Arduinoで作るスマート白杖：障害物・水たまり・転倒を知らせる

1// Temel akıllı baston: engel yaklaştıkça titreşim ve bip hızlanır / Basic smart cane: vibration and beeps speed up as an obstacle gets closer
2const int TRIG = 9, ECHO = 10;      // HC-SR04
3const int VIB = 5;                  // titreşim modülü IN, PWM pini / vibration module IN, PWM pin
4const int BUZZER = 8;               // pasif buzzer / passive buzzer
5
6const int NEAR_CM = 30;             // bundan yakın: sürekli uyarı / closer than this: continuous alert
7const int FAR_CM = 150;             // bundan uzak: sessiz / farther than this: silent
8const int PULSE_MS = 60;            // bir titreşim darbesinin süresi / length of one vibration pulse
9
10unsigned long lastPing = 0, lastPulse = 0;
11int distanceCm = 999;
12int vibNow = -1;
13
14void setVib(int v) {                // yalnızca değer değişince yaz / write only when the value changes
15  if (v != vibNow) { analogWrite(VIB, v); vibNow = v; }
16}
17
18int pingCm() {
19  digitalWrite(TRIG, LOW);  delayMicroseconds(2);
20  digitalWrite(TRIG, HIGH); delayMicroseconds(10);   // 10 µs tetik darbesi / 10 µs trigger pulse
21  digitalWrite(TRIG, LOW);
22  unsigned long t = pulseIn(ECHO, HIGH, 12000UL);    // 12 ms ≈ 2 m, daha uzağı gerekmez / 12 ms ≈ 2 m, no need for more
23  return t == 0 ? 999 : (int)(t / 58);               // 999 = yankı yok / 999 = no echo
24}
25
26void setup() {
27  Serial.begin(9600);
28  pinMode(TRIG, OUTPUT);
29  pinMode(ECHO, INPUT);
30  pinMode(VIB, OUTPUT);
31}
32
33void loop() {
34  unsigned long now = millis();
35
36  if (now - lastPing >= 60) {                        // ölçümler arası en az 60 ms / at least 60 ms between pings
37    lastPing = now;
38    distanceCm = pingCm();
39    Serial.println(distanceCm);
40  }
41
42  if (distanceCm < 2 || distanceCm > FAR_CM) {       // yol açık / the path is clear
43    setVib(0);
44  } else if (distanceCm <= NEAR_CM) {                // çok yakın: sürekli / very close: continuous
45    setVib(255);
46    if (now - lastPulse >= 120) { lastPulse = now; tone(BUZZER, 2500, 60); }
47  } else {
48    unsigned long period = map(distanceCm, NEAR_CM, FAR_CM, 120, 900);  // yakın = sık / near = frequent
49    int strength = map(distanceCm, NEAR_CM, FAR_CM, 255, 150);         // yakın = güçlü / near = strong
50    if (now - lastPulse >= period) {
51      lastPulse = now;
52      tone(BUZZER, 2000, 30);                        // kısa bip / short beep
53    }
54    setVib(now - lastPulse < PULSE_MS ? strength : 0);
55  }
56}

1// Test ve kalibrasyon: mesafe, su sensörü ham değeri, en yüksek ivme (g) ve eğim / Test and calibration: distance, raw water value, peak acceleration (g) and tilt
2#include <Wire.h>
3
4const int TRIG = 9, ECHO = 10;
5const int WATER_PWR = 7, WATER_SIG = A1;
6const byte MPU = 0x68;
7
8float peakG = 0, tilt = 0;
9unsigned long lastPrint = 0;
10
11void mpuWrite(byte reg, byte val) {
12  Wire.beginTransmission(MPU);
13  Wire.write(reg);
14  Wire.write(val);
15  Wire.endTransmission();
16}
17
18void readMpu() {
19  Wire.beginTransmission(MPU);
20  Wire.write(0x3B);                                  // ACCEL_XOUT_H
21  if (Wire.endTransmission(false) != 0) return;
22  if (Wire.requestFrom(MPU, (uint8_t)6) != 6) return;
23  float a[3];
24  for (int i = 0; i < 3; i++) {
25    uint8_t hi = Wire.read();
26    uint8_t lo = Wire.read();
27    a[i] = (int16_t)(((uint16_t)hi << 8) | lo) / 4096.0;    // ±8 g: 4096 LSB/g
28  }
29  float g = sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
