THIS SPEC IS OBSOLETE Spec No: 001-40920 Spec Title: SENSING: ULTRASOUND MOTION SENSOR AN2047 Sunset Owner: M Ganesh Raaja (GRAA) Replaced by: None AN2047 Sensing: Ultrasound Motion Sensor Author: Victor Kremin Associated Project: Yes Associated Part Family: CY8C26443 Software Version: NA Related Application Notes: None This application note describes an ultrasound motion detection sensor based on the Doppler-Effect. The sensor is primarily intended to be used in security systems for detection of moving objects. However, it can be effectively involved in intelligent children’s toys, automatic door opening devices, and sports training and contact-less-speed measurement equipment. Contents Introduction Introduction ....................................................................... 1 Overview of Ultrasound Motion Detection Sensors ........... 2 Sensor Flowchart .............................................................. 3 Sensor Hardware .............................................................. 4 Sensor Schematics ...................................................... 4 Chip Internals ............................................................... 7 Sensor Firmware .......................................................... 8 Design Variances and Sensor’s Alternative Applications .. 9 Summary ......................................................................... 12 Appendix A ...................................................................... 13 Worldwide Sales and Design Support ............................. 16 Modern security systems use many types of sensors to detect access attempts by unauthorized objects. The sensor collection includes infrared, microwave, and ultrasound devices that are intended to detect moving objects. Each type of sensor is characterized by its own advantages and drawbacks. Microwave sensors are effective in large apartments because microwaves pass through dielectric materials. But these sensors consist of expensive super-high frequency components, and their radiation is unhealthy for living organisms. Infrared sensors are characterized by high sensitivity and low cost, and are widely used. But these sensors can generate false alarm signals if heating systems are active or temperature-change speed exceeds some threshold level. Moreover, infrared sensors appreciably lose sensitivity if small insects penetrate the sensor lens. Ultrasound motion detection sensors are characterized by small power consumption, suitable cost, and high sensitivity. This is why this kind of sensor is commonly used in home, office, and car security systems. Existing ultrasound sensors consist of multiple passive and active components and are relatively complicated for production and testing. Sensors often require a laborious tuning process. The sensor proposed in this application note uses a single PSoC MCU together with few passive components. It is characterized by high sensitivity and resistance to various noise signals. www.cypress.com Document No. 001-40920 Rev. *C 1 Sensing: Ultrasound Motion Sensor Overview of Ultrasound Motion Detection Sensors Figure 1 depicts the typical sensor installation. Figure 1. Basic Sensor Operation Principle TX RX w ted flec ct re Obje W al ls re fle ct ed s ave wa ve s The ultrasound transmitter TX is emitting ultrasound waves into sensor ambient space continuously. These waves are reflecting from various objects and are reaching ultrasound receiver RX. There is a constant interference figure if no moving objects are in the placement. Any moving object changes the level and phase of the reflected signal, which modifies the summed received signal level. Most low-cost sensors (car security systems, for instance) perform reflected signal amplitude analysis to detect moving objects. Despite implementation simplicity, this detection method is characterized by a high sensitivity to noise signals. For example, heterogeneous airflows, sensor vibrations, room window and door deformations, and wind gusts can change the interference figure and generate false alarm signals. Better noise resistance may be obtained if the receive sensor is performing reflected signal frequency analysis instead of amplitude examination. The reflected signal spectrum emulates a Doppler Effect. Frequency components of the moving object speed vector have a component in the direction of ultrasound radiation propagation. Because ultrasound waves reflect from the windows, walls, furniture, and other objects, the sensor can detect object movements in any direction. To