LIDAR Intrusion Detector

Using the Garmin LIDARLite v3HP, Arduino MKR WIFI 1010 and Pushsafer to detect an intruder and send a push notification to a smartphone.

Dec 9, 2020

•

11624 views

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8 respects

security

communication

internet of things

Components and supplies

Two 4.7K Ohm 1/4 watt resistors

Garmin LIDAR-Lite v3HP

Arduino MKR WiFi 1010

680 uF capacitor

Tools and machines

Breadboard, 170 Pin

10 Pc. Jumper Wire Kit, 5 cm Long

Apps and platforms

Pushsafer

Project description

Code

LIDAR intrusion sensor sketch

arduino

Sends LIDAR infrared laser pulses continuously and monitors the reflected beam for interruptions

1/*This IoT sketch is for a LIDAR Lite v3HP sensor instrusion alarm with   an Arduino MKR WIFI 1010 microcontroller. The LIDAR 
2 * sensor emits a narrow   beam of infrared light with a range of up to 40 meters each time the loop is executed.   The returned 
3 * reflection is converted to the distance in centimeters when   a new reading is available over I2C interface.The sketch
4 * compares the new   distance to the previous distance and generates a notification through www.pushsafer.com   to an iPhone XS
5 * with the Pushsafer iOS app installed and signed into the Pushsafer   website. The microcontroller must be registered on the
6 * website account and   the access key must be stored in the arduino_secrets.h include file along with the   wifi network SSID
7 * and password.
8*/
9#include <stdint.h>
10#include <Wire.h>
11#include   <LIDARLite_v3HP.h>
12#include <WiFiNINA.h>
13#include <WiFiClient.h>
14#include   <RTCZero.h>
15#include <Pushsafer.h>
16#include "arduino_secrets.h"
17
18//   Wifi network login credentials
19char ssid[] = SECRET_SSID;     // wifi network   SSID (name) from arduino_secrets.h
20char password[] = SECRET_PASS; // wifi network   key from arduino_secrets.h
21
22// Pushsafer private or alias key
23char PushsaferKey[]   = SECRET_KEY; // pushsafer private key from arduin_secrets.h
24
25//Object declarations
26WiFiClient   client;
27Pushsafer pushsafer(PushsaferKey, client); // Pushsafer object to send   event
28RTCZero rtc; // Real time clock object on Arduino MKR board
29LIDARLite_v3HP   myLidarLite; // LIDAR sensor object
30
31#define FAST_I2C // Operate the LIDAR   Lite v3HP in fast serial communications mode
32
33//Variables
34float cmtofeet   = 0.0328084; // Conversion factor from cm to feet
35uint16_t threshld = 20; //   Threshold value for change in LIDAR distance reading to activate alarm
36String   dtstg = String(__DATE__); // Compiler date for setting RTC
37String tmstg = String(__TIME__);   // Compiler time for setting RTC
38uint16_t distance,prevdistance; // LIDAR sensor   distance and previous distance
39bool firstpass; // Switch to suppress alarm on   first loop iteration
40long t; // Time variable to prevent multiple alarm reporting   on each beam interruption
41
42bool push = false; // Switch to prevent Pushsafer   notification during testing
43
44// Executes once on startup
45void setup()
46{
47   Serial.begin(115200); // Start serial communications
48  Wire.begin(); // Wait   for serial port to initialize
49  
50  // Attempt to connect to Wifi network:
51   Serial.print("Connecting Wifi: ");
52  Serial.println(ssid);
53  WiFi.begin(ssid,   password);
54
55  // Wait until wifi connects
56  while (WiFi.status() != WL_CONNECTED)   {
57    Serial.print(".");
58    delay(500);
59  }
60
61  // Wifi is connected.   Display IP address
62  Serial.println("");
63  Serial.println("WiFi connected");
64   Serial.print("IP address: ");
65  Serial.println(WiFi.localIP());
66
67  //   Real time clock is used to timestamp alarms
68  rtc.begin(); // Start the real   time clock
69  rtcSet(); // Set the RTC with the compile date and time
70  Serial.print("RTC   started at: ");
71  if (rtc.getMonth() < 10) Serial.print("0"); // Display leading   month zero if < 10
72  Serial.print(rtc.getMonth());
73  Serial.print("-");
74   if (rtc.getDay() < 10) Serial.print("0"); // Display leading day zero if < 10
75   Serial.print(rtc.getDay());
76  Serial.print("-");
77  Serial.print(rtc.getYear());
78   Serial.print(" ");
79  if (rtc.getHours() < 10) Serial.print("0"); // Display   leading hours zero if < 10
80  Serial.print(rtc.getHours());
81  Serial.print(":");
82   if (rtc.getMinutes() < 10) Serial.print("0"); // Display leading minutes zero   if < 10
83  Serial.print(rtc.getMinutes());
84  Serial.print(":");
85  if (rtc.getSeconds()   < 10) Serial.print("0"); // Display leading seconds zero if < 10
86  Serial.println(rtc.getSeconds());
87
88   myLidarLite.configure(0); // Configure the LIDAR sensor performance and sensitivity
89   prevdistance = distance; // Set the previous distance for the first loop iteration
90   firstpass = true; // Turn on the switch to signal the first loop iteration completed
91   t = millis(); // Take a milliseconds since startup timestamp
92}
93
94// Main   loop executes continuously
95void loop()
96{
97  uint8_t  newDistance = 0; //   Flag set by distanceSingle function to signal new data
98  newDistance = distanceSingle(&distance);   // Take a single LIDAR reading
99  // When there is new distance data, print it   to the serial port
100  if (newDistance)
101  {
102    // If the difference between   the new distance reading and the previous distance reading
