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