Difference between revisions of "Matrix - Ultrasonic Ranger"

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(Created page with "==介绍== Ultrasonic Ranger TODO ==特性== * 特性1 * 特性2 ==使用方法== ===连接=== *连接到Tiny4412 SDK (1506) ::GND针脚:...")
 
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Line 1: Line 1:
 +
[[Matrix - Ultrasonic Ranger/zh|查看中文]]
 +
 +
==Introduction==
 +
[[File:UltrasonicRanger01.png|thumb|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.
 +
 +
==Features==
 +
* 5V Power
 +
* Range: 5 cm - 300 cm，Accuracy: 1 cm
 +
* One wire gpio
 +
* PCB Dimension (mm): 20 x 40
 +
[[File:ultpcb.png|frameless|400px|超声波PCB]]
 +
* Pin Description:
 +
{| class="wikitable"
 +
|-
 +
|Pin || Description
 +
|-
 +
|S    || GPIO
 +
|-
 +
|V    || Supply Voltage 5V
 +
|-
 +
|G    || Ground
 +
|}
 +
 +
==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.
 +
[[File:Ultrasonic Ranger.png|thumb|matrix Ultrasonic Ranger]]
 +
 +
==Applications==
 +
===Connect to NanoPi M1===
 +
Refer to the following connection diagram to connect the module to the NanoPi M1:<br>
 +
[[File:Matrix-Ultrasonic_Ranger_nanopi_m1.jpg|frameless|600px|Matrix-Ultrasonic_Ranger_nanopi_m1]]
 +
 +
Connection Details:
 +
{| class="wikitable"
 +
|-
 +
|Matrix-Ultrasonic_Ranger || NanoPi M1
 +
|-
 +
|S    || Pin7
 +
|-
 +
|V    || Pin4
 +
|-
 +
|G    || Pin6
 +
|}
 +
 +
===Connect to NanoPi 2===
 +
Refer to the following connection diagram to connect the module to the NanoPi 2:<br>
 +
[[File:Matrix-Ultrasonic_Ranger_nanopi_2.jpg|frameless|600px|Matrix-Ultrasonic_Ranger_nanopi_2]]
 +
 +
Connection Details:
 +
{| class="wikitable"
 +
|-
 +
|Matrix-Ultrasonic_Ranger || NanoPi 2
 +
|-
 +
|S    || Pin7
 +
|-
 +
|V    || Pin4
 +
|-
 +
|G    || Pin6
 +
|}
 +
 +
===Connect to NanoPi M2 / NanoPi 2 Fire===
 +
Refer to the following connection diagram to connect the module to the NanoPi M2/ NanoPi 2 Fire:<br>
 +
[[File:Matrix-Ultrasonic_Ranger_nanopi_m2.jpg|frameless|600px|Matrix-Ultrasonic_Ranger_nanopi_m2]]
 +
 +
Connection Details:
 +
{| class="wikitable"
 +
|-
 +
|Matrix-Ultrasonic_Ranger || NanoPi M2
 +
|-
 +
|S    || Pin7
 +
|-
 +
|V    || Pin4
 +
|-
 +
|G    || Pin6
 +
|}
 +
 +
===Connect to NanoPC-T2===
 +
Refer to the following connection diagram to connect the module to the NanoPC-T2:<br>
 +
[[File:Matrix-Ultrasonic_Ranger_NanoPC-T2.jpg|frameless|600px|Matrix-Ultrasonic_Ranger_NanoPC-T2]]
 +
 +
Connection Details:
 +
{| class="wikitable"
 +
|-
 +
|Matrix-Ultrasonic_Ranger || NanoPC-T2
 +
|-
 +
|S    || Pin15
 +
|-
 +
|V    || Pin29
 +
|-
 +
|G    || Pin30
 +
|}
 +
 +
==Compile & Run Test Program==
 +
Boot your ARM board with Debian and copy the matrix code:
 +
<syntaxhighlight lang="bash">
 +
$ apt-get update && apt-get install git
 +
$ git clone https://github.com/friendlyarm/matrix.git
 +
</syntaxhighlight>
 +
If your cloning is done successfully a "matrix" directory will be generated.
 +
 +
Compile and install Matrix:
 +
<syntaxhighlight lang="bash">
 +
$ cd matrix
 +
$ make && make install
 +
</syntaxhighlight>
 +
 +
Run test program:
 +
<syntaxhighlight lang="bash">
 +
$ matrix-ultrasonic_ranger
 +
</syntaxhighlight>
 +
Note: this module is not plug and play therefore before running the module please make sure it is connected to an ARM board.<br>
 +
Here is what you should observe:<br>
 +
<syntaxhighlight lang="bash">
 +
The distance is  24 cm
 +
</syntaxhighlight>
 +
When you place an object in front of the module the distance between the object and the module will be measured and printed.
 +
 +
==Code Sample==
 +
This Matrix code sample can work with all the ARM boards mentioned in this module's wiki. The name of this code sample is "matrix-ultrasonic_ranger". Here is its source code:
 +
<syntaxhighlight lang="c">
 +
int main(int argc, char ** argv)
 +
{
 +
    int distance = -1;
 +
    int pin = GPIO_PIN(7);
 +
    int board;
 +
 +
    if ((board = boardInit()) < 0) {
 +
        printf("Fail to init board\n");
 +
        return -1;
 +
    }
 +
    if (board == BOARD_NANOPI_T2)
 +
        pin = GPIO_PIN(15);
 +
   
