DT-SENSE. UltraSonic and InfraRed Ranger (USIRR)

Transcription

1 DT-SENSE UltraSonic and InfraRed Ranger (USIRR) Trademarks & Copyright AT, IBM, and PC are trademarks of International Business Machines Corp. Windows is a registered trademark of Microsoft Corporation. MCS-51 is a registered trademark of Intel Corporation. Pentium is a trademark of Intel Corporation. CodeVisionAVR is copyright by Pavel Haiduc, HP InfoTech s.r.l. BASCOM-51 and BASCOM-AVR are copyright by MCS Electronics. AVR is registered trademark of Atmel. I 2 C is a registered trademark of Philips Semiconductors. HyperTerminal is copyright by Hilgraeve Inc. DT-51 is a trademark of Innovative Electronics.

2 Contents 1 Introduction DT-SENSE ULTRASONIC AND INFRARED RANGER External Specifications System Requirements DT-SENSE ULTRASONIC AND INFRARED RANGER hardware DT-SENSE ULTRASONIC AND INFRARED RANGER Component Layout DT-SENSE ULTRASONIC AND INFRARED RANGER Connection with GP2D DT-SENSE ULTRASONIC AND INFRARED RANGER Interfacing Through Pulse Width and I 2 C-Bus Address Jumper Setting DT-SENSE ULTRASONIC AND INFRARED RANGER Testing with Pulse.Hex DT-SENSE ULTRASONIC AND INFRARED RANGER Testing with I2C.Hex DT-SENSE ULTRASONIC AND INFRARED RANGER Testing with Demo_Pulse.Hex DT-SENSE ULTRASONIC AND INFRARED RANGER Testing with Demo_I2C.Hex DT-SENSE ULTRASONIC AND INFRARED RANGER software I 2 C-Bus interface specifications Addressing Command Distance Measurement Read Measurement Result Write to Control Register and Calibration Data Read Control Register s Content and Calibration Data Power Down mode Pulse width interface specifications Appendix A. DT-SENSE ULTRASONIC AND INFRARED RANGER Schematic

3 1. Introduction DT-SENSE ULTRASONIC AND INFRARED RANGER is a non-contact distance measurement module and easy to connect it to microcontroller based systems. Only 1 microcontroller pin is needed to trigger and to read the measurement data with DT-SENSE ULTRASONIC AND INFRARED RANGER. Besides, I 2 C communication interface is available, so some DT- SENSE ULTRASONIC AND INFRARED RANGER and some other equipment which support I 2 C communication protocol can be used together with only 2 microcontroller pins. DT-SENSE ULTRASONIC AND INFRARED RANGER module is made from an ultrasonic ranger and can be connected to 2 infrared ranger sensors (GP2D12). Ultrasonic Ranger works by transmitting ultrasonic signal (which has a frequency beyond human hearing level) and produces pulse or output data which represent the signal's traveled distance before it touch an object and reflected/bounced. infrared ranger sensor is made from a infrared LED and a Position Sensing Device (PSD). This sensor will measure object distance which reflect the infrared light through triangulation process. Analog output from infrared ranger sensor is transformed by DT-SENSE ULTRASONIC AND INFRARED RANGER module into pulse or output data which represent the signal's traveled distance before it touch an object until reflected/bounced back. The application samples of DT-SENSE ULTRASONIC AND INFRARED RANGER are for smart robot, smart vehicle, automatic door, security, and so on DT-SENSE ULTRASONIC AND INFRARED RANGER External Specifications DT-SENSE ULTRASONIC AND INFRARED RANGER specifications are : Made from Ultrasonic Ranger and can be connected with 2 Infrared Ranger GP2D12 sensor (optional). 2 interface which can be activated at once : Pulse Width (10 µs/mm) I 2 C-bus Can be cascaded up to 8 modules with only 2 I/O pins ( using I 2 C-bus interface). Single supply 5 VDC. Supply Current (without infrared ranger sensor): Active: 17 ma typ. Reduced Operation: 13 ma typ. Power Down: 7 ma typ. Power Down + Reduced Operation: 2 ma typ. quick measurement cycle. Reading can be done every 25 ms (40 Hz rate). Ultrasonic Ranger specifications: range: 2 cm to 3 m 0 2 cm object will be measured as 2 cm distant Burst Frequency: 40 khz 16 VPP square signal no dead zone (there is no blank spot between 2 cm to 3 m) 3

