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ABSTRACT

MANUAL DISTANCE MEASURING IS ALWAYS DONE AT THE EXPENSE OF HUMAN


ERROR. PRECISE AND FIXED MEASUREMENT OF LOW RANGE DISTANCE, IS THE
MAIN OBJECTIVE FOR THIS PROJECT. THIS DEVICE CAN MEASURE DISTANCE IN
THE RANGE OF 2CM TO 100CM WITH THE ACCURACY OF1CM.THIS PROJECT IS
USED TO MEASURE THE DISTANCE BY USING ULTRASONIC SENSORS. IT WORKS
BY TRANSMITTING AN ULTRASONIC WAVES AT 40 KH. THEN, THE TRANDUCERS
WILL MEASURE THE AMOUNT OF TIME TAKEN FOR A PULSE OF SOUND TRAVEL
TO A PARTICULAR SURFACES AND RETURN AS THE REFLECTED ECHO. AFTER
THAT, THE CIRCUIT THAT HAS BEEN PROGRAMMED WITH MICROCONTROLLER
WILL CALCULATE THE DISTANCE BASED ON THE TIME TAKEN BY THE
ULTRASONIC SOUND WAVE SENT BY THE TRANSMITTER TO TRAVEL TO THE
OBSTACLE AND RETURN BACK TO THE RECIEVER. THE DISTANCE THEN WILL BE
DISPLAY ON A ! SEGMENT DISPLAY IN CENTIMETERS.
INTRODUCTION
NOWADAYS, WE HAVE SOME DIFFICULTIES IN OBTAINING THE DISTANCE THAT
WE WANT TO MEASURE. EVENTHOUGH, WE HAVE A MEASURING TAPE, BUT THIS
KIND OF TOOL WILL HAVE A LIMIT FOR US TO MEASURE A DISTANCE. BEFORE
THIS, ENGINEERS HAVE TO PRODUCE A RANGE FINDER MODULE BUT IN THE
END, THEY FOUND OUT THE MODULE HAS MANY DISADVANTAGES LIKE
LIMITATION FOR DISTANCE, DIFFERENT RESULT FOR DIFFERENT COLOURED
OBSTACLES, AND NEED A CALIBRATION EVERYTIME BEFORE MEASURING.
OBJECTIVES
FROM THE ISSUES THAT HAVE BEEN DISCUSSED IN THE PREVIOUS SECTION, THE
OBJECTIVES OF THIS PROJECT WERE SET OUT AS BELOW "
1. PRECISE AND FIXED MEASUREMENT OF LOW RANGE DISTANCE
2. TO MEASURE A DISTANCE AT ANY OBSTACLES.
#. OPERATING RANGE OF 2CM UP TO 100CM WITH AN ACCURACY OF 1 CM.
4. DESIGN A SIMPLE CIRCUIT AND FIND A SUITABLE HARDWARE FOR THIS
PROJECT.

