ROBOT Electronics
http://www.robot-electronics.co.uk
ÃÊÀ½ÆÄ °Å¸® °èÃø ¸ðµâ SRF ½Ã¸®Áî
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SRF-01
½Ã¸®¾ó ÀÎÅÍÆäÀ̽º(TTL ·¹º§ 9600BPS ) Áö¿ø ÃÊÀ½ÆÄ ¸ðµâ
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Voltage - 3.3v to 12v Current - 25mA Ranging. 11mA Standby. 55uA Sleep. Frequency - 40KHz Range - 18cm to 600cm (Industrial spec', no calibration required). Range - 0cm to 600cm (Hobby spec' after auto-calibration). Connection - One Pin Serial Bus @ 9600 baud. Up to 16 SRF01's connected to a single pin on your controller. Units - Range reported in cm or inches. Very light weight, just 2.7gm Supplied with Mounting Grommet. |
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SRF-01 Àº 3.3V ·Î µ¿ÀÛ °¡´ÉÇÑ ÃÊÀ½ÆÄ ¸ðµâÀÔ´Ï´Ù. ½Ã¸®¾ó ·Î µ¥ÀÌÅ͸¦ Ãâ·ÂÇÕ´Ï´Ù. ±âº» Åë½Å ¼Óµµ´Â 9600 BPS ÀÔ´Ï´Ù. |
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SRF02
½Ã¸®¾ó ÀÎÅÍÆäÀ̽º(TTL ·¹º§) / I2C ÃÊÀ½ÆÄ ¸ðµâ
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SERIAL ÀÎÅÍÆäÀ̽º ¸ðµå : Mode Pin -> 0V(GND) ±â¼ú »ç¾ç: http://www.robot-electronics.co.uk/htm/srf02techSer.htm |
I2C ÀÎÅÍÆäÀ̽º ¸ðµå : Mode Pin -> Open(¿¬°áÇÏÁö ¾ÊÀ½/³»ºÎ Pull-up) ±â¼ú »ç¾ç: http://www.robot-electronics.co.uk/htm/srf02techI2C.htm |
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SRF-02 ´Â ½Ã¸®¾ó ÀÎÅÍÆäÀ̽º¿Í I2C ÀÎÅÍÆäÀ̽º¸¦ Áö¿øÇÕ´Ï´Ù. |
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SRF04 ÃÊÀ½ÆÄ ¸ðµâ
·Îº¸Æ½½º ¾÷°è Ç¥ÁØ ÃÊÀ½ÆÄ ¼¾¼
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SRF04 ÀÀ¿ë ¿¹Á¦ ÇÁ·Î±×·¥ |
SRF-04 ´Â Æ®¸®°Å ÆÞ½º¸¦ ÀÔ·ÂÇÏ¸é °Å¸®¿¡ µû¸¥ ÆÞ½º ÆøÀÌ Ãâ·ÂµË´Ï´Ù. ¸¶ÀÌÅ©·Î ÇÁ·Î¼¼¼¿¡¼ ŸÀ̸ӱâ´ÉÀ» ÀÌ¿ëÇÏ¿© ÆÞ½ºÆø ½Ã°£À» ÃøÁ¤ÇÑÈÄ °Å¸®·Î ȯ»êÇÕ´Ï´Ù. SRF-05 ¿¡ ºñÇÏ¿© ÃÊÀ½ÆÄ À½¾ÐÃâ·ÂÀÌ ³ô½À´Ï´Ù. |
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SRF05 ÃÊÀ½ÆÄ ¸ðµâ
http://www.robot-electronics.co.uk/htm/srf05tech.htm
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SRF-05 ´Â Æ®¸®°Å ÆÞ½º ÀÔ·ÂbÈÄ °Å¸®¿¡ ºñ·ÊÇÑ ÆÞ½º¸¦ Ãâ·ÂÇÕ´Ï´Ù. SRF-04 ¿Í ½ÅÈ£ ȣȯµË´Ï´Ù. ¸¶ÀÌÅ©·Î ÇÁ·Î¼¼¼ Æ÷Æ® ÇÉ 1 °³·Î µ¿ÀÛÇÒ ¼ö ÀÖµµ·Ï ¼³°èµÇ¾î ÀÖ¾î µô·¹ÀÌ ·çÇÁ¿¡ ÀÇÇÑ °£´ÜÇÑ °Å¸® ÃøÁ¤ ½Ã Æí¸®ÇÏ°Ô »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù. |
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SRF06 ÃÊÀ½ÆÄ ¸ðµâ
4 ~ 20mA Àü·ù Ãâ·ÂÇü
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* 70 mS ~ 100mS ÁÖ±â·Î ¿¬¼Ó
ÃøÁ¤ÇÕ´Ï´Ù. (¿ÜºÎ Æ®¸®°Å ¾øÀ½) * Áֱ⠴ÜÀ§·Î 0.5V ÀÇ ³ëÀÌÁî ÆÞ½º°¡ ³ª¿É´Ï´Ù. 2.2uF ¿¡¼ 10uF ÀÇ Ä³ÆнÃÅ͸¦ ÀúÇ×°ú º´¿ ¿¬°áÇÏ¿© ³ëÀÌÁ Á¦°ÅÇÕ´Ï´Ù. * ´ÜÀÚ´ë 2°³¸¸ »ç¿ëÇÕ´Ï´Ù. +12V
»ç¿ëÀ» ±ÇÀåÇÕ´Ï´Ù. (»ç¿ë¹üÀ§ 9V ~ 24V) |
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SRF08 ÃÊÀ½ÆÄ ¸ðµâ
