RP6 Ultraschallsensor SRF08

[Marian Otte]

ach ja und außerdem möchte ich gerne noch wissen wie das programm aussieht wenn ich die Ultrschallsensoren an das Atmega 32 anschließen will?
Der Rp6 läuft im Slave modus.
Ich habe das beispielpgrogramm von der base für das Atmega 32 umgeschrieben aber irgenwie funktioniert das nicht.

Danke Marian Otte

Das sähe dann bei mir so aus:

#include "RP6ControlLib.h" 		
#include "RP6I2CmasterTWI.h"
#include "RP6Control_I2CMasterLib.h"  

#define SRF_ADR  0xE6


void changeSRFAddr(uint8_t old_addr, uint8_t new_addr)
{
	I2CTWI_transmit2Bytes(old_addr, 0, 0xA0);
	I2CTWI_transmit2Bytes(old_addr, 0, 0xAA);
	I2CTWI_transmit2Bytes(old_addr, 0, 0xA5);
	I2CTWI_transmit2Bytes(old_addr, 0, new_addr);
}


#define MEASURE_US_LOW 	0
#define MEASURE_US_HIGH 1

uint16_t distance;

void I2C_requestedDataReady(uint8_t dataRequestID)
{
	uint8_t messageBuf[8];
	static uint8_t dist_tmp;
	switch(dataRequestID)
	{
		case MEASURE_US_HIGH: 
			I2CTWI_getReceivedData(messageBuf, 2);
			dist_tmp = (messageBuf[0]);
			I2CTWI_transmitByte(SRF_ADR, 3);
			I2CTWI_requestDataFromDevice(SRF_ADR, MEASURE_US_LOW, 1);
		break;
		case MEASURE_US_LOW:
			I2CTWI_getReceivedData(messageBuf, 2);
			distance = messageBuf[0] + (dist_tmp << 8);
		
			writeString_P("Distance: ");
			writeInteger(distance, DEC);
			writeString_P(" cm | ");
			uint16_t dist_count;
			for(dist_count = distance; dist_count > 4; dist_count-=2)
				writeChar('#');
			writeChar('\n');
		break;
	}
}

void I2C_transmissionError(uint8_t errorState)
{
	writeString_P("\nI2C ERROR --> TWI STATE IS: 0x");
	writeInteger(errorState, HEX);
	writeChar('\n');
}

void task_SRF(void)
{
	static uint8_t measureInProgress = false;
	if(!measureInProgress) 
	{
		if(TWI_operation == I2CTWI_NO_OPERATION)
		{
			I2CTWI_transmit2Bytes(SRF_ADR, 0, 81);
			measureInProgress = true;
			setStopwatch1(0);
		}
	}
	else if(getStopwatch1() > 70)
	{
		I2CTWI_transmitByte(SRF_ADR, 2);
		I2CTWI_requestDataFromDevice(SRF_ADR, MEASURE_US_HIGH, 1);
		measureInProgress = false;
		setStopwatch1(0);
	}
}

int main(void)
{
	
	
	I2CTWI_initMaster(100);
	I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
	I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);

	setLEDs(0b111111);
	mSleep(500);	   
	setLEDs(0b000000);
	
	

	startStopwatch1();
	
	while(true)  
	{
		task_SRF();
		task_I2CTWI();
		
	}
	return 0;
}

ich bekomme das mit dem Code einfügen einfach nicht hin