#include <avr/interrupt.h>
#include<avr/io.h>
// Define GPIO pins for sensors, motor control, and battery status
#define WATER_SENSOR_PIN 2
#define TRASH_SENSOR_PIN 3
#define MOTOR_CONTROL_PIN 4
#define BATTERY_STATUS_PIN 5
// Thresholds for water level and battery voltage
#define WATER_LEVEL_THRESHOLD 500 // Adjust as needed
#define BATTERY_VOLTAGE_THRESHOLD 3.6
// Function to read the water level sensor and convert it to a meaningful value
int readWaterLevelSensor() {
// Start an ADC conversion for the water level sensor
ADMUX = (ADMUX & 0xF8) | WATER_SENSOR_PIN; // Set the MUX bits to select the water sensor pin
ADCSRA |= (1 << ADSC); // Start the ADC conversion
// Wait for the ADC conversion to complete
while (ADCSRA & (1 << ADSC));
// Read the ADC result
int adcValue = ADC;
// Define sensor-specific conversion parameters
int adcMin = 0; // Minimum ADC value (corresponding to the lowest water level)
int adcMax = 1023; // Maximum ADC value (corresponding to the highest water level)
int waterLevelMin = 0; // Lowest water level
int waterLevelMax = 100; // Highest water level (adjust as needed)
// Calculate the water level based on the ADC value
int waterLevel = ((adcValue - adcMin) * (waterLevelMax - waterLevelMin)) / (adcMax - adcMin) + waterLevelMin;
return waterLevel;
}
void initializeHardware() {
// Set up GPIO pins
// Configure pins as inputs or outputs as needed
DDRD &= ~(1 << WATER_SENSOR_PIN); // Water sensor pin as input
DDRD &= ~(1 << TRASH_SENSOR_PIN); // Trash sensor pin as input
DDRD |= (1 << MOTOR_CONTROL_PIN); // Motor control pin as output
DDRD &= ~(1 << BATTERY_STATUS_PIN); // Battery status pin as input
// Configure pull-up or pull-down resistors for inputs (if needed)
// PORTD |= (1 << WATER_SENSOR_PIN); // Enable pull-up resistor (if needed)
// Initialize ADC for reading sensor values
// Configure ADC settings and reference voltage
ADMUX = (1 << REFS0); // Set reference voltage to AVCC
ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); // Enable ADC and set prescaler to 64
// Initialize UART for communication (if needed)
// Configure baud rate, data format, etc.
// Example settings for 9600 baud:
// UBRR0H = (uint8_t)(103 >> 8); // Set UBRR0H (high byte of baud rate register)
// UBRR0L = (uint8_t)103; // Set UBRR0L (low byte of baud rate register)
// UCSR0B = (1 << TXEN0) | (1 << RXEN0); // Enable transmit and receive
// UCSR0C = (1 << UCSZ01) | (1 << UCSZ00); // 8-bit data format
// Initialize timers (if needed)
// Configure timer settings, interrupts, etc.
// Initialize external interrupts for sensors (if needed)
// Configure interrupt settings, edge detection, etc.
// Enable global interrupts (if using interrupts)
sei();
}
// Function to check if trash is detected
int isTrashDetected() {
// Read the trash sensor input
if (PIND & (1 << TRASH_SENSOR_PIN)) {
// Trash is detected (assuming HIGH signal when trash is present)
return 1;
} else {
// No trash detected
return 0;
}
}
// Function to control the trash collector mechanism
void controlTrashCollector(int action) {
switch (action) {
case 0:
// Stop the trash collector (if applicable)
// Implement code to stop the collector motor or actuator
// Example code to stop a DC motor (assumes a motor control pin is used):
PORTD &= ~(1 << MOTOR_CONTROL_PIN); // Set the motor control pin LOW
// You may need to adjust the logic based on your motor's direction control
break;
case 1:
// Raise the trash collector (if applicable)
// Implement code to raise the collector, e.g., activate a motor in the upward direction
// Example code to raise a DC motor (assumes a motor control pin is used):
PORTD |= (1 << MOTOR_CONTROL_PIN); // Set the motor control pin HIGH
// You may need to adjust the logic based on your motor's direction control
break;
case 2:
// Lower the trash collector (if applicable)
// Implement code to lower the collector, e.g., activate a motor in the downward direction
// Example code to lower a DC motor (assumes a motor control pin is used):
PORTD &= ~(1 << MOTOR_CONTROL_PIN); // Set the motor control pin LOW
// You may need to adjust the logic based on your motor's direction control
break;
default:
// Handle unsupported action or error
// You can add error handling or log an error message here
// Example: Log an error message to UART (if available)
// uartTransmitString("Unsupported action: ");
// uartTransmitInt(action);
// uartTransmitChar('\n');
// You can also add additional error-handling code, such as turning off the motor,
// setting an error flag, or triggering an alarm.
break;
}
}
// Function to read the battery voltage
float readBatteryVoltage() {
// Start an ADC conversion for the battery voltage
ADMUX = (ADMUX & 0xF8) | BATTERY_STATUS_PIN; // Set the MUX bits to select the battery voltage pin
ADCSRA |= (1 << ADSC); // Start the ADC conversion
// Wait for the ADC conversion to complete
while (ADCSRA & (1 << ADSC));
// Read the ADC result
uint16_t adcValue = ADC;
// Calculate the battery voltage based on the ADC value and reference voltage
float referenceVoltage = 5.0; // Set the reference voltage (in volts) based on your hardware
float batteryVoltage = (float)adcValue * (referenceVoltage / 1023.0);
return batteryVoltage;
}
int main() {
// Initialize hardware components
initializeHardware();
while (1) {
// Read water level sensor
int waterLevel = readWaterLevelSensor();
// Check if the water level is above the threshold
if (waterLevel > WATER_LEVEL_THRESHOLD) {
// Water level is above the threshold
// Check if trash is detected
if (isTrashDetected()) {
// Trash is detected, activate trash collector
controlTrashCollector(1); // Raise the collector
} else {
// No trash detected, lower the collector
controlTrashCollector(2); // Lower the collector
}
} else {
// Water level is below the threshold, stop the collector
controlTrashCollector(0); // Stop the collector
}
// Check battery status
float batteryVoltage = readBatteryVoltage();
// Check if the battery voltage is below the threshold
if (batteryVoltage < BATTERY_VOLTAGE_THRESHOLD) {
// Battery is low, initiate charging (implement this logic)
// You can add code here to handle battery charging if necessary
}
// Implement additional logic, error handling, and communication here
// This is where you can add more functionality as needed for your project
// Delay for a while before the next iteration
_delay_ms(1000); // You may need to adjust the delay time based on your project's requirements
}
return 0;
}