4 Infrared Ranger range: 10 cm to 80 cm. Ranger accuracy: 5 mm. Input Trigger: TTL negative pulse, 20 µs min. Pin Busy/Ready shows sensor's activity. No delay before next measurement. Direct Output is directly in distance (in millimeter) for it will reduce microcontroller's work. Measurement error tolerance because of environmental temperature changing and object reflectivity can be adjusted. Program sample is available in C language for AVR AT90S2313 microcontroller and BASIC language for MCS-51 microcontroller System Requirements System requirements for DT-SENSE ULTRASONIC AND INFRARED RANGER user are: Hardware: PC AT Pentium IBM Compatible with port Serial (COM1/COM2) and Parallel (LPT). Board DT-51 Minimum System, DT-51 Low Cost Series, or DT-AVR Low Cost Series. CD-ROM Drive. Hard disk. Software: Windows 98 operating system. BASCOM-8051, BASCOM-AVR, or CodeVisionAVR. Files inside the program CD: I2C.BAS, I2C.HEX, PULSE.BAS, PULSE.HEX, DEMO_I2C.C, DEMO_I2C.HEX, DEMO_PULSE.BAS, DEMO_PULSE.HEX, MANUAL DT-SENSE ULTRASONIC AND INFRARED RANGER, and QUICKSTART DT-SENSE ULTRASONIC AND INFRARED RANGER. 4

5 2. DT-SENSE ULTRASONIC AND INFRARED RANGER Hardware 2.1. DT-SENSE ULTRASONIC AND INFRARED RANGER Components Layout 2.2. DT-SENSE ULTRASONIC AND INFRARED RANGER Connection with GP2D12 J5 and J6 are used to connect GP2D12 infrared ranger sensor module to DT- SENSE ULTRASONIC AND INFRARED RANGER. Pin Name Function J5 Pin 1 VCC IR1 Voltage line supply for infrared ranger 1 sensor J5 Pin 2 GND IR1 Reference dot for infrared ranger 1 sensor J5 Pin 3 VOUT IR1 Analog Output from infrared ranger 1 sensor J6 Pin 1 VCC IR2 Voltage line supply for infrared ranger 2 sensor J6 Pin 2 GND IR2 Reference dot for infrared ranger 2 sensor J6 Pin 3 VOUT IR2 Analog Output from infrared ranger 2 sensor 5

6 2.3. DT-SENSE ULTRASONIC AND INFRARED RANGER Interface Through Pulse Width and I 2 C-BUS DT-SENSE ULTRASONIC AND INFRARED RANGER can be connected to several types of microcontroller, which are MCS-51 family and AVR. This Microcontroller will operate as master which will control DT-SENSE ULTRASONIC AND INFRARED RANGER. J4 is used for providing voltage supply to DT-SENSE ULTRASONIC AND INFRARED RANGER module and to pulse width interface. Pin Name I/O Function 1 GND - Reference dot 2 VCC - Voltage input supply (5 Volt) 3 SIG I/O Pulse pin 4 BUSY / READY output pin from Slave (module SS) to Master, 0 logic (0 V) when module is doing data processing and 1 logic (5 V) when master is ready to read data J1 is used for communicating with DT-SENSE ULTRASONIC AND INFRARED RANGER module through I 2 C interface. Pin Name Function 1 SDA I 2 C-bus data input / output 2 SCL I 2 C-bus clock input J7 and J8 are used for activating pull up resistor for I 2 C interface. J7 & J8 Pull-up condition J8 pull-up resistor is not active J7 J8 pull-up resistor is active J7 Caution! - When more than one module is connected to I 2 C-bus then only J7 and J8 jumper of one of the module is needed. 6