30  if (g > peakG) peakG = g;
31  tilt = atan2(sqrt(a[1] * a[1] + a[2] * a[2]), fabs(a[0])) * 180.0 / PI;  // X ekseni baston boyunca / X axis along the cane
32}
33
34int pingCm() {
35  digitalWrite(TRIG, LOW);  delayMicroseconds(2);
36  digitalWrite(TRIG, HIGH); delayMicroseconds(10);
37  digitalWrite(TRIG, LOW);
38  unsigned long t = pulseIn(ECHO, HIGH, 25000UL);
39  return t == 0 ? 999 : (int)(t / 58);
40}
41
42void setup() {
43  Serial.begin(9600);
44  pinMode(TRIG, OUTPUT);
45  pinMode(ECHO, INPUT);
46  pinMode(WATER_PWR, OUTPUT);
47  Wire.begin();
48  mpuWrite(0x6B, 0x00);                              // uyku modundan çıkar / wake from sleep mode
49  mpuWrite(0x1A, 0x03);                              // 44 Hz alçak geçiren filtre / 44 Hz low-pass filter
50  mpuWrite(0x1C, 0x10);                              // ivme aralığı ±8 g / accelerometer range ±8 g
51}
52
53void loop() {
54  readMpu();                                         // olabildiğince sık oku, tepeyi yakala / read as often as possible to catch the peak
55  if (millis() - lastPrint >= 250) {
56    lastPrint = millis();
57    digitalWrite(WATER_PWR, HIGH);                   // sensörü yalnızca ölçerken besle / power the sensor only while measuring
58    delay(10);
59    int water = analogRead(WATER_SIG);
60    digitalWrite(WATER_PWR, LOW);
61    Serial.print(F("cm: "));          Serial.print(pingCm());
62    Serial.print(F("  su/water: "));  Serial.print(water);
63    Serial.print(F("  tepe/peak g: ")); Serial.print(peakG, 2);
64    Serial.print(F("  egim/tilt: ")); Serial.println(tilt, 0);
65    peakG = 0;
66  }
67}

1// Akıllı baston, tam sürüm: engel, su birikintisi, düşme algılama, SOS ve pil uyarısı
2// Smart cane, full version: obstacles, puddles, fall detection, SOS and low-battery warning
3#include <Wire.h>
4
5// Pinler (Arduino Uno ve Nano) / Pins (Arduino Uno and Nano)
6const int BUTTON = 2;               // buton, diğer bacağı GND / button, other leg to GND
7const int VIB = 5;                  // titreşim modülü IN (PWM) / vibration module IN (PWM)
8const int WATER_PWR = 7;            // su sensörü + ucu / water sensor + pin
9const int BUZZER = 8;               // pasif buzzer / passive buzzer
10const int TRIG = 9, ECHO = 10;      // HC-SR04
11const int LED = 13;                 // dahili LED, SOS'ta yanıp söner / built-in LED, flashes during SOS
12const int BAT = A0;                 // 18650, 100k/100k bölücüyle / 18650 via a 100k/100k divider
13const int WATER_SIG = A1;           // su sensörü S ucu / water sensor S pin
14const byte MPU = 0x68;              // MPU6050, AD0 = GND
15
16// Ayarlar: test koduyla bulduğun değerleri yaz / Settings: use the values from the test sketch
17const int NEAR_CM = 30, FAR_CM = 150;
18const int PULSE_MS = 60;
19const int WATER_LIMIT = 300;        // kuru ve ıslak okumaların ortası / midpoint of dry and wet readings
20const float IMPACT_G = 2.5;         // düşme darbesi eşiği / fall impact threshold
21const float LYING_DEG = 70;         // bundan büyük eğim = yerde yatıyor / tilt above this = lying flat
22const float PICKUP_DEG = 60;        // bundan küçük eğim = kaldırıldı / tilt below this = picked up
23const unsigned long CANCEL_MS = 20000;   // SOS'tan önce iptal süresi / time to cancel before SOS
24const float LOW_BAT_V = 3.4;        // 18650 için düşük pil sınırı / low limit for an 18650 cell
25
26enum Mode { WALK, SETTLE, CHECK, ALARM, SOS };
27Mode mode = WALK;
28