 +
    system("modprobe "DRIVER_MODULE);
 +
    if (Hcsr04Init(pin) == -1) {
 +
        printf("Fail to init hcsr04\n");
 +
        goto err;
 +
    }
 +
    if (Hcsr04Read(&distance) != -1) {
 +
        printf("The distance is %3d cm\n", distance);
 +
    } else {
 +
        printf("Faid to get distance\n");
 +
    }
 +
    Hcsr04DeInit();
 +
err:
 +
    system("rmmod "DRIVER_MODULE);
 +
   
 +
    return 0;
 +
}
 +
</syntaxhighlight>
 +
For more details about this APIs called in this code sample refer to [[Matrix API reference manual]] <br>
 +
 +
<!---
 +
==Download Matrix Source Code==
 +
All the matrix modules' code samples are open source. They are maintained on GitHub - https://github.com/friendlyarm/matrix.git <br>
 +
Each branch in this hub contains the matrix modules' code samples for a board that the matrix modules can work with.<br>
 +
* The nanopi branch contains the matrix modules' code samples for the NanoPi
 +
* The nanopi 2 branch contains the matrix modules' code samples for the NanoPi 2
 +
* 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:<br>
 +
Install the git utility on a PC running Ubuntu14.04
 +
<syntaxhighlight lang="bash">
 +
$ sudo apt-get install git
 +
</syntaxhighlight>
 +
 +
Clone the matrix code from GitHub
 +
<syntaxhighlight lang="bash">
 +
$ git clone https://github.com/friendlyarm/matrix.git
 +
</syntaxhighlight>
 +
If this is successful a "matrix" directory will be generated, which will contain all the matrix modules' code samples.
 +
 +
==Connect to NanoPi 2==
 +
===Hardware Connection===
 +
Please refer to the following connection diagram to connect the Matrix-Ultrasonic_Ranger to the NanoPi 2:<br>
 +
[[File:Matrix-Ultrasonic_Ranger_nanopi_2.jpg|frameless|600px|Matrix-Ultrasonic_Ranger_nanopi_2]]
 +
 +
Connection Details:
 +
{| class="wikitable"
 +
|-
 +
|Matrix-Ultrasonic_Ranger || NanoPi 2
 +
|-
 +
|S  || Pin7
 +
|-
 +
|V  || Pin4
 +
|-
 +
|G  || Pin6
 +
|}
 +
 +
===Compile Test Program===
 +
Please login the matrix hub and enter the nanopi2 branch
 +
<syntaxhighlight lang="bash">
 +
$ cd matrix
 +
$ git checkout nanopi2
 +
</syntaxhighlight>
 +
 +
Compile the matrix code
 +
<syntaxhighlight lang="bash">
 +
$ make CROSS_COMPILE=arm-linux- clean
 +
$ make CROSS_COMPILE=arm-linux-
 +
$ make CROSS_COMPILE=arm-linux- install
 +
</syntaxhighlight>
 +
Note: please make sure to install the cross compiler "arm-linux-gcc-4.9.3" on your PC, which is used to compile files for the NanoPi 2.<br>
 +
Generated library files are under the "install/lib" directory. The test program is under the "install/usr/bin" directory.<br>
 +
The modules are under the "modules" directory. The driver's source code is in github: https://github.com/friendlyarm/linux-3.4.y.git <br>
