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

Committer:
fabiombed
Date:
Fri Feb 12 10:52:50 2016 +0000
Revision:
8:144855fe02bd
Parent:
7:54984d031243
Child:
9:ca289bf57f52
some fix

Who changed what in which revision?

UserRevisionLine numberNew 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>&copy; 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 8:144855fe02bd 64 const unsigned LENGTH_OF_LONG_UUID = 16;
fabiombed 8:144855fe02bd 65 typedef uint16_t ShortUUIDBytes_t;
fabiombed 8:144855fe02bd 66 typedef uint8_t LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
fabiombed 8:144855fe02bd 67
fabiombed 5:76fb6b783487 68 typedef struct {
fabiombed 5:76fb6b783487 69 int32_t AXIS_X;
fabiombed 5:76fb6b783487 70 int32_t AXIS_Y;
fabiombed 5:76fb6b783487 71 int32_t AXIS_Z;
fabiombed 5:76fb6b783487 72 } AxesRaw_TypeDef;
fabiombed 5:76fb6b783487 73
fabiombed 5:76fb6b783487 74 typedef enum ConnectionStatus_t {
fabiombed 5:76fb6b783487 75 DISCONNECTED =0,
fabiombed 5:76fb6b783487 76 CONNECTED =1
fabiombed 8:144855fe02bd 77 } cns_t;
fabiombed 5:76fb6b783487 78
fabiombed 8:144855fe02bd 79 #define BLE_DEV_NAME "SunTracker"
fabiombed 8:144855fe02bd 80 #define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF
fabiombed 8:144855fe02bd 81 #define BLE_ADVERTISING_INTERVAL 1000
fabiombed 5:76fb6b783487 82
fabiombed 5:76fb6b783487 83 #include "CustomControlService.h"
fabiombed 5:76fb6b783487 84 #include "CustomSensorsService.h"
fabiombed 5:76fb6b783487 85
fabiombed 6:4cbf7303b496 86 static BLE *p_BLEdev = NULL;
fabiombed 7:54984d031243 87 static CustomControlService *p_customcontrolservice = NULL;
fabiombed 7:54984d031243 88 static CustomSensorService *p_customsensorservice = NULL;
fabiombed 7:54984d031243 89
fabiombed 0:becf0d313663 90 /* Definitions ---------------------------------------------------------------*/
fabiombed 0:becf0d313663 91
fabiombed 1:8f312c1686b6 92 #define SET_ACC 400 // Set Motor Acceleration
fabiombed 1:8f312c1686b6 93 #define SET_DEC 400 // Set Motor Deceleration
fabiombed 1:8f312c1686b6 94 #define SET_MAX 200 // Set Motor MaxSpeed
fabiombed 1:8f312c1686b6 95 #define SET_MIN 100 // Set Motor MinSpeed
fabiombed 1:8f312c1686b6 96 #define STOP 1000 // Set Motor Stop Position
fabiombed 1:8f312c1686b6 97 #define TOLLERANCE 100 // Tollerance between Left and Right before Start Movement
fabiombed 1:8f312c1686b6 98 #define RANGE_1 200 // Range 1 for Motor Speed
fabiombed 1:8f312c1686b6 99 #define RANGE_2 500 // Range 2 for Motor Speed
fabiombed 0:becf0d313663 100
fabiombed 0:becf0d313663 101 /* Variables -----------------------------------------------------------------*/
fabiombed 0:becf0d313663 102
fabiombed 1:8f312c1686b6 103 int16_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise
fabiombed 1:8f312c1686b6 104 int16_t changedir=0; // Change Direction: 0 = No, 1 = Yes
fabiombed 8:144855fe02bd 105 int16_t arrest=0; // Arrest: 0 = No, 1 = Yes
fabiombed 1:8f312c1686b6 106 int16_t babybear=0; // Difference (in Lux) between Left and Right
fabiombed 1:8f312c1686b6 107 int acc_data[3]; // Difference of Accelerometer
