基于C4002毫米波雷达的卫生间防跌倒报警系统 简单

// ============================================
// 卫生间防跌倒报警系统 - C4002毫米波雷达版
// 硬件: ESP32 + C4002 + 蜂鸣器 + LED + 按钮
// ============================================

// --- 引脚定义 ---
#define BUZZER_PIN  4   // 蜂鸣器 Signal -> D4
#define LED_PIN     5   // LED Signal -> D5
#define BTN_PIN     13  // 按钮 Signal -> D13

// --- 状态机 ---
enum State { IDLE, OCCUPIED, PRE_ALARM, ALARM };
State sysState = IDLE;

// --- 时间阈值(毫秒) ---
#define PRE_ALARM_MS  30000   // 静止30秒进入预警
#define ALARM_MS      60000   // 静止60秒进入报警

// --- C4002解析变量 ---
uint8_t frameBuf[64];
uint8_t frameIdx = 0;
bool inFrame = false;

// --- 目标数据 ---
uint8_t targetState = 0;   // 0=无人, 1=静止, 2=运动
float targetDist = 0.0;

// --- 计时 ---
unsigned long stationaryStart = 0;
unsigned long stationaryDuration = 0;
unsigned long lastPrint = 0;
unsigned long lastBlink = 0;
bool ledOn = false;

// ========================
// C4002帧解析
// ========================
bool parseC4002() {
  while (Serial1.available()) {
    uint8_t b = Serial1.read();
    
    if (!inFrame) {
      if (frameIdx < 4) {
        // 检测帧头 FA F5 AA A5
        if ((frameIdx == 0 && b == 0xFA) ||
            (frameIdx == 1 && b == 0xF5) ||
            (frameIdx == 2 && b == 0xAA) ||
            (frameIdx == 3 && b == 0xA5)) {
          frameBuf[frameIdx++] = b;
          if (frameIdx == 4) inFrame = true;
        } else {
          frameIdx = 0;
        }
      }
    } else {
      frameBuf[frameIdx++] = b;
      if (frameIdx >= 6) {
        uint16_t frameLen = frameBuf[4] | (frameBuf[5] << 8);
        if (frameLen > 64) {
          // 帧异常，重置
          inFrame = false;
          frameIdx = 0;
          continue;
        }
        if (frameIdx >= frameLen) {
          // 完整帧收到，解析
          // byte[7]=帧类型, byte[8]=CMD, byte[9]=RESP
          if (frameBuf[7] == 0x04 && frameBuf[8] == 0x60 && frameBuf[9] == 0x01) {
            uint16_t dataLen = frameBuf[10] | (frameBuf[11] << 8);
            if (dataLen >= 1) {
              targetState = frameBuf[12];
            }
            // 解析距离
            if (targetState == 1 && frameLen >= 18) {
              // 静止目标距离 byte[15-16] 小端
              targetDist = (frameBuf[15] | (frameBuf[16] << 8)) / 100.0;
            } else if (targetState == 2 && frameLen >= 24) {
              // 运动目标距离 byte[19-20] 小端
              targetDist = (frameBuf[19] | (frameBuf[20] << 8)) / 100.0;
            } else {
              targetDist = 0.0;
            }
            Serial.print("[原始] targetState=");
            Serial.print(targetState);
            Serial.print(" dist=");
            Serial.print(targetDist);
            Serial.println("m");
          }
          inFrame = false;
          frameIdx = 0;
          return true;
        }
      }
    }
  }
  return false;
}

void setup() {
  Serial.begin(9600);
  Serial1.begin(115200, SERIAL_8N1, 16, 17);
  
  pinMode(BUZZER_PIN, OUTPUT);
  pinMode(LED_PIN, OUTPUT);
  pinMode(BTN_PIN, INPUT);  // DF按钮模块，默认低电平
  
  digitalWrite(BUZZER_PIN, LOW);
  digitalWrite(LED_PIN, LOW);
  
  Serial.println("=== 卫生间防跌倒报警系统启动 ===");
  Serial.println("C4002初始化中...");
  delay(2000);
  Serial.println("系统就绪，开始监测");
}

void loop() {
  unsigned long now = millis();
  
  // 读取C4002数据
  parseC4002();
  
