https://senzor.robotika.sk/sensorwiki/index.php?action=history&feed=atom&title=SRF_08_Sonar_Demo
SRF 08 Sonar Demo - História úprav
2026-04-30T18:00:27Z
História úprav pre túto stránku na wiki
MediaWiki 1.42.1
https://senzor.robotika.sk/sensorwiki/index.php?title=SRF_08_Sonar_Demo&diff=515&oldid=prev
Balogh: Nová stránka: Tento program meria vzdialenosť senzorom SRF08 a vypisuje hodnoty na sériový LCD displej a zároveň posiela cez USB/RS-232 do PC, kde sa dá zobraziť v terminálovom okne. '''P...
2009-01-29T10:08:28Z
<p>Nová stránka: Tento program meria vzdialenosť senzorom SRF08 a vypisuje hodnoty na sériový LCD displej a zároveň posiela cez USB/RS-232 do PC, kde sa dá zobraziť v terminálovom okne. '''P...</p>
<p><b>Nová stránka</b></p><div>Tento program meria vzdialenosť senzorom SRF08 a vypisuje hodnoty na<br />
sériový LCD displej a zároveň posiela cez USB/RS-232 do PC, kde sa<br />
dá zobraziť v terminálovom okne.<br />
<br />
'''Pripojenie'''<br />
SRF08: <br />
SCL CON 9 ' I2C clock<br />
SDA CON 8 ' I2C data<br />
LCD Backpack:<br />
LCD CON 0 ' LCD Serial Backapck Data Line<br />
<br />
<br />
<br />
<code lang="basic"><br />
'{$STAMP BS2}<br />
<br />
SCL CON 9 ' I2C clock<br />
SDA CON 8 ' I2C data<br />
LCD CON 0 ' LCD Serial Backapck Data Line<br />
SDAin VAR IN8<br />
SDAout VAR OUT8 ' To change the pins used, alter these 5 lines<br />
SDAdir VAR DIR8 ' The 4 SDA numbers must be the same, of course<br />
<br />
loop VAR Byte ' just a looping counter<br />
I2cBuf VAR Byte ' I2c read/write buffer<br />
I2cAddr VAR Byte ' Address of I2C device<br />
I2cReg VAR Byte ' Register number within I2C device<br />
I2cData VAR Word ' Data to read/write<br />
I2cAck VAR Bit ' Acknowledge bit<br />
' LCD: Defining some useful constants for the Backpack.<br />
N9600 CON $4054 ' Baudmode-9600 bps inverted.<br />
I CON 254 ' Instruction prefix value.<br />
CLR CON 1 ' LCD clear-screen instruction.<br />
LINE2 CON 192 ' Address of 1st char of 2nd line.<br />
L1_C7 CON 135 ' Address of line 1, character 7.<br />
L2_C7 CON 199 ' Address of line 1, character 7.<br />
<br />
SEROUT 0,N9600,[I,CLR] ' Clear the LCD screen.<br />
SEROUT 0,N9600,["Range:"] ' Print the label.<br />
<br />
Main:<br />
<br />
I2cAddr = $e0<br />
I2cData = 81 ' Rangeing command - 80 for inches, 81 for cm, 82 for uS<br />
<br />
I2cReg = 0<br />
GOSUB I2cByteWrite<br />
PAUSE 70 ' Wait for ranging to complete<br />
<br />
I2cReg = 1 ' Address of light sensor register<br />
GOSUB I2cByteRead<br />
DEBUG 2,0,0, "Light Sensor ", DEC3 I2cData, " u"<br />
<br />
<br />
I2cReg = 2 ' address of first ranging result<br />
GOSUB I2cWordRead<br />
DEBUG 2,0,1, "Range ", DEC4 I2cData, " cm"<br />
SEROUT 0,N9600,[I,L1_C7] ' Move to line 1, character 7.<br />
SEROUT 0,N9600,[DEC4 I2cData, " cm"] ' Print message.<br />
<br />
' --------------------------------------------------------------------------------------------<br />
<br />
I2cData = 82 ' Rangeing command - 80 for inches, 81 for cm, 82 for uS<br />
