1:8f312c1686b6	46	#include "DevI2C.h"
fabiombed	0:becf0d313663	47
fabiombed	6:4cbf7303b496	48	// Component specific header files
fabiombed	1:8f312c1686b6	49	#include "l6474_class.h"
fabiombed	1:8f312c1686b6	50	#include "x_nucleo_6180xa1.h"
fabiombed	0:becf0d313663	51	#include "x_nucleo_iks01a1.h"
fabiombed	0:becf0d313663	52
fabiombed	6:4cbf7303b496	53	// C header files
fabiombed	1:8f312c1686b6	54	#include <string.h>
fabiombed	1:8f312c1686b6	55	#include <stdlib.h>
fabiombed	1:8f312c1686b6	56	#include <stdio.h>
fabiombed	1:8f312c1686b6	57	#include <assert.h>
fabiombed	0:becf0d313663	58
fabiombed	5:76fb6b783487	59	/* BlueTooth -----------------------------------------------------------------*/
fabiombed	5:76fb6b783487	60
fabiombed	5:76fb6b783487	61	#include "debug.h" // Need for PRINTF
fabiombed	5:76fb6b783487	62	#include "Utils.h" // Need for STORE_LE_16 and _32
fabiombed	5:76fb6b783487	63
fabiombed	5:76fb6b783487	64	typedef struct {
fabiombed	5:76fb6b783487	65	int32_t AXIS_X;
fabiombed	5:76fb6b783487	66	int32_t AXIS_Y;
fabiombed	5:76fb6b783487	67	int32_t AXIS_Z;
fabiombed	5:76fb6b783487	68	} AxesRaw_TypeDef;
fabiombed	5:76fb6b783487	69
fabiombed	5:76fb6b783487	70	typedef enum ConnectionStatus_t {
fabiombed	5:76fb6b783487	71	DISCONNECTED =0,
fabiombed	5:76fb6b783487	72	CONNECTED =1
fabiombed	5:76fb6b783487	73	}cns_t;
fabiombed	5:76fb6b783487	74
fabiombed	5:76fb6b783487	75	const unsigned LENGTH_OF_LONG_UUID = 16;
fabiombed	5:76fb6b783487	76	typedef uint16_t ShortUUIDBytes_t;
fabiombed	5:76fb6b783487	77	typedef uint8_t LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
fabiombed	5:76fb6b783487	78
fabiombed	5:76fb6b783487	79	#include "CustomControlService.h"
fabiombed	5:76fb6b783487	80	#include "CustomSensorsService.h"
fabiombed	5:76fb6b783487	81
fabiombed	6:4cbf7303b496	82	static BLE *p_BLEdev = NULL;
fabiombed	5:76fb6b783487	83
fabiombed	6:4cbf7303b496	84	#define BLE_DEV_NAME "SunTracker"
fabiombed	5:76fb6b783487	85	#define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF
fabiombed	6:4cbf7303b496	86	#define BLE_ADVERTISING_INTERVAL 1000
fabiombed	4:1d3d071a4c2c	87
fabiombed	0:becf0d313663	88	/* Definitions ---------------------------------------------------------------*/
fabiombed	0:becf0d313663	89
fabiombed	1:8f312c1686b6	90	#define SET_ACC 400 // Set Motor Acceleration
fabiombed	1:8f312c1686b6	91	#define SET_DEC 400 // Set Motor Deceleration
fabiombed	1:8f312c1686b6	92	#define SET_MAX 200 // Set Motor MaxSpeed
fabiombed	1:8f312c1686b6	93	#define SET_MIN 100 // Set Motor MinSpeed
fabiombed	1:8f312c1686b6	94	#define STOP 1000 // Set Motor Stop Position
fabiombed	1:8f312c1686b6	95	#define TOLLERANCE 100 // Tollerance between Left and Right before Start Movement
fabiombed	1:8f312c1686b6	96	#define RANGE_1 200 // Range 1 for Motor Speed
