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@5:76fb6b783487, 2016-02-03 (annotated)

Committer:: fabiombed
Date:: Wed Feb 03 11:22:17 2016 +0000
Revision:: 5:76fb6b783487
Parent:: 4:1d3d071a4c2c
Child:: 6:4cbf7303b496

BLE Services Created

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	4:1d3d071a4c2c	6	* @date January 22th, 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	0:becf0d313663	41	/* mbed specific header files. */
fabiombed	0:becf0d313663	42	#include "mbed.h"
fabiombed	4:1d3d071a4c2c	43
fabiombed	0:becf0d313663	44	/* Helper header files. */
fabiombed	0:becf0d313663	45	#include "DevSPI.h"
fabiombed	1:8f312c1686b6	46	#include "DevI2C.h"
fabiombed	0:becf0d313663	47
fabiombed	1:8f312c1686b6	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	1:8f312c1686b6	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	4:1d3d071a4c2c	59	/* Calibration files. */
fabiombed	4:1d3d071a4c2c	60	#include "MotionFX_Manager.h" // Need for osxMFX_calibFactor
fabiombed	4:1d3d071a4c2c	61
fabiombed	5:76fb6b783487	62	/* BlueTooth -----------------------------------------------------------------*/
fabiombed	5:76fb6b783487	63
fabiombed	5:76fb6b783487	64	#include "debug.h" // Need for PRINTF
fabiombed	5:76fb6b783487	65	#include "Utils.h" // Need for STORE_LE_16 and _32
fabiombed	5:76fb6b783487	66
fabiombed	5:76fb6b783487	67	typedef struct {
fabiombed	5:76fb6b783487	68	int32_t AXIS_X;
fabiombed	5:76fb6b783487	69	int32_t AXIS_Y;
fabiombed	5:76fb6b783487	70	int32_t AXIS_Z;
fabiombed	5:76fb6b783487	71	} AxesRaw_TypeDef;
fabiombed	5:76fb6b783487	72
fabiombed	5:76fb6b783487	73	typedef enum ConnectionStatus_t {
fabiombed	5:76fb6b783487	74	DISCONNECTED =0,
fabiombed	5:76fb6b783487	75	CONNECTED =1
fabiombed	5:76fb6b783487	76	}cns_t;
fabiombed	5:76fb6b783487	77
fabiombed	5:76fb6b783487	78	const unsigned LENGTH_OF_LONG_UUID = 16;
fabiombed	5:76fb6b783487	79	typedef uint16_t ShortUUIDBytes_t;
fabiombed	5:76fb6b783487	80	typedef uint8_t LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
fabiombed	5:76fb6b783487	81
fabiombed	5:76fb6b783487	82	#include "CustomControlService.h"
fabiombed	5:76fb6b783487	83	#include "CustomSensorsService.h"
fabiombed	5:76fb6b783487	84
fabiombed	5:76fb6b783487	85	static BLE * p_BLEdev = NULL;
fabiombed	5:76fb6b783487	86
fabiombed	5:76fb6b783487	87	#define BLE_DEV_NAME "SunTrack"
fabiombed	5:76fb6b783487	88	#define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF
fabiombed	4:1d3d071a4c2c	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	1:8f312c1686b6	105	int16_t babybear=0; // Difference (in Lux) between Left and Right
fabiombed	1:8f312c1686b6	106	int acc_data[3]; // Difference of Accelerometer
fabiombed	1:8f312c1686b6	107	int16_t diff=0; // Abs of Babybear or Accelerometer difference
fabiombed	1:8f312c1686b6	108	int16_t left=0; // Left Command for Rotate Direction
fabiombed	1:8f312c1686b6	109	int16_t right=0; // Right Command for Rotate Direction
fabiombed	1:8f312c1686b6	110	int16_t start=0; // Waiting User Button Push
fabiombed	1:8f312c1686b6	111	int32_t pos=0; // Motor Position