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SRF08Àº I2C ÀÎÅÍÆäÀ̽º ¹æ½ÄÀ» »ç¿ëÇÏ¿© CPU ¿Í ¿¬°áÇÕ´Ï´Ù. |
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Ãâ·Â µ¥ÀÌÅÍ ÇüÅ´ CM, Inch, Time ÀÇ 3 Á¾·ù°¡ °¡´ÉÇÕ´Ï´Ù. |
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SRF-08 Àº I2C ÀÎÅÍÆäÀ̽º¸¦ Áö¿øÇÕ´Ï´Ù. ÀÎÄ¡, ¼¾Ä¡, ¸¶ÀÌÅ©·Î ¼¼Ä¿µå ÀÇ 3 °¡Áö Á¾·ù·Î Ãâ·Â µ¥ÀÌÅÍ Çü½ÄÀ» ¼±ÅÃÇÒ ¼ö ÀÖ½À´Ï´Ù. |
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SRF10 ÃÊÀ½ÆÄ ¸ðµâ
http://www.robot-electronics.co.uk/htm/srf10tech.htm
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ºê¶óŶ ¼¼Æ®´Â ¼±Åà »çÇ× Ç°¸ñÀÔ´Ï´Ù. ¼º¸ ¸ðÅÍ È¸ÀüÆÇ¿¡ ¿¬°á ½Ã »ç¿ëÇÕ´Ï´Ù. |
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SRF-10 Àº I2C ÀÎÅÍÆäÀ̽º¸¦ Áö¿øÇÕ´Ï´Ù. ÀÎÄ¡, ¼¾Ä¡, ¸¶ÀÌÅ©·Î ¼¼Ä¿µå ÀÇ 3 °¡Áö Á¾·ù·Î Ãâ·Â µ¥ÀÌÅÍ Çü½ÄÀ» ¼±ÅÃÇÒ ¼ö ÀÖ½À´Ï´Ù. |
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SRF235 ÃÊÀ½ÆÄ ¸ðµâ
http://www.robot-electronics.co.uk/htm/srf235tech.htm
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SRF-235 Àº I2C ÀÎÅÍÆäÀ̽º¸¦ Áö¿øÇÕ´Ï´Ù. ÀÎÄ¡, ¼¾Ä¡, ¸¶ÀÌÅ©·Î ¼¼Ä¿µå ÀÇ 3 °¡Áö Á¾·ù·Î Ãâ·Â µ¥ÀÌÅÍ Çü½ÄÀ» ¼±ÅÃÇÒ ¼ö ÀÖ½À´Ï´Ù. SRF-235 ´Â 235 KHz ÀÇ ³ôÀº ÃÊÀ½ÆÄ ÁÖÆļö¸¦ »ç¿ëÇÕ´Ï´Ù. ½Ç¿ë»ó ÃøÁ¤ °Å¸®´Â ÃÖ´ë 30 cm À̳» ÀÔ´Ï´Ù. ÃøÁ¤ ¹°Ã¼°¡ Æò¸éÀ̾î¾ß Çϸç ÃÊÀ½ÆÄ ÁøÇà ¹æÇâ°ú Á¤È®ÇÑ Á÷°¢ »óŸ¦ À¯Áö ÇÏ¿©¾ß ÇÕ´Ï´Ù. SRF-235 ´Â 0.5mm ´ÜÀ§ÀÇ Á¤¹ÐÇÑ À§Ä¡ µ¥ÀÌÅÍ ÃøÁ¤ÀÌ °¡´ÉÇÕ´Ï´Ù. |
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SRF485 ÃÊÀ½ÆÄ ¸ðµâ
http://www.robot-electronics.co.uk/htm/srf485tech.htm
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![]() SRF485 Å×½ºÆ® ÇÁ·Î±×·¥ SRF48.ZIP : ¾ÐÃàÀ» ÇØÁöÇÏ°í Release Æú´õÀÇ SRF48.exe ¸¦ ½ÇÇàÇÕ´Ï´Ù. PC ¿Í UBS-485 ¸¦ ¿¬°áÇÏ¿© 4 °³ÀÇ SRF-485¸¦ ±¸µ¿ÇÑ ¿¹ÀÔ´Ï´Ù. |
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Voltage - 8v to 24v Current - 10mA Frequency - 40KHz Range - 30cm to 500cm Connection - Standard RS485 Bus Up to 127 SRF485's connected to your controller. Units - Range reported in uS, cm or inches. Temperature Compensation -30 to +50 centigrade |
SRF-485 ´Â RS-485
ÀÎÅÍÆäÀ̽º¸¦ »ç¿ëÇϸç 127 °³ ±îÁö ÃÊÀ½ÆÄ ³×Æ®¿÷ ±¸¼ºÀÌ °¡´ÉÇÕ´Ï´Ù. |
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USB-RS485
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SRF-485 ¸¦ PC ¿Í ¿¬°áÇÒ ¶§ »ç¿ëÇÕ´Ï´Ù. |
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USB-I2C
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Á¦Á¶»ç »ç¿ë ¼³¸í¼ ¿ø¹® http://www.robot-electronics.co.uk/htm/usb_i2c_tech.htm ¡¡ ¡¡ |
SRF-02, SRF-08, SRF-10, SRF235 ¿Í °°ÀÌ I2C
ÀÎÅÍÆäÀ̽º¸¦ »ç¿ëÇÏ´Â µå¶óÀ̹ö ÇÁ·Î±×·¥ (ŸÀÌƲ¿¡ SRF08 ·Î Ç¥½ÃµÇ¾î ÀÖÀ¸³ª SRF02, SRF10, SRF235 ÀüºÎ »ç¿ëµË´Ï´Ù. Light ´Â SRF-08 ¿¡ ±¤¼¾¼ µ¥ÀÌÅÍ °ªÀÔ´Ï´Ù. ´Ù¸¥ ¸ðµ¨¿¡¼´Â Àû¿ëµÇÁö ¾Ê½À´Ï´Ù. ¾Æ·¡ÀÇ »çÁøÀ» Âü°íÇÏ¿© Á¤È®È÷ °á¼±µÇ¾î ÀÖ´ÂÁö È®ÀÎÇϽñ⠹ٶø´Ï´Ù. ¸ðµç °ÍÀÌ Á¤»óÀ̸é ÃÊÀ½ÆÄ ¼¾¼¿¡ ºÎÂøµÈ Àû»ö LED °¡ ÃÊ´ç ¼öȸ ¹Ý¦ÀÔ´Ï´Ù. ¹è¼±ÀÇ
