////////////////////////////////////////////////////////////////////////////////
// Name: SR-010 //
// Sonar Range Finder SRF10 //
// Platform: Arduino Uno R3 //
// Created by: HARB, rboek2@gmail.com, May 2016, GPL copyrights //
// http://robotigs.com/robotigs/includes/parts_header.php?idpart-208 //
// Read the SRF10 with TWI and display the result on the Serial Monitor. //
// Connect only 1 SRF10 to this sketch at the same time. //
////////////////////////////////////////////////////////////////////////////////
// SET PRECOMPILER OPTIONS *****************************************************
// Define precompiler settings PINS --------------------------------------------
///Define the needed header files for the precompiler, no charge if not used ---
#include <Wire.h>
// Define variables ------------------------------------------------------------
bool ledBinVal = LOW; //You can chose HIGH-on or LOW-off for LED_BUILTIN
int twiAdr = 0xE0; //This is the new TWI-address of the connected SRF 10
int twiSR1 = 112; //The default address in the datasheet is 224=0xE0
int Range = 25; //255 is default = 65mS. Possible values: 0 - 255
int Gain = 16; //16 is default = No gain. Possible values: 0 - 16
// We seem to must perform a ROR NC on the real address b4 the library reacts ok
// but i2c adressing uses the high 7 bits so it's 112
//So 3 flashes means 0xE6 = 230 / 2 = 115
//This is a rather bad way to avoid ANDs for read/write
uint8_t reading = 0;
//END OF PRECOMPILER OPTIONS ---------------------------------------------------
void setup() { //Setup runs once ***********************************************
Serial.begin(9600); //Nothing more needed for the Serial Monitor to function
pinMode(LED_BUILTIN, OUTPUT); //Arduino boards contain an onboard LED
Wire.begin(); //Start i2c bus, no address to be master
setTwiAddress(); //Reset the address of SRF10
setSRFrange(); //Set the maximum measuring wait for return time
setSRFgain(); //Set the rise time of the microphone
}//--(end setup )---------------------------------------------------------------
void loop() { //KEEP ON RUNNING THIS LOOP FOREVER ******************************
proces_SRF(); //Read and show data Sonar Range Finder
toggle_ledBin(); //Toggles the default on-board LED on or off
} //End of void loop() //KEEP ON RUNNING THIS LOOP FOREVER
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void setSRFgain(void) { //Set the rise time of the microphone ******************
Wire.beginTransmission(twiSR1); //Start to occupy twi-bus and to select device
Wire.write(byte(0x01)); //Sets register pointer to the gain register=0x01
Wire.write(byte(Gain)); //Gain must be set according table of the manufacturer
Wire.endTransmission(true); //Stop transmitting and free the TWI-bus
} //Exit setSRFrange, RSet the maximum measuring wait for return time DONE -----
void setSRFrange(void) { //Set the maximum measuring wait for return time ******
Wire.beginTransmission(twiSR1); //Start to occupy twi-bus and to select device
Wire.write(byte(0x02)); //Sets register pointer to the range register=0x02
Wire.write(byte(Range)); //Range times 43mm is the max distance
Wire.endTransmission(true); //Stop transmitting and free the TWI-bus
} //Exit setSRFrange, RSet the maximum measuring wait for return time DONE -----
void proces_SRF(void) { //Read and show data Sonar Range Finder ****************
//Step 1: Tell SRF10 to start ranging sequence by emitting a click sound
Wire.beginTransmission(twiSR1); //Start to occupy twi-bus and to select device
Wire.write(byte(0x00)); //Sets register pointer to the command register=0x00
Wire.write(byte(0x51)); //Command sensor to measure in cm=0x51
Wire.endTransmission(true); //Stop transmitting and free the TWI-bus
//SRF-10 will respond by a brief flash of the onboard LED and making a click
//Step 2: Pause until the click sound has echoed back or not even that
Wire.beginTransmission(twiSR1); //Start to occupy twi-bus and to select device
Wire.write(byte(0x00)); //Sets register pointer to 0x00, Version
Wire.endTransmission(false); //Stop transmitting, but do not free the TWI-bus
reading = 0xFF; //Set to enter loop
while (reading == 0xFF) { //Keep looping while measurement runs
Wire.requestFrom(twiSR1, 1); //Request 1 byte from slave device
reading = Wire.read(); //Read single byte, overwrites previous reading
