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

Revision:
18:319a1bb8f837
Parent:
17:582eba752042
Child:
19:b2c04428ffed
--- a/main.cpp	Tue Apr 19 08:53:07 2016 +0000
+++ b/main.cpp	Fri Apr 22 14:40:14 2016 +0000
@@ -100,10 +100,10 @@
 static CustomControlService *p_customcontrolservice = NULL;
 static CustomSensorService  *p_customsensorservice = NULL;
 
-#define FeatureStatus      0x00000400
-#define FeatureDifference  0x00000800
-#define FeaturePosition    0x00001000
-#define FeatureSunPanel    0x00002000
+#define FeatureStatus      0x00000800
+#define FeatureDifference  0x00001000
+#define FeaturePosition    0x00002000
+#define FeatureSunPanel    0x00004000
 
 #endif
 
@@ -114,9 +114,13 @@
 #define SET_MAX 200     // Set Motor MaxSpeed
 #define SET_MIN 100     // Set Motor MinSpeed
 #define STOP 1000       // Set Motor Stop Position
-#define TOLLERANCE 100  // Tollerance between Left and Right before Start Movement
-#define RANGE_1 200     // Range 1 for Motor Speed
+#define TOLLERANCE 80   // Tollerance between Left and Right before Start Movement
+#define RANGE_1 250     // Range 1 for Motor Speed
 #define RANGE_2 500     // Range 2 for Motor Speed
+#define TIMEOUT_STA 1   // Timeout for Ticker Status (in second)
+#define TIMEOUT_DIF 0.5 // Timeout for Ticker Difference (in second)
+#define TIMEOUT_POS 0.5 // Timeout for Ticker Position (in second)
+#define TIMEOUT_SUN 0.5 // Timeout for Ticker SunPanel (in second)
 
 /* Variables -----------------------------------------------------------------*/
 
@@ -135,6 +139,10 @@
 int16_t Status=0;      // Status Shown on Display: 0 = Idle, 1 = Motor Speed, 2 = Solar Panel Value, 3 = Manual Control [--> Send BLE]
 int16_t status_bb, status_t, status_b, status_l, status_r; // Babybear Status
 uint16_t TimeStamp=0;  // TimeStamp for BLE
+bool tickerSta=false;
+bool tickerDif=false;
+bool tickerPos=false;
+bool tickerSun=false;
 
 /* Initializations ------------------------------------------------------------*/
 
@@ -185,7 +193,8 @@
 
     Status++;
 
-#ifdef Sensors
+//#ifdef Sensors
+#ifdef Ble
     if (Status>3)  { Status=1; }
 #else
     if (Status>2)  { Status=1; }
@@ -221,7 +230,7 @@
 
 static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
 {
-/*
+
     // if receive a manual Read request
 
     if (p_customsensorservice->isStatusHandle(eventDataP->handle))
@@ -245,7 +254,7 @@
         p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
 
     }
-*/  
+ 
 }
 
 // This Callback happen when it RECEIVE a WRITE
@@ -335,7 +344,7 @@
     // Setup BLE Advertising
     const static char DEVICE_NAME[] = BLE_DEV_NAME;
     p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
-    uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00};    
+    uint8_t dat[] = {0x01,0x80,0x00,0x00,0x78,0x00}; // Data Sent during Advertising, must respect a Standard ST
     p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6);    
     p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
     p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
@@ -541,6 +550,13 @@
      
 }
 
+/* Ticker --------------------------------------------------------------------*/
+
+void tickerSta_Callback(void) { tickerSta=true; }
+void tickerDif_Callback(void) { tickerDif=true; }
+void tickerPos_Callback(void) { tickerPos=true; }
+void tickerSun_Callback(void) { tickerSun=true; }
+
 /* Main ----------------------------------------------------------------------*/
 
 int main()
@@ -555,9 +571,10 @@
     mybutton.fall(&User_Button_Pressed);
 
     #ifdef Ble
-    static int INTLOOP=0;
-    #endif
-
+    Ticker tickerSta_ticker, tickerDif_ticker, tickerPos_ticker, tickerSun_ticker;
+    tickerSta_ticker.attach(tickerSta_Callback, TIMEOUT_STA);
+    #endif 
+    
     // Loop until push User Button to Set 0 Point
     printf("\r\nWait PUSH Button");
     strcpy(DisplayStr,"pusH");
@@ -568,23 +585,25 @@
         #endif
         