»ö»ó ¼ø¼¸¦ ÀÓÀÇ·Î ÇÏÁö ¸¶½Ã°í »çÁø°ú |
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SRF-02, SRF-08, SRF-10, SRF-235 ¿¡¼ »ç¿ëÇÏ´Â I2C ÇÁ·ÎÅäÄÝ ÀÎÅÍÆäÀ̽º ¿¹Á¦
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/************************************************************************* * * * Devanteck SRF Series ULTRA SONIC SENSOR Module Demonstration Program * * * * SRF-02 * * SRF-08 * * SRF-10 * * SRF-235 * * SENSCOMP Series * * * * Witten by Junghoon Kim * * * * (c) SAMPLE Electronics co. 09 March 2004 * * * *+---------------------------------------------------------------------+* *|Speed Of Sound |* *| |* *|The speed of sound at 20 deg is 343.2 m/s(1125 ft/s). It varies only |* *|slightly with humidity (max. 0.35% at 20 deg C) and is virtually |* *|independent of pressure and, thus, of height above sea level. |* *| |* *|Only temperature has some influence:331.3 m/s at 0 deg C , 347.7 m/s |* *|at 40 deg C; i.e., 7% variation from 0 deg to 40 deg. Variation |* *|with frequency is negligible. |* *| |* *| ----- POLAROID ULTRASONIC RANGING SYSTEM HANDBOOK ----- |* *| APPLICATION NOTES/TECHNICAL PAPERS |* *+---------------------------------------------------------------------+* * * * * * * * $Rxx<CR> Requst Ranging Data * * $050<CR> Ranging Mode - Results in inches * * $051<CR> Ranging Mode - Results in centimeters * * $052<CR> Ranging Mode - Results in micro-seconds * * $053<CR> ANN Mode - Results in inches * * $054<CR> ANN Mode - Results in centimeters * * $055<CR> ANN Mode - Results in micro-seconds * * $1xx<CR> Set Gain Register * * $2xx<CR> Set Range Register * * $6xx<CR> Set Denumerator Constant in mili meter display * * $7xx<CR> Set Numerator Constant in mili meter display * * $8xx<CR> Set SRF-xx Base Address * * $9xx<CR> Change I2C Address * * * * * * * * (1) If SMOD == 0 * * (CLOCK) * * TH1 = 256 - -------------- * * (384 x BAUD) * * * * (2) If SMOD == 1 * * (CLOCK) * * TH1 = 256 - -------------- * * (192 x BAUD) * * * * * * ex) Xtal Frequency = 12MHz, Baud Rate = 4800 Bps -> TH1 = 0xF3 * * * * * * SIG - Signal Type * * P2.7 * * 0 : I2C Bus Type - SRF-02, SRF-08, SRF-10, SRF-235 * * 1 : Pulse Width Type - SRF-04, SRF-05, SENSCOMP * * * * DU - Display Mode * * P2.6 P2.5 * * 0 0 : Micro Second Display * * 0 1 : Milli Meter Display * * 1 0 : Inches Display * * 1 1 : Centi Meter Display * * * * --- Conversion and Display Mode --- * * SIG DU1 DU0 * * 0 0 0 : Non Conversion Micro Second Display I2C Bus * * 0 0 1 : Conversion Milli Meter Display I2C Bus * * 0 1 0 : Non Conversion Inches Display I2C Bus * * 0 1 1 : Non Conversion Centi Meter