fabiombed 1:8f312c1686b6 108 int16_t diff=0; // Abs of Babybear or Accelerometer difference
fabiombed 1:8f312c1686b6 109 int16_t left=0; // Left Command for Rotate Direction
fabiombed 1:8f312c1686b6 110 int16_t right=0; // Right Command for Rotate Direction
fabiombed 1:8f312c1686b6 111 int16_t start=0; // Waiting User Button Push
fabiombed 1:8f312c1686b6 112 int32_t pos=0; // Motor Position
fabiombed 1:8f312c1686b6 113 char DisplayStr[5]; // Status Display
fabiombed 1:8f312c1686b6 114 int16_t Display=0; // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control
fabiombed 1:8f312c1686b6 115 int16_t status, status_t, status_b, status_l, status_r; // Babybear Status
fabiombed 1:8f312c1686b6 116
fabiombed 8:144855fe02bd 117 /* Initializations ------------------------------------------------------------*/
fabiombed 8:144855fe02bd 118
fabiombed 8:144855fe02bd 119 // Initializing SPI bus
fabiombed 8:144855fe02bd 120 DevSPI dev_spi(D11, D12, D13);
fabiombed 8:144855fe02bd 121
fabiombed 8:144855fe02bd 122 // Initializing I2C bus
fabiombed 8:144855fe02bd 123 DevI2C dev_i2c(D14, D15);
fabiombed 8:144855fe02bd 124
fabiombed 8:144855fe02bd 125 // Initializing Motor Component IHM01A1
fabiombed 8:144855fe02bd 126 static L6474 *motor;
fabiombed 8:144855fe02bd 127
fabiombed 8:144855fe02bd 128 // Initializing Babybear Component 6180XA1
fabiombed 8:144855fe02bd 129 static X_NUCLEO_6180XA1 *board;
fabiombed 8:144855fe02bd 130 MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
fabiombed 8:144855fe02bd 131
fabiombed 8:144855fe02bd 132 // Initializing MEMS Component IKS01A1
fabiombed 8:144855fe02bd 133 static X_NUCLEO_IKS01A1 *mems;
fabiombed 8:144855fe02bd 134 MotionSensor *accelerometer;
fabiombed 8:144855fe02bd 135
fabiombed 8:144855fe02bd 136 InterruptIn mybutton(USER_BUTTON);
fabiombed 8:144855fe02bd 137
fabiombed 8:144855fe02bd 138 //AnalogIn analog_read(A1); // A1 Conflict with BLE SPI_CS --> Changed it!!!
fabiombed 8:144855fe02bd 139
fabiombed 8:144855fe02bd 140 /* User_Button_Pressed -------------------------------------------------------*/
fabiombed 8:144855fe02bd 141
fabiombed 8:144855fe02bd 142 void User_Button_Pressed()
fabiombed 8:144855fe02bd 143 {
fabiombed 8:144855fe02bd 144
fabiombed 8:144855fe02bd 145 if (start>0) { Display++; }
fabiombed 8:144855fe02bd 146 if (Display>2) { Display=0; }
fabiombed 8:144855fe02bd 147 if (start==0) { start=1; }
fabiombed 8:144855fe02bd 148
fabiombed 8:144855fe02bd 149 printf("PUSH Display %d\r\n", Display);
fabiombed 8:144855fe02bd 150
fabiombed 8:144855fe02bd 151 }
fabiombed 8:144855fe02bd 152
fabiombed 8:144855fe02bd 153 /* Initialization ------------------------------------------------------------*/
fabiombed 8:144855fe02bd 154
fabiombed 8:144855fe02bd 155 bool Initialization(void)
fabiombed 8:144855fe02bd 156 {
fabiombed 8:144855fe02bd 157
fabiombed 8:144855fe02bd 158 // Initializing MEMS Component
fabiombed 8:144855fe02bd 159 mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
fabiombed 8:144855fe02bd 160 accelerometer = mems->GetAccelerometer();
