目录
一.实验目的
使用 DE2-115 开发板驱动 超声波检测模块(HC_SR04 ),并将所测得数据显示到开发板上的数码管上,或者通过用UART通信方式上传到笔记本串口助手上显示(可采用UART IP核)。
二.实验原理
从上图我们可以看到超声波模块的4个引脚,它们的作用罗列如下:
1. VCC: 电源引脚,超声波模块工作电压为5伏。
2. Trig: 是Trigger(触发)这个单词的缩写,该引脚用于触发超声波脉冲。
3. Echo: 该引脚会在高电平和低电平之间转换,当检测到障碍物时,在高电平保持的时间就表示信号发射出去并反射回来的时间。
4. GND: 接地引脚。
超声波原理:
HC-SR04超声波测距模块可提供 2cm-400cm的非接触式距离感测功能,测距精度可达高到 3mm;模块包括超声波发射器、接收器与控制电路。图1为HC-SR04外观,其基本工作原理为给予此超声波测距模块触发信号后模块发射超声波,当超声波投射到物体而反射回来时,模块输出回响信号,以触发信号和回响信号间的时间差,来判定物体的距离。
硬件模块时序图
三.RTL图和引脚配置
四.各模块实现
clk_div
module clk_div(
input wire Clk , //system clock 50MHz
input wire Rst_n , //reset ,low valid
output wire clk_us //
);
//Parameter Declarations
parameter CNT_MAX = 19'd50;//1us的计数值为 50 * Tclk(20ns)
//Interrnal wire/reg declarations
reg [5:00] cnt ; //Counter
wire add_cnt ; //Counter Enable
wire end_cnt ; //Counter Reset
//Logic Description
always @(posedge Clk or negedge Rst_n)begin
if(!Rst_n)begin
cnt <= 'd0;
end
else if(add_cnt)begin
if(end_cnt)begin
cnt <= 'd0;
end
else begin
cnt <= cnt + 1'b1;
end
end
else begin
cnt <= cnt;
end
end
assign add_cnt = 1'b1;
assign end_cnt = add_cnt && cnt >= CNT_MAX - 19'd1;
assign clk_us = end_cnt;
endmodule
hc_sr_echo
module hc_sr_echo(
input wire Clk , //clock 50MHz
input wire clk_us , //system clock 1MHz
input wire Rst_n , //reset ,low valid
input wire echo , //
output wire [18:00] data_o //检测距离,保留3位小数,*1000实现
);
/* S(um) = 17 * t --> x.abc cm */
//Parameter Declarations
parameter T_MAX = 16'd60_000;//510cm 对应计数值
//Interrnal wire/reg declarations
reg r1_echo,r2_echo; //边沿检测
wire echo_pos,echo_neg; //
reg [15:00] cnt ; //Counter
wire add_cnt ; //Counter Enable
wire end_cnt ; //Counter Reset
reg [18:00] data_r ;
//Logic Description
//如果使用clk_us 检测边沿,延时2us,差值过大
always @(posedge Clk or negedge Rst_n)begin
if(!Rst_n)begin
r1_echo <= 1'b0;
r2_echo <= 1'b0;
end
else begin
r1_echo <= echo;
r2_echo <= r1_echo;
end
end
assign echo_pos = r1_echo & ~r2_echo;
assign echo_neg = ~r1_echo & r2_echo;
always @(posedge clk_us or negedge Rst_n)begin
if(!Rst_n)begin
cnt <= 'd0;
end
else if(add_cnt)begin
if(end_cnt)begin
cnt <= cnt;
end
else begin
cnt <= cnt + 1'b1;
end
end
else begin //echo 低电平 归零
cnt <= 'd0;
end
end
assign add_cnt = echo;
assign end_cnt = add_cnt && cnt >= T_MAX - 1; //超出最大测量范围则保持不变,极限
always @(posedge Clk or negedge Rst_n)begin
if(!Rst_n)begin
data_r <= 'd2;
end
else if(echo_neg)begin
data_r <= (cnt << 4) + cnt;
end
else begin
data_r <= data_r;
end
end //always end
assign data_o = data_r >> 1;
endmodule
hc_sr_trig
module hc_sr_trig(
input wire clk_us , //system clock 1MHz
input wire Rst_n , //reset ,low valid
output wire trig //触发测距信号
);
//Parameter Declarations
parameter CYCLE_MAX = 19'd300_000;
//Interrnal wire/reg declarations
reg [18:00] cnt ; //Counter
wire add_cnt ; //Counter Enable
wire end_cnt ; //Counter Reset
//Logic Description
always @(posedge clk_us or negedge Rst_n)begin
if(!Rst_n)begin
cnt <= 'd0;
end
else if(add_cnt)begin
if(end_cnt)begin
cnt <= 'd0;
end
else begin
cnt <= cnt + 1'b1;
end
end
else begin
cnt <= cnt;
end
end
assign add_cnt = 1'b1;
assign end_cnt = add_cnt && cnt >= CYCLE_MAX - 9'd1;
assign trig = cnt < 15 ? 1'b1 : 1'b0;
endmodule
seg_driver
module seg_driver(
input wire Clk ,
input wire Rst_n ,
input wire [18:0] data_o ,
output wire [6:0] hex1 ,
