Revision 2:d08625231a9f, committed 2022-04-26

Comitter:

mukundy8

Date:

Tue Apr 26 21:26:04 2022 +0000

Parent:

1:7a49fd0692fd

Commit message:

final project first

Changed in this revision

diff -r 7a49fd0692fd -r d08625231a9f hcsr04.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.cpp	Tue Apr 26 21:26:04 2022 +0000
@@ -0,0 +1,98 @@
+/* Copyright (c) 2013 Prabhu Desai
+ * pdtechworld@gmail.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+#include "hcsr04.h"
+
+
+HCSR04::HCSR04(PinName TrigPin,PinName EchoPin):
+    trigger(TrigPin), echo(EchoPin)
+{
+    pulsetime.stop();
+    pulsetime.reset();
+    echo.rise(this,&HCSR04::isr_rise);
+    echo.fall(this,&HCSR04::isr_fall);
+    trigger=0;
+}
+
+HCSR04::~HCSR04()
+{
+}
+
+void HCSR04::isr_rise(void)
+{
+    pulsetime.start();
+}
+void HCSR04::start(void)
+{
+    trigger=1;
+    wait_us(10);
+    trigger=0;
+}
+
+void HCSR04::isr_fall(void)
+{
+    pulsetime.stop();
+    pulsedur = pulsetime.read_us();
+    distance= (pulsedur*343)/20000;
+    pulsetime.reset();
+}
+
+void HCSR04::rise (void (*fptr)(void))
+{
+    echo.rise(fptr);
+}
+void HCSR04::fall (void (*fptr)(void))
+{
+    echo.fall(fptr);
+}
+
+unsigned int HCSR04::get_dist_cm()
+{
+    return distance;
+}
+unsigned int HCSR04::get_pulse_us()
+{
+    return pulsedur;
+}
+
+
+
+/*******************************************************
+   Here is a sample code usage
+********************************************************* 
+#include "hcsr04.h"
+HCSR04  usensor(p25,p6);
+int main()
+{
+    unsigned char count=0;
+    while(1) {
+        usensor.start();
+        wait_ms(500); 
+        dist=usensor.get_dist_cm();
+        lcd.cls();
+        lcd.locate(0,0);
+        lcd.printf("cm:%ld",dist );
+ 
+        count++;
+        lcd.locate(0,1);
+        lcd.printf("Distance =%d",count);
+        
+    }
+*/
\ No newline at end of file

diff -r 7a49fd0692fd -r d08625231a9f hcsr04.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.h	Tue Apr 26 21:26:04 2022 +0000
@@ -0,0 +1,68 @@
+/* Copyright (c) 2013 Prabhu Desai
+ * pdtechworld@gmail.com
+ *
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * For more details on the sensor :
+ * http://www.elecfreaks.com/store/hcsr04-ultrasonic-sensor-distance-measuring-module-p-91.html?zenid=pgm8pgnvaodbe36dibq5s1soi3
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef MBED_HCSR04_H
+#define MBED_HCSR04_H
+
+#include "mbed.h"
+
+/** HCSR04 Class(es)
+ */
+
+class HCSR04
+{
+public:
+    /** Create a HCSR04 object connected to the specified pin
+    * @param pin i/o pin to connect to
+    */
+    HCSR04(PinName TrigPin,PinName EchoPin);
+    ~HCSR04();
+
+    /** Return the distance from obstacle in cm
+    * @param distance in cms and returns -1, in case of failure
+    */
+    unsigned int get_dist_cm(void);
+    /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
+    * @param pulse duration in microseconds.
+    */
+    unsigned int get_pulse_us(void);
+    /** Generates the trigger pulse of 10us on the trigger PIN.
+    */
+    void start(void );
+    void isr_rise(void);
+    void isr_fall(void);
+    void fall (void (*fptr)(void));
+    void rise (void (*fptr)(void));
+
+
+
+private:
+
+    Timer pulsetime;
+    DigitalOut  trigger;
+    InterruptIn echo;
+    unsigned int pulsedur;
+    unsigned int distance;
+};
+
+#endif
\ No newline at end of file

diff -r 7a49fd0692fd -r d08625231a9f main.cpp
--- a/main.cpp	Mon Mar 07 00:30:36 2022 +0000
+++ b/main.cpp	Tue Apr 26 21:26:04 2022 +0000
@@ -1,13 +1,48 @@
 #include "mbed.h"
 #include "FXOS8700Q.h"
 #include "FXAS21000.h"
+#include "hcsr04.h"
     I2C i2c(PTE25, PTE24);
     Serial pc(USBTX,USBRX);
     FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
     FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
     FXAS21000 gyro(D14,D15);
+    HCSR04 usensor1(D8,D9);                     //ECHO Pin=D9, TRIG Pin=D8
+    HCSR04 usensor2(D7,D6);                     //ECHO Pin=D7, TRIG Pin=D6
+
     int main(void)
     {
+        int num = 0;
+        int distance1, distance2;
+        float dist_remaining1, dist_percent1, dist_remaining2, dist_percent2;
+        char snd[255],rcv[1000];                    //snd: send command to ESP8266
+                                            //rcv: receive response from ESP8266
+
+        //Ultrasound Sensor (HC-SR04) #1 Initialization
+        int a = 30;
+        usensor1.start();
+        wait_ms(500);
+        
+    //Calculating Distance Percentage Remaining for Sensor # 1
+        distance1 = usensor1.get_dist_cm();
+        dist_remaining1 = a-distance1;
+        dist_percent1 = (dist_remaining1/30)*100;
+        
+    //LED and Tera Term Output
+        if (distance1<30 && distance2<30) {
+            //RLed = 1;
+//            BLed = 1;
+//            GLed = 0;
+            pc.printf("You are colse!\n\r"); while(1) {
+                    pc.putc(pc.getc() + 1);}
+            //printf("Percent remaining: %f\r", dist_percent1 && dist_percent2);
+        } else {
+            //GLed = 1;
+//            BLed = 1;
+//            RLed = 0;
+            pc.printf("You are far!\n\r"); while(1) {
+                    pc.putc(pc.getc() + 1);}
+            }
         float gyro_data[3];
         motion_data_units_t acc_data, mag_data;
         motion_data_counts_t acc_raw, mag_raw;
@@ -50,18 +85,22 @@
            if(abs(acc.getX(faX)) > 1.5 || abs(acc.getZ(faZ)) > 1.3 || abs(acc.getY(faY)) > 0.1)
            {
             
-            Red = 0;
-            Blue = 1;
-            Green = 1;
+            //Red = 0;
+//            Blue = 1;
+//            Green = 1;
+            pc.printf("Going too fast!\n\r"); while(1) {
+            pc.putc(pc.getc() + 1);}
 
             } 
             
             
             else{
                 
-                Red = 1;
-                Green = 0;
-                Blue = 1;
+                //Red = 1;
+//                Green = 0;
+//                Blue = 1;
+                    pc.printf("You are safe!\n\r"); while(1) {
+                    pc.putc(pc.getc() + 1);}
                 };
             wait(1.0f);
         }