29// SOS Mors kodu: artı = ses, eksi = sessizlik, birim 150 ms / SOS in Morse: plus = tone, minus = silence, unit 150 ms
30const int8_t SOS_PATTERN[] = {1, -1, 1, -1, 1, -3, 3, -1, 3, -1, 3, -3, 1, -1, 1, -1, 1, -7};
31const byte SOS_LEN = sizeof(SOS_PATTERN) / sizeof(SOS_PATTERN[0]);
32const unsigned long UNIT_MS = 150;
33
34bool soundOn = true, wet = false, waterAlert = false, waterHigh = false, sosOn = false;
35bool btnDown = false, longFired = false;
36int distanceCm = 999, vibNow = -1;
37int hist[3] = {999, 999, 999};
38byte histIdx = 0, sosStep = 0;
39float gTotal = 1.0, tilt = 45;
40unsigned long lastPing = 0, lastPulse = 0, lastMpu = 0, lastWater = 0, lastBat = 0, lastBeep = 0;
41unsigned long modeStart = 0, waterStart = 0, sosStepStart = 0, btnSince = 0;
42
43void setVib(int v) {                // yalnızca değişince yaz / write only on change
44  if (v != vibNow) { analogWrite(VIB, v); vibNow = v; }
45}
46
47void mpuWrite(byte reg, byte val) {
48  Wire.beginTransmission(MPU);
49  Wire.write(reg);
50  Wire.write(val);
51  Wire.endTransmission();
52}
53
54bool readMpu() {
55  Wire.beginTransmission(MPU);
56  Wire.write(0x3B);                                   // ACCEL_XOUT_H
57  if (Wire.endTransmission(false) != 0) return false;
58  if (Wire.requestFrom(MPU, (uint8_t)6) != 6) return false;
59  float a[3];
60  for (int i = 0; i < 3; i++) {
61    uint8_t hi = Wire.read();
62    uint8_t lo = Wire.read();
63    a[i] = (int16_t)(((uint16_t)hi << 8) | lo) / 4096.0;   // ±8 g: 4096 LSB/g
64  }
65  gTotal = sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
66  tilt = atan2(sqrt(a[1] * a[1] + a[2] * a[2]), fabs(a[0])) * 180.0 / PI;  // 0° dik, 90° yatay / 0° upright, 90° flat
67  return true;
68}
69
70int pingCm() {
71  digitalWrite(TRIG, LOW);  delayMicroseconds(2);
72  digitalWrite(TRIG, HIGH); delayMicroseconds(10);
73  digitalWrite(TRIG, LOW);
74  unsigned long t = pulseIn(ECHO, HIGH, 12000UL);     // 12 ms ≈ 2 m
75  return t == 0 ? 999 : (int)(t / 58);
76}
77
78int median3(int a, int b, int c) {                    // tek tük hatalı ölçümü eler / drops a single bad reading
79  if ((a <= b && b <= c) || (c <= b && b <= a)) return b;
80  if ((b <= a && a <= c) || (c <= a && a <= b)) return a;
81  return c;
82}
83
84// 0 = olay yok, 1 = kısa basış, 2 = uzun basış (2 s) / 0 = nothing, 1 = short press, 2 = long press (2 s)
85byte readButton(unsigned long now) {
86  bool pressed = digitalRead(BUTTON) == LOW;
87  if (pressed && !btnDown) { btnDown = true; longFired = false; btnSince = now; }
88  if (pressed && btnDown && !longFired && now - btnSince >= 2000) { longFired = true; return 2; }
89  if (!pressed && btnDown) {
90    btnDown = false;
91    if (!longFired && now - btnSince >= 30) return 1;  // 30 ms'den kısası sıçramadır / shorter than 30 ms is bounce
92  }
93  return 0;
94}
95
96void setMode(Mode m, unsigned long now) {
97  mode = m;
98  modeStart = now;
99  sosStep = 0;
100  sosStepStart = now;
101  sosOn = false;
102  setVib(0);
103  noTone(BUZZER);
104  digitalWrite(LED, LOW);
105}
106
107void fallUpdate(unsigned long now) {
108  switch (mode) {
109    case WALK:
110      if (gTotal > IMPACT_G) setMode(SETTLE, now);      // sert darbe / hard impact
111      break;
112    case SETTLE:                                        // 1 s sarsıntının bitmesini bekle / wait 1 s for the shaking to stop
113      if (now - modeStart >= 1000) setMode(CHECK, now);
114      break;
115    case CHECK:                                         // 2 s boyunca yatay ve hareketsiz mi? / flat and still for 2 s?