fabiombed	1:8f312c1686b6	112	char DisplayStr[5]; // Status Display
fabiombed	1:8f312c1686b6	113	int16_t Display=0; // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control
fabiombed	1:8f312c1686b6	114	int16_t status, status_t, status_b, status_l, status_r; // Babybear Status
fabiombed	1:8f312c1686b6	115
fabiombed	1:8f312c1686b6	116	/* ---------------------------------------------------------------------------*/
fabiombed	0:becf0d313663	117
fabiombed	0:becf0d313663	118	/* Motor Control Component. */
fabiombed	0:becf0d313663	119	L6474 *motor;
fabiombed	0:becf0d313663	120
fabiombed	1:8f312c1686b6	121	/* Initializing SPI bus. */
fabiombed	1:8f312c1686b6	122	DevSPI dev_spi(D11, D12, D13);
fabiombed	0:becf0d313663	123
fabiombed	1:8f312c1686b6	124	/* Initializing I2C bus. */
fabiombed	1:8f312c1686b6	125	DevI2C dev_i2c(D14, D15);
fabiombed	1:8f312c1686b6	126
fabiombed	1:8f312c1686b6	127	/* Instance board 6180XA1. */
fabiombed	1:8f312c1686b6	128	static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
fabiombed	1:8f312c1686b6	129	MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
fabiombed	0:becf0d313663	130
fabiombed	1:8f312c1686b6	131	/* Instance mems IKS01A1. */
fabiombed	1:8f312c1686b6	132	static X_NUCLEO_IKS01A1 *mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
fabiombed	1:8f312c1686b6	133	MotionSensor *accelerometer = mems->GetAccelerometer();
fabiombed	4:1d3d071a4c2c	134
fabiombed	4:1d3d071a4c2c	135	void DISP_ExecLoopBody(void) {};
fabiombed	0:becf0d313663	136
fabiombed	1:8f312c1686b6	137	AnalogIn analog_read_A1(A1);
fabiombed	1:8f312c1686b6	138
fabiombed	4:1d3d071a4c2c	139	InterruptIn mybutton(USER_BUTTON);
fabiombed	1:8f312c1686b6	140
fabiombed	1:8f312c1686b6	141	/* User_Button_Pressed -------------------------------------------------------*/
fabiombed	0:becf0d313663	142
fabiombed	1:8f312c1686b6	143	void User_Button_Pressed()
fabiombed	1:8f312c1686b6	144	{
fabiombed	4:1d3d071a4c2c	145
fabiombed	4:1d3d071a4c2c	146	if (start>0) {
fabiombed	4:1d3d071a4c2c	147	Display++;
fabiombed	4:1d3d071a4c2c	148	}
fabiombed	4:1d3d071a4c2c	149	if (Display>2) {
fabiombed	4:1d3d071a4c2c	150	Display=0;
fabiombed	4:1d3d071a4c2c	151	}
fabiombed	4:1d3d071a4c2c	152	if (start==0) {
fabiombed	4:1d3d071a4c2c	153	start=1;
fabiombed	4:1d3d071a4c2c	154	}
fabiombed	4:1d3d071a4c2c	155
fabiombed	1:8f312c1686b6	156	}
fabiombed	1:8f312c1686b6	157
fabiombed	1:8f312c1686b6	158	/* Initialization ------------------------------------------------------------*/
fabiombed	0:becf0d313663	159
fabiombed	1:8f312c1686b6	160	bool Initialization(void)
fabiombed	1:8f312c1686b6	161	{
fabiombed	4:1d3d071a4c2c	162
fabiombed	1:8f312c1686b6	163	/* Initializing Babybear Component. */
fabiombed	1:8f312c1686b6	164	status=board->InitBoard();
fabiombed	1:8f312c1686b6	165	if(status)
fabiombed	1:8f312c1686b6	166	VL6180x_ErrLog("Failed to init the board!\n\r");
fabiombed	0:becf0d313663	167
fabiombed	1:8f312c1686b6	168	// Put GPIO not used as Interrupt in Hi-Z