  // 检测按钮（DF模块按下=高电平）
  if (digitalRead(BTN_PIN) == HIGH) {
    delay(50); // 消抖
    if (digitalRead(BTN_PIN) == HIGH) {
      // 取消报警，复位
      sysState = IDLE;
      stationaryDuration = 0;
      digitalWrite(BUZZER_PIN, LOW);
      digitalWrite(LED_PIN, LOW);
      Serial.println("[按钮] 报警已取消");
      while (digitalRead(BTN_PIN) == HIGH) {
        delay(10);
      }
    }
  }
  
  // 状态机
  switch (sysState) {
    case IDLE:
      if (targetState == 1 || targetState == 2) {
        sysState = OCCUPIED;
        stationaryStart = (targetState == 1) ? now : 0;
        Serial.println("[状态] → 有人进入");
      }
      break;
      
    case OCCUPIED:
      if (targetState == 0) {
        sysState = IDLE;
        stationaryDuration = 0;
        Serial.println("[状态] → 人已离开");
      } else if (targetState == 2) {
        // 运动中，重置静止计时
        stationaryStart = 0;
        stationaryDuration = 0;
      } else if (targetState == 1) {
        // 静止
        if (stationaryStart == 0) {
          stationaryStart = now;
        }
        stationaryDuration = now - stationaryStart;
        if (stationaryDuration >= PRE_ALARM_MS) {
          sysState = PRE_ALARM;
          Serial.println("[状态] → 预警！静止超过30秒");
        }
      }
      break;
      
    case PRE_ALARM:
      if (targetState == 0) {
        sysState = IDLE;
        stationaryDuration = 0;
        digitalWrite(LED_PIN, LOW);
        Serial.println("[状态] → 人已离开，解除预警");
      } else if (targetState == 2) {
        sysState = OCCUPIED;
        stationaryStart = 0;
        stationaryDuration = 0;
        digitalWrite(LED_PIN, LOW);
        Serial.println("[状态] → 检测到运动，解除预警");
      } else if (targetState == 1) {
        stationaryDuration = now - stationaryStart;
        // LED慢闪
        if (now - lastBlink > 1000) {
          lastBlink = now;
          ledOn = !ledOn;
          digitalWrite(LED_PIN, ledOn ? HIGH : LOW);
        }
        if (stationaryDuration >= ALARM_MS) {
          sysState = ALARM;
          Serial.println("[状态] → 报警！静止超过60秒");
        }
      }
      break;
      
    case ALARM:
      if (targetState == 0) {
        sysState = IDLE;
        stationaryDuration = 0;
        digitalWrite(BUZZER_PIN, LOW);
        digitalWrite(LED_PIN, LOW);
        Serial.println("[状态] → 人已离开，解除报警");
      } else if (targetState == 2) {
        sysState = OCCUPIED;
        stationaryStart = 0;
        stationaryDuration = 0;
        digitalWrite(BUZZER_PIN, LOW);
        digitalWrite(LED_PIN, LOW);
        Serial.println("[状态] → 检测到运动，解除报警");
      } else {
        // 蜂鸣器响 + LED快闪
        digitalWrite(BUZZER_PIN, HIGH);
        if (now - lastBlink > 300) {
          lastBlink = now;
          ledOn = !ledOn;
          digitalWrite(LED_PIN, ledOn ? HIGH : LOW);
        }
      }
      break;
  }
  
  // 每3秒打印状态
  if (now - lastPrint > 3000) {
    lastPrint = now;
    Serial.print("[状态] ");
    switch (sysState) {
      case IDLE:
        Serial.println("空闲 | 无人");
        break;
      case OCCUPIED:
        Serial.print("有人 | 目标:");
        Serial.print(targetState == 2 ? "运动" : "静止");
        Serial.print(" | 距离:");
        Serial.print(targetDist);
        Serial.print("m");
        if (targetState == 1 && stationaryStart > 0) {
          Serial.print(" | 静止:");
          Serial.print(stationaryDuration / 1000);
          Serial.print("秒");
        }
        Serial.println();
        break;
      case PRE_ALARM:
        Serial.print("⚠ 预警 | 静止:");
        Serial.print(stationaryDuration / 1000);
        Serial.println("秒");
        break;
      case ALARM:
        Serial.print("🚨 报警 | 静止:");
        Serial.print(stationaryDuration / 1000);
        Serial.println("秒 | 请确认安全！");
        break;
    }
  }
  
  delay(10);
}