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;
}
int main(void)
{
puts("SRF08 ultrasonic ranger test application\n");
printf("Initializing SRF08 sensor at I2C_%i... ", TEST_SRF08_I2C);
int res;
uint16_t range_array[TEST_NUM_ECHOS];
res = srf08_init(&srf08_0, TEST_SRF08_I2C, SRF08_DEFAULT_ADDR, TEST_SRF08_SPEED);
if (res < 0) {
printf("[Failed]");
return 1;
}
else {
puts("[Ok]\n");
while(1) {
int echo_number = srf08_get_distances(&srf08_0, range_array, TEST_NUM_ECHOS, TEST_MODE);
if (echo_number > 0) {
for (int i = 0; i < echo_number; i++) {
printf("stored distance = %i cm , echo%i\n", range_array[i], i + 1);
}
puts("--------------------------------------------");
}
else {
puts("An error occured");
}
xtimer_usleep(SLEEP);
}
}
}
