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| 1 | +// I2C SRF10 or SRF08 Devantech Ultrasonic Ranger Finder |
| 2 | +// by Nicholas Zambetti <http://www.zambetti.com> |
| 3 | +// and James Tichenor <http://www.jamestichenor.net> |
| 4 | + |
| 5 | +// Demonstrates use of the Wire library reading data from the |
| 6 | +// Devantech Utrasonic Rangers SFR08 and SFR10 |
| 7 | + |
| 8 | +// Created 29 April 2006 |
| 9 | + |
| 10 | +// This example code is in the public domain. |
| 11 | + |
| 12 | + |
| 13 | +#include <Wire.h> |
| 14 | + |
| 15 | +void setup() |
| 16 | +{ |
| 17 | + Wire.begin(); // join i2c bus (address optional for master) |
| 18 | + Serial.begin(9600); // start serial communication at 9600bps |
| 19 | +} |
| 20 | + |
| 21 | +int reading = 0; |
| 22 | + |
| 23 | +void loop() |
| 24 | +{ |
| 25 | + // step 1: instruct sensor to read echoes |
| 26 | + Wire.beginTransmission(112); // transmit to device #112 (0x70) |
| 27 | + // the address specified in the datasheet is 224 (0xE0) |
| 28 | + // but i2c adressing uses the high 7 bits so it's 112 |
| 29 | + Wire.write(byte(0x00)); // sets register pointer to the command register (0x00) |
| 30 | + Wire.write(byte(0x50)); // command sensor to measure in "inches" (0x50) |
| 31 | + // use 0x51 for centimeters |
| 32 | + // use 0x52 for ping microseconds |
| 33 | + Wire.endTransmission(); // stop transmitting |
| 34 | + |
| 35 | + // step 2: wait for readings to happen |
| 36 | + delay(70); // datasheet suggests at least 65 milliseconds |
| 37 | + |
| 38 | + // step 3: instruct sensor to return a particular echo reading |
| 39 | + Wire.beginTransmission(112); // transmit to device #112 |
| 40 | + Wire.write(byte(0x02)); // sets register pointer to echo #1 register (0x02) |
| 41 | + Wire.endTransmission(); // stop transmitting |
| 42 | + |
| 43 | + // step 4: request reading from sensor |
| 44 | + Wire.requestFrom(112, 2); // request 2 bytes from slave device #112 |
| 45 | + |
| 46 | + // step 5: receive reading from sensor |
| 47 | + if(2 <= Wire.available()) // if two bytes were received |
| 48 | + { |
| 49 | + reading = Wire.read(); // receive high byte (overwrites previous reading) |
| 50 | + reading = reading << 8; // shift high byte to be high 8 bits |
| 51 | + reading |= Wire.read(); // receive low byte as lower 8 bits |
| 52 | + Serial.println(reading); // print the reading |
| 53 | + } |
| 54 | + |
| 55 | + delay(250); // wait a bit since people have to read the output :) |
| 56 | +} |
| 57 | + |
| 58 | + |
| 59 | +/* |
| 60 | +
|
| 61 | +// The following code changes the address of a Devantech Ultrasonic Range Finder (SRF10 or SRF08) |
| 62 | +// usage: changeAddress(0x70, 0xE6); |
| 63 | +
|
| 64 | +void changeAddress(byte oldAddress, byte newAddress) |
| 65 | +{ |
| 66 | + Wire.beginTransmission(oldAddress); |
| 67 | + Wire.write(byte(0x00)); |
| 68 | + Wire.write(byte(0xA0)); |
| 69 | + Wire.endTransmission(); |
| 70 | +
|
| 71 | + Wire.beginTransmission(oldAddress); |
| 72 | + Wire.write(byte(0x00)); |
| 73 | + Wire.write(byte(0xAA)); |
| 74 | + Wire.endTransmission(); |
| 75 | +
|
| 76 | + Wire.beginTransmission(oldAddress); |
| 77 | + Wire.write(byte(0x00)); |
| 78 | + Wire.write(byte(0xA5)); |
| 79 | + Wire.endTransmission(); |
| 80 | +
|
| 81 | + Wire.beginTransmission(oldAddress); |
| 82 | + Wire.write(byte(0x00)); |
| 83 | + Wire.write(newAddress); |
| 84 | + Wire.endTransmission(); |
| 85 | +} |
| 86 | +
|
| 87 | +*/ |
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