ULTRASONIC RANGE FINDER USING 8051
A SIMPLE ULTRASONIC RANGE FINDER USING $0%1 MICROCONTROLLER IS
PRESENTED IN THIS ARTICLE. THIS ULTRASONIC RANGEFINDER CAN MEASURE
DISTANCES UP TO 1 METER WITH AN ACCURACY OF 1 CENTIMETER. AT$&S%1
MICROCONTROLLER AND THE ULTRASONIC TRANSDUCER MODULE HC'SR04
FORMS THE BASIS OF THE CIRCUIT. THE ULTRASONIC MODULE SENDS AN
ULTRASONIC WAVE TO THE OBJECT, THEN PICKS UP ITS ECHO AND OUTPUTS A
WAVE FORM WHOSE TIME PERIOD IS PROPORTIONAL TO THIS DISTANCE. THE
MICROCONTROLLER ACCEPTS THIS ECHO SIGNAL, PERFORMS NECESSARY
PROCESSING AND DISPLAYS THE CORRESPONDING DISTANCE ON THE 2 DIGIT
SEVEN SEGMENT DISPLAY. THIS CIRCUIT FINDS A LOT OF APPLICATION IN
PROJECTS LIKE AUTOMOTIVE PARKING SENSORS, OBSTACLE WARNING
SYSTEMS, TERRAIN MONITORING ROBOTS, INDUSTRIAL DISTANCE
MEASUREMENTS ETC.
BACKGROUND AND LITERATURE REVIEW
OVERVIEW
ALL MAJOR DVICES AND COMPONENTS USED IN THE PROJECT ARE DISCUSSED
AND EXPLAINED BELOW.
ULTRASONIC WAVES
THERE IS A REASON OF WHY WE USED ULTRASONIC WAVES INSTEAD OF OTHER
WAVES. FIRST OF ALL, IT IS BECAUSE OF ITS SPEED. ULTRASONIC WAVES
TRAVELLED AT SPEED OF SOUND WHICH IS, #4# M(S. THIS KIND OF SPEED IS NOT
TOO FAST FOR MCU)S IN ATMEGA TO MEASURE ACCURATELY. SO, PRACTICALLY
IT WILL TAKE ABOUT 20 NS * NANO SECOND + TO GO AND BOUNCE BACK FROM
AN OBSTACLE WHICH IS 1 M AWAY. NEXT, ULTRASONIC WAVES TRAVELS MORE
NARROW, LIKE BEAM THAN NORMAL SOUND WAVE. THIS ACTUALLY HELPS THE
SENSOR DETECT THE OBSTACLES THAT ARE EXACTLY IN LINE WITH IT ONLY.
BESIDES THAT, ULTRASONIC WAVES DO NOT DISTURB ANY HUMANS THAT IS
NEARBY.
HC-SR04 ULTRASONIC MODULE.
HC'SR04 IS AN ULTRASONIC RANGING MODULE DESIGNED FOR EMBEDDED
SYSTEM PROJECTS LIKE THIS. IT HAS A RESOLUTION OF 0.#CM AND THE
RANGING DISTANCE IS FROM 2CM TO 100CM. IT OPERATES ON A %V DC SUPPLY
AND THE STANDBY CURRENT IS LESS THAN 2MA. THE MODULE TRANSMITS AN
ULTRASONIC SIGNAL, PICKS UP ITS ECHO, MEASURES THE TIME ELAPSED
BETWEEN THE TWO EVENTS AND OUTPUTS A WAVEFORM WHOSE HIGH TIME IS
MODULATED BY THE MEASURED TIME WHICH IS PROPORTIONAL TO THE
DISTANCE.
THE SUPPORTING CIRCUITS FABRICATED ON THE MODULE MAKES IT ALMOST
STAND ALONE AND WHAT THE PROGRAMMER NEED TO DO IS TO SEND A
TRIGGER SIGNAL TO IT FOR INITIATING TRANSMISSION AND RECEIVE THE ECHO
SIGNAL FROM IT FOR DISTANCE CALCULATION. THE HR'SR04 HAS FOUR PINS
NAMELY VCC, TRIGGER, ECHO, GND AND THEY ARE EXPLAINED IN DETAIL
BELOW.
1+ VCC " %V DC SUPPLY VOLTAGE IS CONNECTED TO THIS PIN.
2+ TRIGGER" THE TRIGGER SIGNAL FOR STARTING THE TRANSMISSION IS GIVEN
TO THIS PIN. THE TRIGGER SIGNAL MUST BE A PULSE WITH 10US HIGH TIME.
WHEN THE MODULE RECEIVES A VALID TRIGGER SIGNAL IT ISSUES $ PULSES OF
40KH ULTRASONIC SOUND FROM THE TRANSMITTER. THE ECHO OF THIS SOUND
IS PICKED BY THE RECEIVER.
#+ECHO" AT THIS PIN, THE MODULE OUTPUTS A WAVEFORM WITH HIGH TIME
PROPORTIONAL TO THE DISTANCE.
4+ GND" GROUND IS CONNECTED TO THIS PIN.
FROM THE ABOVE TIMING DIAGRAM, YOU CAN SEE THAT THE 40KH PULSE
TRAIN IS TRANSMITTED JUST AFTER THE 10US TRIGGERING PULSE AND THE
ECHO OUTPUT IS OBTAINED AFTER SOME MORE TIME. THE NEXT TRIGGERING
PULSE CAN BE GIVEN ONLY AFTER THE ECHO IS FADED AWAY AND THIS TIME
PERIOD IS CALLED CYCLE PERIOD. THE CYCLE PERIOD FOR HC'SR04 MUST NOT
BE BELOW %0MS. ACCORDING TO DATASHEET, THE DISTANCE CAN BE
CALCULATED FROM THE ECHO PULSE WIDTH USING THE FOLLOWING
E,UATIONS.
DISTANCE IN CM - ECHO PULSE WIDTH IN US(%$
AT89S51 MICROCONTROLLER
THE MICROCONTROLLER IS USED TO GENERATE 40 KH SOUND PULSE. IT READS
WHEN THE ECHO ARRIVES. IT FINDS THE TIME TAKEN IN MICROSECONDS FOR TO
AND FROM TRAVEL OF SOUND WAVES. USING VELOCITY OF ##0 M(S, IT DOES
THE CALCULATIONS AND SHOWS ON THE SEVEN SEGMENT DISPLAY AND
DISPLAY THE DISTANCE IN CENTIMETRES.
FEATURES OF 8051 MICRCONTROLLER
THE $0%1 MICROCONTROLLER IS A VERY POPULAR $'BIT MICROCONTROLLER
INTRODUCED BY INTEL IN THE YEAR 1&$1 AND IT HAS BECOME ALMOST THE
ACADEMIC STANDARD NOW A DAYS. THE $0%1 IS BASED ON AN $'BIT CISC CORE
WITH HARVARD ARCHITECTURE. ITS $'BIT ARCHITECTURE IS OPTIMIED FOR
CONTROL APPLICATIONS WITH EXTENSIVE BOOLEAN PROCESSING. IT IS
AVAILABLE AS A 40'PIN DIP CHIP AND WORKS AT /% VOLTS DC. THE SALIENT
FEATURES OF $0%1 CONTROLLER ARE GIVEN BELOW.
SALIANT FEATURES:THE SALIENT FEATURES OF $0%1 MICROCONTROLLER ARE
I. 4 KB ON CHIP PROGRAM MEMORY *ROM OR EPROM++.
II. 12$ BYTES ON CHIP DATA MEMORY *RAM+.
III. $'BIT DATA BUS
IV. 10'BIT ADDRESS BUS
V. #2 GENERAL PURPOSE REGISTERS EACH OF $ BITS
VI. TWO '10 BIT TIMERS T
0
AND T
1
VII. FIVE INTERRUPTS *# INTERNAL AND 2 EXTERNAL+.
VIII. FOUR PARALLEL PORTS EACH OF $'BITS *PORT0, PORT1, PORT2, PORT#+
WITH A TOTAL OF #2 I(O LINES.
IX. ONE 10'BIT PROGRAM COUNTER AND ONE 10'BIT DPTR * DATA
POINTER+
X. ONE $'BIT STACK POINTER
XI. ONE MICROSECOND INSTRUCTION CYCLE WITH 12 MH CRYSTAL.
XII. ONE FULL DUPLEX SERIAL COMMUNICATION PORT.
THE MICROCONTROLLER TOP VIEW.
THERE IS A REASON WHY WE USE AT$&S%1 IN THIS PROJECT. FIRST OF ALL,
AT$&S%1 IS A LOW'POWER, HIGH'PERFORMANCE CMOS $'BIT MICROCONTROLLER
WITH 4K BYTES OF IN'SYSTEM PROGRAMMABLE FLASH MEMORY. THE DEVICE IS
MANUFACTURED USING ATMEL)S HIGH DENSITY NONVOLATILE MEMORY
TECHNOLOGY AND IS COMPATIBLE WITH THE INDUSTRY STANDARD $0C%1
INSTRUCTION SET AND PINOUT. THE ON'CHIP FLASH ALLOWS THE PROGRAM
MEMORY TO BE REPROGRAMMED IN'SYSTEM OR BY A CONVENTIONAL
NONVOLATILE MEMORY PRO'GRAMMER. BY COMBINING A VERSATILE $'BIT
CPU WITH IN'SYSTEM PROGRAMMABLE FLASH ON A MONOLITHIC CHIP, THE
ATMEL AT$&S%1 IS A POWERFUL MICROCONTROLLER WHICH PROVIDES A
HIGHLY FLEXIBLE AND COST EFFECTIVE SOLUTION TO MANY EMBEDDED
CONTROL APPLICATIONS.