116      if (tilt < LYING_DEG || fabs(gTotal - 1.0) > 0.2) setMode(WALK, now);   // yalnızca bir vuruştu / just a tap
117      else if (now - modeStart >= 2000) setMode(ALARM, now);
118      break;
119    case ALARM:
120      if (tilt < PICKUP_DEG) setMode(WALK, now);        // baston kaldırıldı / the cane was picked up
121      else if (now - modeStart >= CANCEL_MS) setMode(SOS, now);
122      break;
123    default:
124      break;
125  }
126}
127
128void waterUpdate(unsigned long now) {
129  digitalWrite(WATER_PWR, HIGH);                        // yalnızca ölçerken besle: aşınmayı yavaşlatır / power only while measuring: slows corrosion
130  delay(10);
131  int v = analogRead(WATER_SIG);
132  digitalWrite(WATER_PWR, LOW);
133  if (v > WATER_LIMIT && !wet) { wet = true; waterAlert = true; waterStart = now; }   // kurudan ıslağa / dry to wet
134  else if (v < WATER_LIMIT - 100) wet = false;          // histerezis / hysteresis
135}
136
137void walkOutput(unsigned long now) {
138  // Ses kanalı: önce su uyarısı / Sound channel: water alert first
139  if (waterAlert && now - waterStart >= 1800) waterAlert = false;
140  if (waterAlert && now - lastBeep >= 300) {
141    lastBeep = now;
142    waterHigh = !waterHigh;
143    tone(BUZZER, waterHigh ? 1600 : 1000, 250);         // iki tonlu uyarı / two-tone alert
144  }
145
146  // Titreşim kanalı: engel ne kadar yakınsa o kadar sık ve güçlü / Vibration channel: the closer, the faster and stronger
147  if (distanceCm < 2 || distanceCm > FAR_CM) {
148    setVib(0);
149  } else if (distanceCm <= NEAR_CM) {
150    setVib(255);
151    if (soundOn && !waterAlert && now - lastBeep >= 120) { lastBeep = now; tone(BUZZER, 2500, 60); }
152  } else {
153    unsigned long period = map(distanceCm, NEAR_CM, FAR_CM, 120, 900);
154    int strength = map(distanceCm, NEAR_CM, FAR_CM, 255, 150);
155    if (now - lastPulse >= period) {
156      lastPulse = now;
157      if (soundOn && !waterAlert) tone(BUZZER, 2000, 30);
158    }
159    setVib(now - lastPulse < PULSE_MS ? strength : 0);
160  }
161}
162
163void alarmOutput(unsigned long now) {                   // "bastonum düştü" sesi: bulmayı kolaylaştırır / "cane dropped" sound: helps finding it
164  setVib((now - modeStart) % 1000 < 150 ? 255 : 0);
165  if (now - lastBeep >= 1000) { lastBeep = now; tone(BUZZER, 2000, 150); }
166}
167
168void sosOutput(unsigned long now) {
169  if (now - sosStepStart >= (unsigned long)abs(SOS_PATTERN[sosStep]) * UNIT_MS) {
170    sosStep = (sosStep + 1) % SOS_LEN;                  // sonraki adım / next step
171    sosStepStart = now;
172  }
173  bool on = SOS_PATTERN[sosStep] > 0;
174  if (on != sosOn) {
175    sosOn = on;
176    if (on) tone(BUZZER, 3000); else noTone(BUZZER);
177    digitalWrite(LED, on);
178    setVib(on ? 255 : 0);
179  }
180}
181
182void batteryUpdate() {
183  float v = analogRead(BAT) * (5.0 / 1023.0) * 2.0;     // bölücü gerilimi yarıya indirir / the divider halves the voltage
184  Serial.print(F("Pil / Battery: "));
185  Serial.println(v, 2);
186  if (v < LOW_BAT_V && mode == WALK) tone(BUZZER, 800, 400);   // kalın, uzun bip / low, long beep