103    // is greater   than the threshold variable, send an alarm to Pushsafer and display the
104    //   data on the serial monitor. Absolute value needed for negative or positive differences.
105     if (abs(distance - prevdistance) > threshld)
106    {
107      // LIDAR returns   multiple distances per pulse. This code prevents more than one
108      // alarm   every 2 seconds      
109      if ((millis() - t) > 2000)
110      {
111        PrintValues(distance*cmtofeet);   // Print the distance in feet
112        t = millis(); // Take another timestamp   to prevent multiple alarms per pulse
113      }
114    }
115    prevdistance = distance;   // Copy the new distance into the previous distance for the next loop
116  }
117   // Turn off the first poss flag which prevented an alarm on the first pass
118   firstpass = false;
119}
120
121// This function sends a single LIDAR pulse and   returns a flag to indicate if there
122// is new data to the calling instruction   in the main loop. The distance is read as a
123// pointer to the distance variable.   This function comes from the LIDARLite_v3HP library
124// v3HP_I2C example sketch.
125uint8_t   distanceSingle(uint16_t * distance)
126{
127    // 1. Wait for busyFlag to indicate   device is idle. This must be
128    //    done before triggering a range measurement.
129     myLidarLite.waitForBusy();
130
131    // 2. Trigger range measurement.
132    myLidarLite.takeRange();
133
134     // 3. Wait for busyFlag to indicate device is idle. This should be
135    //     done before reading the distance data that was triggered above.
136    myLidarLite.waitForBusy();
137
138     // 4. Read new distance data from device registers
139    *distance = myLidarLite.readDistance();
140
141     return 1; // Return a boolean value that indicates there is new data to be read
142}
143
144//   Display a timestamp from the RTC and distance on the serial monitor and generate   a
145// Pushsafer notification when an alarm is triggered
146void PrintValues(float   d)
147{
148  String yy,mm,dd,hr,mn,se; // String variables to hold the elements   of the RTC timestamp
149  yy = String(rtc.getYear()); // Get the timestamp year   from the RTC
150  if (rtc.getMonth() < 10) // Add a leading month zero if < 10
151   {
152    mm = String("0")+String(rtc.getMonth());
153  } else {
154    mm =   String(rtc.getMonth());
155  }
156  if (rtc.getDay() < 10) // Add a leading day   zero if < 10
157  {
158    dd = String("0")+String(rtc.getDay());
159  } else   {
160    dd = String(rtc.getDay());
161  }
162  if (rtc.getHours() < 10) // Add   a leading hour zero if < 10
163  {
164    hr = String("0")+String(rtc.getHours());
165   } else {
166    hr = String(rtc.getHours());
167  }
168  if (rtc.getMinutes()   < 10) // Add a leading minute zero if < 10
169  {
170    mn = String("0")+String(rtc.getMinutes());
171   } else {
172    mn = String(rtc.getMinutes());
173  }
174  if (rtc.getSeconds()   < 10) // Add a leading second zero if < 10
175  {
176    se = String("0")+String(rtc.getSeconds());
177   } else {
178    se = String(rtc.getSeconds());
179  }
180  // Combine the RTC   timestamp elements into a single string
181  String timestr = mm+"-"+dd+"-"+yy+"   "+hr + ":" + mn + ":" + se;
182    
183  // This is the structure of the pushsafer   input object
184  // Change the values for different notifications
185  struct PushSaferInput   input;
186  input.message = "LiDAR sensed movement at " + String(timestr);
187   input.title = "LiDAR sensor tripped!";
188  input.sound = "8";
189  input.vibration   = "1";
190  input.icon = "1";
191  input.iconcolor = "#FFCCCC";
192  input.priority   = "1";
193  input.device = "a";
194  input.url = "https://www.pushsafer.com";
195   input.urlTitle = "Open Pushsafer.com";
196  input.picture = "";
197  input.picture2   = "";
198  input.picture3 = "";
199  input.time2live = "";
200  input.retry   = "";
201  input.expire = "";
202  input.answer = "";
203
204  // Sends the   push notification to the phone if the push switch is true
205  if (push) Serial.print(pushsafer.sendEvent(input));
206
207   // Displays the alarm timestamp and distance in feet
208  Serial.print("MOVEMENT   at ");
209  Serial.print(timestr);
210  Serial.print(", distance: ");
211  Serial.print(d);
212   Serial.println(" feet");
213}
214
215// Sets the MKR WIFI 1010 RTC to the sketch   compile time
216void rtcSet()
217{
218  String months = "JanFebMarAprMayJunJulAugSepOctNovDec";   // Month identifier array
219
220  // Parses the compiler DATE string into separate   substrings needed to set the RTC
221  String mm = dtstg.substring(0,3);
222  String   dd = dtstg.substring(4,7);
223  String yy = dtstg.substring(8,11);
224
225  // Convert   the date strings to integers needed to set the RTC
226  int ddnbr = dd.toInt();
227   int mmnbr = int((months.indexOf(mm)/3)+1);
228  int yynbr = yy.toInt();
229
230   // Parses the compiler TIME string into separate substrings needed to set the   RTC
231  String hh = tmstg.substring(0,2);
232  String mn = tmstg.substring(3,5);
233   String ss = tmstg.substring(6,8);
234
235  // Convert the time strings to integers   needed to set the RTC
236  int hhnbr = hh.toInt();
237  int mnnbr = mn.toInt();
238   int ssnbr = mn.toInt();
239
240  // Set the RTC date and time
241  rtc.setDate(ddnbr,mmnbr,yynbr);
242   rtc.setTime(hhnbr,mnnbr,ssnbr);
243}

