Hi Marcel,
das Modul CMPS03 wird völlig anders ausgelesen als der HDMM01. Daher kannst du mein Programm nicht 1:1 nehmen.
Ich habe den HDMM01 nicht selbst. Du kannst folgendes Testprogramm mal als Anfang für eigene Experimente nehmen:
Code:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - ROBOT BASE EXAMPLES
* ****************************************************************************
* Example: I2C Master - HDMM01
* Author(s): Dirk
* ****************************************************************************
* Description:
*
* This Example shows how to use the compass module HDMM01
* with RP6Library.
*
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6RobotBaseLib.h"
// IMPORTANT:
#include "RP6I2CmasterTWI.h" // Include the I²C-Bus Slave Library
/*****************************************************************************/
// 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');
}
/*****************************************************************************/
/**
* Write a long number (with specified base) to the UART.
*
* Example:
*
* // Write a hexadecimal number to the UART:
* writeLong(0xAACC,16);
* // Instead of 16 you can also write "HEX" as this is defined in the
* // RP6uart.h :
* writeLong(0xAACC, HEX);
* // Other Formats:
* writeLong(1024,DEC); // Decimal
* writeLong(044,OCT); // Octal
* writeLong(0b11010111,BIN); // Binary
*/
void writeLong(int32_t number, uint8_t base)
{char buffer[33];
ltoa(number, &buffer[0], base);
writeString(&buffer[0]);
}
/*****************************************************************************/
// The I2C slave address of the compass module HDMM01 is 0x60:
#define HDMM01_ADR 0x60
// HDMM01 Data Register:
#define DATA_REG 0
// HDMM01 Commands:
#define SET_COIL 0b00000010
#define RESET_COIL 0b00000100
#define MEASURE 0b00000001
uint8_t results[5];
/**
* READ HDMM01 DATA REGISTER
*
* This function reads the data register of the HDMM01.
*
*/
void readHDMM01(void)
{
I2CTWI_transmit2Bytes(HDMM01_ADR, DATA_REG, SET_COIL);
mSleep(1);
I2CTWI_transmit2Bytes(HDMM01_ADR, DATA_REG, RESET_COIL);
mSleep(5);
I2CTWI_transmit2Bytes(HDMM01_ADR, DATA_REG, MEASURE);
mSleep(5);
I2CTWI_transmitByte(HDMM01_ADR, DATA_REG);
// Hier sollte eigentlich kein Stop sein ...
I2CTWI_readBytes(HDMM01_ADR, results, 5);
return;
}
/**
* HDMM01 TASK
*
* This is the HDMM01 task.
*
*/
void task_HDMM01(void)
{uint16_t X, Y;
if (getStopwatch1() > 500) {
readHDMM01();
results[1] = results[1] & 0b00001111;
results[3] = results[3] & 0b00001111;
X = results[1] * 256;
X = X + results[2];
Y = results[3] * 256;
Y = Y + results[4];
writeString_P("XY: ");
writeLong(X, DEC);
writeChar(' ');
writeLong(Y, DEC);
writeString_P(" \n");
setStopwatch1(0);
}
}
/*****************************************************************************/
// 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();
startStopwatch1();
while(true)
{
task_HDMM01();
task_I2CTWI();
task_RP6System();
}
return 0;
}
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
* - v. 1.0beta (initial release) 04.03.2012 by Dirk
*
* ****************************************************************************
*/
/*****************************************************************************/
Ein Problem bei der Lesefunktion ist, dass an einer Stelle (siehe Kommentar) eigentlich kein Stop gesendet werden darf. Das macht aber die RP6 Library.
Aber: Probier das doch erst einmal.
Zitieren
Lesezeichen