implement this principle, the sensor must perform selection and processing of Doppler Effect frequency shift to detect moving objects. Air conditioning systems, heat generators, and refrigerators typically include movable parts, which can cause device vibrations that generate high-frequency Doppler components in the reflected ultrasound signal. The heterogeneous variable temperature airflows are characterized by different ultrasound propagation speed that can raise low-frequency Doppler components in the reflected signal. That is why the noise-resistant motion detection sensor should limit the Doppler signals’ frequency range from lower and upper bounds to satisfactory false-alarm free operation. The ultrasound motion detection sensor has been developed in compliance with operation principles described in this section. Table 1 summarizes the main sensor characteristics. Table 1. Main Sensor Characteristics Item Item Value Operation Range 5 cm–4 m Operation Frequency 30-50 kHz, determined by piezoelectric sensor resonant frequency Power Consumption 27 mA (alarm off) 55 mA (alarm on) Sensor Outputs Alarm LED and relay with normal closed and normal open contact pairs Sensor Response Time 0.25 s The Range of Detected Object’s Speed 10 cm/s–1.5 m/s www.cypress.com Document No. 001-40920 Rev. *C 2 Sensing: Ultrasound Motion Sensor Sensor Flowchart The sensor flowchart is illustrated in Figure 2. Note that the gray blocks are used to mark the external units for the PSoC microcontroller. Figure 2. Sensor Block Diagram Resonant generator INA Software CB DRV MIXER AMP BPF ZC LPF 1 ADC1 LPF 2 TX HPF RS232 LC2 RELAY RX Software Internal AD ADC 2 LC 1 External Low Level LED The sensor operates in the following way: The resonant generator drives the piezoelectric transmitter TX, which converts the electric signals into acoustic waves. The waves reflected from various objects reach the piezoelectric receiver RX, are converted into electric signals and amplified by input amplifier AMP. The resonant band-pass filter BPF suppresses the off-band noise signals and removes the DC component from the input amplifier output signal. Note The offset level of input amplifier can raise the DC component up to 0.75 V. Alarm LED As considered previously, the reflected signal can be amplitude modulated. Zero-crossing detector ZC suppresses this unwanted amplitude modulation, and converts the filter output signal into phase modulated signal. Note that if the amplitude for the signal reflected from the moving objects is smaller than for the signal reflected from fixed items, the band-pass filter output signal will be phase modulated. It will be frequency modulated in the opposite case. In the security system, the signal reflected from moving objects can be 3 to 20 times weaker than the signal reflected from unmoved objects. The output of zero-crossing detector ZC is routed to signal input of the MIXER. The ultrasound generator output signal serves as the MIXER reference signal. The lowpass filter LPF1 selects the Doppler signal from the mixer products. Filter output signal is then sampled by sigmadelta ADC1 for subsequent processing in the software. The software-implemented digital low-pass filter LPF2 additionally suppresses high-frequency components in Doppler signal frequency spectrum and removes the influence of zero-crossing detector phase noise. www.cypress.com Document No. 001-40920 Rev. *C 3 Sensing: Ultrasound Motion Sensor Note In author’s opinion, this noise is caused by BPF operational amplifier’s noise and by PSoC digital part noise. Digital high-pass filter HPF limits the lower frequency in the Doppler spectrum. It effectively suppresses the influence of low-frequency noise signals on sensor operation. The high-pass, filter-output signal is analyzed by the level comparator LC2 for alarm signal generation. For alternative sensor applications or testing purposes, the filtered data stream can be transmitted using an RS232 compatible transmitter. For reliable detection of movable objects, the reflected waves’ signal level must be larger than some predefined value. If this condition is not satisfactory, the sensor must be placed in another location or transmitter output power must be increased. The input level controlling subsystem consists of amplitude detector AD, integrating analog-todigital converter ADC2 and level comparator LC1. Piezoelectric sensors are characterized by a high Q factor and need precision tuning of operation frequency to achieve the maximum efficiency. Moreover, the sensor resonant