WebSVN – svnkaklik – Diff – /programy/C/avr/SFR08/srf08.c


 
/****************************************************************************
 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                                                */
/*######################################################################################################*/
 

Rev 409	Rev 410
1		1
2	`/****************************************************************************`	2	`/****************************************************************************`
3	`Title : C file for the SRF08 FUNCTIONS library (srf08.c)`	3	`Title : C file for the SRF08 FUNCTIONS library (srf08.c)`
4	`Author: Chris efstathiou hendrix@otenet.gr`	4	`Author: Chris efstathiou hendrix@otenet.gr`
5	`Date: 13/Jul/2002`	5	`Date: 13/Jul/2002`
6	`Software: AVR-GCC with AVR-AS`	6	`Software: AVR-GCC with AVR-AS`
7	`Target: any AVR device`	7	`Target: any AVR device`
8	`Comments: This software is FREE.`	8	`Comments: This software is FREE.`
9		9
10	`*****************************************************************************/`	10	`*****************************************************************************/`
11		11
12	`#include <io.h>`	12	`#include <io.h>`
13	`#include <eeprom.h>`	13	`#include <eeprom.h>`
14	`#include "i2c.h"`	14	`#include "i2c.h"`
15	`#include "srf08.h"`	15	`#include "srf08.h"`
16		16
17	`/* Global Variables */`	17	`/* Global Variables */`
18	`static unsigned char address=SRF08_UNIT_0;`	18	`static unsigned char address=SRF08_UNIT_0;`
19		19
20	`/#################################################################################################/`	20	`/#################################################################################################/`
21		21
22	`void srf08_init(void)`	22	`void srf08_init(void)`
23	`{`	23	`{`
24	`unsigned int range=0;`	24	`unsigned int range=0;`
25	`i2c_init();`	25	`i2c_init();`
26	`I2C_START_TX(address);`	26	`I2C_START_TX(address);`
27	`i2c_transmit(0);`	27	`i2c_transmit(0);`
28	`i2c_transmit(0x51);`	28	`i2c_transmit(0x51);`
29		29
30	`do{`	30	`do{`
31	`i2c_start();`	31	`i2c_start();`
32	`range=i2c_transmit(address);`	32	`range=i2c_transmit(address);`
33	`i2c_stop();`	33	`i2c_stop();`
34	`}while(range != I2C_NO_ERROR);`	34	`}while(range != I2C_NO_ERROR);`
35		35
36		36
37	`return;`	37	`return;`
38	`}`	38	`}`
39	`/#################################################################################################/`	39	`/#################################################################################################/`
40		40
41	`void srf08_set_gain(unsigned char gain)`	41	`void srf08_set_gain(unsigned char gain)`
42	`{`	42	`{`
43	`if(gain>31) { gain=31; }`	43	`if(gain>31) { gain=31; }`
44	`I2C_START_TX(address);`	44	`I2C_START_TX(address);`
45	`i2c_transmit(1);`	45	`i2c_transmit(1);`
46	`i2c_transmit(gain);`	46	`i2c_transmit(gain);`
47	`i2c_stop();`	47	`i2c_stop();`
48		48
49	`return;`	49	`return;`
50	`}`	50	`}`
51	`/#################################################################################################/`	51	`/#################################################################################################/`
52		52
53	`void srf08_set_range(unsigned int millimeters)`	53	`void srf08_set_range(unsigned int millimeters)`
54	`{`	54	`{`
55	`millimeters= (millimeters/43);`	55	`millimeters= (millimeters/43);`
56	`if(millimeters > 0xff ) { millimeters=0xff; }`	56	`if(millimeters > 0xff ) { millimeters=0xff; }`
57	`I2C_START_TX(address);`	57	`I2C_START_TX(address);`
58	`i2c_transmit(2);`	58	`i2c_transmit(2);`
59	`i2c_transmit(millimeters);`	59	`i2c_transmit(millimeters);`
60	`i2c_stop();`	60	`i2c_stop();`
61		61
62	`return;`	62	`return;`
63	`}`	63	`}`
64	`/#################################################################################################/`	64	`/#################################################################################################/`
65		65
66	`unsigned int srf08_ping(unsigned char metric_unit)`	66	`unsigned int srf08_ping(unsigned char metric_unit)`
67	`{`	67	`{`
68	`union i2c_union {`	68	`union i2c_union {`
69	`unsigned int rx_word;`	69	`unsigned int rx_word;`
70	`unsigned char rx_byte[2];`	70	`unsigned char rx_byte[2];`
71	`} i2c;`	71	`} i2c;`
72		72
73		73
74	`I2C_START_TX(address);`	74	`I2C_START_TX(address);`
75	`i2c_transmit(0);`	75	`i2c_transmit(0);`
76	`i2c_transmit(metric_unit);`	76	`i2c_transmit(metric_unit);`
77		77
78	`do{`	78	`do{`
79	`i2c_start();`	79	`i2c_start();`
80	`i2c.rx_byte[0]=i2c_transmit(address);`	80	`i2c.rx_byte[0]=i2c_transmit(address);`
81	`i2c_stop();`	81	`i2c_stop();`
82	`}while(i2c.rx_byte[0] != I2C_NO_ERROR);`	82	`}while(i2c.rx_byte[0] != I2C_NO_ERROR);`
83		83
84		84
85	`I2C_START_TX(address);`	85	`I2C_START_TX(address);`
86	`i2c_transmit(SRF08_ECHO_1);`	86	`i2c_transmit(SRF08_ECHO_1);`
87	`I2C_START_RX(address);`	87	`I2C_START_RX(address);`
