Revision 2:a52795efd2e8, committed 2019-12-16

Comitter:

amasudch

Date:

Mon Dec 16 07:09:51 2019 +0000

Parent:

1:5e587e213940

Commit message:

ECE_533_Final_Project_Author_Ahmed_Masud_Chowdhury

Changed in this revision

--- a/main.cpp	Tue Apr 25 23:41:37 2017 +0000
+++ b/main.cpp	Mon Dec 16 07:09:51 2019 +0000
@@ -1,103 +1,194 @@
-/*
- * Copyright (c) 2015 - 2016, Freescale Semiconductor, Inc.
- * Copyright 2016-2017 NXP
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *
- * o Redistributions of source code must retain the above copyright notice, this list
- *   of conditions and the following disclaimer.
- *
- * o Redistributions in binary form must reproduce the above copyright notice, this
- *   list of conditions and the following disclaimer in the documentation and/or
- *   other materials provided with the distribution.
- *
- * o Neither the name of the copyright holder nor the names of its
- *   contributors may be used to endorse or promote products derived from this
- *   software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
- * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-#include "FXAS21002.h"
-#include "FXOS8700.h"  
 #include "mbed.h"
 #include "M2XStreamClient.h"
 #include "EthernetInterface.h"
 
+//Sonar 1 PinOuts
+    DigitalOut trigger1(PTA1);
+    DigitalOut trigger2(PTA2);
+
+//Sonar 2 PinOuts
+    DigitalIn  echo1(PTB9);
+    DigitalIn  echo2(PTB23);
+
+Timer sonar1, sonar2, loop_timer;
+
 // Initialize Serial port
 Serial pc(USBTX, USBRX);
 
-// Initialize pins for I2C communication for sensors. Set jumpers J6,J7 in FRDM-STBC-AGM01 board accordingly.
-FXOS8700 accel(D14,D15);
-FXOS8700 mag(D14,D15);
-FXAS21002 gyro(D14,D15);
+// Set Sensor Stream details
+char deviceId[] = "f2f53c114b0b1707ff849d387f173d17"; // Device you want to push to
+char streamTrig_1[] = "Trigger_from_sensor_1"; // Stream you want to push to
+char streamTrig_2[] = "Trigger_from_sensor_2"; // Stream you want to push to
+char m2xKey[] = "9464d9e65f761bc5511bc085333a522b"; // Your M2X API Key or Master API Key
+
+//Variable Declaration
+int distance1_current = 0;
+int distance1_previous = 0;
+int correction1 = 0;
+
+int distance2_current = 0;
+int distance2_previous = 0;
+int correction2 = 0;
+
+int change_in_distance1;
+int change_in_distance2;
+
+int loop_time;
+
+int sensitivity_threshold;
+
+//function declaration
+int sonar1_correction();
+int sonar1_distance(int correction1);
+
+int sonar2_correction();
+int sonar2_distance(int correction1);
+
+//Functions
+int sonar1_distance(int correction1){
+    trigger1 = 1;
+    sonar1.reset();
+    wait_us(10.0);
+    trigger1 = 0;
+        
+    //wait for echo1 high
+    while (echo1==0) {};
+        
+    //echo1 high, so start timer
+    sonar1.start();
+        
+    //wait for echo1 low
+    while (echo1==1) {};
+    
+    //stop timer and read value
+    sonar1.stop();
+
+    //subtract software overhead timer delay and scale to cm
+    distance1_current = (sonar1.read_us()-correction1)/58.0;
+    return distance1_current;
+}
 
-// Set Sensor Stream details
-char deviceId[] = "8b34bc421abf15b7ec6471fa19513a98"; // Device you want to push to
-char streamAcc[] = "acc_rms"; // Stream you want to push to
-char streamMag[] = "mag_rms"; // Stream you want to push to
-char streamGyr[] = "gyr_rms"; // Stream you want to push to
-char m2xKey[] = "737018ea33de7760ab346c85ae2d9d27"; // Your M2X API Key or Master API Key
+int sonar2_distance(int correction2){
+    trigger2 = 1;
+    sonar2.reset();
+    wait_us(10.0);
+    trigger2 = 0;
+        
+    //wait for echo1 high
+    while (echo2==0) {};
+        
+    //echo1 high, so start timer
+    sonar2.start();
+        
+    //wait for echo1 low
+    while (echo2==1) {};
+    
+    //stop timer and read value
+    sonar2.stop();
+
+    //subtract software overhead timer delay and scale to cm
+    distance2_current = (sonar2.read_us()-correction2)/58.0;
+    return distance2_current;
+}
+
+int sonar1_correction(){
+    // measure actual software polling timer delays FOR SONAR 1
+    // delay used later in time correction1
+    // start timer
+    sonar1.start();
+    
+    // min software polling delay to read echo pin
+    while (echo1==2) {};
+    
+    // stop timer
+    sonar1.stop();
+    
+    // read timer
+    correction1 = sonar1.read_us();
+    
+    //printf("Approximate software overhead timer delay is %d uS\n\r",correction1);
+    return correction1;
+}
+
+int sonar2_correction(){
+    // measure actual software polling timer delays FOR SONAR 1
+    // delay used later in time correction1
+    // start timer
+    sonar2.start();
+    
+    // min software polling delay to read echo pin
+    while (echo2==2) {};
+    
+    // stop timer
+    sonar2.stop();
+    
+    // read timer
+    correction2 = sonar2.read_us();
+    return correction2;
+}
 
