Derek Stinson
Uses Arduino to take signals from a Lidar Lite v3 to scan a room. Arduino picks up a change in distance. Sends a signal to the k64. That k64 sets off sounds connected to a speaker. Those sounds are prerecorded on a flash drive. The k64 also flashes and LED that will flash until a turn off signal UDP packet is sent to it. It also sends an alarm UDP packet to another K64 that has flashing LEDs.
Dependencies: EthernetInterface LidarLitev2 SDFileSystem Servo mbed-rtos mbed wave_player
Need to use this program also.
https://developer.mbed.org/users/dereklstinson/code/Motion_Secure_Client_IUPUI/
main.cpp
- Committer:
- dereklstinson
- Date:
- 2016-12-16
- Revision:
- 0:a76470827116
File content as of revision 0:a76470827116:
/*------------------------------------------------------------------------------------*/
/* Ethernet UDP Server (to be used with Ethernet_UDP_client) */
/*------------------------------------------------------------------------------------*/
/*--COMPANY-----AUTHOR------DATE------------REVISION----NOTES-------------------------*/
/* NXP mareikeFSL 2015.12.23 rev 1.0 initial */
/* */
/*------------------------------------------------------------------------------------*/
/* This "Hello World" program is used in conjunction with the Ethernet_UDP_client */
/* program. It communicates between two FRDM-K64F boards via the Ethernet protocol. */
/* To use this program, you need to do the following: */
/* - Connect an Ethernet cable between two FRDM-K64F boards (a crossover cable */
/* is not required). */
/* - Flash one board with Ethernet_UDP_client and the other with */
/* Ethernet_UDP_server */
/* - [optional] If you would like to see the "Hello World" output on your */
/* monitor, install and open a terminal. Tera Term is used in the Wiki for */
/* this program. */
/*------------------------------------------------------------------------------------*/
/*--INCLUDES----------------------------------------------------------------------------*/
#include "mbed.h"
#include "EthernetInterface.h"
#include "SDFileSystem.h"
#include "wave_player.h"
#include "Servo.h"
#include "LidarLitev2.h"
#include "rtos.h"
#include "eth_arch.h"
/*--DEFINES-----------------------------------------------------------------------------*/
#define SWEEP_TIME .1
/*--CONSTANTS---------------------------------------------------------------------------*/
Queue<uint32_t, 5> queue;
const int PORT = 7; //arbitrary port
static const char* SERVER_IP = "192.168.1.101"; //IP of server board
static const char* MASK = "255.255.255.0"; //mask
static const char* GATEWAY = "192.168.1.1"; //gateway
/*--INITS-------------------------------------------------------------------------------*/
Serial pc(USBTX, USBRX); //create PC interface
EthernetInterface eth; //create ethernet
UDPSocket server; //creat server
Endpoint client; //create endpoint
DigitalOut alarmconfirm(PTD0);
DigitalIn alarmcheckpin(PTD1);
DigitalOut red(LED_RED); //debug led
DigitalOut green(LED_GREEN); //debug led
DigitalOut led(D12);
SDFileSystem sd(PTE3,PTE1, PTE2, PTE4, "sd"); //SD card
AnalogOut DACout(DAC0_OUT);
wave_player waver(&DACout);
Timer dt;
/*--VARIABLES---------------------------------------------------------------------------*/
int n; //size of received message
char counter[1] = {0}; //sample receive/send buffer
int i=0;
int sweep_flag =0;
int waiting_answer = 0;
Ticker flashes;
//Ticker IO;
int someflag=0;
FILE *wave_file;
/*--FUNCTION DECLARATIONS---------------------------------------------------------------*/
int sensoralarmcheck(void);
void alarmCheck(char x);
void alarmLight(void);
void alarmSound(void);
void init_usb(void); //initializes pc.printf if required
void init_eth(void); //initializes Ethernet
void receive(void); //receives packets
void queue_isr();
int main(void); //main
void flashingstuff();
/*--FUNCTION DEFINITIONS----------------------------------------------------------------*/
/****************************************************************************************/
void flashingstuff(){
if ((someflag==1) || (red==0)){
red=!red;
led=!led;
}
}
/*queue_thread**************************************************************************/
/*****************************************************************************INIT_USB***/
void init_usb(void)
{
pc.baud(9600); //baud
} //end init_usb()
/*****************************************************************************INIT_ETH***/
void init_eth(void)
{
pc.printf("Initializing Ethernet\r\n");
eth.init(SERVER_IP, MASK, GATEWAY); //set up IP
eth.connect(); //connect ethernet
pc.printf("\nSERVER - Server IP Address is %s\r\n", eth.getIPAddress()); //get server IP address;
server.bind(PORT); //bind server
pc.printf("Initialization Complete\n\r");
} //end init_eth()
/******************************************************************************RECEIVE***/
void receive(void)
{
int herewego=0;
pc.printf("\nSERVER - Waiting for UDP packet...\r\n"); //wait for packet
n = server.receiveFrom(client, counter, sizeof(counter)); //receive message from client
counter[n] = '\0'; //add \0 to end of message
pc.printf("SERVER - Received '%i' from client %s\r\n", counter[0], client.get_address()); //print message and client
alarmCheck(counter[0]);
herewego = sensoralarmcheck();
if (herewego==1||waiting_answer==1){
waiting_answer =1;
printf("Lidar Caught something\r\n");
counter[0]='z';
}
pc.printf("SERVER - Sending '%i' back to client %s\r\n", counter[0], client.get_address()); //print sending back
wait(.5f);
server.sendTo(client, counter, n);
//send message
} //end receive()
/***Alarm Check***************************************************************************/
void alarmCheck(char x){
pc.printf("\n\rInto alarm check\r\n");
if (x == 'x') {
alarmconfirm =0;
waiting_answer=0;
someflag=0;
}
if (x!='b') return;
alarmLight();
alarmSound();
}
/**Alarm_Sound****************************************************************************/
void alarmSound(void){
if (i==0){
wave_file=fopen("/sd/intuder_detected.wav","r");
}
else if (i==1){
wave_file=fopen("/sd/alarm.wav","r");
}
else if(i==2){
wave_file=fopen("/sd/20seconds.wav","r");
}
else if (i==3){
wave_file=fopen("/sd/dangerous.wav","r");
}
else if (i==4){
wave_file=fopen("/sd/searching.wav","r");
}
else if (i==5){
wave_file=fopen("/sd/scanning.wav","r");
}
waver.play(wave_file);
fclose(wave_file);
i++;
if(i>=6){
i=0;
}
}
/**Alarm_lights**************************************************************************/
void alarmLight(void){
someflag = 1;
wait(0.1f);
}
/***lidarSweep****************************************************************************/
int sensoralarmcheck(void){
if (alarmcheckpin){
alarmLight();
alarmSound();
return 1;
}
return 0;
}
/*********************************************************************************MAIN***/
int main(void)
{
red = 1;
green = 0; //server
init_usb(); //initialize the PC interface
init_eth(); //initialize the Ethernet connection
flashes.attach(&flashingstuff,.1);
while (true) //repeat forever
{
receive(); //wait for message
}
} //end main()