output wire [6:0] hex2 ,
output wire [6:0] hex3 ,
output wire [6:0] hex4 ,
output wire [6:0] hex5 ,
output wire [6:0] hex6 ,
output wire [6:0] hex7 ,
output wire [6:0] hex8
);
parameter NOTION = 4'd10,
FUSHU = 4'd11;
parameter MAX20us = 10'd1000;
reg [9:0] cnt_20us;
reg [7:0] sel_r;
reg [3:0] number;
reg [6:0] seg_r;
reg [6:0] hex1_r;
reg [6:0] hex2_r;
reg [6:0] hex3_r;
reg [6:0] hex4_r;
reg [6:0] hex5_r;
reg [6:0] hex6_r;
reg [6:0] hex7_r;
reg [6:0] hex8_r;
//20微妙计数器
always @(posedge Clk or negedge Rst_n) begin
if (!Rst_n) begin
cnt_20us <= 10'd0;
end
else if (cnt_20us == MAX20us - 1'd1) begin
cnt_20us <= 10'd0;
end
else begin
cnt_20us <= cnt_20us + 1'd1;
end
end
//单个信号sel_r位拼接约束
always @(posedge Clk or negedge Rst_n) begin
if (!Rst_n) begin
sel_r <= 8'b11_11_11_10;
end
else if (cnt_20us == MAX20us - 1'd1) begin
sel_r <= {sel_r[6:0],sel_r[7]};
end
else begin
sel_r <= sel_r;
end
end
/*拿到数字*/
always @(*) begin
case (sel_r)
8'b11_11_11_10: number = NOTION ;
8'b11_11_11_01: number = data_o/10_0000 ;
8'b11_11_10_11: number = (data_o%10_0000)/1_0000 ;
8'b11_11_01_11: number = ((data_o%10_0000)%1_0000)/1000 ;
8'b11_10_11_11: number = FUSHU ;
8'b11_01_11_11: number = (((data_o%10_0000)%1_0000)%1000)/100 ;
8'b10_11_11_11: number = ((((data_o%10_0000)%1_0000)%1000)%100)/10 ;
8'b01_11_11_11: number = ((((data_o%10_0000)%1_0000)%1000)%100)%10 ;
default: number = 4'd0 ;
endcase
end
/*通过数字解析出seg值*/
always @(*) begin
case (number)
4'd0 : seg_r = 7'b100_0000;
4'd1 : seg_r = 7'b111_1001;
4'd2 : seg_r = 7'b010_0100;
4'd3 : seg_r = 7'b011_0000;
4'd4 : seg_r = 7'b001_1001;
4'd5 : seg_r = 7'b001_0010;
4'd6 : seg_r = 7'b000_0010;
4'd7 : seg_r = 7'b111_1000;
4'd8 : seg_r = 7'b000_0000;
4'd9 : seg_r = 7'b001_0000;
NOTION : seg_r = 7'b111_1111;
FUSHU : seg_r = 7'b011_1111;
default : seg_r = 7'b111_1111;
endcase
end
always @(*) begin
case (sel_r)
8'b11_11_11_10: hex1_r = seg_r;
8'b11_11_11_01: hex2_r = seg_r;
8'b11_11_10_11: hex3_r = seg_r;
8'b11_11_01_11: hex4_r = seg_r;
8'b11_10_11_11: hex5_r = seg_r;
8'b11_01_11_11: hex6_r = seg_r;
8'b10_11_11_11: hex7_r = seg_r;
8'b01_11_11_11: hex8_r = seg_r;
default: seg_r = seg_r;
endcase
end
assign hex1 = hex1_r;
assign hex2 = hex2_r;
assign hex3 = hex3_r;
assign hex4 = hex4_r;
assign hex5 = hex5_r;
assign hex6 = hex6_r;
assign hex7 = hex7_r;
assign hex8 = hex8_r;
endmodule
hc_sr_top
module hc_sr_top (
input wire Clk ,
input wire Rst_n ,
input wire echo ,
output wire trig ,
output wire [6:0] hex1 ,
output wire [6:0] hex2 ,
output wire [6:0] hex3 ,
output wire [6:0] hex4 ,
output wire [6:0] hex5 ,
output wire [6:0] hex6 ,
output wire [6:0] hex7 ,
output wire [6:0] hex8
);
wire [18:0] data_o;
wire clk_us;
seg_driver u_seg_driver(
.Clk (Clk ),
.Rst_n (Rst_n ),
.data_o (data_o ),
.hex1 (hex1),
.hex2 (hex2),
.hex3 (hex3),
.hex4 (hex4),
.hex5 (hex5),
.hex6 (hex6),
.hex7 (hex7),
.hex8 (hex8)
);
clk_div clk_div_inst(
.Clk(Clk) , //system clock 50MHz
.Rst_n(Rst_n) , //reset ,low valid
.clk_us (clk_us) //
);
hc_sr_trig u_hc_sr_trig(
.clk_us(clk_us) , //system clock 1MHz
.Rst_n(Rst_n) , //reset ,low valid
.trig(trig) //触发测距信号
);
hc_sr_echo u_hc_sr_echo(
.Clk(Clk) , //clock 50MHz
.Rst_n(Rst_n) , //reset ,low valid
.clk_us(clk_us),
.echo(echo) , //
.data_o(data_o) //检测距离,保留3位小数,*1000实现
);
endmodule