 +
 +
===Run Test Program===
 +
Please insert a TF card which is flashed with Debian to a Linux host and mount its boot and rootfs sections.<br>
 +
We assume the rootfs is mounted to /media/rootfs then please run the following commands to copy the module, library and test program to the card.<br>
 +
<syntaxhighlight lang="bash">
 +
$ cp modules /media/rootfs/ -r
 +
$ cp install/lib/* /media/rootfs/lib/ -d
 +
$ cp install/usr/bin/* /media/rootfs/usr/bin/
 +
</syntaxhighlight>
 +
 +
Insert this TF card to your NanoPi 2, power on and run the following commands to load the driver.<br>
 +
<syntaxhighlight lang="bash">
 +
$ cd /modules
 +
$ insmod matrix_hcsr04.ko
 +
</syntaxhighlight>
 +
 +
Start the matrix-ultrasonic_ranger program.<br>
 +
<syntaxhighlight lang="bash">
 +
$ matrix-ultrasonic_ranger
 +
</syntaxhighlight>
 +
 +
Here is what you expect to observe:<br>
 +
[[File:matrix-ultrasonic_ranger_result.png|frameless|600px|matrix-ultrasonic_ranger_result]]
 +
 +
===Code Sample===
 +
<syntaxhighlight lang="c">
 +
int main(int argc, char ** argv)
 +
{
 +
    int distance = -1;
 +
    int pin = GPIO_PIN(7);
 +
 +
    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;
 +
}
 +
</syntaxhighlight>
 +
 +
==Connect to NanoPi==
 +
===Preparations===
 +
Please install a Debian on a NanoPi and an appropriate cross compiler on a PC. Please refer to wiki: [[NanoPi/zh|NanoPi]] <br>
 +
Compile a NanoPi kernel. Note: please use the kernel's source code from the nanopi-v4.1.y-matrix branch. <br>
 +
<syntaxhighlight lang="bash">
 +
$ 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
 +
</syntaxhighlight>
 +
 +
 +
===Hardware Connection===
 +
Please refer to the following connection diagram to connect the Matrix-Ultrasonic_Ranger to the NanoPi <br>
 +
[[File:ur&NanoPi.png|frameless|400px|NanoPi+ur]]
 +
 +
Connection Details:
 +
{| class="wikitable"
 +
|-
 +
|Matrix-Sound_Sensor || NanoPi
 +
|-
 +
|S  || Pin7
 +
|-
 +
|V    || Pin4
 +
|-
 +
|G  || Pin6
 +
|}
 +
 +
===Compile Test Program===
 +
Please login the matrix hub and enter the nanopi branch
 +
<syntaxhighlight lang="bash">
 +
$ cd matrix
 +
$ git checkout nanopi
 +
</syntaxhighlight>
 +
 +
Compile the matrix code
 +
<syntaxhighlight lang="bash">
 +
$ make CROSS_COMPILE=arm-linux- clean
 +
$ make CROSS_COMPILE=arm-linux-
 +
$ make CROSS_COMPILE=arm-linux- install
 +
</syntaxhighlight>
 +
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.<br>
 +
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".<br>
 +
 +
===Run Test Program===
 +
Please copy the library files and test program to the NanoPi
 +
<syntaxhighlight lang="bash">
 +
$ cp install/usr/bin/* nanopi_rootfs/usr/bin/
 +
$ cp install/lib/* nanopi_rootfs/lib/ -d
 +
