Hi Patrick,
ja, in der Demo WT_I2C.c fehlt wohl noch einiges.
Versuch es mal hiermit:
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();
}
}
Diese Demo für den Main Controller funktioniert nur, wenn im Motor Controller das I2C-Slave Programm "Wild_Thumper_Motor.c" läuft.
Wenn alles klappt, bedeutet das, dass die I2C Verbindung zwischen den beiden Controllern funktioniert.
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