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POLAROID 6500 PINOUT FUNCTION COMMENTS
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Ground BLNK N/C INIT N/C OSC ECHO BINH Vcc
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Connect to 1,000- F electrolytic capacitor s cathode When asserted, the 6500 will blank out any re ected signal
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When asserted, the 6500 will output the ultrasonic sound burst
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49.4-kHz oscillator output Asserted when the returned signal is received When asserted, the 6500 will ignore any transducer ringing 5 V connect to 1,000- F electrolytic capacitor s anode
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helps to avoid uctuating readings. For any inputs that are going to be driven, you must pull up the lines with 4.7-k resistors. This is especially important when wiring the 6500 to a microcontroller that has an open drain I/O pin (such as the RA4 in the mid-range PIC microcontrollers) or weak MOSFET pull-ups such as on PORTB. This explanation of the 6500 probably seems quite simplistic. The 6500 can be purchased from a variety of sources on the web. To simplify operation of the Polaroid 6500, I simply drove operated the ranger with BINH and BLNK pulled to ground. This makes some of the measurements a bit unreliable (i.e., jumping up and down depending on what is the rst object to echo back to the Polaroid 6500), but other than this, the application works very well. Once I had created a simple application for testing the operation of the Polaroid 6500 and getting oscilloscope readings (as in Fig. 21.9), I then wanted to convert the distance measurement to feet and inches and display it on an LCD. To determine the distance between the Polaroid 6500 s transducer and an object, the time between initiation of the INIT pulse and the ECHO return is measured. Using the PIC12C509 running the internal 4-MHz clock, this time was measured in 148- s increments. The 148- s increment probably seems like an unusual measurement, but it is based on the speed of sound for ultrasonic frequencies. Assuming that the speed of sound at sea level for a 40-kHz signal is 1,127 ft/s (13,523 in/s), the ight time from the transducer to an object and back (twice this distance) is 147.9 s. Using a 148- s check results in a 0.068 percent error, which should be insigni cant in the actual measurement, and allows the PIC12C509 to be used with the internal oscillator without modi cation. The Polaroid 6500 is speci ed to a maximum distance of 35 ft (which is 420 or 0x01A4 in in the application code). During operation, I wait for the ECHO line to
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become active, incrementing a Distance counter once every 148 s and indicating that there is no echo if the counter reaches 420. The code that does this distance and no echo check is
clrf clrf bsf EchoLoop: movf Distance, w xorlw 0x0A4 btfsc STATUS, Z decfsz Distance + 1, w goto $ + 2 goto NoEcho Delay 148 - 12 incf btfsc incf btfss goto bcf Distance, f STATUS, Z Distance + 1, f Echo EchoLoop Init Distance Distance + 1 Init ; clear the Distance Calculation
; ; ; ; ; ; ; ;
Toggle the Init Pin High Loop Here until At 35 (Max Distance) = 420 Low byte == 0x0A4, High Byte == 1 - No, Give up Make sure each Loop is 148 Increment the Distance Count secs (1 )
Wait for Echo
Turn off Init Pin
and bears a few comments. In the code after the EchoLoop label, I rst compare the 2-byte Distance variable to see if it is equal to 0x01A4. This is done by rst setting the zero ag if the lower byte is 0x0A4 and then optionally decrementing the upper byte using the decfsz instruction to check if it is equal to 1 as well. This code is quite ef cient, although probably dif cult to walk through if you are new to the PIC microcontroller, and it only works if the value being checked for has a high byte of 1. The Delay macro is the same one as I developed for the serial LCD interface project. Once a valid distance has been determined, I then convert the value into feet and inches. To convert the Distance into feet, I divide it by 12 using the code
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