</syntaxhighlight>
 +
 +
Power on the NanoPi and run the following command in Debian's terminal <br>
 +
Note: this module is not plug and play therefore before running the module please make sure it is connected to a NanoPi.
 +
<syntaxhighlight lang="bash">
 +
$ matrix-ultrasonic_ranger
 +
</syntaxhighlight>
 +
 +
===Code Sample===
 +
<syntaxhighlight lang="c">
 +
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;
 +
}
 +
</syntaxhighlight>
 +
 +
==Connect to Tiny4412==
 +
===Preparations===
 +
Please refer to the Tiny4412's user's manual to install a UbuntuCore on the Tiny4412 and install an appropriate cross compiler on a PC.<br>
 +
Note: only the Tiny4412SDK-1506 carrier board can work with this module.
 +
 +
===Hardware Connection===
 +
Please refer to the following diagram to connect the Matrix-Ultrasonic_Ranger to the Tiny4412 <br>
 +
[[File:ur&tiny4412.png|frameless|400px|tiny4412+ur]]
 +
<br>
 +
Connection Details:
 +
{| class="wikitable"
 +
|-
 +
|Matrix- Ultrasonic Ranger || Tiny4412
 +
|-
 +
|S  || GPIO1 S
 +
|-
 +
|V    || GPIO1  5V
 +
|-
 +
|G  || GPIO1 GND
 +
|}
 +
 +
===Compile Test Program===
 +
Please login the Matrix hub and enter the matrix-tiny4412 branch
 +
<syntaxhighlight lang="bash">
 +
$ cd matrix
 +
$ git checkout tiny4412
 +
</syntaxhighlight>
 +
 +
Compile the matrix code
 +
<syntaxhighlight lang="bash">
 +
$ make CROSS_COMPILE=arm-linux-gnueabihf- clean
 +
$ make CROSS_COMPILE=arm-linux-gnueabihf-
 +
$ make CROSS_COMPILE=arm-linux-gnueabihf- install
 +
</syntaxhighlight>
 +
Note: please make sure to install the cross compiler "arm-linux-gnueabihf-gcc-4.7.3" on your PC, which is used to compile files for the Tiny4412-UbuntuCore. <br>
 +
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".
 +
 +
===Run Test Program===
 +
Please copy the library files and test program to the Tiny4412
 +
<syntaxhighlight lang="bash">
 +
$ cp install/usr/bin/* tiny4412_rootfs/usr/bin/
 +
$ cp install/lib/* tiny4412_rootfs/lib/ -d
 +
</syntaxhighlight>
 +
 +
Power on the Tiny4412 and run the following command in UbuntuCore's terminal <br>
 +
Note: this module is not plug and play therefore before running the module please make sure it is connected to a Tiny4412.
 +
<syntaxhighlight lang="bash">
 +
$ matrix-ultrasonic_ranger
 +
</syntaxhighlight>
 +
 +
===Code Sample===
 +
<syntaxhighlight lang="c">
 +
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;
 +
}
 +
</syntaxhighlight>
 +
 +
==Connect to RaspberryPi==
 +
 +
==Connect to Arduino==
 +
--->
 +
==Resources==
 +
 +
==Update Log==
 +
===Feb-23-2016===
 +
* Added the description for "NanoPi 2 branch" in Section 4
 +
* Added Section 5: Connect to NanoPi 2
 +
===June-28-2016===
 +
* Reorganized and simplified wiki
 +
<!--
 +
 