fabiombed 8:144855fe02bd 161
fabiombed 8:144855fe02bd 162 //----
fabiombed 8:144855fe02bd 163
fabiombed 8:144855fe02bd 164 // Initializing Babybear Component
fabiombed 8:144855fe02bd 165 //board=X_NUCLEO_6180XA1::Instance(&dev_i2c);
fabiombed 8:144855fe02bd 166 board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
fabiombed 8:144855fe02bd 167
fabiombed 8:144855fe02bd 168 //status=board->InitBoard();
fabiombed 8:144855fe02bd 169 //if(status) VL6180x_ErrLog("Failed to init the board!\n\r");
fabiombed 8:144855fe02bd 170
fabiombed 8:144855fe02bd 171 // Put GPIO not used as Interrupt in Hi-Z
fabiombed 8:144855fe02bd 172 status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 8:144855fe02bd 173 //status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present
fabiombed 8:144855fe02bd 174 status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 8:144855fe02bd 175 status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 8:144855fe02bd 176
fabiombed 8:144855fe02bd 177 // Set Babybears
fabiombed 8:144855fe02bd 178 status_l=board->sensor_left->AlsSetAnalogueGain(3);
fabiombed 8:144855fe02bd 179 status_r=board->sensor_right->AlsSetAnalogueGain(3);
fabiombed 8:144855fe02bd 180 status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed 8:144855fe02bd 181 status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed 8:144855fe02bd 182
fabiombed 8:144855fe02bd 183 //----
fabiombed 8:144855fe02bd 184
fabiombed 8:144855fe02bd 185 // Initializing Motor Component
fabiombed 8:144855fe02bd 186 motor = new L6474(D2, D8, D7, D9, D10, dev_spi); // D7 conflict with BNRG_RST (when motor change direction 0-1 reset BLE)
fabiombed 8:144855fe02bd 187 if (motor->Init(NULL) != COMPONENT_OK)
fabiombed 8:144855fe02bd 188 return false;
fabiombed 8:144855fe02bd 189
fabiombed 8:144855fe02bd 190 motor->SetStepMode(STEP_MODE_1_8); // Default is STEP_MODE_1_16
fabiombed 8:144855fe02bd 191
fabiombed 8:144855fe02bd 192 // Set defaults Motor Speed
fabiombed 8:144855fe02bd 193 motor->SetAcceleration(SET_ACC);
fabiombed 8:144855fe02bd 194 motor->SetDeceleration(SET_DEC);
fabiombed 8:144855fe02bd 195 motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors
fabiombed 8:144855fe02bd 196 motor->SetMinSpeed(SET_MIN);
fabiombed 8:144855fe02bd 197
fabiombed 8:144855fe02bd 198 return true;
fabiombed 8:144855fe02bd 199
fabiombed 8:144855fe02bd 200 }
fabiombed 8:144855fe02bd 201
fabiombed 8:144855fe02bd 202 /* Measure_Babybear ----------------------------------------------------------*/
fabiombed 8:144855fe02bd 203
fabiombed 8:144855fe02bd 204 void Measure_Babybear(void)
fabiombed 8:144855fe02bd 205 {
fabiombed 8:144855fe02bd 206
fabiombed 8:144855fe02bd 207 status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left);
fabiombed 8:144855fe02bd 208 status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right);
fabiombed 8:144855fe02bd 209
fabiombed 8:144855fe02bd 210 babybear = data_sensor_right.lux - data_sensor_left.lux;
fabiombed 8:144855fe02bd 211
fabiombed 8:144855fe02bd 212 diff = abs(babybear);
fabiombed 1:8f312c1686b6 213