fabiombed	1:8f312c1686b6	97	#define RANGE_2 500 // Range 2 for Motor Speed
fabiombed	0:becf0d313663	98
fabiombed	0:becf0d313663	99	/* Variables -----------------------------------------------------------------*/
fabiombed	0:becf0d313663	100
fabiombed	1:8f312c1686b6	101	int16_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise
fabiombed	1:8f312c1686b6	102	int16_t changedir=0; // Change Direction: 0 = No, 1 = Yes
fabiombed	1:8f312c1686b6	103	int16_t babybear=0; // Difference (in Lux) between Left and Right
fabiombed	1:8f312c1686b6	104	int acc_data[3]; // Difference of Accelerometer
fabiombed	1:8f312c1686b6	105	int16_t diff=0; // Abs of Babybear or Accelerometer difference
fabiombed	1:8f312c1686b6	106	int16_t left=0; // Left Command for Rotate Direction
fabiombed	1:8f312c1686b6	107	int16_t right=0; // Right Command for Rotate Direction
fabiombed	1:8f312c1686b6	108	int16_t start=0; // Waiting User Button Push
fabiombed	1:8f312c1686b6	109	int32_t pos=0; // Motor Position
fabiombed	1:8f312c1686b6	110	char DisplayStr[5]; // Status Display
fabiombed	1:8f312c1686b6	111	int16_t Display=0; // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control
fabiombed	1:8f312c1686b6	112	int16_t status, status_t, status_b, status_l, status_r; // Babybear Status
fabiombed	1:8f312c1686b6	113
fabiombed	1:8f312c1686b6	114	/* ---------------------------------------------------------------------------*/
fabiombed	0:becf0d313663	115
fabiombed	6:4cbf7303b496	116	// Motor Control Component
fabiombed	6:4cbf7303b496	117	static L6474 *motor;
fabiombed	0:becf0d313663	118
fabiombed	6:4cbf7303b496	119	// Initializing SPI bus
fabiombed	1:8f312c1686b6	120	DevSPI dev_spi(D11, D12, D13);
fabiombed	0:becf0d313663	121
fabiombed	6:4cbf7303b496	122	// Initializing I2C bus
fabiombed	1:8f312c1686b6	123	DevI2C dev_i2c(D14, D15);
fabiombed	1:8f312c1686b6	124
fabiombed	6:4cbf7303b496	125	// Instance board 6180XA1
fabiombed	6:4cbf7303b496	126	//static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
fabiombed	6:4cbf7303b496	127	//MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
fabiombed	6:4cbf7303b496	128	static X_NUCLEO_6180XA1 *board;
fabiombed	1:8f312c1686b6	129	MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
fabiombed	6:4cbf7303b496	130
fabiombed	6:4cbf7303b496	131	// Instance mems IKS01A1
fabiombed	6:4cbf7303b496	132	//static X_NUCLEO_IKS01A1 *mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
fabiombed	6:4cbf7303b496	133	//MotionSensor *accelerometer = mems->GetAccelerometer();
fabiombed	6:4cbf7303b496	134	static X_NUCLEO_IKS01A1 *mems;
fabiombed	6:4cbf7303b496	135	MotionSensor *accelerometer;
fabiombed	4:1d3d071a4c2c	136
fabiombed	4:1d3d071a4c2c	137	void DISP_ExecLoopBody(void) {};
fabiombed	0:becf0d313663	138
fabiombed	6:4cbf7303b496	139	//AnalogIn analog_read(A1); // A1 Conflict with BLE SPI_CS --> Changed in A????
