Merge pull request SEA-ME-Team07-Embedded-System#35 from SEA-ME-Team0…

…7-Embedded-System/develop

merge develop to main

arduino/front_arduino/front_arduino.ino

@@ -0,0 +1,62 @@
+#include <SPI.h>          //Library for using SPI Communication 
+#include <mcp2515.h>      //Library for using CAN Communication (https://github.com/autowp/arduino-mcp2515/)
+
+struct can_frame canMsg; //canMsg struct data type for storing CAN message format.
+
+MCP2515 mcp2515(10); //set the pin number where SPI CS is connected.
+
+const int TRIG_PIN = 5;
+const int ECHO_PIN = 6;
+
+int ultrasonic() {
+  digitalWrite(TRIG_PIN, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(TRIG_PIN, LOW);
+
+  long duration = pulseIn(ECHO_PIN, HIGH);
+
+  int distance_cm = duration * 0.0343 / 2;
+  Serial.print("Distance :");
+  Serial.println(distance_cm);
+
+
+
+  return distance_cm;
+}
+
+void setup() 
+{
+  canMsg.can_id  = 0x063;           //CAN id as 0x063
+  canMsg.can_dlc = 8;               //CAN data length as 8
+  canMsg.data[0] = 0x00;               
+  canMsg.data[1] = 0x00;            
+  canMsg.data[2] = 0x00;            //Rest all with 0
+  canMsg.data[3] = 0x00;
+  canMsg.data[4] = 0x00;
+  canMsg.data[5] = 0x00;
+  canMsg.data[6] = 0x00;
+  canMsg.data[7] = 0x00;
+
+  while (!Serial);
+  Serial.begin(9600);
+
+  pinMode(TRIG_PIN, OUTPUT); //Ultra sonic
+  pinMode(ECHO_PIN, INPUT); //Ultra sonic
+
+  mcp2515.reset();
+  mcp2515.setBitrate(CAN_125KBPS, MCP_8MHZ); //Sets CAN at speed 125KBPS
+  mcp2515.setNormalMode();
+
+  Serial.println("Example: Write to CAN");
+
+  delay(1000);
+}
+void loop() {
+
+  //ultra sonic
+  int d = ultrasonic();
+
+  canMsg.data[2] = d;
+  mcp2515.sendMessage(&canMsg);     //Sends the CAN message
+  delay(500);
+}