<br />
I2cReg = 0<br />
GOSUB I2cByteWrite<br />
PAUSE 70 ' Wait for ranging to complete<br />
<br />
I2cReg = 2 ' address of first ranging result<br />
GOSUB I2cWordRead<br />
DEBUG 2,0,2, "Range ", DEC4 I2cData, " us"<br />
SEROUT 0,N9600,[I,L2_C7] ' Move to line 1, character 7.<br />
SEROUT 0,N9600,[DEC4 I2cData, " us"] ' Print message.<br />
<br />
<br />
<br />
GOTO main<br />
<br />
<br />
'--------------------------------------------------------------------------------------------<br />
' I2C subroutines follow<br />
'--------------------------------------------------------------------------------------------<br />
<br />
I2cByteWrite: ' writes I2cData.lowbyte to I2cReg at I2cAddr<br />
<br />
GOSUB I2cStart<br />
I2cBuf = I2cAddr<br />
GOSUB I2cOutByte ' send device address<br />
I2cBuf = I2cReg<br />
GOSUB I2cOutByte ' send register number<br />
I2cBuf = I2cData.LOWBYTE<br />
GOSUB I2cOutByte ' send the data<br />
GOSUB I2cStop<br />
RETURN<br />
<br />
<br />
I2cWordWrite: ' writes I2cData to I2cReg at I2cAddr<br />
<br />
GOSUB I2cStart<br />
I2cBuf = I2cAddr<br />
GOSUB I2cOutByte ' send device address<br />
I2cBuf = I2cReg<br />
GOSUB I2cOutByte ' send register number<br />
I2cBuf = I2cData.HIGHBYTE<br />
GOSUB I2cOutByte ' send the data - high byte<br />
I2cBuf = I2cData.LOWBYTE<br />
GOSUB I2cOutByte ' send the data - low byte<br />
GOSUB I2cStop<br />
RETURN<br />
<br />
<br />
I2CByteRead:<br />
GOSUB I2cStart<br />
I2cBuf = I2cAddr<br />
GOSUB I2cOutByte ' send device address<br />
I2cBuf = I2cReg<br />
GOSUB I2cOutByte ' send register number<br />
GOSUB I2cStart ' repeated start<br />
I2cBuf = I2cAddr | 1<br />
GOSUB I2cOutByte ' send device address (with read set)<br />
I2cAck = 0 ' send Nak<br />
GOSUB I2cInByte<br />
I2cData.LOWBYTE = I2cBuf ' read the data<br />
I2cData.HIGHBYTE = 0<br />
GOSUB I2cStop<br />
RETURN<br />
<br />
<br />
I2CWordRead:<br />
GOSUB I2cStart<br />
I2cBuf = I2cAddr<br />
GOSUB I2cOutByte ' send device address<br />
I2cBuf = I2cReg<br />
GOSUB I2cOutByte ' send register number<br />
GOSUB I2cStart ' repeated start<br />
I2cBuf = I2cAddr | 1<br />
I2cAck = 1 ' send Ack<br />
GOSUB I2cOutByte ' send device address (with read set)<br />
GOSUB I2cInByte<br />
I2cData.HIGHBYTE = I2cBuf ' read the data<br />
I2cAck = 0 ' send Nak<br />
GOSUB I2cInByte<br />
I2cData.LOWBYTE = I2cBuf<br />
GOSUB I2cStop<br />
RETURN<br />
<br />
<br />
I2cOutByte:<br />
SHIFTOUT SDA, SCL, MSBFIRST, [I2cBuf]<br />
INPUT SDA<br />
HIGH SCL ' clock in the ack' bit<br />
LOW SCL<br />
RETURN<br />
<br />
<br />
I2cInByte:<br />
SHIFTIN SDA, SCL, MSBPRE, [I2cBuf]<br />
SDAout = 0<br />
SDAdir = I2cAck<br />
HIGH SCL ' clock out the ack' bit<br />
LOW SCL<br />
INPUT SDA<br />
RETURN<br />
<br />
<br />
I2cStart ' I2C start bit sequence<br />
HIGH SDA<br />
HIGH SCL<br />
LOW SDA<br />
LOW SCL<br />
RETURN<br />
<br />
<br />
I2cStop: ' I2C stop bit sequence<br />
LOW SDA<br />
HIGH SCL<br />
HIGH SDA<br />
RETURN<br />
<br />
</code></div>
Balogh