[請教]I2C 裝置使用 RoboIO LIB 的寫法..(Wii Motion Plus)
本帖最後由 tommylin 於 2010-9-9 17:31 編輯99.9.9 我又來麻煩老師了~因為是我第一次寫 I2C 的程式,
如果問的太笨, 希望老師不要介意 @@
請問老師~
我要讀取 Wii Motion Plus (任天堂 動態強化感測器,以下簡稱 WMP )
我已經在 Arduino 板上成功讀取 yaw, pitch, roll~
參考網址:
原始出處網站按這裏
依照 Arduino的程式,改成 RoboIO 版程式如下:
unsigned long i2c_clock = 400000L;
unsigned int i2c_address = 0x53; // WMP 的位址
if (i2c_Initialize(I2CIRQ_DISABLE) == false) // 起始設定 I2C
{
printf("FALSE!!%s\n", roboio_GetErrMsg());
return -1;
}
i2c0_SetSpeed(I2CMODE_FAST, i2c_clock); //設定速率
//===== 啟動 WMP 裝置 =====
i2c0master_StartN(i2c_address >> 1,I2C_WRITE,2);//write 2 byte
i2c0master_WriteN(0xfe);
i2c0master_WriteN(0x04); // 根據 RoboIO 手冊說明, 寫入後會自動發送"結束"命令.
//===== 讀取裝置傳回數值byte data; //six data bytes
i2c_address = 0x52; // 根據 Arduino程式指出, 啟動裝置後讀取位址換成 0x52
i2c0master_StartN(i2c_address >> 1,I2C_WRITE,1);// ???
i2c0master_SetRestartN(I2C_READ, 6); // WMP 回傳6個bytes資料.
for ( int i=0; i < 6; i++ ) data = i2c0master_ReadN();
請問這樣寫對嗎?.. 因為讀到的數值都是零..我不確定第18行寫法是否正確?
下列附上 Arduino 版的程式:
#include <Wire.h>
byte data; //six data bytes
int yaw, pitch, roll; //three axes
int yaw0, pitch0, roll0; //calibration zeroes
void wmpOn(){
Wire.beginTransmission(0x53); //WM+ starts out deactivated at address 0x53
Wire.send(0xfe); //send 0x04 to address 0xFE to activate WM+
Wire.send(0x04);
Wire.endTransmission(); //WM+ jumps to address 0x52 and is now active
}
void wmpSendZero(){
Wire.beginTransmission(0x52); //now at address 0x52
Wire.send(0x00); //send zero to signal we want info
Wire.endTransmission();
}
void calibrateZeroes(){
for (int i=0;i<10;i++){
wmpSendZero();
Wire.requestFrom(0x52,6);
for (int i=0;i<6;i++){
data=Wire.receive();
}
yaw0+=(((data>>2)<<8)+data)/10; //average 10 readings
pitch0+=(((data>>2)<<8)+data)/10;
roll0+=(((data>>2)<<8)+data)/10;
}
Serial.print("Yaw0:");
Serial.print(yaw0);
Serial.print(" Pitch0:");
Serial.print(pitch0);
Serial.print(" Roll0:");
Serial.println(roll0);
}
void receiveData(){
wmpSendZero(); //send zero before each request (same as nunchuck)
Wire.requestFrom(0x52,6); //request the six bytes from the WM+
for (int i=0;i<6;i++){
data=Wire.receive();
}
yaw=((data>>2)<<8)+data-yaw0;
pitch=((data>>2)<<8)+data-pitch0;
roll=((data>>2)<<8)+data-roll0;
}
//see http://wiibrew.org/wiki/Wiimote/Extension_Controllers#Wii_Motion_Plus
//for info on what each byte represents
void setup(){
Serial.begin(115200);
Serial.println("WM+ tester");
Wire.begin();
wmpOn(); //turn WM+ on
calibrateZeroes(); //calibrate zeroes
delay(1000);
}
void loop(){
receiveData(); //receive data and calculate yaw pitch and roll
Serial.print("yaw:");//see diagram on randomhacksofboredom.blogspot.com
Serial.print(yaw); //for info on which axis is which
Serial.print(" pitch:");
Serial.print(pitch);
Serial.print(" roll:");
Serial.println(roll);
delay(100);
}
HI
看到這篇我又拿了以前測過的 Motion Plus 起來玩 XD
Wii 的 Moition Plus 的位址 0x53 與 0x52 都是 7 bit, 不用將它右移 1 位 :)
另外, 要讀 WMP 的值時, 要先寫 0x00 給它(此時位址是 0x52) 再讀 6 筆 data 出來, 必須注
意的是, 寫與讀中間不用 restart, 所以是先寫 0x00 後 stop, 再 start 讀 6 筆, 參考以下:
i2c0master_StartN(0x52, I2C_WRITE, 1);
i2c0master_WriteN(0x00);
wait_ms(10); // delay 10 ms
i2c0master_StartN(0x52, I2C_READ, 6);
for(i=0; i< 6; i++) data = i2c0master_ReadN();
試試看吧 :) 本帖最後由 tommylin 於 2010-9-10 00:23 編輯
老師~ 還是讀不到...~"~ 啟動裝置的部分這樣寫對嗎?... 先說聲謝謝~又來麻煩您了..
我的程式如下:
roboio_SetRBVer(RB_100); // RB-100
if (i2c_Initialize(I2CIRQ_DISABLE) == false)
{
showmsg ("FALSE!!%s\n", roboio_GetErrMsg());
return ;
}
i2c0_SetSpeed(I2CMODE_FAST, 400000L);
//========= 啟動 Wii Motion Plus (WMP)
//WMP On
unsigned char i2c_address = 0x53;
if ( i2c0master_StartN(i2c_address,I2C_WRITE, 1 ) != true )
showmsg ("FALSE Step 1 - ON device");
if ( i2c0master_WriteN(0xfe) != true )
showmsg ("FALSE Step 2 - 0xfe");
if ( i2c0master_WriteN(0x04) != true )
showmsg ("FALSE Step 3 - 0x04");
//========= 讀取數據
while(1)
{
if ( i2c0master_StartN( 0x52, I2C_WRITE, 1) != true )
showmsg ("FALSE receive_WMP_I2c_Data() Step 1 ");
if ( i2c0master_WriteN(0x00) != true ) //Read from(Address : 0x52)
showmsg ("FALSE receive_WMP_I2c_Data() Step 2 ");
wait_ms(10); // 延遲 10 ms
if ( i2c0master_StartN( 0x52, I2C_READ, 6 ) != true )
showmsg ("FALSE receive_WMP_I2c_Data() Step 3 ");
for (int i=0;i<6;i++)
data= i2c0master_ReadN();//Wire.receive();
} HI
啟動的程序是沒錯的, 只是 start 的部分應該改為
i2c0master_StartN(i2c_address,I2C_WRITE, 2)
因為寫了 2 筆 data (0xfe, 0x04) HI
啟動的程序是沒錯的, 只是 start 的部分應該改為
i2c0master_StartN(i2c_address,I2C_WRITE, 2) ...
acen2008 發表於 2010-9-10 09:41 http://www.robofun.net/forum/images/common/back.gif
阿~ 抱歉...真是低級的錯誤..晚上馬上試試...
頁:
[1]