187}
188
189void setup() {
190  Serial.begin(9600);
191  pinMode(BUTTON, INPUT_PULLUP);
192  pinMode(TRIG, OUTPUT);
193  pinMode(ECHO, INPUT);
194  pinMode(VIB, OUTPUT);
195  pinMode(WATER_PWR, OUTPUT);
196  pinMode(LED, OUTPUT);
197  Wire.begin();
198  mpuWrite(0x6B, 0x00);                                 // MPU6050'yi uyandır / wake the MPU6050
199  mpuWrite(0x1A, 0x03);                                 // 44 Hz filtre / 44 Hz filter
200  mpuWrite(0x1C, 0x10);                                 // ±8 g
201  tone(BUZZER, 1500, 100);                              // açılış sesi / power-on beep
202}
203
204void loop() {
205  unsigned long now = millis();
206
207  byte b = readButton(now);
208  if (b == 2) {
209    setMode(SOS, now);                                  // uzun basış: elle SOS / long press: manual SOS
210  } else if (b == 1) {
211    if (mode == ALARM || mode == SOS) {
212      setMode(WALK, now);                               // alarmı ya da SOS'u iptal et / cancel the alarm or SOS
213    } else {                                            // yürürken (SETTLE/CHECK dahil) sesi aç ya da kapat / while walking (incl. SETTLE/CHECK) sound on or off
214      soundOn = !soundOn;
215      tone(BUZZER, soundOn ? 2000 : 600, 120);
216    }
217  }
218
219  if (now - lastMpu >= 20) {                            // saniyede 50 ölçüm / 50 readings per second
220    lastMpu = now;
221    if (readMpu()) fallUpdate(now);
222  }
223
224  if (mode == WALK || mode == SETTLE || mode == CHECK) {
225    if (now - lastPing >= 60) {
226      lastPing = now;
227      hist[histIdx] = pingCm();
228      histIdx = (histIdx + 1) % 3;
229      distanceCm = median3(hist[0], hist[1], hist[2]);
230    }
231    if (now - lastWater >= 500) { lastWater = now; waterUpdate(now); }
232    walkOutput(now);
233  } else if (mode == ALARM) {
234    alarmOutput(now);
235  } else {
236    sosOutput(now);
237  }
238
239  if (now - lastBat >= 30000) { lastBat = now; batteryUpdate(); }
240}

1// ESP32 akıllı baston: engel uyarısı, su ve düşme algılama, SOS'ta GPS konumunu SMS ile gönderme
2// ESP32 smart cane: obstacle alert, water and fall detection, sends the GPS location by SMS on SOS
3// Kütüphane: TinyGPSPlus (Mikal Hart) / Library: TinyGPSPlus (Mikal Hart)
4#include <Wire.h>
5#include <TinyGPSPlus.h>
6
7// Pinler / Pins
8const int TRIG = 18, ECHO = 19;          // ECHO 1 kΩ / 2 kΩ bölücüyle / ECHO via a 1 kΩ / 2 kΩ divider
9const int VIB = 25, BUZZER = 26, BUTTON = 27;
10const int WATER_PWR = 33, WATER_SIG = 34;   // ADC1 pini / ADC1 pin
11const int BAT = 35;                      // 100k/100k bölücü / 100k/100k divider
12const int GPS_RX = 16, GPS_TX = 17;      // NEO-6M TX → 16, RX ← 17
13const int GSM_RX = 13, GSM_TX = 23;      // SIM800L TXD → 13, RXD ← 23
14const byte MPU = 0x68;                   // SDA 21, SCL 22
15
16const char* PHONE = "+905XXXXXXXXX";     // SMS gidecek numara / number to text
17
18const int NEAR_CM = 30, FAR_CM = 150, PULSE_MS = 60;
19const int WATER_LIMIT = 1200;            // 12 bit ölçekte, test ederek bul / on the 12-bit scale, find by testing