 int main()
 {
+        
     // Intialize Ethernet connection
-EthernetInterface eth;
-eth.init();
-eth.connect();
-printf("Success. Connected!. Device IP Address is %s\r\n", eth.getIPAddress());
-
- // Initialize the M2X client
-Client client;
-M2XStreamClient m2xClient(&client, m2xKey);
-int ret;
-
+        EthernetInterface eth;
+        eth.init();
+        eth.connect();
+        printf("Success. Connected!. Device IP Address is %s\r\n", eth.getIPAddress());
+        
+    // Initialize the M2X client
+        Client client;
+        M2XStreamClient m2xClient(&client, m2xKey);
+        int ret;
 
-    // Configure Accelerometer FXOS8700, Magnetometer FXOS8700 & Gyroscope FXAS21002
-    accel.accel_config();
-    mag.mag_config();
-    gyro.gyro_config();
+    
+    correction1 = sonar1_correction();
+    correction2 = sonar2_correction();
 
-    float accel_data[3]; float accel_rms=0.0;
-    float mag_data[3];   float mag_rms=0.0;
-    float gyro_data[3];  float gyro_rms=0.0;
-       
-    printf("Begin Data Acquisition from FXOS8700 and FXAS21002....\r\n\r\n");
-    wait(0.5);
+    // Initialize Sensors
+        distance1_previous = sonar1_distance(correction1);
+        distance2_previous = sonar2_distance(correction1);
+
+    sensitivity_threshold = 15;
     
-    while(1)
-    {
-      accel.acquire_accel_data_g(accel_data);
-      accel_rms = sqrt(((accel_data[0]*accel_data[0])+(accel_data[1]*accel_data[1])+(accel_data[2]*accel_data[2]))/3);
-      printf("%4.2f,\t%4.2f,\t%4.2f,\t",accel_data[0],accel_data[1],accel_data[2]);
-      wait(0.01);
-      
-      mag.acquire_mag_data_uT(mag_data);
-      printf("%4.2f,\t%4.2f,\t%4.2f,\t",mag_data[0],mag_data[1],mag_data[2]);
-      mag_rms = sqrt(((mag_data[0]*mag_data[0])+(mag_data[1]*mag_data[1])+(mag_data[2]*mag_data[2]))/3);
-      wait(0.01);
-      
-      gyro.acquire_gyro_data_dps(gyro_data);
-      printf("%4.2f,\t%4.2f,\t%4.2f\r\n",gyro_data[0],gyro_data[1],gyro_data[2]);
-      gyro_rms = sqrt(((gyro_data[0]*gyro_data[0])+(gyro_data[1]*gyro_data[1])+(gyro_data[2]*gyro_data[2]))/3);
-      wait(0.01);
-      
-      ret = m2xClient.updateStreamValue(deviceId, streamAcc, accel_rms);
-      printf("send() returned %d\r\n", ret);
-      ret = m2xClient.updateStreamValue(deviceId, streamMag, mag_rms);
-      printf("send() returned %d\r\n", ret);
-      ret = m2xClient.updateStreamValue(deviceId, streamGyr, gyro_rms);
-      printf("send() returned %d\r\n", ret);
-      wait(1);
+    while(1){
+        
+        loop_timer.reset();
+        loop_timer.start();
+
+        distance1_current = sonar1_distance(correction1);
+        distance2_current = sonar2_distance(correction1);
+
+        
+        change_in_distance1=abs(distance1_current-distance1_previous);
+        change_in_distance2=abs(distance2_current-distance2_previous);
+        
+        printf("correction1: %d , distance1: %d \n\r", correction1, distance1_current);
+        printf("Change in distance for sensor 1 = %d\n\r", change_in_distance1);
+        if(change_in_distance1 > sensitivity_threshold){
+                printf("Sensor 1 is triggered.\n\r");
+                printf("send() returned %d\r\n", ret);
+                ret = m2xClient.updateStreamValue(deviceId, streamTrig_1, distance1_current);
+                wait(2.0);
+            }
+        
+            
+        printf("correction2: %d , distance2: %d \n\r", correction2, distance2_current);
+        printf("Change in distance for sensor 2 = %d\n\r", change_in_distance2);
+            if(change_in_distance2 > sensitivity_threshold){
+                printf("Sensor 2 is triggered.\n\r");
+                printf("send() returned %d\r\n", ret);
+                ret = m2xClient.updateStreamValue(deviceId, streamTrig_2, distance2_current);
+                wait(2.0);
+            }
+
+        distance1_previous=distance1_current;
+        distance2_previous=distance2_current;
+
+        loop_timer.stop();
+        loop_time=loop_timer.read_us();
+        printf("Loop time = %d us\n\r", loop_time);
+        printf("\n");
     }
       
 }
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