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360 kakl 1 
//--- Diagnostika cidel a vymazani EEPROM ---
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void diag()
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{
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   int8 n;
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   // Vymaz Black Box v EEPROM
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   for(n=0;n<255;n++) write_eeprom(n,0);
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   bb_l[0]=0;        // Zapis na pozici 0 vzdalenost 0
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   bb_h[0]=0;
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   bb_f[0]=0;
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   write_eeprom(EEMAX,0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam
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   for(n=0;n<=4;n++)
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   {
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      disp(0x55);       // Blikni pro potvrzeni
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      delay_ms(200);
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      disp(0xAA);
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      delay_ms(200);
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   };
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   while(true)
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   {
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      if(!IRRX)
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      {
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         int8 ble;
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         i2c_start();     // Cteni kompasu
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         i2c_write(COMPAS_ADR);
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         i2c_write(0x1);
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         i2c_stop();
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         i2c_start();
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         i2c_write(COMPAS_ADR+1);
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         ble=i2c_read(0);
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         i2c_stop();
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         disp(ble);
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         delay_ms(200);
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      }
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      else
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      {
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         i2c_start();      // Diagnostika sonaru
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         i2c_write(SONAR_ADR);
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         i2c_write(0x02);  // dosah
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         i2c_write(0x03);  // n*43mm
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         i2c_stop();
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         i2c_start();
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         i2c_write(SONAR_ADR);
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         i2c_write(0x01);  // zesileni
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         i2c_write(0x01);  // male, pro eliminaci echa z minuleho mereni
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         i2c_stop();
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         i2c_start();     // Sonar Ping
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         i2c_write(0xE0);
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         i2c_write(0x0);
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         i2c_write(0x51);  // 50 mereni v palcich, 51 mereni v cm, 52 v us
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         i2c_stop();
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         delay_ms(100);
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         i2c_start();     // Odraz ze sonaru
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         i2c_write(0xE0);
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         i2c_write(0x3);
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         i2c_stop();
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         i2c_start();
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         i2c_write(0xE1);
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         n=i2c_read(0);
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         i2c_stop();
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         disp(n);  // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla
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         delay_ms(200);
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      }
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   }
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}