fabiombed	1:8f312c1686b6	169	status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	1:8f312c1686b6	170	//status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present
fabiombed	4:1d3d071a4c2c	171	status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	1:8f312c1686b6	172	status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	4:1d3d071a4c2c	173
fabiombed	0:becf0d313663	174	/* Initializing Motor Control Component. */
fabiombed	0:becf0d313663	175	motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
fabiombed	0:becf0d313663	176	if (motor->Init(NULL) != COMPONENT_OK)
fabiombed	0:becf0d313663	177	return false;
fabiombed	4:1d3d071a4c2c	178
fabiombed	1:8f312c1686b6	179	motor->SetStepMode(STEP_MODE_1_8); // Default is STEP_MODE_1_16
fabiombed	4:1d3d071a4c2c	180
fabiombed	1:8f312c1686b6	181	/* Set defaults Motor Speed. */
fabiombed	1:8f312c1686b6	182	motor->SetAcceleration(SET_ACC);
fabiombed	1:8f312c1686b6	183	motor->SetDeceleration(SET_DEC);
fabiombed	1:8f312c1686b6	184	motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors
fabiombed	1:8f312c1686b6	185	motor->SetMinSpeed(SET_MIN);
fabiombed	4:1d3d071a4c2c	186
fabiombed	1:8f312c1686b6	187	return true;
fabiombed	4:1d3d071a4c2c	188
fabiombed	1:8f312c1686b6	189	}
fabiombed	0:becf0d313663	190
fabiombed	1:8f312c1686b6	191	/* Measure_Babybear ----------------------------------------------------------*/
fabiombed	1:8f312c1686b6	192
fabiombed	1:8f312c1686b6	193	void Measure_Babybear(void)
fabiombed	1:8f312c1686b6	194	{
fabiombed	1:8f312c1686b6	195
fabiombed	1:8f312c1686b6	196	status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left);
fabiombed	1:8f312c1686b6	197	status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right);
fabiombed	1:8f312c1686b6	198
fabiombed	1:8f312c1686b6	199	babybear = data_sensor_right.lux - data_sensor_left.lux;
fabiombed	1:8f312c1686b6	200
fabiombed	1:8f312c1686b6	201	diff = abs(babybear);
fabiombed	1:8f312c1686b6	202
fabiombed	4:1d3d071a4c2c	203	if (babybear>0) {
fabiombed	4:1d3d071a4c2c	204	left=0;
fabiombed	4:1d3d071a4c2c	205	right=1;
fabiombed	4:1d3d071a4c2c	206	}
fabiombed	4:1d3d071a4c2c	207	if (babybear<0) {
fabiombed	4:1d3d071a4c2c	208	left=1;
fabiombed	4:1d3d071a4c2c	209	right=0;
fabiombed	4:1d3d071a4c2c	210	}
fabiombed	4:1d3d071a4c2c	211
fabiombed	1:8f312c1686b6	212	}
fabiombed	1:8f312c1686b6	213
fabiombed	1:8f312c1686b6	214	/* Measure_Accelerometer -----------------------------------------------------*/
fabiombed	1:8f312c1686b6	215
fabiombed	1:8f312c1686b6	216	void Measure_Accelerometer(void)
fabiombed	1:8f312c1686b6	217	{
fabiombed	1:8f312c1686b6	218
fabiombed	1:8f312c1686b6	219	accelerometer->Get_X_Axes(acc_data);
fabiombed	1:8f312c1686b6	220
fabiombed	1:8f312c1686b6	221	diff = abs(acc_data[0]);
fabiombed	1:8f312c1686b6	222
fabiombed	4:1d3d071a4c2c	223	if (acc_data[0]>0) {
fabiombed	4:1d3d071a4c2c	224	left=0;
fabiombed	4:1d3d071a4c2c	225	right=1;
fabiombed	4:1d3d071a4c2c	226	}
fabiombed	4:1d3d071a4c2c	227	if (acc_data[0]<0) {
fabiombed	4:1d3d071a4c2c	228	left=1;
fabiombed	4:1d3d071a4c2c	229	right=0;
fabiombed	4:1d3d071a4c2c	230	}