fabiombed	1:8f312c1686b6	140
fabiombed	4:1d3d071a4c2c	141	InterruptIn mybutton(USER_BUTTON);
fabiombed	1:8f312c1686b6	142
fabiombed	1:8f312c1686b6	143	/* User_Button_Pressed -------------------------------------------------------*/
fabiombed	0:becf0d313663	144
fabiombed	1:8f312c1686b6	145	void User_Button_Pressed()
fabiombed	1:8f312c1686b6	146	{
fabiombed	4:1d3d071a4c2c	147
fabiombed	4:1d3d071a4c2c	148	if (start>0) {
fabiombed	4:1d3d071a4c2c	149	Display++;
fabiombed	4:1d3d071a4c2c	150	}
fabiombed	4:1d3d071a4c2c	151	if (Display>2) {
fabiombed	4:1d3d071a4c2c	152	Display=0;
fabiombed	4:1d3d071a4c2c	153	}
fabiombed	4:1d3d071a4c2c	154	if (start==0) {
fabiombed	4:1d3d071a4c2c	155	start=1;
fabiombed	4:1d3d071a4c2c	156	}
fabiombed	6:4cbf7303b496	157
fabiombed	6:4cbf7303b496	158	printf("PUSH Display %d Start %d\r\n", Display, start);
fabiombed	4:1d3d071a4c2c	159
fabiombed	1:8f312c1686b6	160	}
fabiombed	1:8f312c1686b6	161
fabiombed	1:8f312c1686b6	162	/* Initialization ------------------------------------------------------------*/
fabiombed	0:becf0d313663	163
fabiombed	1:8f312c1686b6	164	bool Initialization(void)
fabiombed	1:8f312c1686b6	165	{
fabiombed	6:4cbf7303b496	166
fabiombed	6:4cbf7303b496	167	// Initializing MEMS Component
fabiombed	6:4cbf7303b496	168	mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
fabiombed	6:4cbf7303b496	169	accelerometer = mems->GetAccelerometer();
fabiombed	6:4cbf7303b496	170
fabiombed	6:4cbf7303b496	171	//----
fabiombed	4:1d3d071a4c2c	172
fabiombed	6:4cbf7303b496	173	// Initializing Babybear Component
fabiombed	6:4cbf7303b496	174	board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
fabiombed	6:4cbf7303b496	175
fabiombed	6:4cbf7303b496	176	/* FABIO
fabiombed	1:8f312c1686b6	177	status=board->InitBoard();
fabiombed	6:4cbf7303b496	178	if(status) VL6180x_ErrLog("Failed to init the board!\n\r");
fabiombed	6:4cbf7303b496	179	*/
fabiombed	0:becf0d313663	180
fabiombed	1:8f312c1686b6	181	// Put GPIO not used as Interrupt in Hi-Z
fabiombed	1:8f312c1686b6	182	status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	1:8f312c1686b6	183	//status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present
fabiombed	4:1d3d071a4c2c	184	status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	6:4cbf7303b496	185	status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	6:4cbf7303b496	186
fabiombed	6:4cbf7303b496	187	// Set Babybears
fabiombed	6:4cbf7303b496	188	status_l=board->sensor_left->AlsSetAnalogueGain(3);
fabiombed	6:4cbf7303b496	189	status_r=board->sensor_right->AlsSetAnalogueGain(3);
fabiombed	6:4cbf7303b496	190	status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed	6:4cbf7303b496	191	status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed	4:1d3d071a4c2c	192
fabiombed	6:4cbf7303b496	193	//----
fabiombed	6:4cbf7303b496	194
fabiombed	6:4cbf7303b496	195	// Initializing Motor Component
fabiombed	0:becf0d313663	196	motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
fabiombed	0:becf0d313663	197	if (motor->Init(NULL) != COMPONENT_OK)
fabiombed	0:becf0d313663	198	return false;
fabiombed	4:1d3d071a4c2c	199
fabiombed	1:8f312c1686b6	200	motor->SetStepMode(STEP_MODE_1_8); // Default is STEP_MODE_1_16
fabiombed	4:1d3d071a4c2c	201
fabiombed	6:4cbf7303b496	202	// Set defaults Motor Speed
fabiombed	1:8f312c1686b6	203	motor->SetAcceleration(SET_ACC);
