SunTracker_BLE
Dependencies: BLE_API X_NUCLEO_6180XA1 X_NUCLEO_IDB0XA1 X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A1 mbed
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Overview
The SunTracker is a demo application running on ST Nucleo-F401RE stacking a set of ST X-NUCLEO expansion boards.
Main features provided are:
- A solar panel follows the light source, orienting the panel in order to achieve the best panel efficiency.
- Orientation is controlled thanks to a couple of VL6180X FlightSense light sensors mounted on a X-NUCLEO-6180XA1 expansion board and driven by X-NUCLEO-IHM01A1 controlled stepper motor acting as actuator to orientate the panel.
- The system features a progressive control on the stepper motor in order to modulate the panel rotation speed according to the light angle.
- The application is also able to control the panel productivity reading the panel voltage through an ADC and proving feedback on the local display.
- A manual orientation is possible by using the accelerometer on a X-NUCLEO-IKS01A1 expansion board that, according on board tilt, controls the speed and the rotate direction.
- A remote control is available using a X-NUCLEO-IDB04A1 or a X-NUCLEO-IDB05A1 Bluetooth Low Energy expansion board. Remote control software is here.
Working Status
- SunTracker has 3 working status visible on FlightSense display and switchable by pressing the User Button:
Status 0 (Idle)
- Motor: Free Turning
- Display: Waiting for User Button
Status 1
- Motor: Driven by Light
- Display: Direction and Light Intensity = Direction and Motor Speed
Status 2
- Motor: Driven by Light
- Display: Solar Panel Efficiency
Status 3
- Motor: Driven by Accelerometer
- Display: Direction and Accelerometer Intensity
Server Startup
- When you plug the power supply, the word ‘PUSH’ is shown on display.
- You can manually rotate the structure to assign the ‘Zero Point’. Then press the User Button to launch the application.
- The display will show this status, which means that the structureis oriented to maximize the efficiency of the solar panel.
- If there is a light displacement, the structure will rotate, left or right,to follow the light source and on display is shown the direction and the speed.
- You can press the User Button to show the panel efficiencywith 4 digits that represent the range from 0v (0000) to 3,3v (3300).
- Further pressing the User Button you will manual rotate the panel by tilt the Server or Client accelerometer depending by BLE connection.
Client Startup
- The Client application can remotely control the User Button and the Accelerometer functions.
- Power on the Client AFTER the Server, it will automatically search for the SunTracker and will establish a BLE connection.
- The Green Led on Nucleo Client board will be powered on.
Rotation Features
- It has been implemented a block of rotation to avoid cables twist.
- The blocking point can be set in the firmware by changing a constant.
- You can manually rotate the structure to assign the ‘Zero Point’ before press the User Button to launch the application.
- The system features a progressive control on the stepper motor in order to modulate the rotation speed according to the light or accelerometer angle.
List of Components
SERVER SunTracker_BLE
- Nucleo-F401RE platform using a STM32F401RET6 microcontroller.
- X-NUCLEO-IHM01A1 - Stepper motor driver board based on the EasySPIN L6474.
- X-NUCLEO-6180XA1 - 3-in-1 proximity and ambient light sensor board based on ST FlightSense technology.
- VL6180X-SATEL - Satellite boards compatible with X-NUCLEO-6180XA1 board.
- X-NUCLEO-IKS01A1 - Motion MEMS and environmental sensor board.
- X-NUCLEO-IDB04A1 or X-NUCLEO-IDB05A1 - Bluetooth Low Energy Bluetooth low energy evaluation board.
- Stepper Motor 400’’ (Part Number 5350401) - To orientate the Mechanical Structure.
- Solar Panel 0.446w (Part Number 0194127) - To capture sunlight and generate electrical current.
- Power Supply 12v (Part Number 7262993) - To provide power supply at the Stepper Motor.
- Flat Cable 6 ways (Part Number 1807010) - To plug VL6180X-SATEL with X-NUCLEO-6180XA1 (60cm length each x2).
- Cable Connector (Part Number 6737694) - To plug the Flat Cable (x4).
- Power Connector (Part Number 0487842) - To provide Power Supply to X-NUCLEO-IHM01A1.
CLIENT SunTracker_BLE_Remote
- Nucleo-F401RE platform using a STM32F401RET6 microcontroller.
- X-NUCLEO-IKS01A1 - Motion MEMS and environmental sensor board.