fabiombed	4:1d3d071a4c2c	231
fabiombed	1:8f312c1686b6	232	}
fabiombed	0:becf0d313663	233
fabiombed	1:8f312c1686b6	234	/* Control_Motor -------------------------------------------------------------*/
fabiombed	1:8f312c1686b6	235
fabiombed	1:8f312c1686b6	236	void Control_Motor(void)
fabiombed	4:1d3d071a4c2c	237	{
fabiombed	0:becf0d313663	238
fabiombed	4:1d3d071a4c2c	239	//printf("Diff: %d lux/mems\n\r", diff);
fabiombed	4:1d3d071a4c2c	240	motor->SetMaxSpeed(diff);
fabiombed	4:1d3d071a4c2c	241
fabiombed	4:1d3d071a4c2c	242	if (diff>TOLLERANCE) {
fabiombed	1:8f312c1686b6	243	if (diff <=RANGE_1) {
fabiombed	4:1d3d071a4c2c	244	if (left) {
fabiombed	4:1d3d071a4c2c	245	strcpy(DisplayStr,"E___");
fabiombed	4:1d3d071a4c2c	246	}
fabiombed	4:1d3d071a4c2c	247	if (right) {
fabiombed	4:1d3d071a4c2c	248	strcpy(DisplayStr,"___3");
fabiombed	4:1d3d071a4c2c	249	}
fabiombed	4:1d3d071a4c2c	250	} else if (diff >RANGE_1 & diff <=RANGE_2) {
fabiombed	4:1d3d071a4c2c	251	if (left) {
fabiombed	4:1d3d071a4c2c	252	strcpy(DisplayStr,"E===");
fabiombed	4:1d3d071a4c2c	253	}
fabiombed	4:1d3d071a4c2c	254	if (right) {
fabiombed	4:1d3d071a4c2c	255	strcpy(DisplayStr,"===3");
fabiombed	4:1d3d071a4c2c	256	}
fabiombed	4:1d3d071a4c2c	257	} else if (diff >RANGE_2) {
fabiombed	4:1d3d071a4c2c	258	if (left) {
fabiombed	4:1d3d071a4c2c	259	strcpy(DisplayStr,"E~~~");
fabiombed	4:1d3d071a4c2c	260	}
fabiombed	4:1d3d071a4c2c	261	if (right) {
fabiombed	4:1d3d071a4c2c	262	strcpy(DisplayStr,"~~~3");
fabiombed	4:1d3d071a4c2c	263	}
fabiombed	4:1d3d071a4c2c	264	}
fabiombed	4:1d3d071a4c2c	265
fabiombed	1:8f312c1686b6	266	// In Case of Change Direction
fabiombed	4:1d3d071a4c2c	267	if (left & dir==2) {
fabiombed	4:1d3d071a4c2c	268	changedir=1;
fabiombed	4:1d3d071a4c2c	269	}
fabiombed	4:1d3d071a4c2c	270	if (right & dir==1) {
fabiombed	4:1d3d071a4c2c	271	changedir=1;
fabiombed	4:1d3d071a4c2c	272	}
fabiombed	4:1d3d071a4c2c	273
fabiombed	1:8f312c1686b6	274	// Run only if Stop or Change Direction
fabiombed	1:8f312c1686b6	275	if (diff>TOLLERANCE & (dir==0 \| changedir==1)) {
fabiombed	4:1d3d071a4c2c	276	if (left) {
fabiombed	4:1d3d071a4c2c	277	motor->Run(StepperMotor::FWD);
fabiombed	4:1d3d071a4c2c	278	dir=1;
fabiombed	4:1d3d071a4c2c	279	changedir=0;
fabiombed	4:1d3d071a4c2c	280	}
fabiombed	4:1d3d071a4c2c	281	if (right) {
fabiombed	4:1d3d071a4c2c	282	motor->Run(StepperMotor::BWD);
fabiombed	4:1d3d071a4c2c	283	dir=2;
fabiombed	4:1d3d071a4c2c	284	changedir=0;
fabiombed	4:1d3d071a4c2c	285	}
fabiombed	4:1d3d071a4c2c	286	}
fabiombed	1:8f312c1686b6	287	}
fabiombed	4:1d3d071a4c2c	288
fabiombed	1:8f312c1686b6	289	// Get Motor Position and Control Rotation Block
fabiombed	1:8f312c1686b6	290	pos = motor->GetPosition();
fabiombed	1:8f312c1686b6	291	if (pos>STOP \| pos<-STOP) {
fabiombed	4:1d3d071a4c2c	292	if (pos>0) {
fabiombed	4:1d3d071a4c2c	293	motor->GoTo(STOP);
fabiombed	4:1d3d071a4c2c	294	}
fabiombed	4:1d3d071a4c2c	295	if (pos<0) {
fabiombed	4:1d3d071a4c2c	296	motor->GoTo(-STOP);
fabiombed	4:1d3d071a4c2c	297	}
fabiombed	1:8f312c1686b6	298	}
