Fork of SunTracker_BLE by ST Expansion SW Team


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 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


  • 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


Find here the STL files to print with a 3D printer.






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

--- a/main.cpp	Tue Jan 26 13:29:53 2016 +0000
+++ b/main.cpp	Wed Feb 03 11:22:17 2016 +0000
@@ -59,8 +59,33 @@
 /* Calibration files. */
 #include "MotionFX_Manager.h" // Need for osxMFX_calibFactor
-/* BlueTooth Custom Service files. */
-#include "CustomSunTrackerService.h"
+/* BlueTooth -----------------------------------------------------------------*/
+#include "debug.h" // Need for PRINTF
+#include "Utils.h" // Need for STORE_LE_16 and _32
+typedef struct {
+    int32_t AXIS_X;
+    int32_t AXIS_Y;
+    int32_t AXIS_Z;
+} AxesRaw_TypeDef;
+typedef enum ConnectionStatus_t {
+    DISCONNECTED    =0,
+    CONNECTED       =1
+const unsigned   LENGTH_OF_LONG_UUID = 16;
+typedef uint16_t ShortUUIDBytes_t;
+typedef uint8_t  LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
+#include "CustomControlService.h"
+#include "CustomSensorsService.h"
+static BLE * p_BLEdev = NULL;
+#define BLE_DEV_NAME "SunTrack"
+#define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF
 /* Definitions ---------------------------------------------------------------*/
@@ -206,7 +231,6 @@
 /* Control_Motor -------------------------------------------------------------*/
 void Control_Motor(void)
@@ -306,6 +330,65 @@
+/* Bluetooth CallBack ---------------------------------------------------------*/
+static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
+static void onUpdatesDisabledCallback(Gap::Handle_t handle)
+static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
+static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
+static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
+static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
+/* Bluetooth Initialization ---------------------------------------------------*/
+void BLE_Initialization(void)
+    p_BLEdev = new BLE;
+    if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); }
+    const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};        
+    p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE);
+printf("Line: %d \r\n", __LINE__);       
+    p_BLEdev->init();         
+printf("Line: %d \r\n", __LINE__);    
+    // Set BLE CallBack Functions
+    p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback);
+    p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback);
+    p_BLEdev->gattServer().onDataRead(onDataReadCallback);
+    p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
+    p_BLEdev->gap().onConnection(onConnectionCallback);
+    p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
+    //p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback);    
+    //p_BLEdev->gattServer().onDataSent(onDataSentCallback);    
+    //p_BLEdev->gap().onTimeout(onTimeoutCallback);
 /* Main ----------------------------------------------------------------------*/
 int main()
@@ -313,6 +396,8 @@
+    //BLE_Initialization();
     /* Printing to the console. */