/*This IoT sketch is for a LIDAR Lite v3HP sensor instrusion alarm with   an Arduino MKR WIFI 1010 microcontroller. The LIDAR 
 * sensor emits a narrow   beam of infrared light with a range of up to 40 meters each time the loop is executed.   The returned 
 * reflection is converted to the distance in centimeters when   a new reading is available over I2C interface.The sketch
 * compares the new   distance to the previous distance and generates a notification through www.pushsafer.com   to an iPhone XS
 * with the Pushsafer iOS app installed and signed into the Pushsafer   website. The microcontroller must be registered on the
 * website account and   the access key must be stored in the arduino_secrets.h include file along with the   wifi network SSID
 * and password.
*/
#include <stdint.h>
#include <Wire.h>
#include   <LIDARLite_v3HP.h>
#include <WiFiNINA.h>
#include <WiFiClient.h>
#include   <RTCZero.h>
#include <Pushsafer.h>
#include "arduino_secrets.h"

//   Wifi network login credentials
char ssid[] = SECRET_SSID;     // wifi network   SSID (name) from arduino_secrets.h
char password[] = SECRET_PASS; // wifi network   key from arduino_secrets.h

// Pushsafer private or alias key
char PushsaferKey[]   = SECRET_KEY; // pushsafer private key from arduin_secrets.h

//Object declarations
WiFiClient   client;
Pushsafer pushsafer(PushsaferKey, client); // Pushsafer object to send   event
RTCZero rtc; // Real time clock object on Arduino MKR board
LIDARLite_v3HP   myLidarLite; // LIDAR sensor object

#define FAST_I2C // Operate the LIDAR   Lite v3HP in fast serial communications mode

//Variables
float cmtofeet   = 0.0328084; // Conversion factor from cm to feet
uint16_t threshld = 20; //   Threshold value for change in LIDAR distance reading to activate alarm
String   dtstg = String(__DATE__); // Compiler date for setting RTC
String tmstg = String(__TIME__);   // Compiler time for setting RTC
uint16_t distance,prevdistance; // LIDAR sensor   distance and previous distance
bool firstpass; // Switch to suppress alarm on   first loop iteration
long t; // Time variable to prevent multiple alarm reporting   on each beam interruption

bool push = false; // Switch to prevent Pushsafer   notification during testing

// Executes once on startup
void setup()
{
   Serial.begin(115200); // Start serial communications
  Wire.begin(); // Wait   for serial port to initialize
  
  // Attempt to connect to Wifi network:
   Serial.print("Connecting Wifi: ");
  Serial.println(ssid);
  WiFi.begin(ssid,   password);

  // Wait until wifi connects
  while (WiFi.status() != WL_CONNECTED)   {
    Serial.print(".");
    delay(500);
  }

  // Wifi is connected.   Display IP address
  Serial.println("");
  Serial.println("WiFi connected");
   Serial.print("IP address: ");
  Serial.println(WiFi.localIP());

  //   Real time clock is used to timestamp alarms
  rtc.begin(); // Start the real   time clock
  rtcSet(); // Set the RTC with the compile date and time
  Serial.print("RTC   started at: ");
  if (rtc.getMonth() < 10) Serial.print("0"); // Display leading   month zero if < 10
  Serial.print(rtc.getMonth());
  Serial.print("-");
   if (rtc.getDay() < 10) Serial.print("0"); // Display leading day zero if < 10
   Serial.print(rtc.getDay());
  Serial.print("-");
  Serial.print(rtc.getYear());
   Serial.print(" ");
  if (rtc.getHours() < 10) Serial.print("0"); // Display   leading hours zero if < 10
  Serial.print(rtc.getHours());
  Serial.print(":");
   if (rtc.getMinutes() < 10) Serial.print("0"); // Display leading minutes zero   if < 10
  Serial.print(rtc.getMinutes());
  Serial.print(":");
  if (rtc.getSeconds()   < 10) Serial.print("0"); // Display leading seconds zero if < 10
  Serial.println(rtc.getSeconds());

   myLidarLite.configure(0); // Configure the LIDAR sensor performance and sensitivity
   prevdistance = distance; // Set the previous distance for the first loop iteration
   firstpass = true; // Turn on the switch to signal the first loop iteration completed
   t = millis(); // Take a milliseconds since startup timestamp
}