Display I2C Bus * * 1 0 0 : Non Conversion Micro Second Display Pulse Width * * 1 0 1 : Conversion Milli Meter Display Pulse Width * * 1 1 0 : Conversion Inches Display Pulse Width * * 1 1 1 : Conversion Centi Meter Display Pulse Width * * * * * * PWO - Pulse Width Offset * * P2.6 * * 0 : SENSCOMP Series Offset * * 1 : SRF-04, SRF-05 Offset * * * * * * THL - Threshold Level * * P2.3 * * 0 : Shumitte * * 1 : No Shumitte * * * * FLT - Filter Level * * P2.2 * * 0 : Filter * * 1 : No Filter * * * * CPM - Comparator Mode * * P2.1 * * 0 : Level Mode * * 1 : Sandwitch Mode * * * * PGM - Program * * P2.0 * * 0 : Program Mode * * 1 : Operation Mode * * * * * * * * +------------------------------------------------------------------+ * * | UST DU1 DU0 OFS THL FTL CPM PGM | * * | 7 6 5 4 3 2 1 0 | * * +------------------------------------------------------------------+ * * * * * * * * * * * * C-18 P1-fl. Main-bd. ET-LAND * * 16-9 Hangangno-3ga Yongsan-gu * * SEOUL 140-879 South KOREA * * TEL: +82-2-701-8051 * * FAX: +82-2-701-8058 * * Email: sample@korea.com * * Web: HTTP://WWW.SAMPLE.CO.KR * * * *************************************************************************/ #include <sfr.h> #include <os.h> ////////////////////////////////////////////// // 7 Segment LED ÆÐÅÏ µ¥ÀÌÅÍ // hgfedcba #define DIG0 0xC0 // 11000000b ; 0 Px.0 #define DIG1 0xF9 // 11111001b ; 1 +-----a-----+ #define DIG2 0xA4 // 10100100b ; 2 | | #define DIG3 0xB0 // 10110000b ; 3 Px.5 f b Px.1 #define DIG4 0x99 // 10011001b ; 4 | | #define DIG5 0x92 // 10010010b ; 5 | Px.6 | #define DIG6 0x82 // 10000010b ; 6 +-----g-----+ #define DIG7 0xD8 // 11011000b ; 7 | | #define DIG8 0x80 // 10000000b ; 8 Px.4 e c Px.2 #define DIG9 0x98 // 10011000b ; 9 | | // ; | Px.3 | #define DIGM 0xBF // 10111111b ; - +-----d-----+ * h Px.7 #define DIGP 0x7F // 01111111b ; . #define DIGB 0xFF // 11111111b ; "Blank" #define ON 0 // 8051 Port On #define OFF 1 // 8051 Port Off #define TRUE 1 // #define FALSE 0 // #define I2C_DELAY 1 // #define ACK 1 // I2C Acknowlwdge #define NACK 0 // I2C Acknowlwdge ////////////////////////////////////////////// _sfrbit FNDSEL0 = _p1^3; // Select 0 _sfrbit FNDSEL1 = _p1^4; // Select 1 _sfrbit FNDSEL2 = _p1^5; // Select 2 _sfrbit FNDSEL3 = _p1^6; // Select 3 _sfrbit FNDSEL4 = _p1^7; // Select 4 ////////////////////////////////////////////// _sfrbit RELAY = _p3^5; // Relay _sfrbit SDA = _p3^6; // SDA _sfrbit SCL = _p3^7; // SCL _sfrbit TRIG_SRF = _p1^0; // Triger for SRF-04, SRF-05 _sfrbit TRIG_SC = _p1^2; // Triger for SENSCOMP ////////////////////////////////////////////// unsigned char fnd_state; unsigned char fnd[5]; unsigned char mfnd[5]; unsigned char cmd_buffer[5]; unsigned