- X-NUCLEO-IDB04A1 or X-NUCLEO-IDB05A1- Bluetooth Low Energy Bluetooth low energy evaluation board.
MECHANICAL STRUCTURE
Find here the STL files to print with a 3D printer.
FLAT CABLE ASSEMBLY
HARDWARE SETUP
Nucleo ADC + Solar Panel
Connect Solar Panel cables to Nucleo Morpho PC_3 (white) and Nucleo Morpho GND (black). Connect a capacitor 10uF between PC_3 and GND to stabilize its voltage value shown on display.
EasySpin (L6474) + BLE
Hardware conflict between EasySpin DIR1 and BLE Reset, both on same Arduino Pin PA_8. Disconnect PA_8 between EasySpin and Nucleo by fold EasySpin Pin. PB_2 has been configured as EasySpin DIR1 in the firmware .Connect Nucleo Morpho PB_2 to FlightSense Arduino PA_8 by a wire.
FlightSense Satellites
In case of instability with I2C due to long flat cables, solder 4 SMD capacitors 47pF on FlightSense board in parallel between R15, R16, R17, R18 and plug 2 capacitors 15pF between FlightSense Arduino PB_8 and PB_9 to GND pin to cut-off noises over 720 KHz.
Arduino & Morpho Pinout
main.cpp@0:becf0d313663, 2015-12-03 (annotated)
- Committer:
- fabiombed
- Date:
- Thu Dec 03 12:17:33 2015 +0000
- Revision:
- 0:becf0d313663
- Child:
- 1:8f312c1686b6
Added MEMS Manual Control
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 | 0:becf0d313663 | 4 | * @author Davide Aliprandi, STMicrolectronics |
fabiombed | 0:becf0d313663 | 5 | * @version V1.0.0 |
fabiombed | 0:becf0d313663 | 6 | * @date October 16th, 2015 |
fabiombed | 0:becf0d313663 | 7 | * @brief mbed vertical application using the STMicrolectronics |
fabiombed | 0:becf0d313663 | 8 | * X-NUCLEO-IHM01A1 Motor Control Expansion Board and the |
fabiombed | 0:becf0d313663 | 9 | * X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Sensors Expansion |
fabiombed | 0:becf0d313663 | 10 | * Board to get a MEMS-based motor control (direction and speed). |
fabiombed | 0:becf0d313663 | 11 | ****************************************************************************** |
fabiombed | 0:becf0d313663 | 12 | * @attention |
fabiombed | 0:becf0d313663 | 13 | * |
fabiombed | 0:becf0d313663 | 14 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
fabiombed | 0:becf0d313663 | 15 | * |
fabiombed | 0:becf0d313663 | 16 | * Redistribution and use in source and binary forms, with or without modification, |
fabiombed | 0:becf0d313663 | 17 | * are permitted provided that the following conditions are met: |
fabiombed | 0:becf0d313663 | 18 | * 1. Redistributions of source code must retain the above copyright notice, |
fabiombed | 0:becf0d313663 | 19 | * this list of conditions and the following disclaimer. |
fabiombed | 0:becf0d313663 | 20 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
fabiombed | 0:becf0d313663 | 21 | * this list of conditions and the following disclaimer in the documentation |
fabiombed | 0:becf0d313663 | 22 | * and/or other materials provided with the distribution. |
fabiombed | 0:becf0d313663 | 23 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
fabiombed | 0:becf0d313663 | 24 | * may be used to endorse or promote products derived from this software |
fabiombed | 0:becf0d313663 | 25 | * without specific prior written permission. |
fabiombed | 0:becf0d313663 | 26 | * |
fabiombed | 0:becf0d313663 | 27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
fabiombed | 0:becf0d313663 | 28 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
fabiombed | 0:becf0d313663 | 29 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
fabiombed | 0:becf0d313663 | 30 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
