[請教]I2C 裝置使用 RoboIO LIB 的寫法..(Wii Motion Plus) - Robofun 機器人論壇

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[6]; //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 [i] = i2c0master_ReadN();

複製代碼

#include <Wire.h>
byte data[6]; //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[i]=Wire.receive();
}
yaw0+=(((data[3]>>2)<<8)+data[0])/10; //average 10 readings
pitch0+=(((data[4]>>2)<<8)+data[1])/10;
roll0+=(((data[5]>>2)<<8)+data[2])/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[i]=Wire.receive();
}
yaw=((data[3]>>2)<<8)+data[0]-yaw0;
pitch=((data[4]>>2)<<8)+data[1]-pitch0;
roll=((data[5]>>2)<<8)+data[2]-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);
}

複製代碼