subtle and really obvious once I saw it. There is the
lesson: When the data you observe doesn’t make any
sense, examine your assumptions; at least one of them
So, there you have it. To add more sensors, simply
daisy-chain more boards on to the SCI bus. Make sure that
each of them has a different address though! Figure 8
shows my entire test setup with all of the boards wired
together. Not pretty, but it worked great.
ENHANCEMENTS: You can
always do better…
There is certainly room for future enhancement here.
Here are some of the modifications and changes that I
want to make:
1) Add a command to change the board address so I don’t
have to compile the address in.
2) Carefully measure the required data setup time so I can
run the bus as fast as possible – find out what is possible.
3) Find the maximum wire length before data corruption
4) Investigate devices that have an open drain output
so that I don’t have to worry about damaging a part if
bus contention occurs (two parts driving the line in
5) Add more kinds of sensors!
That’s all folks! Have fun and let me know what you
come up with if you like this bus architecture.
Remember, the complete source code for this article
is available on the SERVO Magazine website under Mr.
Roboto as SPIsonar.zip. It will have three files in it:
SPIsonar.c for the PIC16F630 and CCS C compiler, and
atm168.c and atm168.h for the ATMega168 processor
side of the project. I used avr-gcc 4. 3.0 as my compiler
with Eclipse and the AVR Eclipse plugin as my development
environment. If you want to know how to use this
environment, see my columns in the August and
Well, we’ve come to the end of another Mr. Roboto
column and I hope you’ve felt that it was time well spent.
As usual, I can be reached for questions, comments, and
criticisms at email@example.com and I’ll be happy
to work on it! Until next time, keep on building those
C Stamp is ...
D is pla y s!
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