Measuring distance of an object using ultrasonic sensor (HC-SR04)
Aim:
To implement code for “Measuring distance of an object using ultrasonic distance sensor (HC-SR04).
Objective:
- Measuring the distance of an object using Ultrasonic Distance Sensor (HC-SR04)
- Usage of Input Capture Mode
Highlights:
- Measuring the distance travelled by the wave to the object and gets bounced back from the object to sensor.
- Measuring Pulse width using Input Capture Mode
Deliverables:
- The distance travelled by a wave to the object for which we want to measure the distance using Ultrasonic Distance Sensor (HC-SR04).
- Measuring Pulse width using Input Capture Mode of Timer 1
Code:
#include <avr/io.h>
#define F_CPU 16000000ul
#include <util/delay.h>
#include <avr/interrupt.h>
#include
#include
#define lcd_data_dir DDRD
#define lcd_command_dir DDRC
#define lcd_data_port PORTD
#define lcd_command_port PORTC
#define EN PC2
#define RW PC3
#define RS PC4
void lcd_command(char);
void lcd_char(char);
void lcd_init(void);
void lcd_string(char*);
void lcd_string_xy (char,char,char*);
void lcd_command (char cmd)
{
lcd_data_port = cmd;
lcd_command_port&=~((1<<RS)|(1<<RW));
lcd_command_port|= (1<<EN);
_delay_ms(1);
lcd_command_port&=~(1<<EN);
_delay_ms(2);
}
void lcd_char(char char_data)
{
lcd_data_port= char_data;
lcd_command_port&=~(1<<RW);
lcd_command_port|=((1<<EN)|(1<<RS));
_delay_ms(1);
lcd_command_port&=~(1<<EN);
_delay_ms(1);
}
void lcd_init(void)
{
lcd_command_dir|= (1<<RS)|(1<<RW)|(1<<EN);
lcd_data_dir = 0xff;
_delay_ms(20);
lcd_command(0x38);
lcd_command(0x0C);
lcd_command(0x06);
lcd_command(0x01);
lcd_command(0x80);
}
void lcd_string(char *str)
int i;
for(i=0;str[i]!=0;i++)
{
lcd_char (str[i]);
}
}
void lcd_string_xy(char row,char pos,char *str)
{
if (row == 1)
lcd_command((pos & 0x0f)|0x80);
else if (row == 2)
lcd_command((pos & 0x0f)|(0xC0));
lcd_string(str);
}
#define trigger_pin PA0
int TimerOverFlow = 0;
ISR(TIMER1_OVF_vect)
{
TimerOverFlow++;
}
int main (void)
{
char string[10];
long count;
double distance;
DDRA = 0x01;
PORTB = 0xff;
lcd_init();
lcd_string_xy(1,0,"ultrasonic");
sei();
TIMSK = (1<< TOIE1);
TCCR1A = 0;
while(1)
{
PORTA |= (1<< trigger_pin);
_delay_ms(10);
PORTA &=(~(1<< trigger_pin));
TCNT1 = 0;
TCCR1B = 0x41;
TIFR = 1<<ICF1;
TIFR = 1<<TOV1;
while ((TIFR & (1<<ICF1)) == 0);
TCNT1 = 0;
TCCR1B = 0x01;
TIFR = 1<<ICF1;
TIFR = 1<<TOV1;
TimerOverFlow = 0;
while ((TIFR & (1<< ICF1))== 0);
count = ICR1 +(65535 * TimerOverFlow);
distance = (double)count/466.47;
dtostrf(distance,2,2,string);
strcat(string,"cm");
lcd_string_xy(2,0,"dist= ");
lcd_string_xy(2,7,string);
_delay_ms(200);
}
}Program:
#define F_CPU 8000000UL
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include
#include
#define LCD_Data_Dir DDRD /* Define LCD data port direction */
#define LCD_Command_Dir DDRC /* Define LCD command port direction register */
#define LCD_Data_Port PORTD /* Define LCD data port */
#define LCD_Command_Port PORTC /* Define LCD data port */
#define EN PC2 /* Define Enable signal pin */
#define RW PC3 /* Define Read/Write signal pin */
#define RS PC4 /* Define Register Select (data reg./command reg.) signal pin */
void LCD_Command (char); /* LCD command write function */
void LCD_Char (char); /* LCD data write function */
void LCD_Init (void); /* LCD Initialize function */
void LCD_String (char*); /* Send string to LCD function */
void LCD_String_xy (char,char,char*); /* Send row, position and string to LCD function */
void LCD_Command (char cmd) /* LCD command write function */
{
LCD_Data_Port = cmd; /* Write command data to LCD data port */
LCD_Command_Port &= ~((1<<RS)|(1<<RW)); /* Make RS LOW (command reg.), RW LOW (Write) */