// Main   loop executes continuously
void loop()
{
  uint8_t  newDistance = 0; //   Flag set by distanceSingle function to signal new data
  newDistance = distanceSingle(&distance);   // Take a single LIDAR reading
  // When there is new distance data, print it   to the serial port
  if (newDistance)
  {
    // If the difference between   the new distance reading and the previous distance reading
    // is greater   than the threshold variable, send an alarm to Pushsafer and display the
    //   data on the serial monitor. Absolute value needed for negative or positive differences.
     if (abs(distance - prevdistance) > threshld)
    {
      // LIDAR returns   multiple distances per pulse. This code prevents more than one
      // alarm   every 2 seconds      
      if ((millis() - t) > 2000)
      {
        PrintValues(distance*cmtofeet);   // Print the distance in feet
        t = millis(); // Take another timestamp   to prevent multiple alarms per pulse
      }
    }
    prevdistance = distance;   // Copy the new distance into the previous distance for the next loop
  }
   // Turn off the first poss flag which prevented an alarm on the first pass
   firstpass = false;
}

// This function sends a single LIDAR pulse and   returns a flag to indicate if there
// is new data to the calling instruction   in the main loop. The distance is read as a
// pointer to the distance variable.   This function comes from the LIDARLite_v3HP library
// v3HP_I2C example sketch.
uint8_t   distanceSingle(uint16_t * distance)
{
    // 1. Wait for busyFlag to indicate   device is idle. This must be
    //    done before triggering a range measurement.
     myLidarLite.waitForBusy();

    // 2. Trigger range measurement.
    myLidarLite.takeRange();

     // 3. Wait for busyFlag to indicate device is idle. This should be
    //     done before reading the distance data that was triggered above.
    myLidarLite.waitForBusy();

     // 4. Read new distance data from device registers
    *distance = myLidarLite.readDistance();

     return 1; // Return a boolean value that indicates there is new data to be read
}

//   Display a timestamp from the RTC and distance on the serial monitor and generate   a
// Pushsafer notification when an alarm is triggered
void PrintValues(float   d)
{
  String yy,mm,dd,hr,mn,se; // String variables to hold the elements   of the RTC timestamp
  yy = String(rtc.getYear()); // Get the timestamp year   from the RTC
  if (rtc.getMonth() < 10) // Add a leading month zero if < 10
   {
    mm = String("0")+String(rtc.getMonth());
  } else {
    mm =   String(rtc.getMonth());
  }
  if (rtc.getDay() < 10) // Add a leading day   zero if < 10
  {
    dd = String("0")+String(rtc.getDay());
  } else   {
    dd = String(rtc.getDay());
  }
  if (rtc.getHours() < 10) // Add   a leading hour zero if < 10
  {
    hr = String("0")+String(rtc.getHours());
   } else {
    hr = String(rtc.getHours());
  }
  if (rtc.getMinutes()   < 10) // Add a leading minute zero if < 10
  {
    mn = String("0")+String(rtc.getMinutes());
   } else {
    mn = String(rtc.getMinutes());
  }
  if (rtc.getSeconds()   < 10) // Add a leading second zero if < 10
  {
    se = String("0")+String(rtc.getSeconds());
   } else {
    se = String(rtc.getSeconds());
  }
  // Combine the RTC   timestamp elements into a single string
  String timestr = mm+"-"+dd+"-"+yy+"   "+hr + ":" + mn + ":" + se;
    
  // This is the structure of the pushsafer   input object
  // Change the values for different notifications
  struct PushSaferInput   input;
  input.message = "LiDAR sensed movement at " + String(timestr);
   input.title = "LiDAR sensor tripped!";
  input.sound = "8";
  input.vibration   = "1";
  input.icon = "1";
  input.iconcolor = "#FFCCCC";
  input.priority   = "1";
  input.device = "a";
  input.url = "https://www.pushsafer.com";
   input.urlTitle = "Open Pushsafer.com";
  input.picture = "";
  input.picture2   = "";
  input.picture3 = "";
  input.time2live = "";
  input.retry   = "";
  input.expire = "";
  input.answer = "";

  // Sends the   push notification to the phone if the push switch is true
  if (push) Serial.print(pushsafer.sendEvent(input));

   // Displays the alarm timestamp and distance in feet
  Serial.print("MOVEMENT   at ");
  Serial.print(timestr);
  Serial.print(", distance: ");
  Serial.print(d);
   Serial.println(" feet");
}

// Sets the MKR WIFI 1010 RTC to the sketch   compile time
void rtcSet()
{
  String months = "JanFebMarAprMayJunJulAugSepOctNovDec";   // Month identifier array

  // Parses the compiler DATE string into separate   substrings needed to set the RTC
  String mm = dtstg.substring(0,3);
  String   dd = dtstg.substring(4,7);
  String yy = dtstg.substring(8,11);

  // Convert   the date strings to integers needed to set the RTC
  int ddnbr = dd.toInt();
   int mmnbr = int((months.indexOf(mm)/3)+1);
  int yynbr = yy.toInt();

   // Parses the compiler TIME string into separate substrings needed to set the   RTC
  String hh = tmstg.substring(0,2);
  String mn = tmstg.substring(3,5);
   String ss = tmstg.substring(6,8);

