'{$STAMP BS2p}
'***********************************************************
'**                                                       **
'**  I2C Routines for the Basic Stamp BS2p RevC or later  **
'**  with the SRF08, SRF10 and SRF235 Ultrasonic Rangers  **
'**                                                       **
'**             Copyright 2005 - Devantech Ltd            **
'**     Commercial use of this software is prohibited     **
'**     Private and educational use only is permitted     **
'**                                                       **
'**        Written by Gerald Coe - February 2005          **
'**                                                       **
'***********************************************************


'   Connect P8 (pin13) of the BS2p to the SRFxx SDA
'   Connect P9 (pin14) of the BS2p to the SRFxx SCL
'   Use 4k7 pull-up resistors from SCL and SDA to 5v supply

SDA     CON 8           ' SDA on pin13, SCL on pin14
Ver     VAR Byte
Light   VAR Byte
Range   VAR Word        ' range

Loop:
  I2COUT SDA, $e0, 0, [81]    ' Rangeing command - 80 for inches, 81 for cm, 82 for uS
  PAUSE 100
  I2CIN SDA, $e1, 0, [Ver, Light, Range.HIGHBYTE, Range.LOWBYTE]
  DEBUG 2,0,1, "BS2p to SRF08, SRF10 or SRF235 "
  DEBUG 2,0,3, "Firmware Version ", DEC Ver, "    "
  DEBUG 2,0,4, "Light Sensor ", DEC Light, " (SRF08 only, Reads 128 on the others)   "
  DEBUG 2,0,5, "Range ", DEC Range," cm      "
  GOTO Loop