Hi Patrick,
ja, in der Demo WT_I2C.c fehlt wohl noch einiges.
Versuch es mal hiermit:
Diese Demo für den Main Controller funktioniert nur, wenn im Motor Controller das I2C-Slave Programm "Wild_Thumper_Motor.c" läuft.Code:////////////////////////////////////////////////////////////////////////////////////// // _______________________ // \| WILD THUMPER ROBOT SYSTEM |/ // \_-_-_-_-_-_-_-_-_-_/ >>> MAIN CONTROLLER // ---------------------------------------------------------------------------- // ------------------- [c]2010 / 2011 - AREXX ENGINEERING --------------------- // -------------------------- http://www.arexx.com/ --------------------------- ////////////////////////////////////////////////////////////////////////////////////// // File: WT_I2C.c // Version: 1.0 // Target: Wild Thumper Main Controller - ATMEGA664 @20.00 MHz // Author(s): Bastiaan Scherphof // Hein Wielink ////////////////////////////////////////////////////////////////////////////////////// // Description: // Control of the Wild Thumper // This program handles: // - I2C test // - ////////////////////////////////////////////////////////////////////////////////////// //Include library #include "WildThumperLib_Main.h" //Include Wild Thumper functions #include "WT_I2Cmaster.h" //Include I2C functions ////////////////////////////////////////////////////////////////////////////////////// // // // Defines // // // ////////////////////////////////////////////////////////////////////////////////////// #define I2C_WT_ADR 10 // The default address of the Master Controller #define INT0_STATUS_CHECK 0 #define WRITE_COMMAND 0 // //I2C Registers Read #define I2C_REG_STATUS 1 //Status of the motor controller #define I2C_REG_SPEED_MOTOR_1 2 //Actual speed of motor 1 #define I2C_REG_SPEED_MOTOR_2 3 //Actual speed of motor 2 #define I2C_REG_SPEED_MOTOR_3 4 //Actual speed of motor 3 #define I2C_REG_SPEED_MOTOR_4 5 //Actual speed of motor 4 #define I2C_REG_SPEED_MOTOR_5 6 //Actual speed of motor 5 #define I2C_REG_SPEED_MOTOR_6 7 //Actual speed of motor 6 #define I2C_REG_SPEED_ALL 8 //Actual speed of all motors #define I2C_REG_CURR_MOTOR_1 10 //Actual current of motor 1 #define I2C_REG_CURR_MOTOR_2 11 //Actual current of motor 2 #define I2C_REG_CURR_MOTOR_3 12 //Actual current of motor 3 #define I2C_REG_CURR_MOTOR_4 13 //Actual current of motor 4 #define I2C_REG_CURR_MOTOR_5 14 //Actual current of motor 5 #define I2C_REG_CURR_MOTOR_6 15 //Actual current of motor 6 #define I2C_REG_ENCODER_ERRORS 16 //Status from the encoders #define I2C_REG_MOTOR_ERRORS 17 //All error flags from the motors #define I2C_REG_CURRENT_ERRORS 18 //All error flags from the motors #define I2C_REG_LEDS 22 //Actual status of the four leds #define I2C_TEST_I2C 23 //This register is used for test the I2C communication //I2C Registers Write (commands) #define CMD_STOP_ALL 1 //Command Wild Thumper: STOP WILD THUMPER #define CMD_MOTORS_FORWARD_LEFT 2 //Command Wild Thumper: MOVE FORWARD / LEFT #define CMD_MOTORS_FORWARD_RIGHT 3 //Command Wild Thumper: MOVE FORWARD / RIGHT #define CMD_MOTORS_BACKWARD_LEFT 4 //Command Wild Thumper: MOVE BACKWARD / LEFT #define CMD_MOTORS_BACKWARD_RIGHT 5 //Command Wild Thumper: MOVE BACKWARD / RIGHT #define CMD_CHANGE_MOTOR_1 10 //Command Wild Thumper: CHANGE SPEED AND DIRECTION MOTOR 1 #define CMD_CHANGE_MOTOR_2 11 //Command Wild Thumper: CHANGE SPEED AND DIRECTION MOTOR 2 #define CMD_CHANGE_MOTOR_3 12 //Command Wild Thumper: CHANGE SPEED AND DIRECTION MOTOR 3 #define CMD_CHANGE_MOTOR_4 13 //Command Wild Thumper: CHANGE SPEED AND DIRECTION MOTOR 4 #define CMD_CHANGE_MOTOR_5 14 //Command Wild Thumper: CHANGE SPEED AND DIRECTION MOTOR 5 #define CMD_CHANGE_MOTOR_6 15 //Command Wild Thumper: CHANGE SPEED AND DIRECTION MOTOR 6 #define CMD_SPEED_MOTOR_1 16 //Command Wild Thumper: CHANGE SPEED MOTOR 1 #define CMD_SPEED_MOTOR_2 17 //Command Wild Thumper: CHANGE SPEED MOTOR 2 #define CMD_SPEED_MOTOR_3 18 //Command Wild Thumper: CHANGE SPEED MOTOR 3 #define CMD_SPEED_MOTOR_4 19 //Command Wild Thumper: CHANGE SPEED MOTOR 4 #define CMD_SPEED_MOTOR_5 20 //Command Wild Thumper: CHANGE SPEED MOTOR 5 #define CMD_SPEED_MOTOR_6 21 //Command Wild Thumper: CHANGE SPEED MOTOR 6 #define CMD_DIR_MOTOR_1 22 //Command Wild Thumper: CHANGE DIRECTION MOTOR 1 #define CMD_DIR_MOTOR_2 23 //Command Wild Thumper: CHANGE DIRECTION MOTOR 2 #define CMD_DIR_MOTOR_3 24 //Command Wild Thumper: CHANGE DIRECTION MOTOR 3 #define CMD_DIR_MOTOR_4 25 //Command Wild Thumper: CHANGE DIRECTION MOTOR 4 #define CMD_DIR_MOTOR_5 26 //Command Wild Thumper: CHANGE DIRECTION MOTOR 5 #define CMD_DIR_MOTOR_6 27 //Command Wild Thumper: CHANGE DIRECTION MOTOR 6 #define CMD_SET_LEDS 28 //Command Wild Thumper: CHANGE LEDS #define CMD_TEST_I2C 30 //This register is used for test the I2C communication #define CMD_PID_P 33 #define CMD_PID_I 34 #define CMD_PID_D 35 ////////////////////////////////////////////////////////////////////////////////////// // // // Variables // // // ////////////////////////////////////////////////////////////////////////////////////// uint8_t block = false; //Check if I2C line is free uint8_t result[40]; //Received data from motor controller uint8_t messageBuf[20]; // Buffer for I2C Data uint8_t NumberOfI2Cerrors = 0; ////////////////////////////////////////////////////////////////////////////////////// // // // I2C functions // // // ////////////////////////////////////////////////////////////////////////////////////// // I2C interrupt Handler void I2C_Event_Handler(void) { // this code will be called anytime that PCINT31 switches // (hi to lo, or lo to hi) if(!block && (PIND & (1<< PIND7))) { block = true; // Block further requests and wait until // this request has been processed. I2CTWI_requestRegisterFromDevice(I2C_WT_ADR, INT0_STATUS_CHECK, 0, 20); } } // I2C interrupt Handler // This Event Handler is very nice for reacting on an interrupt request // from the Slave controller and read all the data from it! void I2C_requestedDataReady(uint8_t dataRequestID) { if(dataRequestID == INT0_STATUS_CHECK) { // get received data (6 bytes) I2CTWI_getReceivedData(result, 20); //Action: //................ // statusLEDs.byte = messageBuf[0]; // updateStatusLEDs(); // ------------------------------------ // IMPORTANT - reset the block flag: block = false; } } // I2C error Handler void I2C_transmissionError(uint8_t errorState) { NumberOfI2Cerrors++; //USART0_WriteString("\nI2C ERROR - TWI STATE: 0x"); //USART0_Write(errorState); block = false; } //////////////////////////////////////////////////////////////////////////////////////// // this function create a looplight. First the direction is beeing set, // then the active led is shifted through the siftregister. // the I2C function I2CTWI_transmit3Bytes(I2C_WT_ADR, WRITE_COMMAND, CMD_SET_LEDS, led) // is used to send: // - the adres (I2C_WT_ADR) of the motor controller // - a write command (WRITE_COMMAND) // - the command that is going to be send to the motor controller (CMD_SET_LEDS) [see also WildThumperLib_Main.h for the commands] // - the data that is needed for this command //////////////////////////////////////////////////////////////////////////////////////// int task_LedI2C(void) { uint8_t dir=1; uint8_t led=16; uint8_t i=0; for (i=0;i<7;i++) { if (led == 128) { dir = 0; } else if (led == 16) { dir = 1; } if (dir==0) { led >>= 1; } else if (dir==1) { led <<= 1; } I2CTWI_transmit3Bytes(I2C_WT_ADR, WRITE_COMMAND, CMD_SET_LEDS, led); mSleep(200); } return 0; } ////////////////////////////////////////////////////////////////////////////////////// // // // Main loop // // // ////////////////////////////////////////////////////////////////////////////////////// int main (void) { ////////////////////////////// // Configuration // ////////////////////////////// portInit(); //Set Input and Outputs Timer1_Init(); //Init Timer1 I2CTWI_initMaster(200); //Init I2C as master (100kHz clock) ///////////////////////////// // Start_Up functions // ///////////////////////////// Timer1_Start(); //Start Timer 1 (Enable Stopwatches and delay functions) sei(); // Start interrupt check I2CTWI_setTransmissionErrorHandler(I2C_transmissionError); I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady); I2C_setInterruptEventHandler(I2C_Event_Handler); startStopwatch4(); startStopwatch5(); // --------------------------------------- // LEDs: LedOnOff(0b00111111); // Turn all LEDs on! mSleep(1000); // delay 1000ms = 1s LedOnOff(0b00000000); // All LEDs off! mSleep(500); // delay 500ms = 0.5s // --------------------------------------- // Main loop - the program will loop here forever! // In this program, it only runs a small LED chaselight. ///////////////////////////// // Main Loop // ///////////////////////////// //return 0; while(1==1) { task_LedI2C(); } }
Wenn alles klappt, bedeutet das, dass die I2C Verbindung zwischen den beiden Controllern funktioniert.
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