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(da notare il "cavallotto" per connettere MODE a massa e i fili bianco/rosso provenienti dal microcontrollore XE164 per la comunicazioen seriale).

void main(void)
{
 // USER CODE BEGIN (Main,2)
 // USER CODE END

 MAIN_vInit();

 // USER CODE BEGIN (Main,3)
 LCDinitialize();
 LCDclear();
 LCDtest();

 LCDgoToPos(2,2);
 LCDwriteString("Distance By SRF02");
 GPT2_waitXXms(2000);

 // Get SRF02 Software Version
 PrintOnDisplay( "Version", SFR02_vInit() );

 // Wait just some time to permit SFR02 calibration
 GPT2_waitXXms(2000);

 // USER CODE END

 while(1)
 {

 // USER CODE BEGIN (Main,4)

   SFR02_RealRanging();

   GPT2_waitXXms(1000);

   PrintOnDisplay("[cm]", SFR02_getDistance());

 // USER CODE END
 }

} // End of function main

//****************************************************************************
// @Function SFR02_RealRanging
//
//----------------------------------------------------------------------------
// @Description Return the distance in centimeter
//
//----------------------------------------------------------------------------
// @Returnvalue None
//
//----------------------------------------------------------------------------
// @Parameters None
//
//----------------------------------------------------------------------------
// @Date 21/05/2009
//
//****************************************************************************

unsigned int SFR02_RealRanging (void)
{
  // Send Command to SRF02 to measure Distance
  RS232_vSendData ( SFR02_ID ); // SFR02 Address (0x00 by default)
  RS232_vSendData ( 0x54 ); // Real Ranging Mode - Result in centimeters, automatically Tx range back to controller as soon as ranging is complete.
  // GPT2_waitXXms( 80 ); // Wait >70 msec to get back the ranging
  // RS232_vSendData ( 0x5E ); // Get Range, returns two bytes (high byte first) from the most recent ranging.

  // in reality return the previous measured distance
  return ( ubDistance );
}