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lab3

This lab focuses on writing a driver for an ultrasonic sensor using interrupts, GPIOs, and timers without polling. The sensor measures distance by sending a trigger pulse and detecting the echo, with the pulse width indicating the distance to an obstacle. The document outlines the configuration for the Trigger and Echo signals, including the use of timers and interrupts for accurate measurement and display of the sensor values.

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3 views

lab3

This lab focuses on writing a driver for an ultrasonic sensor using interrupts, GPIOs, and timers without polling. The sensor measures distance by sending a trigger pulse and detecting the echo, with the pulse width indicating the distance to an obstacle. The document outlines the configuration for the Trigger and Echo signals, including the use of timers and interrupts for accurate measurement and display of the sensor values.

Uploaded by

akshatapasar7337
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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lab 3

Ultrasonic sensor

M. Briday

January 3, 2022

1 Principle
This lab focuses on the interrupts, but still uses GPIOs and timers. The objective is to
write the driver for an ultrasonic sensor, without any polling implementation.
The sensor embedds an integrated circuit for an easy management by the MCU. The
interface consists in only 2 logic signals (Trigger and echo), as in figure 1.

MCU

Distance
measured

Figure 1: Connection between the ultrasonic sensor and the MCU.

The sensor works as follow (figure 2):


• a pulse to the Trigger signal is a request to perform a measure.
• the integrated circuit generates a sequence of 40KHz ultrasonic burst.
• an analog circuit detects the echo from an obstacle;
• The distance to the obstacle is deduced from the time elapsed between the trigger
ultrasonic burst and the incoming echo, knowing the sound speed. A pulse is
transmitted back on the echo signal, on which the pulse width depends on the
distance to the obstacle: 58µs/cm.

1
Trigger

min 10µs
ultrasonic burst
(generated
by sensor)

Echo

distance

Figure 2: Time sequence of the ultrasonic sensor. The echo pulse width depends on the
distance to the obstacle (58µs/cm)

In our configuration, signals Trigger and Echo share the same pin (PA10), we will have
to change its configuration dynamically (output/input).

2 Trigger signal
The Trigger signal is just a pulse that should not be too fast, so that the integrated
electronic in the sensor can detect it. The signal should be in high state for at least 10µs.
We will insert a simple waiting loop to respect this constraint:
// set PA10
for ( volatile int i =0; i <20; i ++);
// reset PA10

We will send Trigger request at 10Hz, using an interrupt and timer TIM6. To be sure
that the Trigger signal is detected by the sensor, we just wait a little:
For an easy debug, we will toggle the green led PB0 in the interrupt handler.
Question 1 Write the trigger part of the application:
• configuration of the sensor pin PA10 as an output.
• interrupt @10Hz using TIM6.
• generation of the Trigger signal.
NOTE: pin PA10 shares both Trigger (output) and Echo (input) signals. As a conse-
quence, the pin should be in the output mode as little time as possible.

2
3 Echo signal
The distance to the obstacle is given by the duration of the Echo pulse. We use the EXTI
peripheral to detect rising/falling edges, and a timer (TIM7) as a stopwatch to get the
pulse width. The measure is stored in a global variable (figure 3).
OVF
TIM6 TIM6_DAC1_IRQHandler
@10Hz Trigger

Ultrasonic sensor

Echo
TIM7 EXTI15_10_IRQHandler

Measure
Idle TFT

Idle task
(main loop)

The principle uses TIM7 as a chronometer (resolution 1µs) and an interrupt in Echo:
• if there is a rising edge on Echo, TIM7 count value is reset
• if there is a falling edge on Echo, the value of TIM7 is stored to the measure value.
To determine if an interrupt is a consequence of a rising or falling edge, you just have to
read the logical level of the pin.
Important note: The Trigger signal should be updated, because it will generate an
interrupt (modifying the output state generates an interrupt). So the EXTI interrupt
should be deconfigured during the trigger generation, with IMR (Interrupt Mask Register):
EXTI - > IMR &= ~ EXTI_IMR_MR10 ;
// generate trigger signal ..
EXTI - > IMR |= EXTI_IMR_MR10 ;

Question 2 Program the whole application, that refresh the value of measure periodi-
cally. check the correct value using the debugger.
There is a quick documentation with an exemple in the tft.md file:
https://gitlab.univ-nantes.fr/briday-m/coro-micro-tp-etu/-/blob/master/doc/
tft.md

3
Question 3 Add a continuous display of the sensor value on the TFT (in the main loop),
in mm.

4 Extension
The echo signal should occurs less that 50ms after the trigger.
Question 4 Add a timeout function that informs the user that the sensor is not available
if there is no response after 50ms (using an interrupt of course - TIM7 for instance).

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