arduino/rear_arduino/rear_arduino.ino

@@ -0,0 +1,144 @@
+#include <SPI.h>          //Library for using SPI Communication 
+#include <mcp2515.h>      //Library for using CAN Communication (https://github.com/autowp/arduino-mcp2515/)
+
+struct can_frame canMsg; //canMsg struct data type for storing CAN message format.
+
+MCP2515 mcp2515(10); //set the pin number where SPI CS is connected.
+
+const int TRIG_PIN = 5;
+const int ECHO_PIN = 6;
+
+const byte PulsesPerRevolution = 20;
+const unsigned long ZeroTimeout = 100000;
+const byte numReadings = 2;
+
+volatile unsigned long LastTimeWeMeasured;
+volatile unsigned long PeriodBetweenPulses = ZeroTimeout + 1000;
+volatile unsigned long PeriodAverage = ZeroTimeout + 1000;
+unsigned long FrequencyRaw;
+unsigned long FrequencyReal;
+unsigned long RPM;
+unsigned int PulseCounter = 1;
+unsigned long PeriodSum;
+
+unsigned long LastTimeCycleMeasure = LastTimeWeMeasured;
+unsigned long CurrentMicros = micros();
+unsigned int AmountOfReadings = 1;
+unsigned int ZeroDebouncingExtra;
+unsigned long readings[numReadings];
+unsigned long readIndex;  
+unsigned long total; 
+unsigned long average;
+
+int ultrasonic() {
+  digitalWrite(TRIG_PIN, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(TRIG_PIN, LOW);
+
+  long duration = pulseIn(ECHO_PIN, HIGH);
+
+  int distance_cm = duration * 0.0343 / 2;
+  Serial.print("Distance :");
+  Serial.println(distance_cm);
+
+
+
+  return distance_cm;
+}
+
+void setup() 
+{
+  canMsg.can_id  = 0x036;           //CAN id as 0x036
+  canMsg.can_dlc = 8;               //CAN data length as 8
+  canMsg.data[0] = 0x00;               
+  canMsg.data[1] = 0x00;            
+  canMsg.data[2] = 0x00;            //Rest all with 0
+  canMsg.data[3] = 0x00;
+  canMsg.data[4] = 0x00;
+  canMsg.data[5] = 0x00;
+  canMsg.data[6] = 0x00;
+  canMsg.data[7] = 0x00;
+
+  while (!Serial);
+  Serial.begin(9600);
+
+  pinMode(TRIG_PIN, OUTPUT); //Ultra sonic
+  pinMode(ECHO_PIN, INPUT); //Ultra sonic
+
+  SPI.begin();               //Begins SPI communication
+  attachInterrupt(digitalPinToInterrupt(3), Pulse_Event, RISING);
+
+  mcp2515.reset();
+  mcp2515.setBitrate(CAN_125KBPS, MCP_8MHZ); //Sets CAN at speed 125KBPS
+  mcp2515.setNormalMode();
+
+  Serial.println("Example: Write to CAN");
+
+  delay(1000);
+}
+void loop() {
+
+  //speedometer
+  LastTimeCycleMeasure = LastTimeWeMeasured;
+  CurrentMicros = micros();
+  if (CurrentMicros < LastTimeCycleMeasure) {
+    LastTimeCycleMeasure = CurrentMicros;
+  }
+  FrequencyRaw = 10000000000 / PeriodAverage;
+  if (PeriodBetweenPulses > ZeroTimeout - ZeroDebouncingExtra || CurrentMicros - LastTimeCycleMeasure > ZeroTimeout - ZeroDebouncingExtra) {
+    FrequencyRaw = 0;  // Set frequency as 0.
+    ZeroDebouncingExtra = 2000;
+  } else {
+    ZeroDebouncingExtra = 0;
+  }
+  FrequencyReal = FrequencyRaw / 10000;
+
+  RPM = FrequencyRaw / PulsesPerRevolution * 60;
+  RPM = RPM / 10000;
+  total = total - readings[readIndex];
+  readings[readIndex] = RPM;
+  total = total + readings[readIndex];
+  readIndex = readIndex + 1;
+
+  if (readIndex >= numReadings) {
+    readIndex = 0;
+  }
+  average = total / numReadings;
+
+  Serial.print("Period: ");
+  Serial.print(PeriodBetweenPulses);
+  Serial.print("\tReadings: ");
+  Serial.print(AmountOfReadings);
+  Serial.print("\tFrequency: ");
+  Serial.print(FrequencyReal);
+  Serial.print("\tRPM: ");
+  Serial.print(RPM);
+  Serial.print("\tTachometer: ");
+  Serial.println(average);
+
+  //ultra sonic
+  int d = ultrasonic();
+
+  int r = RPM;
+  canMsg.data[0] = r; 
+  canMsg.data[1] = d;
+  mcp2515.sendMessage(&canMsg);     //Sends the CAN message
+  delay(500);
+}
+
+void Pulse_Event() {
+  PeriodBetweenPulses = micros() - LastTimeWeMeasured;
+  LastTimeWeMeasured = micros();
+  if (PulseCounter >= AmountOfReadings)  {
+    PeriodAverage = PeriodSum / AmountOfReadings;
+    PulseCounter = 1;
+    PeriodSum = PeriodBetweenPulses;
+
+    int RemapedAmountOfReadings = map(PeriodBetweenPulses, 40000, 5000, 1, 10);
+    RemapedAmountOfReadings = constrain(RemapedAmountOfReadings, 1, 10);
+    AmountOfReadings = RemapedAmountOfReadings;
+  } else {
+    PulseCounter++;
+    PeriodSum = PeriodSum + PeriodBetweenPulses;
+  }
+}