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

Files at this revision

API Documentation at this revision

Revision 15:019b8d60c89d, committed 2016-03-21

Comitter:
fabiombed
Date:
Mon Mar 21 10:18:41 2016 +0000
Parent:
14:644f9e7278e9
Child:
16:d69c0d5d5ab2
Commit message:
Update SERVER

Changed in this revision

CustomControlService.h Show annotated file Show diff for this revision Revisions of this file
CustomSensorsService.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/CustomControlService.h	Wed Mar 16 19:17:08 2016 +0000
+++ b/CustomControlService.h	Mon Mar 21 10:18:41 2016 +0000
@@ -43,7 +43,9 @@
 const ShortUUIDBytes_t CONTROL_SERVICE_UUID_128 = 0xA000;
 const ShortUUIDBytes_t USER_BUTTON_CHAR_UUID    = 0xA001;                      
                             
-#define SIZEOF_CONTROL_DATA_LEN  1
+#define SIZEOF_CONTROL_DATA_LEN     2
+// 1 byte   0xFF     8 bit      int8
+// 2 byte   0xFFFF   16 bit     int16
 
 /* Custom Control Service */
 class CustomControlService  {
@@ -79,8 +81,10 @@
     } 
 
     void updateControlState(uint8_t Temp) {
-            if (memcmp (&pastcontrolData[0], &Temp, 1) != 0) {
-                sendControlState(Temp);           
+            if (ble.getGapState().connected && isEnabledControlNotify ) { 
+                if (memcmp (&pastcontrolData[0], &Temp, SIZEOF_CONTROL_DATA_LEN) != 0) {
+                    sendControlState(Temp);           
+                }
             }
     }
 
@@ -122,14 +126,18 @@
 */  
 
     void enNotify (Gap::Handle_t handle) {
-            if (isContHandle(handle)) { 
-                PRINTF("enNotify! %d\n\r", handle); isEnabledControlNotify = true; return; }    
+            printf("\n\r\n\renNotify (handle %d)", handle);
+            if (isContHandle(handle)) { isEnabledControlNotify = true; return; }    
     }
     
     void disNotify (Gap::Handle_t handle) {
-            if (isContHandle(handle)) { 
-                            isEnabledControlNotify = false; return; }    
+            printf("\n\r\n\rdisNotify (handle %d)", handle);
+            if (isContHandle(handle)) { isEnabledControlNotify = false; return; }    
     }   
+
+    bool isControlNotificationEn (void) {
+            return isEnabledControlNotify;
+    }
     
     bool isContHandle (Gap::Handle_t handle) {
             if (handle == userbuttonCharacteristic.getValueAttribute().getHandle()) return true;

--- a/CustomSensorsService.h	Wed Mar 16 19:17:08 2016 +0000
+++ b/CustomSensorsService.h	Mon Mar 21 10:18:41 2016 +0000
@@ -47,9 +47,11 @@
 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
+#define DIFFERENCE_DATA_LEN     2
+#define POSITION_DATA_LEN       2
+#define SUNPANEL_DATA_LEN       2
+// 1 byte   0xFF     8 bit      int8
+// 2 byte   0xFFFF   16 bit     int16
 
 /* Custom Sensors Service */
 class CustomSensorService  {
@@ -84,45 +86,51 @@
 
 // Tests Method
 
-    void sendEnvDifference (uint32_t Dif) {
-            STORE_LE_32(envDifference,Dif);
+    void sendEnvDifference (uint16_t Dif) {
+            STORE_LE_16(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 updateEnvDifference (uint16_t Temp) {
+            if (ble.getGapState().connected && isEnabledDifferenceNotify ) { 
+                if (memcmp (&pastenvDifference[0], &Temp, DIFFERENCE_DATA_LEN) != 0) {
+                    sendEnvDifference (Temp);
+                }
             }
     }
         
