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/****************************************************************************
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Title : C test file for the SRF08 FUNCTIONS library (test_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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#define F_CPU 3686400L
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#include <io.h>
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#include "lcd_io.h"
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#include "srf08.h"
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#define AVG_FLT_SAMPLES 3
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/*#################################################################################################*/
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void delay(unsigned long us)
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{
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while ( us ) { us--; } /* 6 cpu cycles per loop */
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}
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/*#################################################################################################*/
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void main(void)
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{
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unsigned int range=0;
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unsigned char counter1=0, gain=0;
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/* Delay is there to ensure that SRF08 is out of reset and operational */
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/*
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delay(1000000);
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srf08_change_i2c_address(SRF08_UNIT_1);
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delay(100000);
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*/
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/*
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By default SRF_UNIT_0 is selected so the below command shows that the change of i2c address
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by the above "srf08_change_i2c_address(SRF08_UNIT_1);" command was succesfull.
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All commands after this, refer to that unit only!
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*/
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srf08_select_unit(SRF08_UNIT_1);
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srf08_init(); /* Only the selected SRF08 unit will be initialized! */
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gain=SRF08_MAX_GAIN;
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srf08_set_gain(gain);
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srf08_set_range(SRF08_MAX_RANGE); /* Set range to 11008 mm */
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lcd_init();
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lcd_clrscr();
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lcd_gotoxy(0,0); lcd_puts_P("RANGE (E1) = ");
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lcd_gotoxy(0,1); lcd_puts_P("RANGE (E2) = ");
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lcd_gotoxy(0,2); lcd_puts_P("RANGE (E5) = ");
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lcd_gotoxy(0,3); lcd_puts_P("LIGHT sensor= ");
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while(1)
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{
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/* AVERAGING FILTER */
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for(counter1=0,range=0; counter1<AVG_FLT_SAMPLES; counter1++)
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{
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range+=srf08_ping(SRF08_CENTIMETERS);
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}
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range /= AVG_FLT_SAMPLES;
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/* AUTOMATIC GAIN CONTROL */
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if(srf08_read_register(SRF08_ECHO_5)!=0 )
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{
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if(gain>=5) { srf08_set_gain(gain-=5); } else { srf08_set_gain(gain=0); }
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}
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else if(srf08_read_register(SRF08_ECHO_2)<=0 && gain!=31) { srf08_set_gain(++gain); }
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/* DISPLAY TO LCD */
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lcd_gotoxy(14,0); lcd_puti(range,2);
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lcd_gotoxy(14,1); lcd_puti(srf08_read_register(SRF08_ECHO_2), 2);
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lcd_gotoxy(14,2); lcd_puti(srf08_read_register(SRF08_ECHO_5), 2);
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lcd_gotoxy(14,3); lcd_puti(srf08_read_register(SRF08_LIGHT), 2);
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}
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return;
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}
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/*#################################################################################################*/
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