void commandTriggerSingleUltrasonicMeasurement(BaseSequentialStream *chp, int argc, char *argv[]) {
(void)argc;
(void)argv;
readUltrasonic();
chprintf(chp, "Ultrasonic distance %d, %d, %d.\r\n", dUS0, dUS1, dUS2);
}
static msg_t Thread_Ultrasonic(void *arg) {
(void)arg;
chRegSetThreadName("Ultrasonic");
waitForCompletingInitialization();
while (TRUE) {
if (!hasShell() || continuousMeasurements) {
readUltrasonic();
}
else {
chThdSleepMilliseconds(70);
}
}
return (msg_t)0;
}
// Main routine
void main(void) {
OSCCON = 0x7C; // Internal Oscillator 16MHz Enabled
OSCTUNE = 0x5F;
OSCCON2bits.PLLRDY = 1;
VREFCON1 = 0xE0;
T2CON = 0x7B;
INTCONbits.GIE = 1; // Global, peripheral & timer 2 interrupt enable
INTCONbits.PEIE = 1;
PIE1bits.TMR2IE = 1;
PR2 = 0xff; // period registor 2 with max value
VREFCON2 = 0; // zero brightness
LED_DIR = 0; // LED pin on output
LED = 1;
lcdinit(); // Initialize LCD in 4bit mode, ultrasonic and brightness
lcdcmd(0x01);
initUltrasonic();
initBrightness();
LED = 0;
while(1)
{
readPIR();
if(resPIR)
{
pirIndicate();
readUltrasonic();
f1 = 0;
f2 = 1;
while(resUS < 100 && resUS > 10)
{
T2CONbits.TMR2ON = 1;
setBrightness();
if(f2)
{
lcdcmd(0x80);
sprintf(line1," Welcome ! ");
lcdstring(line1);
sprintf(line2," Chaitanya. ");
lcdcmd(0xc0);
lcdstring(line2);
msDelay(1000);
f2 = 0;
}
if(sec >= 60)
{
mn++;
sec = 0;
}
if(mn >= 60)
{
hr++;
mn = 0;
}
sprintf(line1," Study Time ");
sprintf(line2," %i:%i:%i ",hr,mn,sec);
lcdcmd(0x80);
lcdstring(line1);
lcdcmd(0xc0);
lcdstring(line2);
eventL();
eventL();
readUltrasonic();
f1 = 1;
}
T2CONbits.TMR2ON = 0;
if(f1)
{
sprintf(line1," Thank You ! ");
sprintf(line2," Good Bye...! ");
lcdcmd(0x80);
lcdstring(line1);
lcdcmd(0xc0);
lcdstring(line2);
msDelay(3000);
VREFCON2 = 0;
}
lcdcmd(0x01);
}
}
}