LCD_Command_Port |= (1<<EN); /* High to Low transition on EN (Enable) */
_delay_us(1);
LCD_Command_Port &= ~(1<<EN);
_delay_ms(3); /* Wait little bit */
}
void LCD_Char (char char_data) /* LCD data write function */
{
LCD_Data_Port = char_data; /* Write data to LCD data port */
LCD_Command_Port &= ~(1<<RW); /* Make RW LOW (Write) */
LCD_Command_Port |= (1<<EN)|(1<<RS); /* Make RS HIGH (data reg.) and High to Low transition on EN (Enable) */
_delay_us(1);
LCD_Command_Port &= ~(1<<EN);
_delay_ms(1); /* Wait little bit */
}
void LCD_Init (void) /* LCD Initialize function */
{
LCD_Command_Dir |= (1<<RS)|(1<<RW)|(1<<EN); /* Make LCD command port direction as o/p */
LCD_Data_Dir = 0xFF; /* Make LCD data port direction as o/p */
_delay_ms(20); /* LCD power up time to get things ready, it should always >15ms */
LCD_Command (0x38); /* Initialize 16X2 LCD in 8bit mode */
LCD_Command (0x0C); /* Display ON, Cursor OFF command */
LCD_Command (0x06); /* Auto Increment cursor */
LCD_Command (0x01); /* Clear LCD command */
LCD_Command (0x80); /* 8 is for first line and 0 is for 0th position */
}
void LCD_String (char *str) /* Send string to LCD function */
{
int i;
for(i=0;str[i]!=0;i++) /* Send each char of string till the NULL */
{
LCD_Char (str[i]); /* Call LCD data write */
}
}
void LCD_String_xy (char row, char pos, char *str) /* Send string to LCD function */
{
if (row == 1)
LCD_Command((pos & 0x0F)|0x80); /* Command of first row and required position<16 */
else if (row == 2)
LCD_Command((pos & 0x0F)|0xC0); /* Command of Second row and required position<16 */
LCD_String(str); /* Call LCD string function */
}
#define Trigger_pin PA0 /* Trigger pin */
int TimerOverflow = 0;
ISR(TIMER1_OVF_vect)
{
TimerOverflow++; /* Increment Timer Overflow count */
}
int main(void)
{
char string[10];
long count;
double distance;
DDRA = 0x01; /* Make trigger pin as output */
PORTB = 0xFF; /* Turn on Pull-up */
LCD_Init();
LCD_String_xy(1, 0, "Ultrasonic");
sei(); /* Enable global interrupt */
TIMSK = (1 << TOIE1); /* Enable Timer1 overflow interrupts */
TCCR1A = 0; /* Set all bit to zero Normal operation */
while(1)
{
/* Give 10us trigger pulse on trig. pin to HC-SR04 */
PORTA |= (1 << Trigger_pin);
_delay_us(10);
PORTA &= (~(1 << Trigger_pin));
TCNT1 = 0; /* Clear Timer counter */
TCCR1B = 0x41; /* Capture on rising edge, No prescaler*/
TIFR = 1<<ICF1; /* Clear ICP flag (Input Capture flag) */
TIFR = 1<<TOV1; /* Clear Timer Overflow flag */
/*Calculate width of Echo by Input Capture (ICP) */
while ((TIFR & (1 << ICF1)) == 0);/* Wait for rising edge */
TCNT1 = 0; /* Clear Timer counter */
TCCR1B = 0x01; /* Capture on falling edge, No prescaler */
TIFR = 1<<ICF1; /* Clear ICP flag (Input Capture flag) */
TIFR = 1<<TOV1; /* Clear Timer Overflow flag */
TimerOverflow = 0; /* Clear Timer overflow count */
while ((TIFR & (1 << ICF1)) == 0); /* Wait for falling edge */
count = ICR1 + (65535 * TimerOverflow); /* Take count */
/* 8MHz Timer freq, sound speed =343 m/s */
distance = (double)count / 466.47;
dtostrf(distance, 2, 2, string);/* distance to string */
strcat(string, " cm "); /* Concat unit i.e.cm */
LCD_String_xy(2, 0, "Dist = ");
LCD_String_xy(2, 7, string); /* Print distance */
_delay_ms(200);
}
}Circuit:
- The program is loaded in the Atmega 32 chip.
- LCD pins are connected to the Atmega32 as shown above.
- Osillocope and ultrasonic sensors are connected to view the output.
Output:
OUTPUT:
1.Input Pulse: High , Time Delay : 10 micro seconds , Distance :85.12 cm
2.
- 60.38 cm is the distance of an object obtained.
Result:
Thus the implementation of code for “Measuring distance of an object using ultrasonic distance sensor (HC-SR04) is done.