20const float IMPACT_G = 2.5, LYING_DEG = 70, PICKUP_DEG = 60;
21const unsigned long CANCEL_MS = 20000, SMS_REPEAT_MS = 300000;   // 5 dakikada bir konum / location every 5 minutes
22
23enum Mode { WALK, SETTLE, CHECK, ALARM, SOS };
24Mode mode = WALK;
25const int8_t SOS_PATTERN[] = {1, -1, 1, -1, 1, -3, 3, -1, 3, -1, 3, -3, 1, -1, 1, -1, 1, -7};
26const int SOS_LEN = sizeof(SOS_PATTERN) / sizeof(SOS_PATTERN[0]);
27const unsigned long UNIT_MS = 150;
28
29TinyGPSPlus gps;
30bool soundOn = true, wet = false, waterAlert = false, waterHigh = false, sosOn = false, smsDue = false;
31bool btnDown = false, longFired = false;
32int distanceCm = 999, vibNow = -1, sosStep = 0, histIdx = 0;
33int hist[3] = {999, 999, 999};
34float gTotal = 1.0, tilt = 45;
35unsigned long lastPing = 0, lastPulse = 0, lastMpu = 0, lastWater = 0, lastBat = 0, lastBeep = 0;
36unsigned long modeStart = 0, waterStart = 0, sosStepStart = 0, btnSince = 0, lastSms = 0;
37
38void setVib(int v) {
39  if (v != vibNow) { analogWrite(VIB, v); vibNow = v; }
40}
41
42void mpuWrite(byte reg, byte val) {
43  Wire.beginTransmission(MPU);
44  Wire.write(reg);
45  Wire.write(val);
46  Wire.endTransmission();
47}
48
49bool readMpu() {
50  Wire.beginTransmission(MPU);
51  Wire.write(0x3B);
52  if (Wire.endTransmission(false) != 0) return false;
53  if (Wire.requestFrom(MPU, (uint8_t)6) != 6) return false;
54  float a[3];
55  for (int i = 0; i < 3; i++) {
56    uint8_t hi = Wire.read();
57    uint8_t lo = Wire.read();
58    a[i] = (int16_t)(((uint16_t)hi << 8) | lo) / 4096.0;   // ±8 g
59  }
60  gTotal = sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
61  tilt = atan2(sqrt(a[1] * a[1] + a[2] * a[2]), fabs(a[0])) * 180.0 / PI;
62  return true;
63}
64
65int pingCm() {
66  digitalWrite(TRIG, LOW);  delayMicroseconds(2);
67  digitalWrite(TRIG, HIGH); delayMicroseconds(10);
68  digitalWrite(TRIG, LOW);
69  unsigned long t = pulseIn(ECHO, HIGH, 12000UL);
70  return t == 0 ? 999 : (int)(t / 58);
71}
72
73int median3(int a, int b, int c) {
74  if ((a <= b && b <= c) || (c <= b && b <= a)) return b;
75  if ((b <= a && a <= c) || (c <= a && a <= b)) return a;
76  return c;
77}
78
79int readButton(unsigned long now) {      // 0 yok, 1 kısa, 2 uzun / 0 none, 1 short, 2 long
80  bool pressed = digitalRead(BUTTON) == LOW;
81  if (pressed && !btnDown) { btnDown = true; longFired = false; btnSince = now; }
82  if (pressed && btnDown && !longFired && now - btnSince >= 2000) { longFired = true; return 2; }
83  if (!pressed && btnDown) {
84    btnDown = false;
85    if (!longFired && now - btnSince >= 30) return 1;
86  }
87  return 0;
88}
89
90void feedGps() {                          // NMEA cümlelerini çöz / parse the NMEA sentences
91  while (Serial2.available()) gps.encode(Serial2.read());
92}
93
94// SIM800L'den belirli bir yanıtı bekle / wait for a given reply from the SIM800L
95bool waitFor(const char* token, unsigned long timeoutMs) {
96  String buf;
97  unsigned long start = millis();
98  while (millis() - start < timeoutMs) {
99    while (Serial1.available()) {
100      buf += (char)Serial1.read();