  // Convert the time strings to integers   needed to set the RTC
  int hhnbr = hh.toInt();
  int mnnbr = mn.toInt();
   int ssnbr = mn.toInt();

  // Set the RTC date and time
  rtc.setDate(ddnbr,mmnbr,yynbr);
   rtc.setTime(hhnbr,mnnbr,ssnbr);
}

LIDAR intrusion sensor sketch

arduino

Sends LIDAR infrared laser pulses continuously and monitors the reflected beam for interruptions

1/*This IoT sketch is for a LIDAR Lite v3HP sensor instrusion alarm with  an Arduino MKR WIFI 1010 microcontroller. The LIDAR 
2 * sensor emits a narrow  beam of infrared light with a range of up to 40 meters each time the loop is executed.  The returned 
3 * reflection is converted to the distance in centimeters when  a new reading is available over I2C interface.The sketch
4 * compares the new  distance to the previous distance and generates a notification through www.pushsafer.com  to an iPhone XS
5 * with the Pushsafer iOS app installed and signed into the Pushsafer  website. The microcontroller must be registered on the
6 * website account and  the access key must be stored in the arduino_secrets.h include file along with the  wifi network SSID
7 * and password.
8*/
9#include <stdint.h>
10#include <Wire.h>
11#include  <LIDARLite_v3HP.h>
12#include <WiFiNINA.h>
13#include <WiFiClient.h>
14#include  <RTCZero.h>
15#include <Pushsafer.h>
16#include "arduino_secrets.h"
17
18//  Wifi network login credentials
19char ssid[] = SECRET_SSID;     // wifi network  SSID (name) from arduino_secrets.h
20char password[] = SECRET_PASS; // wifi network  key from arduino_secrets.h
21
22// Pushsafer private or alias key
23char PushsaferKey[]  = SECRET_KEY; // pushsafer private key from arduin_secrets.h
24
25//Object declarations
26WiFiClient  client;
27Pushsafer pushsafer(PushsaferKey, client); // Pushsafer object to send  event
28RTCZero rtc; // Real time clock object on Arduino MKR board
29LIDARLite_v3HP  myLidarLite; // LIDAR sensor object
30
31#define FAST_I2C // Operate the LIDAR  Lite v3HP in fast serial communications mode
32
33//Variables
34float cmtofeet  = 0.0328084; // Conversion factor from cm to feet
35uint16_t threshld = 20; //  Threshold value for change in LIDAR distance reading to activate alarm
36String  dtstg = String(__DATE__); // Compiler date for setting RTC
37String tmstg = String(__TIME__);  // Compiler time for setting RTC
38uint16_t distance,prevdistance; // LIDAR sensor  distance and previous distance
39bool firstpass; // Switch to suppress alarm on  first loop iteration
40long t; // Time variable to prevent multiple alarm reporting  on each beam interruption
41
42bool push = false; // Switch to prevent Pushsafer  notification during testing
43
44// Executes once on startup
45void setup()
46{
47  Serial.begin(115200); // Start serial communications
48  Wire.begin(); // Wait  for serial port to initialize
49  
50  // Attempt to connect to Wifi network:
51  Serial.print("Connecting Wifi: ");
52  Serial.println(ssid);
53  WiFi.begin(ssid,  password);
54
55  // Wait until wifi connects
56  while (WiFi.status() != WL_CONNECTED)  {
57    Serial.print(".");
58    delay(500);
59  }
60
61  // Wifi is connected.  Display IP address
62  Serial.println("");
63  Serial.println("WiFi connected");
64  Serial.print("IP address: ");
65  Serial.println(WiFi.localIP());
66
67  //  Real time clock is used to timestamp alarms
68  rtc.begin(); // Start the real  time clock
69  rtcSet(); // Set the RTC with the compile date and time
70  Serial.print("RTC  started at: ");
71  if (rtc.getMonth() < 10) Serial.print("0"); // Display leading  month zero if < 10
72  Serial.print(rtc.getMonth());
73  Serial.print("-");
74  if (rtc.getDay() < 10) Serial.print("0"); // Display leading day zero if < 10
75  Serial.print(rtc.getDay());
76  Serial.print("-");
77  Serial.print(rtc.getYear());
78  Serial.print(" ");
79  if (rtc.getHours() < 10) Serial.print("0"); // Display  leading hours zero if < 10
80  Serial.print(rtc.getHours());
81  Serial.print(":");
82  if (rtc.getMinutes() < 10) Serial.print("0"); // Display leading minutes zero  if < 10
83  Serial.print(rtc.getMinutes());
84  Serial.print(":");
85  if (rtc.getSeconds()  < 10) Serial.print("0"); // Display leading seconds zero if < 10
86  Serial.println(rtc.getSeconds());
87
88  myLidarLite.configure(0); // Configure the LIDAR sensor performance and sensitivity
89  prevdistance = distance; // Set the previous distance for the first loop iteration
90  firstpass = true; // Turn on the switch to signal the first loop iteration completed
91  t = millis(); // Take a milliseconds since startup timestamp
92}
93
94// Main  loop executes continuously
95void loop()
96{
97  uint8_t  newDistance = 0; //  Flag set by distanceSingle function to signal new data
98  newDistance = distanceSingle(&distance);  // Take a single LIDAR reading
99  // When there is new distance data, print it  to the serial port
100  if (newDistance)
101  {
102    // If the difference between  the new distance reading and the previous distance reading
103    // is greater  than the threshold variable, send an alarm to Pushsafer and display the
104    //  data on the serial monitor. Absolute value needed for negative or positive differences.