fabiombed 8:144855fe02bd 214 if (babybear>0) { left=0; right=1; }
fabiombed 8:144855fe02bd 215 if (babybear<0) { left=1; right=0; }
fabiombed 8:144855fe02bd 216
fabiombed 8:144855fe02bd 217 }
fabiombed 8:144855fe02bd 218
fabiombed 8:144855fe02bd 219 /* Measure_Accelerometer -----------------------------------------------------*/
fabiombed 8:144855fe02bd 220
fabiombed 8:144855fe02bd 221 void Measure_Accelerometer(void)
fabiombed 8:144855fe02bd 222 {
fabiombed 8:144855fe02bd 223
fabiombed 8:144855fe02bd 224 accelerometer->Get_X_Axes(acc_data);
fabiombed 8:144855fe02bd 225
fabiombed 8:144855fe02bd 226 diff = abs(acc_data[0]);
fabiombed 8:144855fe02bd 227
fabiombed 8:144855fe02bd 228 if (acc_data[0]>0) { left=0; right=1; }
fabiombed 8:144855fe02bd 229 if (acc_data[0]<0) { left=1; right=0; }
fabiombed 8:144855fe02bd 230
fabiombed 8:144855fe02bd 231 }
fabiombed 8:144855fe02bd 232
fabiombed 8:144855fe02bd 233 /* Control_Motor -------------------------------------------------------------*/
fabiombed 8:144855fe02bd 234
fabiombed 8:144855fe02bd 235 void Control_Motor(void)
fabiombed 8:144855fe02bd 236 {
fabiombed 8:144855fe02bd 237
fabiombed 8:144855fe02bd 238 //printf("Diff: %d lux/mems\n\r", diff);
fabiombed 8:144855fe02bd 239 motor->SetMaxSpeed(diff);
fabiombed 8:144855fe02bd 240
fabiombed 8:144855fe02bd 241 if (diff>TOLLERANCE) {
fabiombed 8:144855fe02bd 242 if (diff <=RANGE_1)
fabiombed 8:144855fe02bd 243 {
fabiombed 8:144855fe02bd 244 if (left) { strcpy(DisplayStr,"E___"); }
fabiombed 8:144855fe02bd 245 if (right) { strcpy(DisplayStr,"___3"); }
fabiombed 8:144855fe02bd 246 }
fabiombed 8:144855fe02bd 247 else if (diff >RANGE_1 & diff <=RANGE_2)
fabiombed 8:144855fe02bd 248 {
fabiombed 8:144855fe02bd 249 if (left) { strcpy(DisplayStr,"E==="); }
fabiombed 8:144855fe02bd 250 if (right) { strcpy(DisplayStr,"===3"); }
fabiombed 8:144855fe02bd 251 }
fabiombed 8:144855fe02bd 252 else if (diff >RANGE_2)
fabiombed 8:144855fe02bd 253 {
fabiombed 8:144855fe02bd 254 if (left) { strcpy(DisplayStr,"E~~~"); }
fabiombed 8:144855fe02bd 255 if (right) { strcpy(DisplayStr,"~~~3"); }
fabiombed 8:144855fe02bd 256 }
fabiombed 8:144855fe02bd 257
fabiombed 8:144855fe02bd 258 // In Case of Change Direction
fabiombed 8:144855fe02bd 259 if (left & dir==2) { changedir=1; }
fabiombed 8:144855fe02bd 260 if (right & dir==1) { changedir=1; }
fabiombed 0:becf0d313663 261
fabiombed 8:144855fe02bd 262 // Run only if Stop or Change Direction
fabiombed 8:144855fe02bd 263 if (diff>TOLLERANCE & (dir==0 | changedir==1)) {
fabiombed 8:144855fe02bd 264 if (left) { motor->Run(StepperMotor::FWD); dir=1; changedir=0; }
fabiombed 8:144855fe02bd 265 if (right) { motor->Run(StepperMotor::BWD); dir=2; changedir=0; }
fabiombed 8:144855fe02bd 266 printf("RUN\n\r");
fabiombed 8:144855fe02bd 267 }
fabiombed 8:144855fe02bd 268 }
fabiombed 8:144855fe02bd 269
fabiombed 8:144855fe02bd 270 // Get Motor Position and Control Rotation Block
fabiombed 8:144855fe02bd 271 pos = motor->GetPosition();
fabiombed 8:144855fe02bd 272 if (pos>STOP | pos<-STOP) {
fabiombed 8:144855fe02bd 273 if (pos>0) { motor->GoTo(STOP); }