fabiombed	4:1d3d071a4c2c	299
fabiombed	1:8f312c1686b6	300	// Stop Motor
fabiombed	4:1d3d071a4c2c	301	if (diff<=TOLLERANCE) {
fabiombed	1:8f312c1686b6	302	motor->HardStop();
fabiombed	4:1d3d071a4c2c	303	if (Display==0) {
fabiombed	4:1d3d071a4c2c	304	strcpy(DisplayStr,"----");
fabiombed	4:1d3d071a4c2c	305	}
fabiombed	4:1d3d071a4c2c	306	if (Display==2) {
fabiombed	4:1d3d071a4c2c	307	strcpy(DisplayStr,"E 3");
fabiombed	4:1d3d071a4c2c	308	}
fabiombed	1:8f312c1686b6	309	dir=0;
fabiombed	1:8f312c1686b6	310	changedir=0;
fabiombed	1:8f312c1686b6	311	}
fabiombed	4:1d3d071a4c2c	312
fabiombed	1:8f312c1686b6	313	}
fabiombed	1:8f312c1686b6	314
fabiombed	1:8f312c1686b6	315	/* Measure_SolarPanel --------------------------------------------------------*/
fabiombed	1:8f312c1686b6	316
fabiombed	1:8f312c1686b6	317	void Measure_SolarPanel(void)
fabiombed	1:8f312c1686b6	318	{
fabiombed	1:8f312c1686b6	319
fabiombed	1:8f312c1686b6	320	// AnalogIn A1: 0V return 0.0 , 3.3V return 1.0
fabiombed	1:8f312c1686b6	321	float measure = analog_read_A1.read() * 3300;
fabiombed	1:8f312c1686b6	322	//printf("Measure = %.0f mV\r\n", measure);
fabiombed	1:8f312c1686b6	323	//board->display->DisplayDigit("A", 0);
fabiombed	1:8f312c1686b6	324
fabiombed	4:1d3d071a4c2c	325	if (Display==1) {
fabiombed	4:1d3d071a4c2c	326	sprintf(DisplayStr, "%.0f", measure);
fabiombed	4:1d3d071a4c2c	327	}
fabiombed	4:1d3d071a4c2c	328
fabiombed	4:1d3d071a4c2c	329	board->display->DisplayString(DisplayStr, 4);
fabiombed	1:8f312c1686b6	330
fabiombed	1:8f312c1686b6	331	}
fabiombed	1:8f312c1686b6	332
fabiombed	5:76fb6b783487	333	/* Bluetooth CallBack ---------------------------------------------------------*/
fabiombed	5:76fb6b783487	334
fabiombed	5:76fb6b783487	335	static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
fabiombed	5:76fb6b783487	336	{
fabiombed	5:76fb6b783487	337
fabiombed	5:76fb6b783487	338	}
fabiombed	5:76fb6b783487	339
fabiombed	5:76fb6b783487	340	static void onUpdatesDisabledCallback(Gap::Handle_t handle)
fabiombed	5:76fb6b783487	341	{
fabiombed	5:76fb6b783487	342
fabiombed	5:76fb6b783487	343	}
fabiombed	5:76fb6b783487	344
fabiombed	5:76fb6b783487	345	static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
fabiombed	5:76fb6b783487	346	{
fabiombed	5:76fb6b783487	347
fabiombed	5:76fb6b783487	348	}
fabiombed	5:76fb6b783487	349
fabiombed	5:76fb6b783487	350	static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
fabiombed	5:76fb6b783487	351	{
fabiombed	5:76fb6b783487	352
fabiombed	5:76fb6b783487	353	}
fabiombed	5:76fb6b783487	354
fabiombed	5:76fb6b783487	355	static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
fabiombed	5:76fb6b783487	356	{
fabiombed	5:76fb6b783487	357
fabiombed	5:76fb6b783487	358	}
fabiombed	5:76fb6b783487	359
fabiombed	5:76fb6b783487	360	static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
fabiombed	5:76fb6b783487	361	{
fabiombed	5:76fb6b783487	362
fabiombed	5:76fb6b783487	363	}
fabiombed	5:76fb6b783487	364
fabiombed	5:76fb6b783487	365	/* Bluetooth Initialization ---------------------------------------------------*/