-    void sendEnvPosition (uint32_t Pos) {
-            STORE_LE_32(envPosition,Pos);
+    void sendEnvPosition (uint16_t Pos) {
+            STORE_LE_16(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 updateEnvPosition (uint16_t Temp) {
+            if (ble.getGapState().connected && isEnabledPositionNotify ) { 
+                if (memcmp (&pastenvPosition[0], &Temp, POSITION_DATA_LEN) != 0) {
+                    sendEnvPosition (Temp);
+                }
             }
     }
 
-    void sendEnvSunpanel (uint32_t Sun) {
-            STORE_LE_32(envSunpanel,Sun);
+    void sendEnvSunpanel (uint16_t Sun) {
+            STORE_LE_16(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);            
+    void updateEnvSunpanel (uint16_t Temp) {
+            if (ble.getGapState().connected && isEnabledSunpanelNotify ) { 
+                if (memcmp (&pastenvSunpanel[0], &Temp, SUNPANEL_DATA_LEN) != 0) {
+                    sendEnvSunpanel (Temp);            
+                }
             }
     }
 
@@ -274,12 +282,14 @@
 */    
                                         
     void enNotify (Gap::Handle_t handle) {
+            printf("\n\r\n\renNotify (handle %d)", 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) {
+            printf("\n\r\n\rdisNotify (handle %d)", 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; }                   

--- a/main.cpp	Wed Mar 16 19:17:08 2016 +0000
+++ b/main.cpp	Mon Mar 21 10:18:41 2016 +0000
@@ -82,19 +82,13 @@
 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 // must be the same of BLE_peer_address_BE into CLIENT
+#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_ADVERTISING_INTERVAL 1000
 
@@ -105,6 +99,8 @@
 static CustomControlService *p_customcontrolservice = NULL;
 static CustomSensorService  *p_customsensorservice = NULL;
 
+int16_t value_read = 0;
+
 #endif
 
 /* Definitions ---------------------------------------------------------------*/
@@ -123,17 +119,17 @@
 int8_t dir=0;          // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise
 int8_t changedir=0;    // Change Direction: 0 = No, 1 = Yes
 int8_t arrest=0;       // Arrest: 0 = No, 1 = Yes
-int32_t babybear=0;    // Difference (in Lux) between Left and Right
+int16_t babybear=0;    // Difference (in Lux) between Left and Right
 int32_t acc_data[3];   // Difference of Accelerometer
-int32_t diff=0;        // Babybear or Accelerometer difference [--> Send BLE]
-int32_t diff_abs=0;    // Abs of Babybear or Accelerometer difference
+int16_t diff=0;        // Babybear or Accelerometer difference [--> Send BLE]
+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
-int32_t pos=0;         // Motor Position [--> Send BLE]
-int32_t measure=0;     // ADC Value from SunPanel [--> Send BLE]
+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]
+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
 
 /* Initializations ------------------------------------------------------------*/
@@ -170,18 +166,18 @@
 void User_Button_Pressed(void)
 {
 
-    if (start>0)    { Display++; }
+    if (start>0)    { display++; }
 #ifdef Sensors
-    if (Display>2)  { Display=0; }
+    if (display>2)  { display=0; }
 #else
-    if (Display>1)  { Display=0; }
+    if (display>1)  { display=0; }
 #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");
+    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);
 
 }
@@ -192,12 +188,18 @@
 
 static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
 {
-    
+    if (p_customcontrolservice->isContHandle(handle)) p_customcontrolservice->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);     
 }
 
 static void onUpdatesDisabledCallback(Gap::Handle_t handle)
 {
-    
+    if (p_customcontrolservice->isContHandle(handle)) p_customcontrolservice->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);    
 }
 
 static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
@@ -209,18 +211,28 @@
 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)) // Only if write come from this Service
+    if (p_customcontrolservice->isContHandle(eventDataP->handle))
     {
-        // Receive 8 byte: data[0] + data[1] + data[2] + data[3]
-        printf("\r\n\r\nmyonDataWriteCallback (data[0] %x)", eventDataP->data[0]);
-        printf("\r\nmyonDataWriteCallback (data[1] %x)", eventDataP->data[1]);
-        printf("\r\nmyonDataWriteCallback (data[2] %x)", eventDataP->data[2]);
-        printf("\r\nmyonDataWriteCallback (data[3] %x)", eventDataP->data[3]);
-        printf("\r\nmyonDataWriteCallback (data %d)", eventDataP->data[0]+eventDataP->data[1]+eventDataP->data[2]+eventDataP->data[3]);
+        //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);
         