} //Exit while (reading == 0xFF), see datasheet SRF10
Serial.print("Version:"); //Results in 4
Serial.print(reading); //Show the reading of register 0
//Step 3: Tell SRF10 to start to prepare to send me the 2 byte echo result
Wire.beginTransmission(twiSR1); //Start to occupy twi-bus and to select device
Wire.write(byte(0x02)); //Sets register pointer to echo #1 register=0x02, HIGH
Wire.endTransmission(false); //Stop transmitting, but do not free the TWI-bus
//Step 4: Read data 2 bytes from sensor
Wire.requestFrom(twiSR1, 2); //Request 2 bytes from slave device
//Step 5: If 2 bytes data are received then Read data from the buffer
if (2 <= Wire.available()) { //If two bytes are received, both are buffered
reading = Wire.read(); //Read high byte, overwrites previous reading
reading = reading << 8; //Shift high byte to be high 8 bits
reading |= Wire.read(); //Receive low byte as lower 8 bits
Serial.print(" Distance:"); //Show text
Serial.print(reading); // print the reading
Serial.println(" cm"); // print the reading
} //Exit if (2 <= Wire.available) Read data from the buffer done
} //Exit proces_SRF(void) Read and show data Sonar Range Finder ----------------
void toggle_ledBin(void) { //Toggles the default on-board LED on or off ********
ledBinVal = !ledBinVal; //Toggle value
digitalWrite(LED_BUILTIN, ledBinVal); //Set Arduino boards onboard LED
} //Exit toggle_ledBin ---------------------------------------------------------
void setTwiAddress(void) { //Reset the address of SRF10 ************************
Wire.beginTransmission(twiSR1);
Wire.write(byte(0x00));
Wire.write(byte(0xA0));
Wire.endTransmission();
Wire.beginTransmission(twiSR1);
Wire.write(byte(0x00));
Wire.write(byte(0xAA));
Wire.endTransmission();
Wire.beginTransmission(twiSR1);
Wire.write(byte(0x00));
Wire.write(byte(0xA5));
Wire.endTransmission();
Wire.beginTransmission(twiSR1);
Wire.write(byte(0x00));
Wire.write(twiAdr);
Wire.endTransmission();
} //Exit hangeAddress(void) Reset the address of SRF10 DONE --------------------
////////////////////////////////////////////////////////////////////////////////
// PIN ALLOCATIONS TABLE ARDUINO UNO //
// Board -Atmel- PIN - IDE - Function - Connection ALT //
// //
// CONNECTIONS RAILS TOP LEFT: DIGITAL PWM<~> ******************************* //
// SCL - 28 - PC5 -19/A5- ADC5/SCL/PCINT13 - White cable to SRF-10 TWI //
// SDA - 27 - PC4 -18/A4- ADC4/SDA/PCINT12 - Yellow cable to SRF-10 TWI //
// AREF - 21 - REF - - AREF - //
// GND - 22 - GND - - GND - //
// 13 - 19 - PB5 - 13 - SCK/PCINT5 - LED_BUILTIN Arduino SPI //
// 12 - 18 - PB4 - 12 - MISO/PCINT4 - SPI //
// ~11 - 17 - PB3 - 11 - MOSI/OC2A/PCINT3 - PWM //
// ~10 - 16 - PB2 - 10 - SS/OC1B/PCINT2 - PWM //
// ~9 - 15 - PB1 - 9 - OC1A/PCINT1 - PWM //
// 8 - 14 - PB0 - 8 - PCINT0/CLK0/ICP1 - DIO //
// //
// CONNECTIONS RAILS TOP RIGHT: DIGITAL PWM<~> ****************************** //
// 7 - 13 - PD7 - 7 - PCINT23/AIN1 - DIO //
// ~6 - 12 - PD6 - 6 - PCINT22/OCA0/AIN0 - PWM //
// ~5 - 11 - PD5 - 5 - PCINT21/OC0B/T1 - PWM //
// ~4 - 6 - PD4 - 4 - PCINT20/XCK/T0 - PWM //
// ~3 - 5 - PD3 - 3 - PCINT19/OC2B/INT1 - INT //
// ~2 - 4 - PD2 - 2 - PCINT18/INT0 - INT //
// TX->1 - 3 - PD1 - 1 - PCINT17/TXD - Serial monitor TXD //
// RX<-0 - 2 - PD0 - 0 - PCINT16/RCD - Serial Monitor RCD //
// //
// CONNECTIONS RAILS BOTTOM LEFT: POWER ************************************* //
// 5V - 7 - VCC - - VCC - Output to breadboard VCC //
// RES - 1 - RES - - PCINT14/RESET - RES //
// 3.3V - - - - - //
// 5V - - - - - //
// GND - - - - - //
// GND - - - - - //
// Vin - - - - - //
// //
// CONNECTIONS RAILS BOTTOM RIGHT: ANALOG IN ******************************** //
// A0 - 23 - PC0 -A0/14- ADC0/PCINT8 - ADC //
// A1 - 24 - PC1 -A1/15- ADC1/PCINT9 - ADC //
// A2 - 25 - PC2 -A2/16- ADC2/PCINT10 - ADC //
// A3 - 26 - PC3 -A3/17- ADC3/PCINT12 - ADC //
// A4 - 27 - PC4 -A4/18- ADC4/SDA/PCINT12 - TWI //
// A5 - 28 - PC5 -A5/19- ADC5/SCL/PCINT13 - TWI //
////////////////////////////////////////////////////////////////////////////////
// EEPROM MEMORY MAP: //
// Start End Number Description //
// 0000 0000 1 Never use this memory location to be AVR compatible //
////////////////////////////////////////////////////////////////////////////////
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