7 2.4. Address jumper setting J3 is used for controlling programmed address from DT-SENSE ULTRASONIC AND INFRARED RANGER module which is used at I 2 C- bus interface. J3 Programmed address (default) 2.5. DT-SENSE ULTRASONIC AND INFRARED RANGER Testing with PULSE.HEX Hardware Setting Connect DT-51 Low Cost Series with DT-SENSE ULTRASONIC AND INFRARED RANGER ( section 2.3) through pulse width as shown below. DT-SENSE ULTRASONIC AND DT-51 Low Cost Series INFRARED RANGER Pin Name Pin Name PORT1 Pin 1 GND J4 Pin 1 GND PORT1 Pin 2 VCC J4 Pin 2 VCC PORT1 Pin 5 P1.2 J4 Pin 3 SIG Connect P3.0 and P3.1 DT-51 Low Cost Series to UART RS-232 communication line. Connect DT-51 Low Cost Series serial port with computer's COM1/COM2 using serial cable. Run HyperTerminal program or other terminal program with the proper com port option which will be used, baud rate 9600 bps, 8 bit data, 1 bit stop, without parity bit, and without flow control. Download Pulse.HEX from the cd in BASCOM-8051 Pulse directory through DT-HiQ AT89S In System Programmer or other programmer. 7

8 Pulse program process After downloading the program, DT-SENSE ULTRASONIC AND INFRARED RANGER will read the distance through ultrasonic sensor repeatedly with 1 second delay. The result will be sent to computer and can be seen through HyperTerminal DT-SENSE ULTRASONIC AND INFRARED RANGER testing with I2C.HEX Hardware setting Set address jumper to address 7 (default) for DT-SENSE ULTRASONIC AND INFRARED RANGER. Connect DT-51 Low Cost Series with DT-SENSE ULTRASONIC AND INFRARED RANGER (see section 2.3) through I 2 C-bus as seen on the table below. DT-51 Low Cost Series DT-SENSE ULTRASONIC AND INFRARED RANGER Pin Name Pin Name PORT1 Pin 1 GND J4 Pin 1 GND PORT1 Pin 2 VCC J4 Pin 2 VCC PORT1 Pin 3 P1.0 J1 Pin 1 SDA PORT1 Pin 4 P1.1 J1 Pin 2 SCL PORT1 Pin 6 P1.3 J4 Pin 4 BUSY /READY Set P3.0 and P3.1 DT-51 Low Cost Series so it is connected to UART RS- 232 communication line. Plug in DT-51 Low Cost Series serial port with computer's COM1/COM2 using serial cable. Run HyperTerminal program or other terminal program with the proper com port option which will be used, baud rate 9600 bps, 8 bit data, 1 bit stop, without parity bit, and without flow control. Download I2C.HEX from the cd in BASCOM-8051 I2C directory through DT-HiQ AT89S In System Programmer or other programmer. Program I 2 C process After downloading the program, DT-SENSE ULTRASONIC AND INFRARED RANGER will read the distance through ultrasonic sensor and both infrared ranger sensors repeatedly with 1 second delay. The result will be sent to computer and can be seen through hyperterminal. 8

9 2.7. DT-SENSE ULTRASONIC AND INFRARED RANGER testing with DEMO_PULSE.HEX Hardware setting Connect DT-AVR Low Cost Nano System with DT-SENSE ULTRASONIC AND INFRARED RANGER (see section 2.3) through pulse width as seen on the table below. DT-AVR Low Cost Nano System DT-SENSE ULTRASONIC AND INFRARED RANGER Pin Name Pin Name PORTB Pin 1 GND J4 Pin 1 GND PORTB Pin 2 VCC J4 Pin 2 VCC PORTB Pin 5 PB.2 J4 Pin 3 SIG Set PD.0 and PD.1 DT-AVR Low Cost Nano System so it is connected to UART RS-232 communication line. Plug in DT-AVR Low Cost Nano System serialport with computer's COM1/COM2 using serial cable. Run HyperTerminal program or other terminal program with the proper com port option which will be used, baud rate 9600 bps, 8 bit data, 1 bit stop, without bit parity, and without flow control. Download demo_pulse.hex from the cd in CVAVRDemo_Pulse directory through DT-HiQ AVR In System Programmer or other programmer. Program Demo_Pulse process after downloading the program, DT-SENSE ULTRASONIC AND INFRARED RANGER will read the distance through ultrasonic sensor repeatedly with 1 second delay. The result will be sent to computer and can be seen through HyperTerminal. Caution! - When using DT-AVR Low Cost Micro System or other AVR microcontroller, the microcontroller type and register have to be compatible DT-SENSE ULTRASONIC AND INFRARED RANGER testing with DEMO_I2C.HEX Hardware setting Set address jumper to address 7 ( default) for DT-SENSE ULTRASONIC AND INFRARED RANGER. Connect DT-AVR Low Cost Nano System with DT-SENSE ULTRASONIC AND INFRARED RANGER (see section 2.3) through I 2 C-bus as seen on the table below. 9