frequency is temperature dependent and influenced by aging. As a result, expensive frequency and temperature compensation circuits are present in most ultrasound sensors today. Additionally, the piezoelectric sensors need relatively large input voltages for obtaining the demanded acoustic output power. These difficulties can be eliminated if a resonant generator is used in conjunction with a piezoelectric transmitter to stimulate bridge-load driver. If the same sensor is used for the receiver part, the temperature and aging effects on sensor performance is virtually eliminated. The proposed sensor includes the resonant generator with a bridge transmitter for achieving maximum output power for given supply voltage. This generator consists of the piezoelectric driver DRV, a sensor current bridge CB for measuring crystal current, and instrumentation amplifier INA. Sensor Hardware First, the detailed circuit diagram will be analyzed, then possible project improvements and design variations will be considered. Sensor Schematics Figure 3 and Figure 4 represent the complete sensor schematic. Figure 3 depicts the analog components and Figure 4 represents the CPU. www.cypress.com Document No. 001-40920 Rev. *C 4 Sensing: Ultrasound Motion Sensor Figure 3. Sensor Schematic; Analog Components VPP ULSD_IN R6 330k Y1 J1 U2 D4 C3 10p VIN 1N5818 Power 6-15V DC + C4 200*16V GND RECEIVER C5 0,33u VCC VOUT C6 0,33u LP2950-5.0 C7 0,33u D5 5,6V + C8 100*6,3V AGND Protector Current Measurement Bridge GEN1 R7 100 R8 100 VPP R9 20K LS1 TR_OUT1 R11 510 INA1 TRANSMITTER R13 20k J2 C9 33p R10 10k Y2 R12 330 NC R14 20k J3 C10 TR_OUT2 D6 4,7p C11 33p R15 10k NO ALARM LED - RED INA2 R16 20k T90S-SPDT ALARM D7 BAT54WT1 R17 100 R18 470k R20 100 R19 470k R21 120 Q1 MMFT3055 ALARM R22 10k GEN2 VCC R23 10k R24 10k C12 0,33u Title Size A AGND www.cypress.com Ultrasonic motion sensor Document Number LOAD Date: Document No. 001-40920 Rev. *C Monday, September 02, 2002 Rev <RevCode> Sheet 2 of 2 5 Sensing: Ultrasound Motion Sensor Figure 4. Sensor Schematic; CPU TP1 LPF OUT U1 VCC 1 2 3 4 ULSD_IN INA1 D1 1 R3 10k 3 5 6 7 8 LEVEL 9 VCC BAT54WT1/SC R2 C2 0,1u R4 100k R5 510 10 11 12 13 GEN1 ALARM 510 14 D3 D2 POWER - GREEN P0[7] P0[5] P0[3] P0[1] P0[6] P0[4] P0[2] P0[0] P2[7] P2[5] P2[3] P2[1] P2[6] P2[4] P2[2] P2[0] SMP XRES P1[7] P1[5] P1[3] P1[1] P1[6] P1[4] P1[2] P1[0] 28 VCC 27 26 25 24 INA2 23 22 21 20 TP5 RESERVED TP2 INST AMP OUT TP3 IN BPF OUT TP4 IN PGA OUT 19 18 17 16 15 Vss AGND GEN2 J4 2 1 R25 470 SERIAL DEBUG CY26443 LOW SIGNAL - YELLOW Title Ultrasonic motion sensor Size A Document Number CPU Date: The transmitter sensor current bridge has been formed by R7-R9, R13-R14, R16-R17 and R20. If R8 R13 R16 R20 and R7 R9 R14 R17 . The voltage between the left pins of C9 and C11 is directly proportional to the current in the piezoelectric transmitter Y2. The differential networks, C9R10R18 and C11R15R19, compensate the phase shift in the internal PSoC MCU instrumentation amplifier and provide oscillation frequency very close to the main crystal resonance frequency. The network parameters are optimal for an oscillation frequency of 30-40 kHz and can be adjusted for other crystal’s resonant frequencies. The sensor input stage has been formed by R6C3, so the R23R24C12 determines the analog ground potential. The alarm relay is controlled by the Q1 MOSFET. The other load types (such as open-drain output, solid state relay, and buzzer) can be supported as well. The power supply consists of conventional linear regulator U2. The diode D4 protects the sensor electronics under reverse power conditions. The sensor can be powered from nonstabilized 6-12 V DC/AC supply with maximum current of 100 mA. Normal operation current is several times smaller. Monday, September 02, 2002 Rev <RevCode> Sheet 1 of 2 To send this data stream to PC COM port for analysis, a standard level translator such as MAX3221 must be added externally. The testpoints TP1-TP5 are intended for observing some PSoC MCU internal signals. Table 2 describes each testpoint function: Table 2. Testpoint Descriptions Testpoint Reference Function TP1 Output of switching capacitor low-pass filter, LPF1 according to Figure 2 TP2 Output of generator instrumentation amplifier, INA TP3 Output of band-pass filter, BPF TP4 Output of receiver preamplifier, AMP; input of band-pass filter, BPF TP5 Reserved for future extensions The D1R3C2R4 form the amplitude detector for measuring the reflected signal level. LED D3 indicates the low level of this signal. Connector J4 brings the