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