fabiombed 8:144855fe02bd 274 if (pos<0) { motor->GoTo(-STOP); }
fabiombed 8:144855fe02bd 275 printf("GOTO\n\r");
fabiombed 8:144855fe02bd 276 }
fabiombed 1:8f312c1686b6 277
fabiombed 8:144855fe02bd 278 // Stop Motor
fabiombed 8:144855fe02bd 279 if (diff<=TOLLERANCE) {
fabiombed 8:144855fe02bd 280 arrest=1;
fabiombed 8:144855fe02bd 281 if (Display==0) { strcpy(DisplayStr,"----"); }
fabiombed 8:144855fe02bd 282 if (Display==2) { strcpy(DisplayStr,"E 3"); }
fabiombed 8:144855fe02bd 283 }
fabiombed 8:144855fe02bd 284
fabiombed 8:144855fe02bd 285 if (arrest==1 && dir!=0 ) { // Stop just one time
fabiombed 8:144855fe02bd 286 motor->HardStop();
fabiombed 8:144855fe02bd 287 dir=0;
fabiombed 8:144855fe02bd 288 changedir=0;
fabiombed 8:144855fe02bd 289 arrest=0;
fabiombed 8:144855fe02bd 290 printf("STOP\n\r");
fabiombed 8:144855fe02bd 291 }
fabiombed 8:144855fe02bd 292
fabiombed 8:144855fe02bd 293 }
fabiombed 8:144855fe02bd 294
fabiombed 8:144855fe02bd 295 /* Measure_SolarPanel --------------------------------------------------------*/
fabiombed 8:144855fe02bd 296
fabiombed 8:144855fe02bd 297 void Measure_SolarPanel(void)
fabiombed 8:144855fe02bd 298 {
fabiombed 8:144855fe02bd 299
fabiombed 8:144855fe02bd 300 // AnalogIn: 0V return 0.0 , 3.3V return 1.0
fabiombed 8:144855fe02bd 301 float measure = 0; //analog_read.read() * 3300;
fabiombed 8:144855fe02bd 302 //printf("Measure = %.0f mV\r\n", measure);
fabiombed 8:144855fe02bd 303 //board->display->DisplayDigit("A", 0);
fabiombed 8:144855fe02bd 304
fabiombed 8:144855fe02bd 305 if (Display==1) { sprintf(DisplayStr, "%.0f", measure); }
fabiombed 8:144855fe02bd 306
fabiombed 8:144855fe02bd 307 board->display->DisplayString(DisplayStr, 4);
fabiombed 8:144855fe02bd 308 //printf("%s\n\r", DisplayStr);
fabiombed 8:144855fe02bd 309
fabiombed 8:144855fe02bd 310 }
fabiombed 1:8f312c1686b6 311
fabiombed 5:76fb6b783487 312 /* Bluetooth CallBack ---------------------------------------------------------*/
fabiombed 5:76fb6b783487 313
fabiombed 5:76fb6b783487 314 static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
fabiombed 5:76fb6b783487 315 {
fabiombed 5:76fb6b783487 316
fabiombed 5:76fb6b783487 317 }
fabiombed 5:76fb6b783487 318
fabiombed 5:76fb6b783487 319 static void onUpdatesDisabledCallback(Gap::Handle_t handle)
fabiombed 5:76fb6b783487 320 {
fabiombed 5:76fb6b783487 321
fabiombed 5:76fb6b783487 322 }
fabiombed 5:76fb6b783487 323
fabiombed 5:76fb6b783487 324 static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
fabiombed 5:76fb6b783487 325 {
fabiombed 5:76fb6b783487 326
fabiombed 5:76fb6b783487 327 }
fabiombed 5:76fb6b783487 328
fabiombed 5:76fb6b783487 329 static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
fabiombed 5:76fb6b783487 330 {
fabiombed 8:144855fe02bd 331 printf ("myonDataWriteCallback attr_handle: %x att_data[3]: %x data_length: %d\n\r", eventDataP->handle, eventDataP->data[3], eventDataP->len );
fabiombed 5:76fb6b783487 332
fabiombed 8:144855fe02bd 333 if (p_customcontrolservice->isContHandle(eventDataP->handle)) // Only if write come from this Service