fabiombed	1:8f312c1686b6	204	motor->SetDeceleration(SET_DEC);
fabiombed	1:8f312c1686b6	205	motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors
fabiombed	1:8f312c1686b6	206	motor->SetMinSpeed(SET_MIN);
fabiombed	4:1d3d071a4c2c	207
fabiombed	1:8f312c1686b6	208	return true;
fabiombed	4:1d3d071a4c2c	209
fabiombed	1:8f312c1686b6	210	}
fabiombed	0:becf0d313663	211
fabiombed	1:8f312c1686b6	212	/* Measure_Babybear ----------------------------------------------------------*/
fabiombed	1:8f312c1686b6	213
fabiombed	1:8f312c1686b6	214	void Measure_Babybear(void)
fabiombed	1:8f312c1686b6	215	{
fabiombed	1:8f312c1686b6	216
fabiombed	1:8f312c1686b6	217	status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left);
fabiombed	1:8f312c1686b6	218	status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right);
fabiombed	1:8f312c1686b6	219
fabiombed	1:8f312c1686b6	220	babybear = data_sensor_right.lux - data_sensor_left.lux;
fabiombed	1:8f312c1686b6	221
fabiombed	1:8f312c1686b6	222	diff = abs(babybear);
fabiombed	1:8f312c1686b6	223
fabiombed	4:1d3d071a4c2c	224	if (babybear>0) {
fabiombed	4:1d3d071a4c2c	225	left=0;
fabiombed	4:1d3d071a4c2c	226	right=1;
fabiombed	4:1d3d071a4c2c	227	}
fabiombed	4:1d3d071a4c2c	228	if (babybear<0) {
fabiombed	4:1d3d071a4c2c	229	left=1;
fabiombed	4:1d3d071a4c2c	230	right=0;
fabiombed	4:1d3d071a4c2c	231	}
fabiombed	4:1d3d071a4c2c	232
fabiombed	1:8f312c1686b6	233	}
fabiombed	1:8f312c1686b6	234
fabiombed	1:8f312c1686b6	235	/* Measure_Accelerometer -----------------------------------------------------*/
fabiombed	1:8f312c1686b6	236
fabiombed	1:8f312c1686b6	237	void Measure_Accelerometer(void)
fabiombed	1:8f312c1686b6	238	{
fabiombed	1:8f312c1686b6	239
fabiombed	1:8f312c1686b6	240	accelerometer->Get_X_Axes(acc_data);
fabiombed	1:8f312c1686b6	241
fabiombed	1:8f312c1686b6	242	diff = abs(acc_data[0]);
fabiombed	1:8f312c1686b6	243
fabiombed	4:1d3d071a4c2c	244	if (acc_data[0]>0) {
fabiombed	4:1d3d071a4c2c	245	left=0;
fabiombed	4:1d3d071a4c2c	246	right=1;
fabiombed	4:1d3d071a4c2c	247	}
fabiombed	4:1d3d071a4c2c	248	if (acc_data[0]<0) {
fabiombed	4:1d3d071a4c2c	249	left=1;
fabiombed	4:1d3d071a4c2c	250	right=0;
fabiombed	4:1d3d071a4c2c	251	}
fabiombed	4:1d3d071a4c2c	252
fabiombed	1:8f312c1686b6	253	}
fabiombed	0:becf0d313663	254
fabiombed	1:8f312c1686b6	255	/* Control_Motor -------------------------------------------------------------*/
fabiombed	1:8f312c1686b6	256
fabiombed	1:8f312c1686b6	257	void Control_Motor(void)
fabiombed	4:1d3d071a4c2c	258	{
fabiombed	0:becf0d313663	259
fabiombed	4:1d3d071a4c2c	260	//printf("Diff: %d lux/mems\n\r", diff);
fabiombed	4:1d3d071a4c2c	261	motor->SetMaxSpeed(diff);
fabiombed	4:1d3d071a4c2c	262
fabiombed	4:1d3d071a4c2c	263	if (diff>TOLLERANCE) {
fabiombed	6:4cbf7303b496	264	if (diff <=RANGE_1)
fabiombed	6:4cbf7303b496	265	{
fabiombed	6:4cbf7303b496	266	if (left) { strcpy(DisplayStr,"E___"); }
fabiombed	6:4cbf7303b496	267	if (right) { strcpy(DisplayStr,"___3"); }
fabiombed	6:4cbf7303b496	268	}
fabiombed	6:4cbf7303b496	269	else if (diff >RANGE_1 & diff <=RANGE_2)
fabiombed	6:4cbf7303b496	270	{
fabiombed	6:4cbf7303b496	271	if (left) { strcpy(DisplayStr,"E==="); }
fabiombed	6:4cbf7303b496	272	if (right) { strcpy(DisplayStr,"===3"); }
fabiombed	6:4cbf7303b496	273	}
fabiombed	6:4cbf7303b496	274	else if (diff >RANGE_2)