fabiombed | 0:becf0d313663 | 31 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
fabiombed | 0:becf0d313663 | 32 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
fabiombed | 0:becf0d313663 | 33 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
fabiombed | 0:becf0d313663 | 34 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
fabiombed | 0:becf0d313663 | 35 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
fabiombed | 0:becf0d313663 | 36 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
fabiombed | 0:becf0d313663 | 37 | * |
fabiombed | 0:becf0d313663 | 38 | ****************************************************************************** |
fabiombed | 0:becf0d313663 | 39 | */ |
fabiombed | 0:becf0d313663 | 40 | |
fabiombed | 0:becf0d313663 | 41 | |
fabiombed | 0:becf0d313663 | 42 | /* Includes ------------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 43 | |
fabiombed | 0:becf0d313663 | 44 | /* mbed specific header files. */ |
fabiombed | 0:becf0d313663 | 45 | #include "mbed.h" |
fabiombed | 0:becf0d313663 | 46 | |
fabiombed | 0:becf0d313663 | 47 | /* Helper header files. */ |
fabiombed | 0:becf0d313663 | 48 | #include "DevSPI.h" |
fabiombed | 0:becf0d313663 | 49 | |
fabiombed | 0:becf0d313663 | 50 | /* Components and expansion boards specific header files. */ |
fabiombed | 0:becf0d313663 | 51 | #include "x_nucleo_iks01a1.h" |
fabiombed | 0:becf0d313663 | 52 | #include "l6474_class.h" |
fabiombed | 0:becf0d313663 | 53 | |
fabiombed | 0:becf0d313663 | 54 | |
fabiombed | 0:becf0d313663 | 55 | /* Definitions ---------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 56 | |
fabiombed | 0:becf0d313663 | 57 | /* Absolute value of the threshold on the Y axis acceleration. */ |
fabiombed | 0:becf0d313663 | 58 | #define ACCELERATION_TH 50 |
fabiombed | 0:becf0d313663 | 59 | |
fabiombed | 0:becf0d313663 | 60 | /* Rotation gain. */ |
fabiombed | 0:becf0d313663 | 61 | #define ROTATION_SPEED_GAIN 20 |
fabiombed | 0:becf0d313663 | 62 | |
fabiombed | 0:becf0d313663 | 63 | |
fabiombed | 0:becf0d313663 | 64 | /* Variables -----------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 65 | |
fabiombed | 0:becf0d313663 | 66 | /* MEMS Expansion Board. */ |
fabiombed | 0:becf0d313663 | 67 | X_NUCLEO_IKS01A1 *x_nucleo_iks01a1; |
fabiombed | 0:becf0d313663 | 68 | |
fabiombed | 0:becf0d313663 | 69 | /* Motor Control Component. */ |
fabiombed | 0:becf0d313663 | 70 | L6474 *motor; |
fabiombed | 0:becf0d313663 | 71 | |
fabiombed | 0:becf0d313663 | 72 | |
fabiombed | 0:becf0d313663 | 73 | /* Main ----------------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 74 | |
fabiombed | 0:becf0d313663 | 75 | int main() |
fabiombed | 0:becf0d313663 | 76 | { |
fabiombed | 0:becf0d313663 | 77 | /*----- Initialization. -----*/ |
fabiombed | 0:becf0d313663 | 78 | |
fabiombed | 0:becf0d313663 | 79 | /* Initializing I2C bus. */ |
fabiombed | 0:becf0d313663 | 80 | DevI2C dev_i2c(D14, D15); |
fabiombed | 0:becf0d313663 | 81 | |
fabiombed | 0:becf0d313663 | 82 | /* Initializing SPI bus. */ |
fabiombed | 0:becf0d313663 | 83 | DevSPI dev_spi(D11, D12, D13); |
fabiombed | 0:becf0d313663 | 84 | |
fabiombed | 0:becf0d313663 | 85 | /* Initializing MEMS Expansion Board. */ |
fabiombed | 0:becf0d313663 | 86 | x_nucleo_iks01a1 = X_NUCLEO_IKS01A1::Instance(&dev_i2c); |
fabiombed | 0:becf0d313663 | 87 | |
fabiombed | 0:becf0d313663 | 88 | /* Retrieving the accelerometer. */ |
fabiombed | 0:becf0d313663 | 89 | MotionSensor *accelerometer = x_nucleo_iks01a1->GetAccelerometer(); |