fabiombed 8:144855fe02bd 334 {
fabiombed 8:144855fe02bd 335 uint8_t Command = eventDataP->data[3]; // Riceve 8 byte: data[0] + data[1] + data[2] + data[3]
fabiombed 8:144855fe02bd 336 printf("myonDataWriteCallback (Command %x)\r\n", Command);
fabiombed 8:144855fe02bd 337 }
fabiombed 5:76fb6b783487 338 }
fabiombed 5:76fb6b783487 339
fabiombed 5:76fb6b783487 340 static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
fabiombed 5:76fb6b783487 341 {
fabiombed 7:54984d031243 342 printf("onConnectionCallback (Line %d)\r\n", __LINE__);
fabiombed 5:76fb6b783487 343 }
fabiombed 5:76fb6b783487 344
fabiombed 5:76fb6b783487 345 static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
fabiombed 5:76fb6b783487 346 {
fabiombed 7:54984d031243 347 printf("onDisconnectionCallback (Line %d)\r\n", __LINE__);
fabiombed 6:4cbf7303b496 348 p_BLEdev->gap().startAdvertising();
fabiombed 5:76fb6b783487 349 }
fabiombed 5:76fb6b783487 350
fabiombed 8:144855fe02bd 351 /* Bluetooth Initialization ---------------------------------------------------*/
fabiombed 1:8f312c1686b6 352
fabiombed 8:144855fe02bd 353 bool BLE_Initialization(void)
fabiombed 4:1d3d071a4c2c 354 {
fabiombed 4:1d3d071a4c2c 355
fabiombed 7:54984d031243 356 p_BLEdev = new BLE;
fabiombed 7:54984d031243 357 if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); }
fabiombed 7:54984d031243 358 const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};
fabiombed 7:54984d031243 359 p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE);
fabiombed 6:4cbf7303b496 360
fabiombed 7:54984d031243 361 p_BLEdev->init();
fabiombed 7:54984d031243 362
fabiombed 8:144855fe02bd 363 // Set BLE CallBack Functions
fabiombed 7:54984d031243 364 p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback);
fabiombed 7:54984d031243 365 p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback);
fabiombed 7:54984d031243 366 p_BLEdev->gattServer().onDataRead(onDataReadCallback);
fabiombed 7:54984d031243 367 p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
fabiombed 7:54984d031243 368 p_BLEdev->gap().onConnection(onConnectionCallback);
fabiombed 7:54984d031243 369 p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
fabiombed 8:144855fe02bd 370 //p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback);
fabiombed 8:144855fe02bd 371 //p_BLEdev->gattServer().onDataSent(onDataSentCallback);
fabiombed 8:144855fe02bd 372 //p_BLEdev->gap().onTimeout(onTimeoutCallback);
fabiombed 7:54984d031243 373
fabiombed 7:54984d031243 374 // BLE Services
fabiombed 7:54984d031243 375 p_customcontrolservice = new CustomControlService(*p_BLEdev);
fabiombed 7:54984d031243 376 p_customsensorservice = new CustomSensorService(*p_BLEdev);
fabiombed 7:54984d031243 377
fabiombed 8:144855fe02bd 378 // Setup BLE Advertising
fabiombed 7:54984d031243 379 const static char DEVICE_NAME[] = BLE_DEV_NAME;
fabiombed 7:54984d031243 380 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
fabiombed 8:144855fe02bd 381 uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00};