compatible CMOS serial transmitter output and can be used for sensor firmware debugging or alternative sensor applications. www.cypress.com Document No. 001-40920 Rev. *C 6 Sensing: Ultrasound Motion Sensor Chip Internals Figure 5 shows the total chip interconnection. The port labels in brackets display the corresponding port numbers. The italic font depicts the matching net names and narrow lines have been used for presenting the clock lines. Gray color marks the unused blocks, which can be used to implement additional features. Figure 5. PSoC MCU Internals P0[4] INST AMP OUT DBA00 ADC 2 ACA00 DBA02 48M Baud Timer LPF 1 P0[5] LPF_OUT ZC INA ACA02 ASB11 DRV DCA05 P0[1] INA1 ACA01 LPF 1 ASA10 DRV DCA04 DBA03 P0[3] IN PGA OUT BUF00 P0[7] ULSD_IN AMP ADC 1 DBA01 P1[5] GEN1 P1[6] Tx232 Tx232 DCA06 DCA07 P0[0] INA2 BUF02 ADC 2 BUF01 24V2 P1[4] GEN2 INA ACA03 BPF ASA12 ASB13 24V2 P2[1] LEVEL ADC 2 ADC 1 ASB20 ASB22 ASA21 Used blocks External connection BPF ASA23 BUF03 24V1 P0[2] IN BPF OUT P2[0] IN PGA OUT Reserved blocks The resonant generator consists of the instrumentation amplifier, which is placed into ACA02 and ACA03 analog continuous time blocks. The amplifier output is routed through a internal PSoC Schmitt Trigger to input the first inverter, which has been placed into DCA04. The inverter output is connected to both piezoelectric crystal current bridge and the input of the second inverter, which has been placed in DCA05. The inverters form the bridge piezoelectric transmitter driver which allows for obtaining the maximum output power for the given supply voltage. www.cypress.com Document No. 001-40920 Rev. *C 7 Sensing: Ultrasound Motion Sensor The sensor input signal is amplified by programmable gain amplifier (PGA) placed into ACA00 and is filtered by vertical band-pass filter placed into ASB13 and ASA23. The filter center frequency is selected to be at the piezoelectric transmitter resonant frequency. The maximum sample ratio is equal to 30, which is sufficient. The PGA output is connected externally with filter input; the PSoC routing and placement limitations prohibit making this connection internally. The programmable gain amplifier placed into ACA01 has been reconfigured as a zero-crossing detector by removing the operational amplifier feedback. For applications that demand an accurate spectrum analysis of Doppler-Effect signal, the PGA can be used directly by removing re-configuration code in software sources. The mixer is combined with switched-capacitor low-pass filter LPF1, which has been placed into ASA10 and ASB11 blocks. The amplitude modulation possibility of ASA10 block is used for the mixer operation. The mixer reference signal is brought in by way of Global Output Bus 4 from the resonant generator. The filter output signal is routed by way of internal buffer to P0[5] port for debugging and testing purposes. Note that the LPF1 filter cut-off frequency is selected to be 1200 Hz and the maximum sample ratio is near 140 for good suppression of ultrasound-carrier conversion high-frequency products. The LPF1 filter output signal is sampled by the 8-bit sigma delta ADC1 and the subsequent processing is being done in software. The sigma-delta ADC selection is based on low CPU overheads and good AC characteristics. The ADC1 sample rate is 2.6 kHz. To measure the reflected signal level, the incremental 12-bit ADC is used. The ADC conversion time is the longest among other ADC types for given clock frequency, which allows effective suppressing of the unwanted reflected signal amplitude modulation. In our case, ADC2 sample rate is near 40 Hz. The timer placed into DBA03 forms the baud rate signal serial transmitter that has been placed into DCA06. The ADC1 data stream can be passed via COM port to a PC for analysis or processing in sensor-alternative applications. Sensor Firmware The sensor analyzes the Doppler-Effect signal continuously and turns on the alarm if the value of this signal within the inspected frequency range is bigger than some threshold value. The sensor software is implemented using the interrupt-main loop programming technique. The real-time data collection and processing algorithms are implemented in the ADC1 interrupt routine. Analysis of reflected signal level and sending the ADC1 data stream are implemented in the main software loop. The software sources allow building two software versions; debug and release dependent on the DEBUG variable definition. The debug software version sends the ADC1 filtered data stream via the serial transmitter together