101      if (buf.indexOf(token) >= 0) return true;
102      if (buf.length() > 200) buf.remove(0, 100);
103    }
104    feedGps();                            // beklerken GPS'i kaçırma / keep reading GPS while waiting
105  }
106  return false;
107}
108
109bool sendSms(const String& text) {
110  Serial1.println("AT");                  // ilk AT baud hızını eşler / the first AT syncs the baud rate
111  if (!waitFor("OK", 1000)) {
112    Serial1.println("AT");
113    if (!waitFor("OK", 1000)) return false;
114  }
115  Serial1.println("AT+CMGF=1");           // metin modu / text mode
116  if (!waitFor("OK", 1000)) return false;
117  Serial1.print("AT+CMGS=\"");
118  Serial1.print(PHONE);
119  Serial1.println("\"");
120  if (!waitFor(">", 5000)) return false;  // mesaj istemi / message prompt
121  Serial1.print(text);
122  Serial1.write(26);                      // Ctrl+Z: gönder / Ctrl+Z: send
123  return waitFor("+CMGS", 20000);         // şebeke onayı / network confirmation
124}
125
126String sosText() {                        // SMS'te Türkçe harf kullanma / no Turkish letters in the SMS
127  String s = "SOS! Akilli baston yardim cagrisi. ";
128  if (gps.location.isValid()) {
129    s += "Konum: https://maps.google.com/?q=";
130    s += String(gps.location.lat(), 6) + "," + String(gps.location.lng(), 6);
131    s += " (" + String(gps.location.age() / 1000) + " sn once, " + String(gps.satellites.value()) + " uydu)";
132  } else {
133    s += "GPS konumu henuz yok.";
134  }
135  return s;
136}
137
138void setMode(Mode m, unsigned long now) {
139  mode = m;
140  modeStart = now;
141  sosStep = 0;
142  sosStepStart = now;
143  sosOn = false;
144  setVib(0);
145  noTone(BUZZER);
146  if (m == SOS) { smsDue = true; lastSms = now; }
147}
148
149void fallUpdate(unsigned long now) {
150  if (mode == WALK && gTotal > IMPACT_G) setMode(SETTLE, now);
151  else if (mode == SETTLE && now - modeStart >= 1000) setMode(CHECK, now);
152  else if (mode == CHECK) {
153    if (tilt < LYING_DEG || fabs(gTotal - 1.0) > 0.2) setMode(WALK, now);
154    else if (now - modeStart >= 2000) setMode(ALARM, now);
155  } else if (mode == ALARM) {
156    if (tilt < PICKUP_DEG) setMode(WALK, now);
157    else if (now - modeStart >= CANCEL_MS) setMode(SOS, now);
158  }
159}
160
161void waterUpdate(unsigned long now) {
162  digitalWrite(WATER_PWR, HIGH);
163  delay(10);
164  int v = analogRead(WATER_SIG);          // 0–4095
165  digitalWrite(WATER_PWR, LOW);
166  if (v > WATER_LIMIT && !wet) { wet = true; waterAlert = true; waterStart = now; }
167  else if (v < WATER_LIMIT - 400) wet = false;
168}
169
170void walkOutput(unsigned long now) {
171  if (waterAlert && now - waterStart >= 1800) waterAlert = false;
172  if (waterAlert && now - lastBeep >= 300) {
173    lastBeep = now;
174    waterHigh = !waterHigh;
175    tone(BUZZER, waterHigh ? 1600 : 1000, 250);
176  }
177  if (distanceCm < 2 || distanceCm > FAR_CM) {
178    setVib(0);
179  } else if (distanceCm <= NEAR_CM) {
180    setVib(255);
181    if (soundOn && !waterAlert && now - lastBeep >= 120) { lastBeep = now; tone(BUZZER, 2500, 60); }
