Hallo shedepe,
sorry, hatte einfach noch keine Zeit.
Hier jetzt eine funktionierende Variante:
RP6Base (Master):
Code:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - ROBOT BASE EXAMPLES
* ****************************************************************************
* Example: I2C Master - I2C Send Test
* Author(s): Dirk
* ****************************************************************************
* Description:
*
* This Example sends a 16-bit value via I2C as master.
*
*
* ############################################################################
* The Robot does NOT move in this example! You can simply put it on a table
* next to your PC and you should connect it to the PC via the USB Interface!
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6RobotBaseLib.h" // The RP6 Robot Base Library.
// Always needs to be included!
#include "RP6I2CmasterTWI.h" // Include the I2C-Bus Master Library
/*****************************************************************************/
// Defines:
// The Slave Address on the I2C Bus can be specified here:
#define RP6CONTROL_I2C_SLAVE_ADR 10
#define CMD_SHOW_DATA 99 // Command to display the data
/*****************************************************************************/
// I2C Event handlers:
/**
* This function gets called automatically if there was an I2C Error like
* the slave sent a "not acknowledge" (NACK, error codes e.g. 0x20 or 0x30).
* The most common mistakes are:
* - using the wrong address for the slave
* - slave not active or not connected to the I2C-Bus
* - too fast requests for a slower slave
* Be sure to check this if you get I2C errors!
*/
void I2C_transmissionError(uint8_t errorState)
{
writeString_P("\nI2C ERROR --> TWI STATE IS: 0x");
writeInteger(errorState, HEX);
writeChar('\n');
}
/*****************************************************************************/
// Variables:
uint16_t adc0;
uint8_t buffer[4];
/*****************************************************************************/
// Functions:
/*****************************************************************************/
// Main - The program starts here:
int main(void)
{
initRobotBase();
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handlers:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b111111);
mSleep(500);
setLEDs(0b000000);
powerON();
writeString_P("Hallo"); // UART Test
writeChar('\n');
startStopwatch1();
while(true)
{
if (getStopwatch1() > 250) { // Jede 1/4 Sekunde:
// adc0 = readADC(ADC_ADC0); // ADC auslesen
adc0 += 10; // TEST: ZÄHLER!!!
writeString_P("Zu sendender Wert: ");
writeInteger(adc0, DEC); // Wert via UART senden
writeChar('\n');
buffer[0] = 0;
buffer[1] = CMD_SHOW_DATA;
buffer[2] = adc0;
buffer[3] = (adc0 >> 8);
if (!I2CTWI_isBusy()) {
I2CTWI_transmitBytes(RP6CONTROL_I2C_SLAVE_ADR, buffer, 4);
writeString_P("I2C hat gesendet: "); // Kontrolle, dass etwas gesendet wurde
writeInteger(adc0, DEC);
writeChar('\n');
writeChar('\n');
}
setStopwatch1(0);
}
}
return 0;
}
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
* - v. 1.0 (initial release) 13.01.2010 by Dirk
*
* ****************************************************************************
*/
/*****************************************************************************/
RP6Control (Slave):
Code:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M32 EXAMPLES
* ****************************************************************************
* Example: I2C Slave - I2C Receive Test
* Author(s): Dirk
* ****************************************************************************
* Description:
*
* This Example receives a 16-bit value via I2C as slave.
*
*
* ############################################################################
* The Robot does NOT move in this example! You can simply put it on a table
* next to your PC and you should connect it to the PC via the USB Interface!
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6ControlLib.h" // The RP6 Control Library.
// Always needs to be included!
#include "RP6I2CslaveTWI.h" // Include the I2C-Bus Slave Library
/*****************************************************************************/
// Defines:
// The Slave Address on the I2C Bus can be specified here:
#define RP6CONTROL_I2C_SLAVE_ADR 10
#define CMD_SHOW_DATA 99 // Command to display the data
/*****************************************************************************/
// Variables:
uint16_t adcwert;
uint8_t controlbyte;
uint8_t highbyte = 0;
uint8_t lowbyte = 0;
/*****************************************************************************/
// Functions:
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRP6Control(); // Always call this first! The Processor will not
// work correctly otherwise.
initLCD(); // Initialize the LC-Display (LCD)
// Always call this before using the LCD!
clearLCD(); // Clear the whole LCD Screen
setLEDs(0b111111);
mSleep(500);
setLEDs(0b000000);
I2CTWI_initSlave(RP6CONTROL_I2C_SLAVE_ADR); // Slave mit der Adresse 10 initialisieren
showScreenLCD("I2C-Empfang", "ADC:"); // LC-Display vorbereiten
while(true)
{
if (I2CTWI_writeRegisters[0] && !I2CTWI_writeBusy) {
controlbyte = I2CTWI_writeRegisters[0]; // Kontrollbyte lesen
I2CTWI_writeRegisters[0] = 0; // und zurücksetzen (!!!)
lowbyte = I2CTWI_writeRegisters[1]; // lowbyte auslesen
highbyte = I2CTWI_writeRegisters[2]; // highbyte auslesen
if (controlbyte == CMD_SHOW_DATA) {
adcwert = ((highbyte << 8) | lowbyte); // wieder zusammensetzen
setCursorPosLCD(1, 5);
writeIntegerLCD(adcwert, DEC);
controlbyte = 0;
}
}
}
return 0;
}
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
* - v. 1.0 (initial release) 13.01.2010 by Dirk
*
* ****************************************************************************
*/
/*****************************************************************************/
Gruß Dirk
Zitieren
Lesezeichen