88	`i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); /* get high byte msb first */`	88	`i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); /* get high byte msb first */`
89	`i2c.rx_byte[0]=i2c_receive(I2C_QUIT); /* get low byte msb first */`	89	`i2c.rx_byte[0]=i2c_receive(I2C_QUIT); /* get low byte msb first */`
90	`i2c_stop();`	90	`i2c_stop();`
91		91
92	`return(i2c.rx_word);`	92	`return(i2c.rx_word);`
93	`}`	93	`}`
94	`/#################################################################################################/`	94	`/#################################################################################################/`
95		95
96	`unsigned int srf08_read_register(unsigned char srf08_register)`	96	`unsigned int srf08_read_register(unsigned char srf08_register)`
97	`{`	97	`{`
98	`union i2c_union {`	98	`union i2c_union {`
99	`unsigned int rx_word;`	99	`unsigned int rx_word;`
100	`unsigned char rx_byte[2];`	100	`unsigned char rx_byte[2];`
101	`} i2c;`	101	`} i2c;`
102		102
103		103
104	`I2C_START_TX(address);`	104	`I2C_START_TX(address);`
105	`i2c_transmit(srf08_register);`	105	`i2c_transmit(srf08_register);`
106	`I2C_START_RX(address);`	106	`I2C_START_RX(address);`
107		107
108	`/* get high byte msb first */`	108	`/* get high byte msb first */`
109	`if(srf08_register>=2) { i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); }`	109	`if(srf08_register>=2) { i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); }`
110		110
111	`/* get low byte msb first */`	111	`/* get low byte msb first */`
112	`i2c.rx_byte[0]=i2c_receive(I2C_QUIT);`	112	`i2c.rx_byte[0]=i2c_receive(I2C_QUIT);`
113		113
114	`i2c_stop();`	114	`i2c_stop();`
115		115
116	`return(i2c.rx_word);`	116	`return(i2c.rx_word);`
117	`}`	117	`}`
118	`/#################################################################################################/`	118	`/#################################################################################################/`
119		119
120	`void srf08_change_i2c_address(unsigned char new_i2c_address)`	120	`void srf08_change_i2c_address(unsigned char new_i2c_address)`
121	`{`	121	`{`
122		122
123		123
124	`/* Start the I2C address changing procedure */`	124	`/* Start the I2C address changing procedure */`
125	`I2C_START_TX(address);`	125	`I2C_START_TX(address);`
126	`i2c_transmit(SRF08_COMMAND);`	126	`i2c_transmit(SRF08_COMMAND);`
127	`i2c_transmit(0XA0);`	127	`i2c_transmit(0XA0);`
128	`i2c_stop();`	128	`i2c_stop();`
129		129
130	`I2C_START_TX(address);`	130	`I2C_START_TX(address);`
131	`i2c_transmit(SRF08_COMMAND);`	131	`i2c_transmit(SRF08_COMMAND);`
132	`i2c_transmit(0XAA);`	132	`i2c_transmit(0XAA);`
133	`i2c_stop();`	133	`i2c_stop();`
134		134
135	`I2C_START_TX(address);`	135	`I2C_START_TX(address);`
136	`i2c_transmit(SRF08_COMMAND);`	136	`i2c_transmit(SRF08_COMMAND);`
137	`i2c_transmit(0XA5);`	137	`i2c_transmit(0XA5);`
138	`i2c_stop();`	138	`i2c_stop();`
139		139
140	`I2C_START_TX(address);`	140	`I2C_START_TX(address);`
141	`i2c_transmit(SRF08_COMMAND);`	141	`i2c_transmit(SRF08_COMMAND);`
142	`i2c_transmit(new_i2c_address);`	142	`i2c_transmit(new_i2c_address);`
143	`i2c_stop();`	143	`i2c_stop();`
144		144
145	`/* Make the new i2c address the active one. */`	145	`/* Make the new i2c address the active one. */`
146	`address=new_i2c_address;`	146	`address=new_i2c_address;`
147		147
148	`return;`	148	`return;`
149	`}`	149	`}`
150	`/#################################################################################################/`	150	`/#################################################################################################/`
151		151
152	`void srf08_select_unit(unsigned char srf08_address)`	152	`void srf08_select_unit(unsigned char srf08_address)`
153	`{`	153	`{`
154	`/* New address validity check */`	154	`/* New address validity check */`
155		155
156	`if( (srf08_address<0xE0 \|\| srf08_address>0XFE) && srf08_address != 0 ) { return; }`	156	`if( (srf08_address<0xE0 \|\| srf08_address>0XFE) && srf08_address != 0 ) { return; }`
157	`if(srf08_address%2) { return; }`	157	`if(srf08_address%2) { return; }`
158		158
159	`/* Make the new i2c address the active one. */`	159	`/* Make the new i2c address the active one. */`
160	`address=srf08_address;`	160	`address=srf08_address;`
161		161
162	`return;`	162	`return;`
163	`}`	163	`}`
164		164
165		165
166	`/######################################################################################################/`	166	`/######################################################################################################/`
167	`/* T H E E N D */`	167	`/* T H E E N D */`
168	`/######################################################################################################/`	168	`/######################################################################################################/`
169		169

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(root)/programy/C/avr/SFR08/srf08.c @ 566 – Rev 409 → 410