with other debug information. In the release version, these features are omitted which reduces power consumption and saves code space. The main loop is quite simple. After reset, peripheral devices are initiated and data collection is started. Then, the level measuring ADC2 samples the sensors and updates the low-level LED status. Finally, the ADC1 sample status is checked and sent via serial port, if the debug software version has been built. The data processing algorithms are implemented in the ADC1 interrupt routine. First, the low-pass filtering is performed for removing the high-frequency noise from Doppler-Effect signal. Next, the low-pass filter output data stream is directed to the high-pass filter to remove the lower frequency spectrum portion, which is done to improve the sensor noise resistance. Lastly, the amplitude analysis of the high-pass filter output is performed to detect the alarm signals. The alarm is turned on when the predefined number of interrupt cycles of the alarm condition has been detected. The digital filters are implemented as finite impulse response (FIR) filters using the PSoC MCU multipleaccumulation unit (MAC). The low-pass filter operates at the ADC1 sample rate, and the filter cut-off frequency is set near 300 Hz. The filter length was selected to 11 taps. The high-pass filter operates at a quarter of the ADC sample rate with cut-off frequency of approximately 20 Hz. The filter length was chosen to 15 taps for reliable operation under indoor and outdoor conditions, but could be reduced to 7 in a less noisy environment. The corresponding conditional compilation variable, BPF_HIGH, is present in the software source. Note that the lower sample rate of the FIR HPF was selected to provide the low cut-off frequency with smaller number of filter taps. Because the high-pass filter operates at a quarter sample rate, the Interrupt Service Routine (ISR) structure was optimized to provide balancing of CPU resources. www.cypress.com Document No. 001-40920 Rev. *C 8 Sensing: Ultrasound Motion Sensor Because the high-pass filter operates with a lower sample rate, the LPF2 output does not require sampling on every interrupt. So, in the first interrupt time we calculate the LPF2 sample, next process this sample via digital HPF and perform the HPF output analysis in third interrupt routine call. Note that the LPF2 circular buffer must be updated each time. Figure 6 illustrates the proposed algorithm: Figure 6. Data Processing Interrupt Routine Structure Start Update LPF2 circular buffrer The current software release was written in ‘C’ and runs at 12 MHz. It is expected that assembly level optimization will allow the decrease of the CPU clock frequency two or more times for additional reduction in power consumption. Increment switch variable Is switch = 1? Yes Design Variances and Sensor’s Alternative Applications Calculate LPF2 sample No Is switch = 2? Yes The proposed sensor hardware and software were optimized for security system applications. For some types of these applications, the obtained operation range is unacceptable. For achieving larger operational distances, combine an external-power amplifier with a low-noise preamplifier. The standard MOSFET driver is ideally suitable for piezoelectric sensor driving because it is intended to drive large capacitance loads. The preamplifier will amplify the low-level signals. Figure 7 depicts the proposed schematic of this unit. The proposed amplifier is characterized by a maximum gain on the piezoelectric sensor resonant frequency, which allows suppression of the off-band noise signals. Calculate HPF sample No Is switch = 3? Yes Analyze HPF sample No Is switch = 4? The current version of the sensor firmware is relatively simple. It consumes only 3 Kbytes of code and 60 bytes of data RAM. The rest of the code and data memory is at user disposal and can be used for embedding the proposed sensor into various applications. For example, the author has combined this sensor with a doorbell for automatic sound level and melody changing when anyone comes close to the home entrance door. The PSoC MCU dynamic reconfiguration possibility allows on-the-fly dynamic changing of PSoC functions and use of previously allocated hardware resources for alternative purposes. Yes switch = 0 No Return To detect alarm events, a software peak detector has been implemented. Alternatively, a true RMS detector can be easily implemented using the PSoC MAC. No difference between these two approaches was observed. www.cypress.com Document No. 001-40920 