Code:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M32 Examples
* ****************************************************************************
* Example: I2C Master
* Author(s): Dominik S. Herwald
* ****************************************************************************
* Description:
* Now we will use the I2C Bus Interface to send commands to the Controller
* on the Mainboard and read sensor values.
* This program does not do anything directly, it checks for pressed buttons
* and then runs a small I2C Bus example depending on which button has
* been pressed.
*
* You need to program the Controller on the Mainboard with the I2C Bus Slave
* Example program from the RP6Base examples! Otherwise it will not work!
*
* ############################################################################
* 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 "RP6I2CmasterTWI.h"
/*****************************************************************************/
#define I2C_RP6_BASE_ADR 10 // The default address of the Slave Controller
// on the RP6 Mainboard
/*****************************************************************************/
// I2C Error handler
/**
* 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: 0x");
writeInteger(errorState, HEX);
writeChar('\n');
}
/*****************************************************************************/
// Rotate function
uint8_t transmit_buffer[10]; // temporary transmit buffer
// A global variable saves space on the heap...
#define CMD_ROTATE 8
#define LEFT 2
#define RIGHT 3
/**
* Rotate function - you can define nearly the same functions as you have on
* the RP6 and just forward the commands with I2C Bus transfers...
* We will make an improved version of this and other functions in another example!
*/
void RP6_rotate(uint8_t desired_speed, uint8_t dir, uint16_t angle)
{
transmit_buffer[0] = 0;
transmit_buffer[1] = CMD_ROTATE;
transmit_buffer[2] = desired_speed;
transmit_buffer[3] = dir;
transmit_buffer[4] = ((angle>>8) & 0xFF);
transmit_buffer[5] = (angle & 0xFF);
I2CTWI_transmitBytes(I2C_RP6_BASE_ADR, transmit_buffer, 6 );
}
/*****************************************************************************/
// Read all registers function
uint8_t RP6data[32]; // This array will contain all register values of RP6
// after you called readAllRegisters()
// It is better to keep such big arrays GLOBAL as
// they otherwise fill up the stack in memory...
/**
* This function reads ALL registers available in the standard I2C Bus Slave
* Example program for the Robot Base and outputs their values on the serial interface.
* You will see a lot of zeros when the Motors are not running. The main values that are not
* zero are the two Light Sensors and the two free ADC Channels.
*/
void readAllRegisters(void)
{
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 0); // Start with register 0...
I2CTWI_readBytes(I2C_RP6_BASE_ADR,RP6data, 31); // and read all 30 registers up to
// register Number 29 !
// Now we output the Data we have just read on the serial interface:
writeString_P("\nREADING ALL RP6 REGISTERS:");
uint8_t i = 0;
for(i = 0; i < 31; i++)
{
if(i % 8 == 0) // add some newline chars otherwise everything
writeChar('\n'); // is printed on ONE single line...
else
writeString_P(" | ");
writeChar('#');
writeIntegerLength(i,DEC,2);
writeChar(':');
writeIntegerLength(RP6data[i],DEC,3);
}
writeChar('\n');
}
/**
* Here we demonstrate how to read a few specific registers.
* It is just the same as above, but we only read 4 registers and
* start with register Number 13...
* We also show how to combine values from high and low registers
* back together to a 16 Bit value...
*/
void readLightSensors(void)
{
uint8_t lightSens[4];
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 13); // Start with register 13 (LSL_L)...
I2CTWI_readBytes(I2C_RP6_BASE_ADR, lightSens, 4); // and read all 4 registers up to
// register Number 16 (LSR_H) !
writeString_P("Light Sensor registers:\n");
writeString_P(" | LSL_L:"); writeInteger(lightSens[0], DEC);
writeString_P(" | LSL_H:"); writeInteger(lightSens[1], DEC);
writeString_P(" | LSR_L:"); writeInteger(lightSens[2], DEC);
writeString_P(" | LSR_H:"); writeInteger(lightSens[3], DEC);
writeString_P("\n\n Light Sensor Values:");
writeString_P(" | LSL:"); writeInteger(lightSens[0] + (lightSens[1]<<8), DEC);
writeString_P(" | LSR:"); writeInteger(lightSens[2] + (lightSens[3]<<8), DEC);
writeChar('\n');
setCursorPosLCD(1, 3);
writeIntegerLengthLCD(lightSens[0] + (lightSens[1]<<8), DEC, 4);
setCursorPosLCD(1, 11);
writeIntegerLengthLCD(lightSens[2] + (lightSens[3]<<8), DEC, 4);
}
/*****************************************************************************/
// 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!
writeString_P("\n\nRP6 CONTROL M32 I2C Master Example Program!\n");
// IMPORTANT:
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handlers:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
// Play two sounds:
sound(180,80,25);
sound(220,80,25);
setLEDs(0b1111); // Turn all LEDs on!
showScreenLCD("################", "################", "", "");
mSleep(500);
showScreenLCD("I2C-Master", "Example Program 1", "", "");
mSleep(1000);
// ---------------------------------------
setLEDs(0b0000); // All LEDs off!
uint8_t counter = 1;
while(true)
{
// We check the buttons - just like the buttons example - but here we
// generate several I2C Bus requests and commands when a key
// is pressed AND released again...
uint8_t key = checkReleasedKeyEvent();
if(key)
{
switch(key)
{
case 1: // Increment a counter and send value to LEDs of the
// Slave Controller:
setLEDs(0b0001);
showScreenLCD("INCREMENT", "LED COUNTER", "", "");
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, counter);
counter++;
break;
case 2: // Read and display ALL registers of the slave controller:
setLEDs(0b0010);
showScreenLCD("READ ALL RP6", "REGISTERS", "", "");
readAllRegisters();
break;
case 3: // Read the light sensors and show value on display:
setLEDs(0b0100);
showScreenLCD("LIGHT SENSORS:", "L: R:", "", "");
readLightSensors();
break;
case 4: // Rotate a very small distance to the left:
setLEDs(0b1000);
showScreenLCD("ROTATE A BIT...", "... LEFT!", "", "");
RP6_rotate(35,LEFT,40);
break;
case 5: // Rotate a very small distance to the right:
setLEDs(0b1001);
showScreenLCD("ROTATE A BIT...", "... RIGHT!", "", "");
RP6_rotate(35,RIGHT,40);
break;
}
}
}
return 0;
}
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