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/****************************************************************************
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Title : C file for the SRF08 FUNCTIONS library (srf08.c)
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Author: Chris efstathiou hendrix@otenet.gr
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Date: 13/Jul/2002
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Software: AVR-GCC with AVR-AS
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Target: any AVR device
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Comments: This software is FREE.
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*****************************************************************************/
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#include <io.h>
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#include <eeprom.h>
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#include "i2c.h"
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#include "srf08.h"
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/* Global Variables */
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static unsigned char address=SRF08_UNIT_0;
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/*#################################################################################################*/
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void srf08_init(void)
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{
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unsigned int range=0;
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i2c_init();
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I2C_START_TX(address);
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i2c_transmit(0);
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i2c_transmit(0x51);
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do{
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i2c_start();
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range=i2c_transmit(address);
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i2c_stop();
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}while(range != I2C_NO_ERROR);
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return;
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}
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/*#################################################################################################*/
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void srf08_set_gain(unsigned char gain)
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{
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if(gain>31) { gain=31; }
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I2C_START_TX(address);
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i2c_transmit(1);
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i2c_transmit(gain);
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i2c_stop();
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return;
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}
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/*#################################################################################################*/
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void srf08_set_range(unsigned int millimeters)
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{
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millimeters= (millimeters/43);
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if(millimeters > 0xff ) { millimeters=0xff; }
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I2C_START_TX(address);
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i2c_transmit(2);
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i2c_transmit(millimeters);
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i2c_stop();
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return;
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}
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/*#################################################################################################*/
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unsigned int srf08_ping(unsigned char metric_unit)
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{
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union i2c_union {
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unsigned int rx_word;
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unsigned char rx_byte[2];
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} i2c;
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I2C_START_TX(address);
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i2c_transmit(0);
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i2c_transmit(metric_unit);
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do{
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i2c_start();
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i2c.rx_byte[0]=i2c_transmit(address);
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i2c_stop();
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}while(i2c.rx_byte[0] != I2C_NO_ERROR);
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I2C_START_TX(address);
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i2c_transmit(SRF08_ECHO_1);
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I2C_START_RX(address);
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i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); /* get high byte msb first */
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i2c.rx_byte[0]=i2c_receive(I2C_QUIT); /* get low byte msb first */
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i2c_stop();
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return(i2c.rx_word);
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}
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/*#################################################################################################*/
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unsigned int srf08_read_register(unsigned char srf08_register)
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{
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union i2c_union {
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unsigned int rx_word;
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unsigned char rx_byte[2];
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} i2c;
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I2C_START_TX(address);
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i2c_transmit(srf08_register);
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I2C_START_RX(address);
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/* get high byte msb first */
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if(srf08_register>=2) { i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); }
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/* get low byte msb first */
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i2c.rx_byte[0]=i2c_receive(I2C_QUIT);
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i2c_stop();
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return(i2c.rx_word);
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}
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/*#################################################################################################*/
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void srf08_change_i2c_address(unsigned char new_i2c_address)
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{
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/* Start the I2C address changing procedure */
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I2C_START_TX(address);
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i2c_transmit(SRF08_COMMAND);
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i2c_transmit(0XA0);
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i2c_stop();
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I2C_START_TX(address);
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i2c_transmit(SRF08_COMMAND);
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i2c_transmit(0XAA);
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i2c_stop();
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I2C_START_TX(address);
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i2c_transmit(SRF08_COMMAND);
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i2c_transmit(0XA5);
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i2c_stop();
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I2C_START_TX(address);
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i2c_transmit(SRF08_COMMAND);
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i2c_transmit(new_i2c_address);
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i2c_stop();
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/* Make the new i2c address the active one. */
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address=new_i2c_address;
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return;
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}
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/*#################################################################################################*/
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void srf08_select_unit(unsigned char srf08_address)
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{
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/* New address validity check */
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if( (srf08_address<0xE0 || srf08_address>0XFE) && srf08_address != 0 ) { return; }
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if(srf08_address%2) { return; }
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/* Make the new i2c address the active one. */
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address=srf08_address;
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return;
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}
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/*######################################################################################################*/
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/* T H E E N D */
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/*######################################################################################################*/
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