Code:

#include <iostream>
#include <stdio>                               // for in-/output
#include <unistd>                             // for usleep
#include "include/roboard.h"

#define SRF08Address 0xE0

using namespace std;

void GotoXY( int x, int y ) {
    printf("%c[%d;%df",0x1B,y,x);
}

void SRFStart( int add ) {
    i2c0master_StartN( add>>1, I2C_WRITE, 2 );
    i2c0master_WriteN( 0 );
    i2c0master_WriteN( 0x51 );
}

unsigned SRFReadLight( int add ) {
    //START with address 0xe0>>1 to write 1 bytes
    i2c0master_StartN( (add+1)>>1, I2C_WRITE, 1 );
    //set RESTART to read 2 bytes after I2C writing
    i2c0master_SetRestartN( I2C_READ, 1 );
    i2c0master_WriteN( 1 );
    return i2c0master_ReadN();
}

int main( void ) {
    unsigned b1, b2;

    printf( "\f" ); // clear the screen

    if (i2c_Initialize(I2CIRQ_DISABLE) == false) {
        printf("fail to initialize I2C (%s)!", roboio_GetErrMsg());
        return -1;
    }

    printf( "set I2C speed to 400Kbps" );
    i2c0_SetSpeed( I2CMODE_AUTO, 400000 );
    do {
        SRFStart( SRF08Address );
        usleep( 200000 );
        GotoXY( 1,2 ); cout << SRFReadLight( SRF08Address ) << "  " << endl;;
    } while ( true );

    i2c_Close();
    return 0;
}


Statistics: Posted by Chaosmann — Fri Jan 01, 2010 7:25 am

Statistics: Posted by roboard — Wed Dec 09, 2009 11:00 am

roboard wrote:
You can try to send each command to register at location 0 like following code:

Code:

  i2c0master_StartN(0xE0>>1, I2C_WRITE, 2);
  i2c0master_WriteN(0);
  i2c0master_WriteN(0xA0);// 1st in sequence to change I2C address
  i2c0master_StartN(0xE0>>1, I2C_WRITE, 2);
  i2c0master_WriteN(0);
  i2c0master_WriteN(0xAA);// 2st in sequence to change I2C address

last to 0xE2

Reference:SRF10 Ultra sonic range finder
http://www.robot-electronics.co.uk/htm/srf10tech.htm

Statistics: Posted by Tsai Sung Yang — Tue Dec 08, 2009 5:22 pm

Code:

  i2c0master_StartN(0xE0>>1, I2C_WRITE, 2);
  i2c0master_WriteN(0);
  i2c0master_WriteN(0xA0);// 1st in sequence to change I2C address
  i2c0master_StartN(0xE0>>1, I2C_WRITE, 2);
  i2c0master_WriteN(0);
  i2c0master_WriteN(0xAA);// 2st in sequence to change I2C address

Statistics: Posted by roboard — Tue Dec 08, 2009 11:57 am

Code:

i2c0master_StartN(0xe0>>1, I2C_WRITE, 5);
i2c0master_WriteN(0);     // Command
i2c0master_WriteN(0xA0);  // 1st in sequence to change I2C address
i2c0master_WriteN(0xAA);  // 2st in sequence to change I2C address
i2c0master_WriteN(0xA5);  // 3st in sequence to change I2C address
i2c0master_WriteN(0xE2);  // New address


Statistics: Posted by Tsai Sung Yang — Mon Dec 07, 2009 11:16 am

Code:

#include <stdio.h>
#include <conio.h>

#include <roboard.h>

//you need to change this function for Linux and DOS
void wait_ms(unsigned long ms) {
    unsigned long nowtime = GetTickCount();
    while ((GetTickCount() - nowtime) <= ms);
}

int main(void) {
    unsigned b1, b2;

    if (i2c_Initialize(I2CIRQ_DISABLE) == false)
    {
        printf("fail to initialize I2C (%s)!\n", roboio_GetErrMsg());
        return -1;
    }

    printf("set I2C speed to 400Kbps\n\n");
    i2c0_SetSpeed(I2CMODE_STANDARD, 400000L);

    do
    {
        printf("send SRF ranging command\n");

        //START with address 0xe0>>1 to write 2 bytes
        i2c0master_StartN(0xe0>>1, I2C_WRITE, 2);

        //Note: the SRF device address 0xe0 actually contains the I2C r/w bit,
        //      so we divide it by 2 to get the correct I2C slave address;
        //      see the I2C lib section of RoBoard SW intro. slide for more details.

        i2c0master_WriteN(0);       //set SRF command register
        i2c0master_WriteN(81);      //set ranging Mode - result in cm

        wait_ms(100); //wait 100ms

        printf("read SRF ranging data......\n");

        //START with address 0xe0>>1 to write 1 bytes
        i2c0master_StartN(0xe0>>1, I2C_WRITE, 1);

        //set RESTART to read 2 bytes after I2C writing
        i2c0master_SetRestartN(I2C_READ, 2);

        i2c0master_WriteN(2);       //set 1st SRF range register
        b1 = i2c0master_ReadN();    //read echo high byte
        b2 = i2c0master_ReadN();    //read echo low byte

        printf("result = %u\n\n", b1*256 + b2);

    } while (getch() != 27); //press ESC to quit

    i2c_Close();
    return 0;
}


Statistics: Posted by roboard — Fri Jul 10, 2009 6:14 am