10 DT-AVR Low Cost Nano System DT-SENSE ULTRASONIC AND INFRARED RANGER Pin Name Pin Name PORTB Pin 1 GND J4 Pin 1 GND PORTB Pin 2 VCC J4 Pin 2 VCC PORTB Pin 3 PB.0 J1 Pin 1 SDA PORTB Pin 4 PB.1 J1 Pin 2 SCL PORTB Pin 6 PB.3 J4 Pin 4 BUSY /READY Set PD.0 and PD.1 DT-AVR Low Cost Nano System so it is connected to UART RS-232 communication line. Plug in DT-AVR Low Cost Nano System serial port with computer's COM1/COM2 using serial cable. Run HyperTerminal program or other terminal program with proper com port option which will be used, baud rate 9600 bps, 8 bit data, 1 bit stop, without bit parity, and without flow control. Download demo_i2c.hex from cd in CVAVRDemo_I2C directory through DT-HiQ AVR In System Programmer or other programmer. Program Demo_I 2 C process after downloading the program, DT-SENSE ULTRASONIC AND INFRARED RANGER will read the distance through ultrasonic sensor and both infrared ranger sensors repeatedly with 1 second delay. The result will be sent to computer and can be seen through HyperTerminal. Caution! - When using DT-AVR Low Cost Micro System or other AVR microcontroller, the microcontroller type and register have to be compatible. 3. DT-SENSE ULTRASONIC AND INFRARED RANGER Software DT-SENSE ULTRASONIC AND INFRARED RANGER module needs 50 ms (start-up time) to start, till it is ready to be operated I 2 C-BUS interface specifications SCL maximum frequency for DT-SENSE ULTRASONIC AND INFRARED RANGER is 65 khz Addressing Fixed address Programmed address Read/ Write A2 A1 A0 X Address All I 2 C-bus utilization always started with addressing. Addressing is separated into 3 parts: fixed address, programmed address, and read/write. DT-SENSE ULTRASONIC AND INFRARED RANGER always uses fixed address 10

11 1110. Fixed address is used for module addressing due to user's needs. programmed address is set by changing the jumper position (can be seen at section 2.4), so at the same I 2 C line with the same fixed address ( 1110 ), up to 8 modules can be used simultaneously with different address. The Read/write is 1 if Master I 2 C will read data from Slave I 2 C (DT-SENSE ULTRASONIC AND INFRARED RANGER module) and 0 if Master I 2 C will write data to Slave I 2 C Command m2 m1 m0 Command Command is being used to choose next process which will be done by module due to the selected mode. m2 m1 m0 Mode Start distance measurement Read measurement result Write to Control Register and to Calibration Data read Control Register and Data calibration content Power Down mode Distance measurement Start A2 A1 A0 0 Address Command + Stop this command is being used to start distance measurement by DT-SENSE ULTRASONIC AND INFRARED RANGER module. Through I 2 C-Bus interface, we can star distance measurement by sending Start followed with write option to slave module address that needs to be activated, and then followed by start distance measurement command, and will end up with Stop. After start distance measurement is received and recognized, module will start to measure the distance using ultrasonic ranger and/or infrared ranger. During distance measurement process, Busy/Ready pin at J4 will be logically 0 (0 V) and the module will ignore new command. Distance measurement will be last about 100 µs 25 ms depend on object distance and many measurements are done. At the end of distance measurement, Busy/Ready pin at J4 will be logically 1 (5 V) and module is able to receive new command. Result can be read with Read Measurement Result command. 11