         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
+    }
+    
 }
 
 static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
@@ -444,8 +456,8 @@
     // Stop Motor
     if (diff_abs<=TOLLERANCE) { 
         arrest=1; 
-        if (Display==0) { strcpy(DisplayStr,"----"); }
-        if (Display==2) { strcpy(DisplayStr,"E  3"); }
+        if (display==0) { strcpy(DisplayStr,"----"); }
+        if (display==2) { strcpy(DisplayStr,"E  3"); }
     }
         
     if (arrest==1 && dir!=0 ) { // Stop just one time
@@ -470,7 +482,7 @@
     //printf("Measure = %.0f mV\r\n", measure);
     //board->display->DisplayDigit("A", 0);
 
-    if (Display==1) { sprintf(DisplayStr, "%d", measure); }
+    if (display==1) { sprintf(DisplayStr, "%d", measure); }
      
 }
 
@@ -511,9 +523,12 @@
     // Main Loop
     while(true)
     {
-        if (Display==0 | Display==1)    { Measure_Babybear(); }
-        if (Display==2)                 { Measure_Accelerometer(); }
-
+        if (display==0 | display==1)    { Measure_Babybear(); }
+        
+        #ifndef Ble // without BLE it uses Accelerometer from SERVER, otherwise receive the value from CLIENT
+        if (display==2)                 { Measure_Accelerometer(); }
+        #endif
+        
         Control_Motor();
         Measure_SolarPanel();
         
@@ -524,25 +539,28 @@
         
         #ifdef Ble
         INTLOOP++;
-        //if (INTLOOP==100) { p_customsensorservice->sendEnvPosition(rand(),0); printf("Read BLE\n\r"); INTLOOP=0; }
         if (INTLOOP==100)
-        {
-            printf("\n\r\n\rSend BLE Display %d", Display);
-            //p_customcontrolservice->sendControlState(Display);
-            p_customcontrolservice->updateControlState(Display);            
-            
-            printf("\n\rSend BLE Difference %d lux/mems", diff); // Send BLE diff, no diff_abs
-            //p_customsensorservice->sendEnvDifference(diff);
-            p_customsensorservice->updateEnvDifference(diff);
-
-            printf("\n\rSend BLE Position %d", pos);
-            //p_customsensorservice->sendEnvPosition(pos);
-            p_customsensorservice->updateEnvPosition(pos);
-            
-            printf("\n\rSend BLE Sunpanel %d mV", measure);            
-            //p_customsensorservice->sendEnvSunpanel(measure);
-            p_customsensorservice->updateEnvSunpanel(measure);
-            
+        {    
+            //if (p_customcontrolservice->isControlNotificationEn()) {
+                printf("\n\r\n\rSend BLE Display %d", display);
+                p_customcontrolservice->sendControlState(display);
+                //p_customcontrolservice->updateControlState(display);            
+            //}
+            //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);
+            //}
+            //if (p_customsensorservice->isPositionNotificationEn()) {            
+                printf("\n\rSend BLE Position %d", pos);
+                p_customsensorservice->sendEnvPosition(pos);
+                //p_customsensorservice->updateEnvPosition(pos);
+            //}
+            //if (p_customsensorservice->isSunpanelNotificationEn()) {            
+                printf("\n\rSend BLE Sunpanel %d mV", measure);            
+                p_customsensorservice->sendEnvSunpanel(measure);
+                //p_customsensorservice->updateEnvSunpanel(measure);
+            //}
             INTLOOP=0;
         }