fabiombed	6:4cbf7303b496	275	{
fabiombed	6:4cbf7303b496	276	if (left) { strcpy(DisplayStr,"E~~~"); }
fabiombed	6:4cbf7303b496	277	if (right) { strcpy(DisplayStr,"~~~3"); }
fabiombed	4:1d3d071a4c2c	278	}
fabiombed	4:1d3d071a4c2c	279
fabiombed	1:8f312c1686b6	280	// In Case of Change Direction
fabiombed	6:4cbf7303b496	281	if (left & dir==2) { changedir=1; }
fabiombed	6:4cbf7303b496	282	if (right & dir==1) { changedir=1; }
fabiombed	4:1d3d071a4c2c	283
fabiombed	1:8f312c1686b6	284	// Run only if Stop or Change Direction
fabiombed	1:8f312c1686b6	285	if (diff>TOLLERANCE & (dir==0 \| changedir==1)) {
fabiombed	6:4cbf7303b496	286	if (left) { motor->Run(StepperMotor::FWD); dir=1; changedir=0; }
fabiombed	6:4cbf7303b496	287	if (right) { motor->Run(StepperMotor::BWD); dir=2; changedir=0; }
fabiombed	4:1d3d071a4c2c	288	}
fabiombed	1:8f312c1686b6	289	}
fabiombed	4:1d3d071a4c2c	290
fabiombed	1:8f312c1686b6	291	// Get Motor Position and Control Rotation Block
fabiombed	1:8f312c1686b6	292	pos = motor->GetPosition();
fabiombed	1:8f312c1686b6	293	if (pos>STOP \| pos<-STOP) {
fabiombed	6:4cbf7303b496	294	if (pos>0) { motor->GoTo(STOP); }
fabiombed	6:4cbf7303b496	295	if (pos<0) { motor->GoTo(-STOP); }
fabiombed	6:4cbf7303b496	296	printf("GOTO\n\r"); // Without this command, the motor remain in stop
fabiombed	1:8f312c1686b6	297	}
fabiombed	4:1d3d071a4c2c	298
fabiombed	1:8f312c1686b6	299	// Stop Motor
fabiombed	6:4cbf7303b496	300	if (diff<=TOLLERANCE) { // It continues to send the command to stop the motor. Think to do it just one time
fabiombed	1:8f312c1686b6	301	motor->HardStop();
fabiombed	6:4cbf7303b496	302	if (Display==0) { strcpy(DisplayStr,"----"); }
fabiombed	6:4cbf7303b496	303	if (Display==2) { strcpy(DisplayStr,"E 3"); }
fabiombed	1:8f312c1686b6	304	dir=0;
fabiombed	1:8f312c1686b6	305	changedir=0;
fabiombed	6:4cbf7303b496	306	//printf("STOP\n\r");
fabiombed	1:8f312c1686b6	307	}
fabiombed	4:1d3d071a4c2c	308
fabiombed	1:8f312c1686b6	309	}
fabiombed	1:8f312c1686b6	310
fabiombed	1:8f312c1686b6	311	/* Measure_SolarPanel --------------------------------------------------------*/
fabiombed	1:8f312c1686b6	312
fabiombed	1:8f312c1686b6	313	void Measure_SolarPanel(void)
fabiombed	1:8f312c1686b6	314	{
fabiombed	1:8f312c1686b6	315
fabiombed	6:4cbf7303b496	316	// AnalogIn: 0V return 0.0 , 3.3V return 1.0
fabiombed	6:4cbf7303b496	317	// float measure = analog_read.read() * 3300;
fabiombed	6:4cbf7303b496	318	float measure = 0;
fabiombed	1:8f312c1686b6	319	//printf("Measure = %.0f mV\r\n", measure);
fabiombed	1:8f312c1686b6	320	//board->display->DisplayDigit("A", 0);
fabiombed	1:8f312c1686b6	321
fabiombed	4:1d3d071a4c2c	322	if (Display==1) {
fabiombed	4:1d3d071a4c2c	323	sprintf(DisplayStr, "%.0f", measure);
fabiombed	4:1d3d071a4c2c	324	}
fabiombed	4:1d3d071a4c2c	325
fabiombed	4:1d3d071a4c2c	326	board->display->DisplayString(DisplayStr, 4);
fabiombed	6:4cbf7303b496	327	printf("%s\n\r", DisplayStr);
fabiombed	1:8f312c1686b6	328
fabiombed	1:8f312c1686b6	329	}
fabiombed	1:8f312c1686b6	330
fabiombed	5:76fb6b783487	331	/* Bluetooth CallBack ---------------------------------------------------------*/
fabiombed	5:76fb6b783487	332
fabiombed	5:76fb6b783487	333	static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
fabiombed	5:76fb6b783487	334	{
fabiombed	5:76fb6b783487	335