Rev. *C 9 Sensing: Ultrasound Motion Sensor Figure 7. External Amplifiers for Longer Operational Range +15V V5V 6 U1A 2 GEN1 7 DN1 54SLT1 V5V DN2 54SLT1 R1 10 C1 47p 3 MAX4426 R2 1k R3 100 R4 100k U2 TR_OUT1 7 3 ULSD_IN TRANSMITTER R7 20k Y1 R8 20k MAX410 C4 33p R9 10k 4 Y2 C2 33p R6 10k INA1 6 + 2 - C3 0,1u R5 20K TR_OUT2 RECEIVER INA2 R10 20k AGND +15V R11 10 4 R13 1M 5 3 GEN2 R12 1M R14 10 6 U1B AGND MAX4426 Title <Title> Size A Date: For the resonant generator variants, the PSoC MCU internal Schmitt Trigger is used for converting the amplifier analog signal into digital. Alternatively, the signal from Comparator Bus 2 can be routed to Global Output Bus 5 via the SPIS User Module. Note SPIS is a non-inverting module, so the signal must be first routed to Global Output Bus 5 and later to Global Output Bus 4 via digital inverter to preserve existing sensor schematic. This approach has been tested but larger power consumption and jitter on generated waveform has been observed. www.cypress.com Document Number <Doc> Thursday, September 12, 2002 Rev <RevCode> Sheet 1 of 1 The scope of sensor applications is not limited to security systems. These applications can be used for such products as movement-activated intellectual children toys, automatic door opening systems, and identification systems. Also, the sensor can be used for remote, contact-less speed measurement and machined partsvibration analysis. For example, the sensor can be built into various sports training equipment for controlling the practice pace and optimizing the training load time distribution. For speed measurement applications, the speed can be determined by measuring the frequency of the DopplerEffect signal. The methods that can be used include the “classic” counter frequency/period measuring method, FFT or correlation technique, wavelet transformation-based analysis, and so on. The wavelet transformation is optimal for analyzing non-stationary signals. Document No. 001-40920 Rev. *C 10 Sensing: Ultrasound Motion Sensor Figure 8. Doppler-Effect Signal Example Time Graph (a); its FFT (b) 40 15 0 Amplitude ADC samples 20 -20 10 5 -40 0 -60 0 20 40 60 (a) www.cypress.com 80 100 120 0,0 t, ms Document No. 001-40920 Rev. *C 0,1 0,2 0,3 0,4 0,5 F, kHz (b) 11 Sensing: Ultrasound Motion Sensor Summary The ultrasound motion detection sensor has been presented. The sensor can be used for building various intelligent devices, including home, office and car security systems, intellectual toys, and home appliances. The software sources, schematics, and board layout reference design simplify sensor adaptation for concrete application demands. The associated project includes full schematic and board layout files in Cadence Orcad 9.2. Note that the layout was performed for components on hand. Using smaller footprint components will allow you to build the sensor with noticeably smaller dimensions. About the Author Name: Victor Kremin. www.cypress.com Document No. 001-40920 Rev. *C 12 Sensing: Ultrasound Motion Sensor Appendix A Figure 9. Component Placement Layer and Board Layout Layers, Actual Size Component labels (dimensions are in inches) Top layout layer Bottom layout layer www.cypress.com Document No. 001-40920 Rev. *C 13 Sensing: Ultrasound Motion Sensor Figure 10. Sensor Photograph, Actual Size www.cypress.com Document No. 001-40920 Rev. *C 14 Sensing: Ultrasound Motion Sensor Document History Document Title: Sensing: Ultrasound Motion Sensor - AN2047 Document Number: 001-40920 Revision ECN Orig. of Change Submission Date Description of Change ** 1536344 XSG 10/03/2007 OLD APP. NOTE: Obtained spec # for note to be added to spec system. *A 3197863 BIOL 03/16/2011 Updated BOOT.TPL file. Updated UM versions. *B 4348867 GRAA 04/16/2014 Updated in new template. Completing Sunset Review. *C 4748548 GRAA 04/30/2015 Obsolete document. Completing Sunset Review. www.cypress.com Document No. 001-40920 Rev. *C 15 Sensing: Ultrasound Motion Sensor Worldwide Sales and Design Support Cypress maintains a worldwide network of offices, solution centers, manufacturer’s representatives, and distributors. To find the office closest to you, visit us at Cypress Locations. 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The inclusion of Cypress’ product in a life-support systems application implies that the manufacturer assumes all risk of such use and in doing so indemnifies Cypress against all charges. Use may be limited by and subject to the applicable Cypress software license agreement. www.cypress.com Document No. 001-40920 Rev. *C 16