I2C Verständnisprobleme

[RP6fahrer]

@Rolf
Ja, danke. Kannst dich erstmal um deine Baustelle kümmern. Ich habe da nicht so ein stress.

Also, zum Problem ADC. In meinem Programm steht das hier so:

void task_test(void)
{
    I2CTWI_transmitByte(10, 23); Also hier erfolgt die Anfrage an das Register 23 von Slave(adresse 10)
    uint8_t result1 = I2CTWI_readByte(10);   und hier wird es eingelesen
    writeString_P("\n ADC0 High :   ");
    writeIntegerLength(result1, DEC, 3);  Und hier wird er über die serielle Schnittstelle ausgegeben.
    mSleep(500);
  
    I2CTWI_transmitByte(10, 25);
    uint8_t ergebnis = I2CTWI_readByte(10);
    writeString_P("\n ADC1 High :   ");
    writeIntegerLength(ergebnis, DEC, 3);
    mSleep(500);
    
        I2CTWI_transmitByte(10, 22);
    uint8_t ergebniss = I2CTWI_readByte(10);
    writeString_P("\n Batterie High :   ");
    writeIntegerLength(ergebniss, DEC, 3);
    mSleep(500);
    
    writeString_P(" | BAT:");writeIntegerLength(adcBat,DEC,4);
    writeString_P(" | AD0:");writeIntegerLength(adc0,DEC,4);
    writeString_P(" | AD1:");writeIntegerLength(adc1,DEC,4);
    writeChar('\n');

}
/**
 * Timed Watchdog display only - the other heartbeat function
 * does not work in this example as we use blocked moving functions here.
 */
void watchDogRequest(void)
{
    static uint8_t heartbeat2 = false;
    if(heartbeat2)
    {
        clearPosLCD(0, 14, 1);
        heartbeat2 = false;
    }
    else
    {
        setCursorPosLCD(0, 14);
        writeStringLCD_P("#"); 
        heartbeat2 = true;
    }
}

/*****************************************************************************/
// I2C Requests: 

/**
 * The I2C_requestedDataReady Event Handler
 */
void I2C_requestedDataReady(uint8_t dataRequestID)
{
    checkRP6Status(dataRequestID);
}

/*****************************************************************************/
// 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).
 */
void I2C_transmissionError(uint8_t errorState)
{
    writeString_P("\nI2C ERROR - TWI STATE: 0x");
    writeInteger(errorState, HEX);
    writeChar('\n');
}

void I2C_requestedDataReady(uint8_t dataRequestID)
{
    // We need to check if this is an INT0 Request from the Robot Base unit.
    // The Function call inside the if condition returns true if it was an
    // interrupt request, so we have to negate it here and if it was NOT
    // an interrupt request from the Robot base we can check any other sensors
    // from which you may have requested data...
    if(!checkRP6Status(dataRequestID)) 
    {
        // Here you can Check other sensors/microcontrollers with their own
        // request IDs - if there are any... 
    }
}

/*****************************************************************************/
// Main function - The program starts here:

int main(void)
{
    initRP6Control();  
    initLCD();
    
    writeString_P("\n\nRP6 CONTROL M32 I2C Master Example Program!\n"); 
    writeString_P("\nMoving...\n"); 

    // ---------------------------------------
    WDT_setRequestHandler(watchDogRequest); 
    
    // ---------------------------------------
    // Init TWI Interface:
    I2CTWI_initMaster(100);  
    I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
    I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);

    sound(180,80,25);
    sound(220,80,25);

    setLEDs(0b1111);

    showScreenLCD("################", "################");
    mSleep(500);
    showScreenLCD("I2C-Master", "Movement...");
    mSleep(1000);
    setLEDs(0b0000);
    
    WDT_setRequestHandler(watchDogRequest); 
    
    // ---------------------------------------
    //I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
    //writeString_P("ACS Power ist medium\n");
    //mSleep(500);
    I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
    writeString_P("WDT ist true\n");
    mSleep(500);
    I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
    writeString_P("WDT-RQ ist true\n");
    mSleep(500);
        //I2CTWI_transmit3Bytes(10, 0, 6, FWD);
        
        I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
    
    while(true) 
    {     
    task_I2CTWI();
    task_test();    
    
        }
    return 0;
}

Das Problem ist jetzt, dass der Wert diese ADC0 normal (durch Lichtsensor) 780 ist, aber über das M32 sind dass nur 230 ungefähr. mache ich da noch was falsch?
Und beu ubat zeigt er mir 000 an.
Und dann würde ich noch gern wissen wollen, was das wdt und wdt_RQ ist.
LG