Difference between revisions of "Matrix - Ultrasonic Ranger"

Revision as of 03:01, 23 September 2015

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1 Introduction

Ultrasonic Ranger01

• The Matrix-Ultrasonic_Ranger is used to measure the distance.
• The module's sensor emits a sound wave, which bounces off a reflective surface and returns to the sensor. Then, using the amount of time it takes for the wave to return to the sensor, the distance to the object can be computed.

2 Features

• 5V Power
• Range: 5 cm - 300 cm，Accuracy: 1 cm
• One wire gpio
• PCB Dimension (mm): 20 x 40

• Pin Description:

3 Basic Device Operation

• The sensor emits a 40kHz, 6 mm sound wave, which bounces off a reflective surface and returns to the sensor. The receiver converts ultrasound waves to electrical signals in mV.
• The master sends a signal to the module starting to emit a sound wave. After the module receives the returned signal it will will generate a high level indicating the elapsed time and the distance will be calculated by distance = (elapsed time * speed of sound)/2.

matrix Ultrasonic Ranger

4 Download Matrix Source Code

All the matrix modules' code samples are open source. They are maintained on GitHub - git://github.com/friendlyarm/matrix.git
Each branch in this hub contains the matrix modules' code samples for a board that the matrix modules can work with.

• The nanopi branch contains the matrix modules' code samples for the NanoPi
• The tiny4412 branch contains the matrix modules' code samples for the Tiny4412
• The raspberrypi branch contains the matrix modules' code samples for the RaspberryPi

Please follow the steps below to get the source code:
Install the git utility on a PC running Ubuntu14.04

$ sudo apt-get install git

Clone the matrix code from GitHub

$ git clone git://github.com/friendlyarm/matrix.git

If this is successful a "matrix" directory will be generated, which will contain all the matrix modules' code samples.

5 Connect to NanoPi

5.1 Preparations

Please install a Debian on a NanoPi and an appropriate cross compiler on a PC. Please refer to wiki: NanoPi
Compile a NanoPi kernel. Note: please use the kernel's source code from the nanopi-v4.1.y-matrix branch.

$ git clone https://github.com/friendlyarm/linux-4.x.y.git
$ cd linux-4.x.y
$ git checkout nanopi-v4.1.y-matrix
$ make nanopi_defconfig
$ touch .scmversion
$ make

5.2 Hardware Connection

Please refer to the following connection diagram to connect the Matrix-Ultrasonic_Ranger to the NanoPi

Connection Details:

5.3 Compile Test Program

Please login the matrix hub and enter the nanopi branch

$ cd matrix
$ git checkout nanopi

Compile the matrix code

$ make CROSS_COMPILE=arm-linux- clean
$ make CROSS_COMPILE=arm-linux-
$ make CROSS_COMPILE=arm-linux- install

Note: please make sure to install the cross compiler "arm-linux-gcc-4.4.3" on your PC, which is used to compile files for the NanoPi-Debian.
Generated library files are under the "install/lib" directory. Applications are under the "install/usr/bin" directory. The test program for the "Matrix-Ultrasonic_Ranger" module is "matrix-ultrasonic_ranger".

5.4 Run Test Program

Please copy the library files and test program to the NanoPi

$ cp install/usr/bin/* nanopi_rootfs/usr/bin/
$ cp install/lib/* nanopi_rootfs/lib/ -d

Power on the NanoPi and run the following command in Debian's terminal
Note: this module is not plug and play therefore before running the module please make sure it is connected to a NanoPi.

$ matrix-ultrasonic_ranger

5.5 代码展示

int main(int argc, char ** argv)
{
    int distance = -1;
 
    int pin = GPIO_PIN1;
 
    if (Hcsr04Init(pin) == -1) {
        printf("Fail to init hcsr04\n");
    }
    if (Hcsr04Read(&distance) != -1) {
        printf("Get distance: %3d cm\n", distance);
    } else {
        printf("Faid to get distance\n");
    }
    Hcsr04DeInit();
    return 0;
}

6 与Tiny4412连接使用

6.1 准备工作

参考Tiny4412光盘里的《友善之臂Ubuntu使用手册》，在Tiny4412上运行UbuntuCore系统，然后在主机PC上安装并使用相应的编译器。
注意：只能使用Tiny4412SDK-1506的底板。

6.2 硬件连接

参考下图连接模块Matrix-Ultrasonic_Ranger和Tiny4412

连接说明：

6.3 编译测试程序

进入Matrix代码仓库，切换到tiny4412分支

$ cd matrix
$ git checkout tiny4412

编译Matrix配件代码

$ make CROSS_COMPILE=arm-linux-gnueabihf- clean
$ make CROSS_COMPILE=arm-linux-gnueabihf-
$ make CROSS_COMPILE=arm-linux-gnueabihf- install

注意：请确保你的主机PC当前使用的交叉编译器为Tiny4412-UbuntuCore配套的arm-linux-gnueabihf-gcc-4.7.3。
编译出来的库文件位于install/lib目录下，而测试程序则位于install/usr/bin目录下，模块Matrix-Ultrasonic_Ranger对应的测试程序为matrix-ultrasonic_ranger。

6.4 运行测试程序

拷贝库文件和测试程序到Tiny4412的UbuntuCore的文件系统上

$ cp install/usr/bin/* tiny4412_rootfs/usr/bin/
$ cp install/lib/* tiny4412_rootfs/lib/ -d

然后启动Tiny4412，在UbuntuCore的shell终端中执行如下命令运行模块Matrix-Ultrasonic_Ranger的测试程序
注意：此模块并不支持热插拔，启动系统前需要确保硬件正常连接。

$ matrix-ultrasonic_ranger

6.5 代码展示

int main(int argc, char ** argv)
{
    int distance = -1;
 
    int pin = GPIO_PIN1;
 
    if (Hcsr04Init(pin) == -1) {
        printf("Fail to init hcsr04\n");
    }
    if (Hcsr04Read(&distance) != -1) {
        printf("Get distance: %3d cm\n", distance);
    } else {
        printf("Faid to get distance\n");
    }
    Hcsr04DeInit();
    return 0;
}

7 与RaspberryPi连接使用

8 与Arduino连接使用

9 相关资料