fabiombed	5:76fb6b783487	336	}
fabiombed	5:76fb6b783487	337
fabiombed	5:76fb6b783487	338	static void onUpdatesDisabledCallback(Gap::Handle_t handle)
fabiombed	5:76fb6b783487	339	{
fabiombed	5:76fb6b783487	340
fabiombed	5:76fb6b783487	341	}
fabiombed	5:76fb6b783487	342
fabiombed	5:76fb6b783487	343	static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
fabiombed	5:76fb6b783487	344	{
fabiombed	5:76fb6b783487	345
fabiombed	5:76fb6b783487	346	}
fabiombed	5:76fb6b783487	347
fabiombed	5:76fb6b783487	348	static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
fabiombed	5:76fb6b783487	349	{
fabiombed	5:76fb6b783487	350
fabiombed	5:76fb6b783487	351	}
fabiombed	5:76fb6b783487	352
fabiombed	5:76fb6b783487	353	static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
fabiombed	5:76fb6b783487	354	{
fabiombed	5:76fb6b783487	355
fabiombed	5:76fb6b783487	356	}
fabiombed	5:76fb6b783487	357
fabiombed	5:76fb6b783487	358	static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
fabiombed	5:76fb6b783487	359	{
fabiombed	5:76fb6b783487	360
fabiombed	5:76fb6b783487	361	}
fabiombed	5:76fb6b783487	362
fabiombed	5:76fb6b783487	363	/* Bluetooth Initialization ---------------------------------------------------*/
fabiombed	5:76fb6b783487	364
fabiombed	5:76fb6b783487	365	void BLE_Initialization(void)
fabiombed	5:76fb6b783487	366	{
fabiombed	5:76fb6b783487	367
fabiombed	5:76fb6b783487	368	p_BLEdev = new BLE;
fabiombed	5:76fb6b783487	369	if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); }
fabiombed	5:76fb6b783487	370	const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};
fabiombed	6:4cbf7303b496	371	p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE);
fabiombed	6:4cbf7303b496	372
fabiombed	6:4cbf7303b496	373	printf("BLE Init (Line %d)\r\n", __LINE__);
fabiombed	6:4cbf7303b496	374
fabiombed	6:4cbf7303b496	375	p_BLEdev->init();
fabiombed	6:4cbf7303b496	376
fabiombed	6:4cbf7303b496	377	printf("BLE Init OK (Line %d)\r\n", __LINE__);
fabiombed	5:76fb6b783487	378
fabiombed	5:76fb6b783487	379	// Set BLE CallBack Functions
fabiombed	5:76fb6b783487	380	p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback);
fabiombed	5:76fb6b783487	381	p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback);
fabiombed	5:76fb6b783487	382	p_BLEdev->gattServer().onDataRead(onDataReadCallback);
fabiombed	5:76fb6b783487	383	p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
fabiombed	5:76fb6b783487	384	p_BLEdev->gap().onConnection(onConnectionCallback);
fabiombed	5:76fb6b783487	385	p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
fabiombed	5:76fb6b783487	386	//p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback);
fabiombed	5:76fb6b783487	387	//p_BLEdev->gattServer().onDataSent(onDataSentCallback);
fabiombed	5:76fb6b783487	388	//p_BLEdev->gap().onTimeout(onTimeoutCallback);
fabiombed	5:76fb6b783487	389
fabiombed	6:4cbf7303b496	390	// Setup BLE Advertising
fabiombed	6:4cbf7303b496	391	const static char DEVICE_NAME[] = BLE_DEV_NAME;
fabiombed	6:4cbf7303b496	392	p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED \| GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
fabiombed	6:4cbf7303b496	393	#ifdef USE_SENSOR_FUSION_LIB
fabiombed	6:4cbf7303b496	394	uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x01,0x80};
fabiombed	6:4cbf7303b496	395	#else