char srf_address; unsigned char new_srf_adrs; unsigned char command; unsigned char max_gain; unsigned char range_reg; unsigned char numerator; unsigned char denumerator; unsigned char display_mode; unsigned char offset_msb; unsigned char offset_lsb; unsigned char config; bit cmd_flag; bit xout_flag; ////////////////////////////////////////////// const char segment_pattern[] = { DIG0, DIG1, DIG2,\ DIG3, DIG4, DIG5, DIG6, DIG7, DIG8, DIG9 }; ////////////////////////////////////////////// void _interrupt IVN_TIMER0 time_base() { // Timer 0 Interrupt Service _tl0 = 0x18; _th0 = 0xFC; // 1000 1 mSec / 12 MHz Xtal ////////////////////////////////////////////// FNDSEL0 = OFF; FNDSEL1 = OFF; FNDSEL2 = OFF; FNDSEL3 = OFF; FNDSEL4 = OFF; _p0 = fnd[fnd_state]; if (fnd_state == 0) FNDSEL0 = ON; if (fnd_state == 1) FNDSEL1 = ON; if (fnd_state == 2) FNDSEL2 = ON; if (fnd_state == 3) FNDSEL3 = ON; if (fnd_state == 4) FNDSEL4 = ON; fnd_state++; if(fnd_state>4) { fnd_state = 0x00; } } /////////////////////////////////////////////////////////// void _interrupt IVN_SERIALPORT _using 2 _SerialInterrupt() { if (_ri) { _ri = 0; if (cmd_flag==0) { cmd_buffer[0] = cmd_buffer[1]; cmd_buffer[1] = cmd_buffer[2]; cmd_buffer[2] = cmd_buffer[3]; cmd_buffer[3] = cmd_buffer[4]; cmd_buffer[4] = _sbuf; } if ((cmd_buffer[0]=='$') && (cmd_buffer[4]==0xD)) { cmd_flag = 1; } } else if (_ti) { // transmit interrupt if here _ti = 0; xout_flag = FALSE; } } ///////////////////////////////////////////// void delay(unsigned long int i) { while(i--); } //////////////////////// I2C Routine /////////////////// void i2c_delay(void) { unsigned char i; i = I2C_DELAY; while(i--); } void i2c_start(void) { SDA = 1; // i2c start bit sequence i2c_delay(); SCL = 1; i2c_delay(); SDA = 0; i2c_delay(); SCL = 0; i2c_delay(); } void i2c_stop(void) { SDA = 0; // i2c stop bit sequence i2c_delay(); SCL = 1; i2c_delay(); SDA = 1; i2c_delay(); } void i2c_tx(unsigned char d) { // I2C Byte Write Sequence char x; for(x=8; x; x--) { if(d&0x80) SDA = 1; else SDA = 0; SCL = 1; i2c_delay(); d <<= 1; SCL = 0; i2c_delay(); } SDA = 1; SCL = 1; i2c_delay(); SCL = 0; i2c_delay(); } unsigned char i2c_rx(char ack) { // I2C Byte Read Sequence char x, d=0; SDA = 1; for(x=0; x<8; x++) { d <<= 1; SCL = 1; i2c_delay(); if(SDA) d |= 1; SCL = 0; i2c_delay(); } if(ack) SDA = 0; else SDA = 1; SCL = 1; i2c_delay(); SCL = 0; SDA = 1; i2c_delay(); return d; } //////////////////////////////////////////////////////// void put(unsigned char c) { while (xout_flag); // wait for previous byte to complete _sbuf = c; xout_flag = TRUE; } void data_out(unsigned char c) { unsigned char d; d = c; d >>= 4; d &= 0x0F; d |= 0x30; if (d > '9') { d += 0x07; } put(d); d = c; d &= 0x0F; d |= 0x30; if (d > '9') { d += 0x07; } put(d); } void set_max_gain_register(void) { i2c_start(); i2c_tx(srf_address); i2c_tx(0x01); i2c_tx(max_gain); i2c_stop(); } void set_range_register(void) { i2c_start(); i2c_tx(srf_address); i2c_tx(0x02); i2c_tx(range_reg); i2c_stop(); } void set_new_srf_address(void) { i2c_start(); i2c_tx(srf_address); i2c_tx(0x00); i2c_tx(0xA0); i2c_tx(0xAA); i2c_tx(0xA5); i2c_tx(new_srf_adrs); i2c_stop(); srf_address = new_srf_adrs; } void main(void) { unsigned char t0,t1,t2,t3,b0; unsigned char boat; unsigned long int trailer; unsigned long int table; _tmod = 0x21; // Timer0 = Mode1, Timer, use TR0 // Timer1 = 8 Bit Auto reloaded Timer/Counter _tl0 = 0xFF; _th0 = 0xFF; _scon = 0X50; // SCON serial port control - 8 bit uart (1 stop bit) _tl1 = 0XF3; // Timer1 lo _th1 = 0XF3; // 2400 baud (12.000MHz) _pcon |= 0X80; // 4800 baud (SMOD == 1) _tmod = 0X20; // 8 bit autoreload for timer 1 ( baud rate generator) _tcon = 0; _tr1 = 1; // start baud rate generator _es = 1; // enable serial port interrupts _tr0 = 1; // Timer 0 µ¿ÀÛ½ÃÀÛ _et0 = 1; // ŸÀÌ¸Ó 0 ÀÎÅÍ·´Æ® °¡´É»óÅ ¼³Á¤ _c_t2 = 0; // Counter Mode _cp_rl2 = 1; // _exen2 = 1; _ea = 1; // ±Û·Î¹ú ÀÎÅÍ·´Æ® °¡´É»óÅ ¼³Á¤ command = 0x51; // Default 0x51 max_gain = 0x00; // Max Gain Register range_reg = 0x00; // Range Register denumerator = 0x00; // Denumeraator numerator = 0x00; // Numerator srf_address = 0xE0; // Default SFR-xx Base Address cmd_flag = 0; // Clear command flag xout_flag = 0; // Buffer out flag TRIG_SRF = 0; TRIG_SC = 0; config = _p2; // Configuration DIP Switch boat = config & 0x60; command = 0x52; // Default Micro Second Display if (boat == 0x60) { command = 0x51; // Centi Meter Display } if (boat == 0x40) { command = 0x50; // Inches Display } while(1) { if (cmd_flag) { if (cmd_buffer[3] > '9') { cmd_buffer[3] -= 0x07; } cmd_buffer[3] &= 0x0F; if (cmd_buffer[2] > '9') { cmd_buffer[2] -= 0x07; } cmd_buffer[2] <<= 4; cmd_buffer[2] &= 0xF0; boat = cmd_buffer[2] | cmd_buffer[3]; if (cmd_buffer[1]=='0') { command = boat; } // 0x50 - inches, 0x51 - centi-meters, 0x52 - micro-seconds if (cmd_buffer[1]=='1') { max_gain = boat; } // Set Gain Register if (cmd_buffer[1]=='2') { range_reg = boat; set_range_register(); } // Range Register if (cmd_buffer[1]=='O') { offset_msb = boat; } // Range Offset MSB if (cmd_buffer[1]=='P') { offset_lsb = boat; } // Range Offset LSB if (cmd_buffer[1]=='M') { display_mode = boat; } // FND Display mode: 0x00 - unmodified, 0x01 - modified if (cmd_buffer[1]=='D') { denumerator = boat; } // Denumerator Constant in mili meter display if (cmd_buffer[1]=='N') { numerator = boat; } // Numerator Constant in mili meter display if (cmd_buffer[1]=='A') { srf_address = boat; } // Set SRF-xx Base Address if (cmd_buffer[1]=='S') { new_srf_adrs = boat; set_new_srf_address(); } // Change I2C Address cmd_flag = 0; } _tr2 = 0; TRIG_SRF = 1; i2c_start(); i2c_tx(srf_address); i2c_tx(0x00); i2c_tx(command); i2c_stop(); _tl2 = 0; _th2 = 0; _tf2 = 0; _tr2 = 1; TRIG_SRF = 0; TRIG_SC = 1; /////////////////////////////////////////////////////////////////// delay(8000); /////////////////////////////////////////////////////////////////// TRIG_SC = 0; i2c_start(); i2c_tx(srf_address); i2c_tx(0x00); i2c_start(); boat = srf_address | 0x01; i2c_tx(boat); t0 = i2c_rx(ACK); t1 = i2c_rx(ACK); t2 = i2c_rx(ACK); // MSB SRF-02, SRF-08, SRF-10, SRF-235 t3 = i2c_rx(NACK); // LSB i2c_stop(); if (config & 0x80) { // SRF-04, SRF-05, SENSCOMP Series t2 = _rldh; // MSB SRF-04, SRF-05, SENSCOMP t3 = _rldl; // LSB } trailer = t2; trailer = trailer * 256 + t3; boat = config & 0xE0; // Display Window if (boat == 0x00) { ; } // Non Conversion Micro Second Display I2C Bus if (boat == 0x20) { // Conversion Milli Meter Display I2C Bus trailer = trailer * 1716 / 10000; } if (boat == 0x40) { ; } // Non Conversion Inches Display I2C Bus if (boat == 0x60) { ; } // Non Conversion Centi Meter Display I2C Bus if (boat == 0x80) { ; } // Non Conversion Micro Second Display Pulse Width if (boat == 0xA0) { // Conversion Milli Meter Display Pulse Width trailer = trailer * 1716 / 10000; } if (boat == 0xC0) { // Conversion Inches Display Pulse Width trailer = trailer * 1716 / 254000; } if (boat == 0xE0) { // Conversion Centi Meter Display Pulse Width trailer = trailer * 1716 / 100000; } if (trailer > 500) { RELAY = ON; } else { RELAY = OFF; } boat = trailer % 10; mfnd[4] = segment_pattern[boat]; trailer /= 10; boat = trailer % 10; mfnd[3] = segment_pattern[boat]; trailer /= 10; boat = trailer % 10; mfnd[2] = segment_pattern[boat]; trailer /= 10; boat = trailer % 10; mfnd[1] = segment_pattern[boat]; trailer /= 10; boat = trailer % 10; mfnd[0] = segment_pattern[boat]; trailer /= 10; boat = config & 0x60; // Display Window if (boat == 0x20) { mfnd[1] &= DIGP ; } // Milli Meter Display I2C Bus if (boat == 0x40) { mfnd[4] &= DIGP ; } // Inches Display I2C Bus if (boat == 0x60) { mfnd[2] &= DIGP ; } // Conversion Centi Meter Display I2C Bus fnd[0] = mfnd[0]; // Most Signeficant Digit fnd[1] = mfnd[1]; // & DIGP; fnd[2] = mfnd[2]; fnd[3] = mfnd[3]; fnd[4] = mfnd[4]; data_out(t0); data_out(t1); data_out(t2); data_out(t3); put(0x0D); // Carriage Return put(0x0A); // Line Feed } } /////////////// EOF ////////////////////////// |
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