12 Below is C code sample (CVAVR) for using this command: i2c_start(); i2c_write(0xee); i2c_write(0x00); i2c_stop(); // Start // DT-Sense USIRR module address // Start Measuring Distance //command // Stop Bellow is BASIC code sample (BASCOM-8051) to use this command: i2cstart i2cwbyte &HEE i2cwbyte 0 i2cstop Start DT-Sense USIRR module address Start Measuring Distance command Stop Read Measurement Result Start A2 A1 A0 0 Address Command + Stop Start A2 A1 A0 1 Address + R R R R R R R R + R R R R R R R R + Stop MSB Ultrasonic LSB Ultrasonic R R R R R R R R + R R R R R R R R + MSB Infrared 1 LSB Infrared 1 R R R R R R R R + R R R R R R R R + MSB Infrared 2 LSB Infrared 2 This command is being used to read the result from the last measurement process which is done by DT-SENSE ULTRASONIC AND INFRARED RANGER module. Through I 2 C-Bus interface, distance measurement result can be read by sending Start and followed by write option to the Slave module address that needs to be activated, and then followed by read measurement result command, and ended with Stop. 12

13 Measurement result s data can be downloaded by sending Start, which followed with rear option, to Slave module address that needs to be activated. Afterward, Master can start downloading data from Slave (DT- SENSE ULTRASONIC AND INFRARED RANGER module). After downloading all data, it will end up with sending Stop. The read data is only the data from the last measurement, while the amount of data, which has been sent, depends on any kind of measurement module that has been activated (ultrasonic ranger module and/or 2 infrared ranger modules). Module options can be selected from Control Register. The data which is sent from each ranger module has 2 byte value, MSB is the first data and LSB is the second, both are hexadecimal value, so the real value is: (MSB x 256) + LSB. Then, if 3 ranger modules are activated (ultrasonic ranger module and 2 infrared ranger modules), so there will be 6 bytes data to be read. If 2 ranger modules are activated (example: an ultrasonic ranger module and an infrared ranger module), so there will be 4 bytes data to be read. If there is only 1 active ranger module, there will be 2 bytes data to be read. Sending data priority sequence is: the first priority is ultrasonic data (US), the second priority is data of infrared 1 (IR1), and the last priority is data of infrared 2 (IR2). So, if ultrasonic ranger module is active, it will send ultrasonic data (2 bytes) first, followed by IR1 data (if IR1 active), and then IR2 data (if IR2 active). But, if ultrasonic ranger module is not active, it will send IR1 data first (if IR1 active), and then IR2 data (if IR2 active). Measurement data result is in millimeter (mm). And ranger accuracy is 5 mm. Below is C code sample (CVAVR) for using this command, if active measurement module is an ultrasonic ranger and 2 infrared rangers: i2c_start(); i2c_write(0xee); i2c_write(0x01); i2c_stop(); i2c_start(); i2c_write(0xef); // Start // Write to DT-Sense USIRR module // address // Read Measurement Result Command // Stop // Start // Read to DT-Sense USIRR module // address temp = i2c_read(1); // Get MSB Ultrasonic data US = temp * 256; temp = i2c_read(1); // Get LSB Ultrasonic data US = US + temp; // Ultrasonic data temp = i2c_read(1); // Get MSB Infrared 1 data IR1 = temp * 256; temp = i2c_read(1); // Get LSB Infrared 1 data IR1 = IR1 + temp; // Data of Infrared 1 temp = i2c_read(1); // Get MSB Infrared 2 data 13

14 IR2 = temp * 256; temp = i2c_read(0); // Get LSB Infrared 2 data IR2 = IR2 + temp; // Infrared 2 data i2c_stop(); // Stop Below is BASIC code sample (BASCOM-8051) for using this command: i2cstart i2cwbyte &HEE i2cwbyte 1 i2cstop Start Write to DT-Sense USIRR module address Read Measurement Result Command Stop i2cstart Start i2cwbyte &HEF read to DT-Sense USIRR module address i2crbyte Msbtemp, Ack Get MSB Ultrasonic data i2crbyte Lsbtemp, Ack Get LSB Ultrasonic data US = Makeint(lsbtemp, Msbtemp) Ultrasonic Data i2crbyte Msbtemp, Ack Get MSB Infrared 1 data i2crbyte Lsbtemp, Ack Get LSB Infrared 1 data IR1 = Makeint(lsbtemp, Msbtemp) Data of Infrared 1 i2crbyte Msbtemp, Ack Get MSB Infrared 2 data i2crbyte Lsbtemp, Nack Get LSB Infrared 2 data IR2 = Makeint(lsbtemp, Msbtemp) Data of Infrared 2 i2cstop Stop Write to register control and to calibration data Start A2 A1 A0 0 Address Command X X X X US IR1 IR2 OC + Control Register X X X X X X X X + X X X X X X X X + cal_us X X X X X X X X + cal_ir2 Stop cal_ir1 This command is being used to choose active ranger module, ultrasonic ranger operation mode, and to give value for calibrating data. through I 2 C-Bus interface, user sends Start, followed by write option to Slave module address that needs to be activated, and then followed by write to 14