105    if (abs(distance - prevdistance) > threshld)
106    {
107      // LIDAR returns  multiple distances per pulse. This code prevents more than one
108      // alarm  every 2 seconds      
109      if ((millis() - t) > 2000)
110      {
111        PrintValues(distance*cmtofeet);  // Print the distance in feet
112        t = millis(); // Take another timestamp  to prevent multiple alarms per pulse
113      }
114    }
115    prevdistance = distance;  // Copy the new distance into the previous distance for the next loop
116  }
117  // Turn off the first poss flag which prevented an alarm on the first pass
118  firstpass = false;
119}
120
121// This function sends a single LIDAR pulse and  returns a flag to indicate if there
122// is new data to the calling instruction  in the main loop. The distance is read as a
123// pointer to the distance variable.  This function comes from the LIDARLite_v3HP library
124// v3HP_I2C example sketch.
125uint8_t  distanceSingle(uint16_t * distance)
126{
127    // 1. Wait for busyFlag to indicate  device is idle. This must be
128    //    done before triggering a range measurement.
129    myLidarLite.waitForBusy();
130
131    // 2. Trigger range measurement.
132    myLidarLite.takeRange();
133
134    // 3. Wait for busyFlag to indicate device is idle. This should be
135    //    done before reading the distance data that was triggered above.
136    myLidarLite.waitForBusy();
137
138    // 4. Read new distance data from device registers
139    *distance = myLidarLite.readDistance();
140
141    return 1; // Return a boolean value that indicates there is new data to be read
142}
143
144//  Display a timestamp from the RTC and distance on the serial monitor and generate  a
145// Pushsafer notification when an alarm is triggered
146void PrintValues(float  d)
147{
148  String yy,mm,dd,hr,mn,se; // String variables to hold the elements  of the RTC timestamp
149  yy = String(rtc.getYear()); // Get the timestamp year  from the RTC
150  if (rtc.getMonth() < 10) // Add a leading month zero if < 10
151  {
152    mm = String("0")+String(rtc.getMonth());
153  } else {
154    mm =  String(rtc.getMonth());
155  }
156  if (rtc.getDay() < 10) // Add a leading day  zero if < 10
157  {
158    dd = String("0")+String(rtc.getDay());
159  } else  {
160    dd = String(rtc.getDay());
161  }
162  if (rtc.getHours() < 10) // Add  a leading hour zero if < 10
163  {
164    hr = String("0")+String(rtc.getHours());
165  } else {
166    hr = String(rtc.getHours());
167  }
168  if (rtc.getMinutes()  < 10) // Add a leading minute zero if < 10
169  {
170    mn = String("0")+String(rtc.getMinutes());
171  } else {
172    mn = String(rtc.getMinutes());
173  }
174  if (rtc.getSeconds()  < 10) // Add a leading second zero if < 10
175  {
176    se = String("0")+String(rtc.getSeconds());
177  } else {
178    se = String(rtc.getSeconds());
179  }
180  // Combine the RTC  timestamp elements into a single string
181  String timestr = mm+"-"+dd+"-"+yy+"  "+hr + ":" + mn + ":" + se;
182    
183  // This is the structure of the pushsafer  input object
184  // Change the values for different notifications
185  struct PushSaferInput  input;
186  input.message = "LiDAR sensed movement at " + String(timestr);
187  input.title = "LiDAR sensor tripped!";
188  input.sound = "8";
189  input.vibration  = "1";
190  input.icon = "1";
191  input.iconcolor = "#FFCCCC";
192  input.priority  = "1";
193  input.device = "a";
194  input.url = "https://www.pushsafer.com";
195  input.urlTitle = "Open Pushsafer.com";
196  input.picture = "";
197  input.picture2  = "";
198  input.picture3 = "";
199  input.time2live = "";
200  input.retry  = "";
201  input.expire = "";
202  input.answer = "";
203
204  // Sends the  push notification to the phone if the push switch is true
205  if (push) Serial.print(pushsafer.sendEvent(input));
206
207  // Displays the alarm timestamp and distance in feet
208  Serial.print("MOVEMENT  at ");
209  Serial.print(timestr);
210  Serial.print(", distance: ");
211  Serial.print(d);
212  Serial.println(" feet");
213}
214
215// Sets the MKR WIFI 1010 RTC to the sketch  compile time
216void rtcSet()
217{
218  String months = "JanFebMarAprMayJunJulAugSepOctNovDec";  // Month identifier array
219
220  // Parses the compiler DATE string into separate  substrings needed to set the RTC
221  String mm = dtstg.substring(0,3);
222  String  dd = dtstg.substring(4,7);
223  String yy = dtstg.substring(8,11);
224
225  // Convert  the date strings to integers needed to set the RTC
226  int ddnbr = dd.toInt();
227  int mmnbr = int((months.indexOf(mm)/3)+1);
228  int yynbr = yy.toInt();
229
230  // Parses the compiler TIME string into separate substrings needed to set the  RTC
231  String hh = tmstg.substring(0,2);
232  String mn = tmstg.substring(3,5);
233  String ss = tmstg.substring(6,8);
234
235  // Convert the time strings to integers  needed to set the RTC
236  int hhnbr = hh.toInt();
237  int mnnbr = mn.toInt();
238  int ssnbr = mn.toInt();
239
240  // Set the RTC date and time
241  rtc.setDate(ddnbr,mmnbr,yynbr);
242  rtc.setTime(hhnbr,mnnbr,ssnbr);
243}