182  } else {
183    unsigned long period = map(distanceCm, NEAR_CM, FAR_CM, 120, 900);
184    int strength = map(distanceCm, NEAR_CM, FAR_CM, 255, 150);
185    if (now - lastPulse >= period) {
186      lastPulse = now;
187      if (soundOn && !waterAlert) tone(BUZZER, 2000, 30);
188    }
189    setVib(now - lastPulse < PULSE_MS ? strength : 0);
190  }
191}
192
193void sosOutput(unsigned long now) {
194  if (smsDue || now - lastSms >= SMS_REPEAT_MS) {      // girişte ve 5 dakikada bir / on entry and every 5 minutes
195    smsDue = false;
196    lastSms = now;
197    noTone(BUZZER);
198    bool ok = sendSms(sosText());
199    Serial.println(ok ? "SMS gonderildi / SMS sent" : "SMS gonderilemedi / SMS failed");
200    sosStepStart = millis();
201    sosOn = false;
202  }
203  if (now - sosStepStart >= (unsigned long)abs(SOS_PATTERN[sosStep]) * UNIT_MS) {
204    sosStep = (sosStep + 1) % SOS_LEN;
205    sosStepStart = now;
206  }
207  bool on = SOS_PATTERN[sosStep] > 0;
208  if (on != sosOn) {
209    sosOn = on;
210    if (on) tone(BUZZER, 3000); else noTone(BUZZER);
211    setVib(on ? 255 : 0);
212  }
213}
214
215void setup() {
216  Serial.begin(115200);
217  Serial2.begin(9600, SERIAL_8N1, GPS_RX, GPS_TX);    // NEO-6M varsayılanı 9600 baud / NEO-6M default is 9600 baud
218  Serial1.begin(9600, SERIAL_8N1, GSM_RX, GSM_TX);    // SIM800L
219  pinMode(BUTTON, INPUT_PULLUP);
220  pinMode(TRIG, OUTPUT);
221  pinMode(ECHO, INPUT);
222  pinMode(WATER_PWR, OUTPUT);
223  Wire.begin(21, 22);
224  mpuWrite(0x6B, 0x00);
225  mpuWrite(0x1A, 0x03);
226  mpuWrite(0x1C, 0x10);
227  tone(BUZZER, 1500, 100);
228}
229
230void loop() {
231  unsigned long now = millis();
232  feedGps();
233
234  int b = readButton(now);
235  if (b == 2) setMode(SOS, now);
236  else if (b == 1) {
237    if (mode == ALARM || mode == SOS) setMode(WALK, now);              // alarmı ya da SOS'u iptal et / cancel the alarm or SOS
238    else { soundOn = !soundOn; tone(BUZZER, soundOn ? 2000 : 600, 120); }   // yürürken: ses aç/kapat / while walking: sound on/off
239  }
240
241  if (now - lastMpu >= 20) {
242    lastMpu = now;
243    if (readMpu()) fallUpdate(now);
244  }
245
246  if (mode == WALK || mode == SETTLE || mode == CHECK) {
247    if (now - lastPing >= 60) {
248      lastPing = now;
249      hist[histIdx] = pingCm();
250      histIdx = (histIdx + 1) % 3;
251      distanceCm = median3(hist[0], hist[1], hist[2]);
252    }
253    if (now - lastWater >= 500) { lastWater = now; waterUpdate(now); }
254    walkOutput(now);
255  } else if (mode == ALARM) {
256    setVib((now - modeStart) % 1000 < 150 ? 255 : 0);
257    if (now - lastBeep >= 1000) { lastBeep = now; tone(BUZZER, 2000, 150); }
258  } else {
259    sosOutput(now);
260  }
261
262  if (now - lastBat >= 30000) {
263    lastBat = now;
264    float v = analogReadMilliVolts(BAT) * 2 / 1000.0;  // kalibreli mV okuma / calibrated mV reading
265    Serial.printf("Pil / Battery: %.2f V, GPS: %s\n", v, gps.location.isValid() ? "var / fix" : "yok / no fix");
266    if (v < 3.4 && mode == WALK) tone(BUZZER, 800, 400);
267  }
268}