15 registration control and calibration data command. Afterward, Master can start sending data to slave (DT-SENSE ULTRASONIC AND INFRARED RANGER module), they are Control Register, cal_us, cal_ir1, cal_ir2. After sent all data, it will end up with sending Stop. At this DT-SENSE ULTRASONIC AND INFRARED RANGER module, there are 4 bytes data that is saved at EEPROM, they are 1 byte Register control data and 3 bytes calibration data. Control REGISTER control Register is being used to select which ranger module options to be activated to change operation condition, between Full Operation condition and Reduced Power condition. Control Register has some certainty as shown below: OC = 1 : Full Operation OC = 0 : Reduced Operation IR1 = 1 : Infrared 1 Active IR1 = 0 : Infrared 1 not active US = 1 : Ultrasonic active US = 0 : Ultrasonic not active IR2 = 1 : Infrared 2 active IR2 = 0 : Infrared 2 not active The 4 th to 7 th bits of data at register control are not used and are reserved for future development of DT-SENSE ULTRASONIC AND INFRARED RANGER module. Bit 3 US (Ultrasonic Ranger) If US value is 1, then ultrasonic ranger is active. Measurement process will be done with ultrasonic ranger measurement, and ultrasonic data will be added at measurement result s data that will be sent. If US value is 0, then ultrasonic ranger is not active. Measurement with ultrasonic ranger will not be done. default value is 1. Bit 2 IR1 (Infrared Ranger 1) if IR1 value is 1, then infrared ranger 1 is active. Measurement process will be done with infrared ranger 1 module, and infrared ranger 1 data will be added at measurement result s data that will be sent. If R1 value is 0, then infrared ranger 1 is not active. Measurement with infrared ranger 1 will not be done. default value is 0. Bit 1 IR2 (Infrared Ranger 2) if IR2 value is 1, then infrared ranger 2 is active. Measurement process will be done with infrared ranger 2 module, and infrared ranger 2 data will be added at measurement result s data that will be sent. If R2 value is 0, then infrared ranger 2 is not active. Measurement with infrared ranger 2 will not be done. Default value is 0. Bit 0 OC (Operation ) 15

16 if OC value is 1, then DT-SENSE ULTRASONIC AND INFRARED RANGER module will be at Full Operation condition. If OC value is 0, then DT-SENSE ULTRASONIC AND INFRARED RANGER module will be at Reduced Operation condition. Default value is 1. OC not depends on US. At Reduced Operation condition, some parts of ultrasonic ranger will be turn off for energy saving. This can be done if ultrasonic ranger is rarely being used (infrared ranger measurement only), or if application uses DT-SENSE ULTRASONIC AND INFRARED RANGER module in idle condition. When changing from Reduced Operation condition to Full Operation condition, ultrasonic components need approximately 25 ms to reach the optimum condition for ultrasonic measurement. Calibration Data Sound velocity in the air is influenced by temperature and air pressure. Temperature also influences the distance measurement by infrared ranger. Besides temperature, it also influenced by reflectivity level of the detected object and light luminous level (sunlight, lamp light, and so on) which is struck the object's surface. To increase the accuracy of distance measurement, the measurement result compensation is needed. To reduce distance measurement error and computation work at user's application, then 1 byte calibration data is available at DT-SENSE ULTRASONIC AND INFRARED RANGER module for each ranger (1 ultrasonic ranger module and 2 infrared ranger modules). The default value of calibration data for every ranger can be seen at the table below. Ranger Register name Decimal value Hexadecimal value Ultrasonic Ranger cal_us Infrared Ranger 1 cal_ir Infrared Ranger 2 cal_ir These are how to do ultrasonic ranger calibration: make sure that the distance measurement system with ultrasonic ranger is activated (it is set in control register). Put object 10 cm at the front of ultrasonic ranger. trigger DT-SENSE ULTRASONIC AND INFRARED RANGER module to start the distance measurement. Read DT-SENSE ULTRASONIC AND INFRARED RANGER module measurement result ( example: if x is the value from the measurement). If x value is 100, then calibration data value for ultrasonic ranger ( 16