THE BLOCK DIAGRAM OF AT$&S%1 MICROCONTROLLER
SCOPE OF STUD
DESIGNING COMPLETE MODEL OF ATMEGA ULTRASONIC RANGE FINDER IS
NEARLY IMPOSSIBLE FOR THIS PROJECT BECAUSE OF TIME CONSTRAINTS AND
LIMITED RESOURCES. SCOPE OF THIS PROJECT IS NARROWED INTO FEW ITEMS
AS FOLLOW"
1. TRANSMISSION OF ULTRASONIC WAVES.
11. ATMEGA PROGRAMMING FOR ARITHMETIC OPERATION.
111. MEASUREMENT OF A DISTANCE FROM ANY OBSTACLES.
WITH THIS SMALLER SCOPE OF STUDY THE REALIATION OF THE PROJECT
OBJECTIVE BECOME ACHIEVABLE.
FLOWCHART OF THE PLAN FOLLOWED

FLOWCHART OF PLAN FOLLOWED
BLOCK DIAGRAM
FLOWCHART
NO
START
SEND 10 MS TRIGGER
INPUT TO SENSOR
IS ECHO
AVAILAB
LE
YES

A
B
START TIMER TO
COUNT 59
MICROSECONDS
INCREMENT
RESISTER TO COUNT
DISTANCE
Is
Echo
availal
!"
DIVIDE
DISTANCE
OBTAINED B#
SEND IT TO $IRST SEVEN
SEGMENT
DISPLA#
SEND THE REMAINDER TO SECOND
SEVEN SEGMENT DISPLA#