fabiombed	6:4cbf7303b496	396	uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00};
fabiombed	6:4cbf7303b496	397	#endif
fabiombed	6:4cbf7303b496	398	p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6);
fabiombed	6:4cbf7303b496	399	p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
fabiombed	6:4cbf7303b496	400	p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
fabiombed	6:4cbf7303b496	401	p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
fabiombed	6:4cbf7303b496	402	p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL);
fabiombed	6:4cbf7303b496	403	p_BLEdev->gap().startAdvertising();
fabiombed	6:4cbf7303b496	404
fabiombed	5:76fb6b783487	405	}
fabiombed	5:76fb6b783487	406
fabiombed	1:8f312c1686b6	407	/* Main ----------------------------------------------------------------------*/
fabiombed	1:8f312c1686b6	408
fabiombed	1:8f312c1686b6	409	int main()
fabiombed	4:1d3d071a4c2c	410	{
fabiombed	4:1d3d071a4c2c	411
fabiombed	6:4cbf7303b496	412	// Printing to the console
fabiombed	6:4cbf7303b496	413	printf("SunTracker by Fabio Brembilla\r\n\n");
fabiombed	6:4cbf7303b496	414
fabiombed	4:1d3d071a4c2c	415	Initialization();
fabiombed	4:1d3d071a4c2c	416
fabiombed	6:4cbf7303b496	417	printf("Initialization OK (Line %d)\r\n", __LINE__);
fabiombed	6:4cbf7303b496	418
fabiombed	6:4cbf7303b496	419	BLE_Initialization();
fabiombed	6:4cbf7303b496	420
fabiombed	6:4cbf7303b496	421	printf("BLE_Initialization OK (Line %d)\r\n", __LINE__);
fabiombed	6:4cbf7303b496	422
fabiombed	1:8f312c1686b6	423	mybutton.fall(&User_Button_Pressed);
fabiombed	6:4cbf7303b496	424
fabiombed	6:4cbf7303b496	425	printf("Main Initializations OK (Line %d)\r\n", __LINE__);
fabiombed	6:4cbf7303b496	426	printf("Wait Push Button\r\n");
fabiombed	4:1d3d071a4c2c	427
fabiombed	6:4cbf7303b496	428	// Loop until push User Button to Set 0 Point
fabiombed	1:8f312c1686b6	429	strcpy(DisplayStr,"pusH");
fabiombed	4:1d3d071a4c2c	430	while(start<1) {
fabiombed	1:8f312c1686b6	431	board->display->DisplayString(DisplayStr, 4);
fabiombed	6:4cbf7303b496	432	printf("%s\n\r", DisplayStr);
fabiombed	6:4cbf7303b496	433	//wait(0.1); // Need one command otherwise remain always in loop
fabiombed	1:8f312c1686b6	434	}
fabiombed	4:1d3d071a4c2c	435
fabiombed	6:4cbf7303b496	436	printf("Start Main Loop\r\n");
fabiombed	6:4cbf7303b496	437
fabiombed	6:4cbf7303b496	438	// Main Loop
fabiombed	4:1d3d071a4c2c	439	while(true) {
fabiombed	4:1d3d071a4c2c	440	if (Display==0 \| Display==1) {
fabiombed	4:1d3d071a4c2c	441	Measure_Babybear();
fabiombed	4:1d3d071a4c2c	442	}
fabiombed	4:1d3d071a4c2c	443	if (Display==2) {
fabiombed	4:1d3d071a4c2c	444	Measure_Accelerometer();
fabiombed	4:1d3d071a4c2c	445	}
fabiombed	4:1d3d071a4c2c	446
fabiombed	1:8f312c1686b6	447	Control_Motor();
fabiombed	1:8f312c1686b6	448	Measure_SolarPanel();
fabiombed	6:4cbf7303b496	449
fabiombed	6:4cbf7303b496	450	p_BLEdev->waitForEvent();
fabiombed	0:becf0d313663	451	}
fabiombed	4:1d3d071a4c2c	452
fabiombed	6:4cbf7303b496	453	//status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
fabiombed	6:4cbf7303b496	454	//status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
fabiombed	4:1d3d071a4c2c	455
fabiombed	0:becf0d313663	456	}

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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:	403

The code in this repository is Apache licensed.