17 register's content cal_us) is correct. If x value is not 100, then cal_us register's content needs to be changed with the result from the equation below: cal_us new content = cal_us old content + (100 x) trigger DT-SENSE ULTRASONIC AND INFRARED RANGER module one more time to measure the distance ( object still at 10 cm distant) Read DT-SENSE ULTRASONIC AND INFRARED RANGER module measurement result to ensure it was precise. The calibrations of infrared ranger 1 and infrared ranger 2 have the same method as ultrasonic ranger. Only the register content has to be changed. Register cal_ir1 for infrared ranger 1, and register cal_ir2 for infrared ranger 2. below is C code sample (CVAVR) for using this command, to activate ultrasonic ranger and infrared ranger 1, user needs to set calibration data back to factory default: i2c_start(); i2c_write(0xee); i2c_write(0x02); // Start // Write to DT-Sense USIRR module // address // Write to Control Register // and to Calibration Data Command i2c_write(0x0d); // US = 1, IR1 = 1, IR2 = 0, OC = 1 i2c_write(0x80); // Calibration data US = 128 i2c_write(0x80); // Calibration data IR1 = 128 i2c_write(0x80); // Calibration data IR2 = 128 i2c_stop(); // Stop Below is BASIC code sample (BASCOM-8051) for using this command: i2cstart i2cwbyte &HEE i2cwbyte &H02 Start Write to DT-Sense USIRR module address Write to Control Register and to Calibration Data Command i2cwbyte &H0D US = 1, IR1 = 1, IR2 = 0, OC = 1 i2cwbyte &H80 Calibration data US = 128 i2cwbyte &H80 Calibration data IR1 = 128 i2cwbyte &H80 Calibration data IR2 = 128 i2cstop Stop 17

18 Read control register's content and data calibration Start Start A2 A1 A0 0 + Address Command Stop A2 A1 A0 1 + Address X X X X US IR1 IR2 OC + Control Register X X X X X X X X + X X X X X X X X + cal_us X X X X X X X X + cal_ir2 Stop cal_ir1 this command is being used to read Control Register's content and calibration data. Through I 2 C-Bus interface, we can read Control Register's content and calibration data by sending Start which is followed by write option to slave module address that needs to be activated, and then followed by read control register's content and data calibration command, and end up with Stop. Then Control Register's content data and calibration data can be downloaded by sending Start which is followed by read option to slave module address that needs to be activated. Afterward, Master can start to download data from slave (DT-SENSE ULTRASONIC AND INFRARED RANGER module), they are the value of Control Register, cal_us, cal_ir1, cal_ir2. After downloading all data, it will end up with sending Stop. Below is C code sample (CVAVR) for using this command : i2c_start(); i2c_write(0xee); i2c_write(0x03); i2c_stop(); i2c_start(); i2c_write(0xef); // Start // Write to DT-Sense USIRR module // address // Write to Control Register // and to Calibration Data Command // Stop // Start // Read to DT-Sense USIRR module // address 18

