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//********* Robot Camerus pro IstRobot 2007 ************
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//********* Robot Camerus pro IstRobot 2007 ************
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//"$Id: camerus.c 228 2007-04-08 21:36:13Z kakl $"
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//"$Id: camerus.c 229 2007-04-09 11:41:19Z kakl $"
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//*****************************************************
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//*****************************************************
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#include ".\camerus.h"
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#include ".\camerus.h"
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#USE FAST_IO (C)     // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
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#USE FAST_IO (C)     // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
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   NightRider(1);    // Aby se poznalo, ze byl RESET
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   NightRider(1);    // Aby se poznalo, ze byl RESET
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                     // taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy
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                     // taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy
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   //... Nastaveni sonaru ...
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   //... Nastaveni sonaru ...
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   i2c_start();
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   i2c_start();
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   i2c_write(0xE0);
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   i2c_write(0xE0);
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   i2c_write(0x02);  // dosah
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   i2c_write(0x02);  // dosah
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   i2c_write(0x02);  // 86mm
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   i2c_write(0x03);  // n*43mm
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   i2c_stop();
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   i2c_stop();
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   i2c_start();
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   i2c_start();
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   i2c_write(0xE0);
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   i2c_write(0xE0);
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   i2c_write(0x01);  // zesileni
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   i2c_write(0x01);  // zesileni
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   i2c_write(0x00);
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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_stop();
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// pro ladeni sonaru
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/*
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   while(true)
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   {
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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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      cas=i2c_read(0);
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      i2c_stop();
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      disp(cas);
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   }
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*/
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   //... Nastaveni kamery ...
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   //... Nastaveni kamery ...
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   i2c_start();      // Soft RESET kamery
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   i2c_start();      // Soft RESET kamery
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   i2c_write(0xC0);        // Pro single slave musi mit vsechny zapisy adresu C0h
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   i2c_write(0xC0);        // Pro single slave musi mit vsechny zapisy adresu C0h
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   i2c_write(0x12);        // Adresa registru COMH
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   i2c_write(0x12);        // Adresa registru COMH