==介绍==
 
==介绍==
 
[[File:UltrasonicRanger.png|thumb|Ultrasonic Ranger]]
 
[[File:UltrasonicRanger.png|thumb|Ultrasonic Ranger]]
Line 7: Line 425:
 
* 特性2
 
* 特性2
  
−
==使用方法==
+
==How To==
−
===连接===
+
===Connection===
−
*连接到Tiny4412 SDK (1506)
+
*Connect to Tiny4412 SDK (1506)
−
::GND针脚:   接地
+
::GND: Ground
−
::VCC:  接5V
+
::VCC:  5V
−
::TRIG: GPIO PIN1
+
::ECHO: GPIO PIN1
−
::ECHO: GPIO PIN2
+
::TRIG: GPIO PIN2
  
−
===Linux下的C示例===
+
===Code Sample in C Under Linux===
 
<syntaxhighlight lang="c">
 
<syntaxhighlight lang="c">
 
#include <stdio.h>
 
#include <stdio.h>
Line 42: Line 460:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
===编译并运行示例===
+
===Compile and Run===
 
<syntaxhighlight lang="bash">
 
<syntaxhighlight lang="bash">
 
git clone http://github.com/friendlyarm/fa-hardware.git
 
git clone http://github.com/friendlyarm/fa-hardware.git
Line 50: Line 468:
 
make
 
make
 
</syntaxhighlight>
 
</syntaxhighlight>
−
将编译生成的hcsr04通过ftp上传到开发板上运行即可测试。
+
Copy your compiled bin to your board and you are ready to go.
 +
 
 +
==Resources==
  
−
==相关资料==
+
-->

Latest revision as of 13:56, 28 June 2016

查看中文

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

超声波PCB

  • Pin Description:
Pin Description
S GPIO
V Supply Voltage 5V
G Ground

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 Applications

4.1 Connect to NanoPi M1

Refer to the following connection diagram to connect the module to the NanoPi M1:
Matrix-Ultrasonic_Ranger_nanopi_m1

Connection Details:

Matrix-Ultrasonic_Ranger NanoPi M1
S Pin7
V Pin4
G Pin6

4.2 Connect to NanoPi 2

Refer to the following connection diagram to connect the module to the NanoPi 2:
Matrix-Ultrasonic_Ranger_nanopi_2

Connection Details:

Matrix-Ultrasonic_Ranger NanoPi 2
S Pin7
V Pin4
G Pin6

4.3 Connect to NanoPi M2 / NanoPi 2 Fire

Refer to the following connection diagram to connect the module to the NanoPi M2/ NanoPi 2 Fire:
Matrix-Ultrasonic_Ranger_nanopi_m2

Connection Details:

Matrix-Ultrasonic_Ranger NanoPi M2
S Pin7
V Pin4
G Pin6

4.4 Connect to NanoPC-T2

Refer to the following connection diagram to connect the module to the NanoPC-T2:
Matrix-Ultrasonic_Ranger_NanoPC-T2

Connection Details:

Matrix-Ultrasonic_Ranger NanoPC-T2
S Pin15
V Pin29
G Pin30

5 Compile & Run Test Program

Boot your ARM board with Debian and copy the matrix code: 

$ apt-get update && apt-get install git
$ git clone https://github.com/friendlyarm/matrix.git

If your cloning is done successfully a "matrix" directory will be generated.

Compile and install Matrix: 

$ cd matrix
$ make && make install

Run test program: 

$ matrix-ultrasonic_ranger

Note: this module is not plug and play therefore before running the module please make sure it is connected to an ARM board.
Here is what you should observe:

The distance is  24 cm

When you place an object in front of the module the distance between the object and the module will be measured and printed.

6 Code Sample

This Matrix code sample can work with all the ARM boards mentioned in this module's wiki. The name of this code sample is "matrix-ultrasonic_ranger". Here is its source code: 

int main(int argc, char ** argv)
{
    int distance = -1;
    int pin = GPIO_PIN(7);
    int board;
 
    if ((board = boardInit()) < 0) {
        printf("Fail to init board\n");
        return -1;
    }
    if (board == BOARD_NANOPI_T2)
        pin = GPIO_PIN(15);
 
    system("modprobe "DRIVER_MODULE);
    if (Hcsr04Init(pin) == -1) {
        printf("Fail to init hcsr04\n");
        goto err;
    }
    if (Hcsr04Read(&distance) != -1) {
        printf("The distance is %3d cm\n", distance);
    } else {
        printf("Faid to get distance\n");
    }
    Hcsr04DeInit();
err:
    system("rmmod "DRIVER_MODULE);
 
    return 0;
}

For more details about this APIs called in this code sample refer to Matrix API reference manual

7 Resources

8 Update Log

8.1 Feb-23-2016

  • Added the description for "NanoPi 2 branch" in Section 4
  • Added Section 5: Connect to NanoPi 2

8.2 June-28-2016

  • Reorganized and simplified wiki
Retrieved from "https://wiki.friendlyelec.com/wiki/index.php?title=Matrix_-_Ultrasonic_Ranger&oldid=6309"