/*This IoT sketch is for a LIDAR Lite v3HP sensor instrusion alarm with  an Arduino MKR WIFI 1010 microcontroller. The LIDAR 
 * sensor emits a narrow  beam of infrared light with a range of up to 40 meters each time the loop is executed.  The returned 
 * reflection is converted to the distance in centimeters when  a new reading is available over I2C interface.The sketch
 * compares the new  distance to the previous distance and generates a notification through www.pushsafer.com  to an iPhone XS
 * with the Pushsafer iOS app installed and signed into the Pushsafer  website. The microcontroller must be registered on the
 * website account and  the access key must be stored in the arduino_secrets.h include file along with the  wifi network SSID
 * and password.
*/
#include <stdint.h>
#include <Wire.h>
#include  <LIDARLite_v3HP.h>
#include <WiFiNINA.h>
#include <WiFiClient.h>
#include  <RTCZero.h>
#include <Pushsafer.h>
#include "arduino_secrets.h"

//  Wifi network login credentials
char ssid[] = SECRET_SSID;     // wifi network  SSID (name) from arduino_secrets.h
char password[] = SECRET_PASS; // wifi network  key from arduino_secrets.h

// Pushsafer private or alias key
char PushsaferKey[]  = SECRET_KEY; // pushsafer private key from arduin_secrets.h

//Object declarations
WiFiClient  client;
Pushsafer pushsafer(PushsaferKey, client); // Pushsafer object to send  event
RTCZero rtc; // Real time clock object on Arduino MKR board
LIDARLite_v3HP  myLidarLite; // LIDAR sensor object

#define FAST_I2C // Operate the LIDAR  Lite v3HP in fast serial communications mode

//Variables
float cmtofeet  = 0.0328084; // Conversion factor from cm to feet
uint16_t threshld = 20; //  Threshold value for change in LIDAR distance reading to activate alarm
String  dtstg = String(__DATE__); // Compiler date for setting RTC
String tmstg = String(__TIME__);  // Compiler time for setting RTC
uint16_t distance,prevdistance; // LIDAR sensor  distance and previous distance
bool firstpass; // Switch to suppress alarm on  first loop iteration
long t; // Time variable to prevent multiple alarm reporting  on each beam interruption

bool push = false; // Switch to prevent Pushsafer  notification during testing

// Executes once on startup
void setup()
{
  Serial.begin(115200); // Start serial communications
  Wire.begin(); // Wait  for serial port to initialize
  
  // Attempt to connect to Wifi network:
  Serial.print("Connecting Wifi: ");
  Serial.println(ssid);
  WiFi.begin(ssid,  password);

  // Wait until wifi connects
  while (WiFi.status() != WL_CONNECTED)  {
    Serial.print(".");
    delay(500);
  }

  // Wifi is connected.  Display IP address
  Serial.println("");
  Serial.println("WiFi connected");
  Serial.print("IP address: ");
  Serial.println(WiFi.localIP());

  //  Real time clock is used to timestamp alarms
  rtc.begin(); // Start the real  time clock
  rtcSet(); // Set the RTC with the compile date and time
  Serial.print("RTC  started at: ");
  if (rtc.getMonth() < 10) Serial.print("0"); // Display leading  month zero if < 10
  Serial.print(rtc.getMonth());
  Serial.print("-");
  if (rtc.getDay() < 10) Serial.print("0"); // Display leading day zero if < 10
  Serial.print(rtc.getDay());
  Serial.print("-");
  Serial.print(rtc.getYear());
  Serial.print(" ");
  if (rtc.getHours() < 10) Serial.print("0"); // Display  leading hours zero if < 10
  Serial.print(rtc.getHours());
  Serial.print(":");
  if (rtc.getMinutes() < 10) Serial.print("0"); // Display leading minutes zero  if < 10
  Serial.print(rtc.getMinutes());
  Serial.print(":");
  if (rtc.getSeconds()  < 10) Serial.print("0"); // Display leading seconds zero if < 10
  Serial.println(rtc.getSeconds());

  myLidarLite.configure(0); // Configure the LIDAR sensor performance and sensitivity
  prevdistance = distance; // Set the previous distance for the first loop iteration
  firstpass = true; // Turn on the switch to signal the first loop iteration completed
  t = millis(); // Take a milliseconds since startup timestamp
}