fabiombed 7:54984d031243 382 p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6);
fabiombed 7:54984d031243 383 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
fabiombed 7:54984d031243 384 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
fabiombed 7:54984d031243 385 p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
fabiombed 7:54984d031243 386 p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL);
fabiombed 7:54984d031243 387 p_BLEdev->gap().startAdvertising();
fabiombed 4:1d3d071a4c2c 388
fabiombed 8:144855fe02bd 389 return true;
fabiombed 7:54984d031243 390
fabiombed 8:144855fe02bd 391 }
fabiombed 8:144855fe02bd 392
fabiombed 8:144855fe02bd 393 /* Main ----------------------------------------------------------------------*/
fabiombed 8:144855fe02bd 394
fabiombed 8:144855fe02bd 395 int main()
fabiombed 8:144855fe02bd 396 {
fabiombed 8:144855fe02bd 397
fabiombed 8:144855fe02bd 398 // Printing to the console
fabiombed 8:144855fe02bd 399 printf("SunTracker by Fabio Brembilla\r\n\n");
fabiombed 7:54984d031243 400
fabiombed 8:144855fe02bd 401 Initialization();
fabiombed 8:144855fe02bd 402 printf("Initialization OK (Line %d)\r\n", __LINE__);
fabiombed 7:54984d031243 403
fabiombed 8:144855fe02bd 404 BLE_Initialization();
fabiombed 8:144855fe02bd 405 printf("BLE_Initialization OK (Line %d)\r\n", __LINE__);
fabiombed 8:144855fe02bd 406
fabiombed 8:144855fe02bd 407 mybutton.fall(&User_Button_Pressed);
fabiombed 8:144855fe02bd 408 printf("Wait Push Button\r\n");
fabiombed 7:54984d031243 409
fabiombed 8:144855fe02bd 410 // Loop until push User Button to Set 0 Point
fabiombed 8:144855fe02bd 411 strcpy(DisplayStr,"pusH");
fabiombed 8:144855fe02bd 412 while(start<1) {
fabiombed 8:144855fe02bd 413 board->display->DisplayString(DisplayStr, 4);
fabiombed 8:144855fe02bd 414 p_BLEdev->waitForEvent();
fabiombed 8:144855fe02bd 415 //printf("%s\n\r", DisplayStr);
fabiombed 8:144855fe02bd 416 }
fabiombed 4:1d3d071a4c2c 417
fabiombed 6:4cbf7303b496 418 printf("Start Main Loop\r\n");
fabiombed 6:4cbf7303b496 419
fabiombed 7:54984d031243 420 static int INTLOOP=0;
fabiombed 7:54984d031243 421
fabiombed 6:4cbf7303b496 422 // Main Loop
fabiombed 8:144855fe02bd 423 while(true)
fabiombed 8:144855fe02bd 424 {
fabiombed 8:144855fe02bd 425 if (Display==0 | Display==1) { Measure_Babybear(); }
fabiombed 8:144855fe02bd 426 if (Display==2) { Measure_Accelerometer(); }
fabiombed 8:144855fe02bd 427
fabiombed 8:144855fe02bd 428 Control_Motor();
fabiombed 8:144855fe02bd 429 Measure_SolarPanel();
fabiombed 7:54984d031243 430
fabiombed 7:54984d031243 431 INTLOOP++;
fabiombed 8:144855fe02bd 432 if (INTLOOP==100) { p_customsensorservice->sendEnvPosition(rand(),0); printf("Read BLE\n\r"); INTLOOP=0; }
fabiombed 7:54984d031243 433
fabiombed 7:54984d031243 434 p_BLEdev->waitForEvent();
fabiombed 8:144855fe02bd 435 }
fabiombed 4:1d3d071a4c2c 436
fabiombed 8:144855fe02bd 437 //status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
fabiombed 8:144855fe02bd 438 //status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
fabiombed 4:1d3d071a4c2c 439
fabiombed 8:144855fe02bd 440 }