SRF10 Ausgabe auf Terminal

[dercount]

Hallo Robotics,

Wir wollen einen SRF10 an der der MU2.0 betreiben. Das Standartprogramm und der SRF10 laufen. Leider haben wir kein LCD, was wir für unser Projekt auch nicht benötigen. Wie kann ich mir die Daten des SRF10 auf einem Terminal anzeigen lassen.

Vielen Dank für Eure Hilfe
'----------------------------------------------------------------------------------------------------'
'************************************************* ********************'
'* WINDT SYSTEMS *'
'* SRF10 RANGE VIA EMULATED I2C BUS b1.0 for CCIUM2.0 with CCIAB2.0 *'
'* 2006 *'
'************************************************* ********************'
'----------------------------------------------------------------------------------------------------'
'This (beta) software, with the C-Control I Unit M2.0 mounted on the C-Control I Application Board 2.0,'
'will fire and read the SRF10 range and display the data on the LCD as Range in cm.'
'Communication with the SRF10 is via an emulated I2C bus, this is due to the fact that the'
'standard I2C "IIC" software for the CCIUM2.0 does NOT check for clock stretching!'
'The emulated SDA line is via port 4.'
'The emulated SCL line is via port 5.'
'Feel free to use and share this software!'
'----------------------------------------------------------------------------------------------------'
'**************** I/O PORTS ****************'
define sda port[9]
define scl port[10]
define lcd_light_off port[16]
'*******************************************'
'**************** VARIABLES ****************'
define control_flags byte[1]
define i2c_nack bit[1]
define i2c_last bit[2]
define i2c_nack_count byte[2]
define i2c_byte byte[3]
define i2c_out_bit bit[24]
define i2c_in_bit bit[17]
define i2c_loop byte[4]

define range word[3]
'*******************************************'
'**************** CONSTANTS ****************'
DEFINE srf10_gain 16 'SRF10 GAIN / (0 to 16) DEFAULT = 16'
define srf10_range 180 'SRF10 RANGE / (0 to 255) DEFAULT = 255'
'*******************************************'
'****************** SETUP ******************'
PRINT"#ON_LCD#"; : print"#INIT#"; : print"#CLR#"; : print"#OFF#"; : lcd_light_off = off
print"#ON_CONFIG#"; : put &b1000 : print"#OFF#";
#try_again
gosub initialize_srf10
if i2c_nack then goto try_again
'*******************************************'
'***************** PROGRAM *****************'
#start
gosub get_srf10_range
if i2c_nack then goto start
print"#ON_LCD#";
print"#L101#";
print"Range = ";range;"cm";" ";
print"#OFF#";
goto start
'*******************************************'
'*************** SUBROUTINES ***************'
#get_srf10_range
#fire_srf10
gosub start_i2c
i2c_byte = &he0 : gosub write_byte_i2c
i2c_byte = 0 : gosub write_byte_i2c
i2c_byte = &h51 : gosub write_byte_i2c
gosub stop_i2c
if i2c_nack_count > 50 then goto no_ack_from_srf10
if i2c_nack then goto fire_srf10
#read_range
#srf10_wait_and_setup
gosub start_i2c
i2c_byte = &he0 : gosub write_byte_i2c
i2c_byte = 2 : gosub write_byte_i2c
gosub stop_i2c
#pass_srf10_setup
if i2c_nack_count > 100 then goto no_ack_from_srf10
if i2c_nack then goto srf10_wait_and_setup
#read_srf10_data
gosub start_i2c
i2c_byte = &he1 : gosub write_byte_i2c
gosub read_byte_i2c : range = i2c_byte * 256
gosub read_last_byte_i2c : range = range + i2c_byte
gosub stop_i2c
if i2c_nack then goto pass_srf10_setup
return

#start_i2c
sda = 0 : scl = 0
return

#stop_i2c
sda = 0 : deact scl : deact sda
return

#write_byte_i2c
for i2c_loop = 1 to 8
sda = i2c_out_bit
deact scl
#write_byte_i2c_clock_stretch
if not scl then goto write_byte_i2c_clock_stretch
scl = 0
i2c_byte = i2c_byte shl 1
next
deact sda
deact scl
#write_byte_i2c_ack_clock_stretch
if not scl then goto write_byte_i2c_ack_clock_stretch
i2c_nack = sda
scl = 0
if i2c_nack then goto i2c_error
i2c_nack_count = 0
return
#i2c_error
i2c_nack_count = i2c_nack_count + 1
goto stop_i2c

#read_byte_i2c
i2c_last = 0
#get_i2c_byte
deact sda
for i2c_loop = 1 to 8
deact scl
#read_byte_i2c_clock_stretch
if not scl then goto read_byte_i2c_clock_stretch
i2c_in_bit = sda
scl = 0
if i2c_loop < 8 then i2c_byte = i2c_byte shl 1
next
if i2c_last then deact sda else sda = 0
deact scl
#read_byte_i2c_ack_clock_stretch
if not scl then goto read_byte_i2c_ack_clock_stretch
scl = 0
return

#read_last_byte_i2c
i2c_last = 1
goto get_i2c_byte
'*******************************************'
'******* INITIALIZATION SUBROUTINES ********'
#initialize_srf10
gosub start_i2c
i2c_byte = &he0 : gosub write_byte_i2c
i2c_byte = 1 : gosub write_byte_i2c
i2c_byte = srf10_gain : gosub write_byte_i2c
i2c_byte = srf10_range : gosub write_byte_i2c
gosub stop_i2c
if i2c_nack_count > 12 then goto no_ack_from_srf10
if i2c_nack then goto initialize_srf10
return
'*******************************************'
'****************** DATA *******************'

'*******************************************'
'************* ERROR MESSAGES **************'
#no_ack_from_srf10
beep 1,1,1:beep 10,1,1:beep 1,1,1:beep 10,1,1
print"#ON_LCD#";
print"#CLR#";
print"E-I2C ERROR:";
print"#L201#";
print"SRF08 not found";
pause 300
print"#CLR#";
print"#OFF#";
return
'*******************************************'

[Drifter2006]

Hello,
Here are the changes to display the range on a terminal program:
Greetings,
H.J. Windt


'***************** PROGRAM *****************'
#start
gosub get_srf10_range
if i2c_nack then goto start
print"Range = ";range;"cm"
pause 25 '<- lower this number or delete this line for speed'
goto start
'*******************************************'

'************* ERROR MESSAGES **************'
#no_ack_from_srf10
print"E-I2C ERROR:"
print"SRF08 not found"
pause 25
return
'*******************************************'