fabiombed	5:76fb6b783487	366
fabiombed	5:76fb6b783487	367	void BLE_Initialization(void)
fabiombed	5:76fb6b783487	368	{
fabiombed	5:76fb6b783487	369
fabiombed	5:76fb6b783487	370	p_BLEdev = new BLE;
fabiombed	5:76fb6b783487	371	if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); }
fabiombed	5:76fb6b783487	372
fabiombed	5:76fb6b783487	373	const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};
fabiombed	5:76fb6b783487	374	p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE);
fabiombed	5:76fb6b783487	375	printf("Line: %d \r\n", __LINE__);
fabiombed	5:76fb6b783487	376	p_BLEdev->init();
fabiombed	5:76fb6b783487	377	printf("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	5:76fb6b783487	390	}
fabiombed	5:76fb6b783487	391
fabiombed	1:8f312c1686b6	392	/* Main ----------------------------------------------------------------------*/
fabiombed	1:8f312c1686b6	393
fabiombed	1:8f312c1686b6	394	int main()
fabiombed	4:1d3d071a4c2c	395	{
fabiombed	4:1d3d071a4c2c	396
fabiombed	4:1d3d071a4c2c	397	Initialization();
fabiombed	4:1d3d071a4c2c	398
fabiombed	5:76fb6b783487	399	//BLE_Initialization();
fabiombed	5:76fb6b783487	400
fabiombed	1:8f312c1686b6	401	mybutton.fall(&User_Button_Pressed);
fabiombed	4:1d3d071a4c2c	402
fabiombed	0:becf0d313663	403	/* Printing to the console. */
fabiombed	1:8f312c1686b6	404	printf("SunTracker by Fabio Brembilla\r\n\n");
fabiombed	4:1d3d071a4c2c	405
fabiombed	1:8f312c1686b6	406	/* Set Babybears. */
fabiombed	1:8f312c1686b6	407	status_l=board->sensor_left->AlsSetAnalogueGain(3);
fabiombed	1:8f312c1686b6	408	status_r=board->sensor_right->AlsSetAnalogueGain(3);
fabiombed	1:8f312c1686b6	409	status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed	1:8f312c1686b6	410	status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed	4:1d3d071a4c2c	411
fabiombed	1:8f312c1686b6	412	/* Loop until push User Button to Set 0 Point. */
fabiombed	1:8f312c1686b6	413	strcpy(DisplayStr,"pusH");
fabiombed	4:1d3d071a4c2c	414	while(start<1) {
fabiombed	1:8f312c1686b6	415	board->display->DisplayString(DisplayStr, 4);
fabiombed	1:8f312c1686b6	416	}
fabiombed	4:1d3d071a4c2c	417
fabiombed	0:becf0d313663	418	/* Main Loop. */
fabiombed	4:1d3d071a4c2c	419	while(true) {
fabiombed	4:1d3d071a4c2c	420	if (Display==0 \| Display==1) {
fabiombed	4:1d3d071a4c2c	421	Measure_Babybear();
fabiombed	4:1d3d071a4c2c	422	}
fabiombed	4:1d3d071a4c2c	423	if (Display==2) {
fabiombed	4:1d3d071a4c2c	424	Measure_Accelerometer();
fabiombed	4:1d3d071a4c2c	425	}
fabiombed	4:1d3d071a4c2c	426
fabiombed	1:8f312c1686b6	427	Control_Motor();
fabiombed	1:8f312c1686b6	428	Measure_SolarPanel();
fabiombed	0:becf0d313663	429	}
fabiombed	4:1d3d071a4c2c	430
fabiombed	1:8f312c1686b6	431	status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
fabiombed	1:8f312c1686b6	432	status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
fabiombed	4:1d3d071a4c2c	433
fabiombed	0:becf0d313663	434	}

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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.