// Main  loop executes continuously
void loop()
{
  uint8_t  newDistance = 0; //  Flag set by distanceSingle function to signal new data
  newDistance = distanceSingle(&distance);  // Take a single LIDAR reading
  // When there is new distance data, print it  to the serial port
  if (newDistance)
  {
    // If the difference between  the new distance reading and the previous distance reading
    // is greater  than the threshold variable, send an alarm to Pushsafer and display the
    //  data on the serial monitor. Absolute value needed for negative or positive differences.
    if (abs(distance - prevdistance) > threshld)
    {
      // LIDAR returns  multiple distances per pulse. This code prevents more than one
      // alarm  every 2 seconds      
      if ((millis() - t) > 2000)
      {
        PrintValues(distance*cmtofeet);  // Print the distance in feet
        t = millis(); // Take another timestamp  to prevent multiple alarms per pulse
      }
    }
    prevdistance = distance;  // Copy the new distance into the previous distance for the next loop
  }
  // Turn off the first poss flag which prevented an alarm on the first pass
  firstpass = false;
}

// This function sends a single LIDAR pulse and  returns a flag to indicate if there
// is new data to the calling instruction  in the main loop. The distance is read as a
// pointer to the distance variable.  This function comes from the LIDARLite_v3HP library
// v3HP_I2C example sketch.
uint8_t  distanceSingle(uint16_t * distance)
{
    // 1. Wait for busyFlag to indicate  device is idle. This must be
    //    done before triggering a range measurement.
    myLidarLite.waitForBusy();

    // 2. Trigger range measurement.
    myLidarLite.takeRange();

    // 3. Wait for busyFlag to indicate device is idle. This should be
    //    done before reading the distance data that was triggered above.
    myLidarLite.waitForBusy();

    // 4. Read new distance data from device registers
    *distance = myLidarLite.readDistance();

    return 1; // Return a boolean value that indicates there is new data to be read
}

//  Display a timestamp from the RTC and distance on the serial monitor and generate  a
// Pushsafer notification when an alarm is triggered
void PrintValues(float  d)
{
  String yy,mm,dd,hr,mn,se; // String variables to hold the elements  of the RTC timestamp
  yy = String(rtc.getYear()); // Get the timestamp year  from the RTC
  if (rtc.getMonth() < 10) // Add a leading month zero if < 10
  {
    mm = String("0")+String(rtc.getMonth());
  } else {
    mm =  String(rtc.getMonth());
  }
  if (rtc.getDay() < 10) // Add a leading day  zero if < 10
  {
    dd = String("0")+String(rtc.getDay());
  } else  {
    dd = String(rtc.getDay());
  }
  if (rtc.getHours() < 10) // Add  a leading hour zero if < 10
  {
    hr = String("0")+String(rtc.getHours());
  } else {
    hr = String(rtc.getHours());
  }
  if (rtc.getMinutes()  < 10) // Add a leading minute zero if < 10
  {
    mn = String("0")+String(rtc.getMinutes());
  } else {
    mn = String(rtc.getMinutes());
  }
  if (rtc.getSeconds()  < 10) // Add a leading second zero if < 10
  {
    se = String("0")+String(rtc.getSeconds());
  } else {
    se = String(rtc.getSeconds());
  }
  // Combine the RTC  timestamp elements into a single string
  String timestr = mm+"-"+dd+"-"+yy+"  "+hr + ":" + mn + ":" + se;
    
  // This is the structure of the pushsafer  input object
  // Change the values for different notifications
  struct PushSaferInput  input;
  input.message = "LiDAR sensed movement at " + String(timestr);
  input.title = "LiDAR sensor tripped!";
  input.sound = "8";
  input.vibration  = "1";
  input.icon = "1";
  input.iconcolor = "#FFCCCC";
  input.priority  = "1";
  input.device = "a";
  input.url = "https://www.pushsafer.com";
  input.urlTitle = "Open Pushsafer.com";
  input.picture = "";
  input.picture2  = "";
  input.picture3 = "";
  input.time2live = "";
  input.retry  = "";
  input.expire = "";
  input.answer = "";

  // Sends the  push notification to the phone if the push switch is true
  if (push) Serial.print(pushsafer.sendEvent(input));

  // Displays the alarm timestamp and distance in feet
  Serial.print("MOVEMENT  at ");
  Serial.print(timestr);
  Serial.print(", distance: ");
  Serial.print(d);
  Serial.println(" feet");
}

// Sets the MKR WIFI 1010 RTC to the sketch  compile time
void rtcSet()
{
  String months = "JanFebMarAprMayJunJulAugSepOctNovDec";  // Month identifier array

  // Parses the compiler DATE string into separate  substrings needed to set the RTC
  String mm = dtstg.substring(0,3);
  String  dd = dtstg.substring(4,7);
  String yy = dtstg.substring(8,11);

  // Convert  the date strings to integers needed to set the RTC
  int ddnbr = dd.toInt();
  int mmnbr = int((months.indexOf(mm)/3)+1);
  int yynbr = yy.toInt();

  // Parses the compiler TIME string into separate substrings needed to set the  RTC
  String hh = tmstg.substring(0,2);
  String mn = tmstg.substring(3,5);
  String ss = tmstg.substring(6,8);

  // Convert the time strings to integers  needed to set the RTC
  int hhnbr = hh.toInt();
  int mnnbr = mn.toInt();
  int ssnbr = mn.toInt();

  // Set the RTC date and time
  rtc.setDate(ddnbr,mmnbr,yynbr);
  rtc.setTime(hhnbr,mnnbr,ssnbr);
}

Downloadable files

Wiring Diagram

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