19 creg = i2c_read(1); // Get control register s data cal_us = i2c_read(1); // Get calibration data of US cal_ir1 = i2c_read(1); // Get calibration data of IR1 cal_ir2 = i2c_read(0); // Get calibration data of IR2 i2c_stop(); // Stop Below is BASIC code sample (BASCOM-8051) for using this command: i2cstart i2cwbyte &HEE i2cwbyte &H03 i2cstop i2cstart i2cwbyte &HEF Start Write to DT-Sense USIRR module address Write to Control Register and to Calibration Data Command Stop Start Read to DT-Sense USIRR module address i2crbyte creg, Ack Get control register s data i2crbyte cal_us, Ack Get calibration data of US i2crbyte cal_ir1, Ack Get calibration data of IR1 i2crbyte cal_ir2, Nack Get calibration data of IR2 i2cstop Stop Power Down mode Start A2 A1 A0 0 + Address Command Stop this command is being used to start power down mode at DT-SENSE ULTRASONIC AND INFRARED RANGER module. Through I 2 C-Bus interface, we can enter power down mode by sending Start which will followed by write option to slave module address that needs to be activated, and then followed by Power Down mode command, and end up with Stop. after Power Down mode command is received and recognized, module will enter power down mode. At this power down mode, most of DT-SENSE ULTRASONIC AND INFRARED RANGER module's components are deactivated to save energy. All commands from I 2 C interface will bring DT-SENSE ULTRASONIC AND INFRARED RANGER module return from power down condition. To reduce the power use at power down condition, it is suggested to set DT- SENSE ULTRASONIC AND INFRARED RANGER at Reduced Operation (see Write to Control Register and to Calibration Data command). Then, 19

20 the command for entering power down condition is given. use write to control register and data calibration to make this module return from power down condition and change it's operation condition back to Full Operation (if needed). Below is C code sample (CVAVR) for using this command : i2c_start(); i2c_write(0xee); i2c_write(0x04); i2c_stop(); // Start // Write to DT-Sense USIRR module // address // Mode Power Down command // Stop Below is BASIC code sample (BASCOM-8051) for using this command: i2cstart i2cwrite &HEE i2cwrite &H04 i2cstop Start Write to DT-Sense USIRR module address Mode Power Down Command Stop 3.2. Pulse Width Interface Specifications By using pulse width interface, only 1 pin of microcontroller is needed to start measurement and read the result (other function is not available). It also will save microcontroller's pin usage (pin busy/ready usage is not absolute). MASTER DT-SENSE ULTRASONIC AND INFRARED RANGER MODULE 20

21 Symbol Function Min Max unit t pulse start pulse time 20 - µs t hold Module s Waiting time to start sending result µs t us_dist t ir_dist t gap Pulse distance's length result from ultrasonic ranger Pulse distance's length result from infrared ranger Time between delivering measurement result µs µs µs t busy Measurement process time µs t b1 t b2 Time between start pulse ending and start measurement process Time between measurement process ending and start result's sending process - 1 µs - 1 µs Through SIG pin, we can start DT-SENSE ULTRASONIC AND INFRARED RANGER measurement. Make sure microcontroller pin which is connected to SIG pin is in output condition. Measurement process is started by sending negative pulse (0 logic/ 0 V) for 20 µs. After this command is received and recognized, module will start measuring with ultrasonic ranger and/or infrared ranger. Busy/ready pin at J4 will be logically 0 (0 V) during measurement process. Measurement process will last about 100 µs 25 ms, depends on object's distance and on any kind of measurement are done. This measurement process gives time to switch microcontroller pin that connects to SIG pin to become input pin and set up the microcontroller to measure pulse width. After completing the measurement process, busy/ready pin at J4 will be logically 1 (5 V) and DT-SENSE ULTRASONIC AND INFRARED RANGER module will send measurement result s data as negative pulse that has a proportional width to the measured/detected object distance. 10 µs pulse width represent 1 mm distance. For example, if pulse width which is sent is 10 ms, then the measurement result is 100 cm. The pulse, which is sent, is equivalent to the latest measurement result. And the number of sent pulse depends on any kind of activated measurement's module (ultrasonic ranger module and/or 2 infrared ranger modules). The modules that needs to be activated should be choose from Control Register (Control Register's content modification can only be done through I 2 C interface). The data sending priority sequence is: first the data of ultrasonic (US), second the data of infrared 1 (IR1), and last the data of infrared 2 (IR2). So, if ultrasonic ranger module is active, ultrasonic data will be sent first and followed by IR1 data (if IR1 is active), and then IR2 data (if IR2 is active). If ultrasonic ranger module is not active, then IR1 data (if IR1 is active) will be sent first, and then IR2 data (IR2 is active). The delay of sending the first (example: ultrasonic data) and the next data pulse (example: infrared1 data) is 100 µs (see Timing Diagram). 21

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23 Appendix A. DT-SENSE ULTRASONIC AND INFRARED RANGER schematic 23