         #ifdef Ble
-        /*
-        INTLOOP++;
-        if (INTLOOP==100)
-        {
-            p_customsensorservice->sendEnvStatus(Status, TimeStamp);
-            p_customsensorservice->sendEnvDifference(diff, TimeStamp);
-            p_customsensorservice->sendEnvPosition(pos, TimeStamp);
-            p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
-            INTLOOP=0;
+        if (p_customsensorservice->isStatusNotificationEn()) {
+            if (tickerSta) {
+                tickerSta=false;
+                printf("\n\r\n\rSend BLE Display Status %d", Status);
+                //p_customsensorservice->sendEnvStatus(Status, TimeStamp);
+                p_customsensorservice->updateEnvStatus(Status, TimeStamp);    
+            }
         }
-        */    
-        //p_BLEdev->waitForEvent(); // Without it the CLIENT can't start to communicate
+        p_BLEdev->waitForEvent(); // Without it the CLIENT can't start to communicate
         #endif 
     }
 
     printf("\r\n\r\nStart Main Loop");
-    INTLOOP=0;
+
+    #ifdef Ble
+    tickerDif_ticker.attach(tickerDif_Callback, TIMEOUT_DIF);
+    tickerPos_ticker.attach(tickerPos_Callback, TIMEOUT_POS);
+    tickerSun_ticker.attach(tickerSun_Callback, TIMEOUT_SUN);
+    #endif 
     
     #ifdef EasySpin
     motor->Enable(); // To put the motor on hold by execute CmdEnable
@@ -605,37 +624,43 @@
         #ifdef FlightSense
         board->display->DisplayString(DisplayStr, 4);
         //printf("%s\n\r", DisplayStr);
-        #endif   
-        
-        #ifdef Ble
+        #endif
         
-        INTLOOP++;
-        if (INTLOOP==100)
-        {    
-            //if (p_customsensorservice->isStatusNotificationEn()) {
+        #ifdef Ble 
+        if (p_customsensorservice->isStatusNotificationEn()) {
+            if (tickerSta) {
+                tickerSta=false;
                 printf("\n\r\n\rSend BLE Display Status %d", Status);
-                p_customsensorservice->sendEnvStatus(Status, TimeStamp);
-                //p_customsensorservice->updateEnvStatus(Status, TimeStamp));            
-            //}
-            //if (p_customsensorservice->isDifferenceNotificationEn()) {
+                //p_customsensorservice->sendEnvStatus(Status, TimeStamp);
+                p_customsensorservice->updateEnvStatus(Status, TimeStamp);    
+            }
+        }
+        if (p_customsensorservice->isDifferenceNotificationEn()) {
+            if (tickerDif) {
+                tickerDif=false;
                 printf("\n\rSend BLE Difference %d lux/mems", diff); // Send BLE diff, no diff_abs
-                p_customsensorservice->sendEnvDifference(diff, TimeStamp);
-                //p_customsensorservice->updateEnvDifference(diff, TimeStamp));
-            //}
-            //if (p_customsensorservice->isPositionNotificationEn()) {            
+                //p_customsensorservice->sendEnvDifference(diff, TimeStamp);
+                p_customsensorservice->updateEnvDifference(diff, TimeStamp);
+            }
+        }
+        if (p_customsensorservice->isPositionNotificationEn()) {
+            if (tickerPos) {
+                tickerPos=false;       
                 printf("\n\rSend BLE Position %d", pos);
-                p_customsensorservice->sendEnvPosition(pos, TimeStamp);
-                //p_customsensorservice->updateEnvPosition(pos, TimeStamp));
-            //}
-            //if (p_customsensorservice->isSunpanelNotificationEn()) {            
-                printf("\n\rSend BLE Sunpanel %d mV", measure);            
-                p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
-                //p_customsensorservice->updateEnvSunpanel(measure, TimeStamp));
-            //}
-            INTLOOP=0;
-            //diff=0; // To reset it in case from Mems don't arrive a future value
+                //p_customsensorservice->sendEnvPosition(pos, TimeStamp);
+                p_customsensorservice->updateEnvPosition(pos, TimeStamp);
+            }
         }
-        
+        if (p_customsensorservice->isSunpanelNotificationEn()) {
+            if (tickerSun) {
+                tickerSun=false;      
+                printf("\n\rSend BLE SunPanel %d mV", measure);            
+                //p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
+                p_customsensorservice->updateEnvSunpanel(measure, TimeStamp);
+            }
+        }
+        //diff=0; // To reset it in case from Accelerometer doesn't arrive a future value (is better that Acc. always send a value)
+         
         p_BLEdev->waitForEvent();
         #endif