%AIT

RESE
A B
YES
NO
C!"#$!% &!'("')
ASSEMBL LEVEL PROGRAM
ORG 00H (( ORIGIN
MOV DPTR,2LUT (( MOVES THE ADDRESS OF LUT TO DPTR
MOV P2,200000000B (( SETS P2 AS OUTPUT PORT
MOV P0,200000000B (( SETS P0 AS OUTPUT PORT
CLR P#.0 (( SETS P#.0 AS OUTPUT FOR SENDING TRIGGER
SETB P#.1 (( SETS P#.1 AS INPUT FOR RECEIVING ECHO
MOV TMOD,200100000B (( SETS TIMER1 AS MODE 2 AUTO RELOAD TIMER
MAIN" MOV TL1,220!D (( LOADS THE INITIAL VALUE TO START COUNTING
MOV TH1,220!D (( LOADS THE RELOAD VALUE
MOV A,200000000B (( CLEARS ACCUMULATOR
SETB P#.0 (( STARTS THE TRIGGER PULSE
ACALL DELAY1 (( GIVES 103S WIDTH FOR THE TRIGGER PULSE
CLR P#.0 (( ENDS THE TRIGGER PULSE
HERE" JNB P#.1,HERE (( LOOPS HERE UNTIL ECHO IS RECEIVED
BACK" SETB TR1 (( STARTS THE TIMER1
HERE1" JNB TF1,HERE1 (( LOOPS HERE UNTIL TIMER OVERFLOWS*4$ COUNTS+
CLR TR1 (( STOPS THE TIMER
CLR TF1 (( CLEARS TIMER FLAG 1
INC A (( INCREMENTS A FOR EVERY TIMER1 OVERFLOW
JB P#.1,BACK (( JUMPS TO BACK IF ECHO IS STILL AVAILABLE
MOV R4,A (( SAVES THE VALUE OF A TO R4
ACALL DLOOP (( CALLS THE DISPLAY LOOP
SJMP MAIN (( JUMPS TO MAIN LOOP
DELAY1" MOV R0,22D (( 103S DELAY
LABEL1" DJN R0,LABEL1
RET
DLOOP" MOV R%,2100D (( LOADS R% WITH 100D
BACK1" MOV A,R4 (( LOADS THE VALUE IN R4 TO A
MOV B,210D (( LOADS B WITH 10D
DIV AB (( ISOLATES THE FIRST DIGIT
ACALL DISPLAY (( CALLS DISPLAY SUBROUTINE
MOV P0,A (( MOVES THE DRIVE PATTERN FOR 1ST DIGIT TO P0
ACALL DELAY (( 1US DELAY
ACALL DELAY
MOV A,B (( MOVES THE REMAINDER OF DIVISION TO A
ACALL DISPLAY
MOV P2,A (( MOVES THE DRIVE PATTERN FOR 2ND DIGIT TO P2
ACALL DELAY
ACALL DELAY
DJN R%,BACK1 (( REPEATS THE DISPLAY LOOP 100 TIMES
RET
DELAY" MOV R!,22%0D (( 13S DELAY
LABEL2" DJN R!,LABEL2
RET
DISPLAY" MOVC A,4A/DPTR (( GETS THE SEVEN SEGMENT DIGIT DRIVE
((PATTERN
RET
LUT" DB C0H (( LOOK UP TABLE *LUT+ STARTS HERE
DB F&H
DB A4H
DB B0H
DB &&H
DB &2H
DB $2H
DB F$H
DB $0H
DB &$H
END
CONCLUSION
THE ULTRASONIC RANGE FINDER USING AT$&S%1 HAS ACHIEVED THE
OBJECTIVES OF THE PROJECT. THE IMPORTANCE OF THE PROJECT IS
CALCULATING ACCURATE DISTANCE FROM ANY OBSTACLE THAT WE WANT TO
MEASURE. THE DEVICE CAN BE USED IN MANY DIFFERENT FIELDS AND
CATEGORIES LIKE DISTANCE CALCULATION IN CONSTRUCTION FIELD, ROBOTS,
CAR SENSOR TO AVOID OBSTACLES AND MANY OTHER APPLICATIONS. THE
BUILDING PROCESS OF THE DEVICE WAS BASED ON USING AS MUCH AS
POSSIBLE FROM THE COURSES TAKEN IN THE UNIVERSITY, LIKE MICRO
PROCESSOR, BASIC ELECTRICAL ENGINEERING, MULTIMEDIA AND SYSTEMS
AND ELECTRONICS DEVICES AND ALSO PRACTICAL WORK IN THE
LABORATORIES.
REFERENCES
1. HTTPS"((WWW.GOOGLE.CO.IN(
2. HTTP"((WWW.CIRCUITSTODAY.COM(
#. THE $0%1 MICROCONTROLLER AND EMBEDDED SYSTEMS 5BY MUHAMMAD ALI
MAIDI, JANICE GILLISPIE MAIDI, ROLIN D.MCKINLAY.

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