fabiombed | 0:becf0d313663 | 90 | int acceleration_axis = x_nucleo_iks01a1->gyro_lsm6ds3 == NULL ? 0 : 1; |
fabiombed | 0:becf0d313663 | 91 | |
fabiombed | 0:becf0d313663 | 92 | /* Initializing Motor Control Component. */ |
fabiombed | 0:becf0d313663 | 93 | motor = new L6474(D2, D8, D7, D9, D10, dev_spi); |
fabiombed | 0:becf0d313663 | 94 | if (motor->Init(NULL) != COMPONENT_OK) |
fabiombed | 0:becf0d313663 | 95 | return false; |
fabiombed | 0:becf0d313663 | 96 | |
fabiombed | 0:becf0d313663 | 97 | /* Set defaults. */ |
fabiombed | 0:becf0d313663 | 98 | motor->SetAcceleration(10000); |
fabiombed | 0:becf0d313663 | 99 | motor->SetDeceleration(10000); |
fabiombed | 0:becf0d313663 | 100 | motor->SetMinSpeed(100); |
fabiombed | 0:becf0d313663 | 101 | int status = 0; |
fabiombed | 0:becf0d313663 | 102 | int speed = 0; |
fabiombed | 0:becf0d313663 | 103 | |
fabiombed | 0:becf0d313663 | 104 | |
fabiombed | 0:becf0d313663 | 105 | /*----- Infinite Loop. -----*/ |
fabiombed | 0:becf0d313663 | 106 | |
fabiombed | 0:becf0d313663 | 107 | /* Printing to the console. */ |
fabiombed | 0:becf0d313663 | 108 | printf("Motor Control with MEMS\r\n\n"); |
fabiombed | 0:becf0d313663 | 109 | |
fabiombed | 0:becf0d313663 | 110 | /* Main Loop. */ |
fabiombed | 0:becf0d313663 | 111 | while(true) |
fabiombed | 0:becf0d313663 | 112 | { |
fabiombed | 0:becf0d313663 | 113 | /* Reading Accelerometer. */ |
fabiombed | 0:becf0d313663 | 114 | int accelerometer_data[3]; |
fabiombed | 0:becf0d313663 | 115 | accelerometer->Get_X_Axes(accelerometer_data); |
fabiombed | 0:becf0d313663 | 116 | |
fabiombed | 0:becf0d313663 | 117 | /* Motor Control. */ |
fabiombed | 0:becf0d313663 | 118 | int module = abs(accelerometer_data[acceleration_axis]); |
fabiombed | 0:becf0d313663 | 119 | if (module > ACCELERATION_TH) |
fabiombed | 0:becf0d313663 | 120 | { |
fabiombed | 0:becf0d313663 | 121 | int sign = accelerometer_data[acceleration_axis] < 0 ? -1 : 1; |
fabiombed | 0:becf0d313663 | 122 | speed = module * ROTATION_SPEED_GAIN; |
fabiombed | 0:becf0d313663 | 123 | |
fabiombed | 0:becf0d313663 | 124 | /* Requesting to run. */ |
fabiombed | 0:becf0d313663 | 125 | if (status != sign) |
fabiombed | 0:becf0d313663 | 126 | { |
fabiombed | 0:becf0d313663 | 127 | motor->Run(sign == -1 ? StepperMotor::BWD : StepperMotor::FWD); |
fabiombed | 0:becf0d313663 | 128 | status = sign; |
fabiombed | 0:becf0d313663 | 129 | } |
fabiombed | 0:becf0d313663 | 130 | |
fabiombed | 0:becf0d313663 | 131 | /* Setting Speed. */ |
fabiombed | 0:becf0d313663 | 132 | motor->SetMaxSpeed(speed); |
fabiombed | 0:becf0d313663 | 133 | |
fabiombed | 0:becf0d313663 | 134 | /* Printing to the console. */ |
fabiombed | 0:becf0d313663 | 135 | printf("Speed: %c%d\r\n", sign == -1 ? '-' : '+', motor->GetSpeed()); |
fabiombed | 0:becf0d313663 | 136 | } |
fabiombed | 0:becf0d313663 | 137 | else if (status != 0) |
fabiombed | 0:becf0d313663 | 138 | { |
fabiombed | 0:becf0d313663 | 139 | /* Requesting to stop. */ |
fabiombed | 0:becf0d313663 | 140 | motor->SoftStop(); |
fabiombed | 0:becf0d313663 | 141 | status = 0; |
fabiombed | 0:becf0d313663 | 142 | speed = 0; |
fabiombed | 0:becf0d313663 | 143 | |
fabiombed | 0:becf0d313663 | 144 | /* Printing to the console. */ |
fabiombed | 0:becf0d313663 | 145 | printf("Stop.\r\n"); |
fabiombed | 0:becf0d313663 | 146 | } |
fabiombed | 0:becf0d313663 | 147 | |
fabiombed | 0:becf0d313663 | 148 | /* Waiting. */ |
fabiombed | 0:becf0d313663 | 149 | wait_ms(50); |
fabiombed | 0:becf0d313663 | 150 | } |
fabiombed | 0:becf0d313663 | 151 | } |