[請教]I2C 裝置使用 RoboIO LIB 的寫法..(Wii Motion Plus)

tommylin

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:

1. unsigned long i2c_clock = 400000L;
   
2. unsigned int i2c_address = 0x53; // WMP 的位址
   
3. 
   
4. if (i2c_Initialize(I2CIRQ_DISABLE) == false) // 起始設定 I2C
   
5. {
   
6.         printf("FALSE!!  %s\n", roboio_GetErrMsg());
   
7.         return -1;
   
8. }
   
9. i2c0_SetSpeed(I2CMODE_FAST, i2c_clock); //設定速率
   
10. 
    
11. //===== 啟動 WMP 裝置 =====
    
12. i2c0master_StartN(i2c_address >> 1,I2C_WRITE,2);//write 2 byte
    
13. i2c0master_WriteN(0xfe);
    
14. i2c0master_WriteN(0x04); // 根據 RoboIO 手冊說明, 寫入後會自動發送"結束"命令.
    
15. 
    
16. //===== 讀取裝置傳回數值byte data[6]; //six data bytes
    
17. i2c_address = 0x52; // 根據 Arduino程式指出, 啟動裝置後讀取位址換成 0x52
    
18. i2c0master_StartN(i2c_address >> 1,I2C_WRITE,1);// ???
    
19. i2c0master_SetRestartN(I2C_READ, 6); // WMP 回傳6個bytes資料.
    
20. for ( int i=0; i < 6; i++ ) data [i] = i2c0master_ReadN();

複製代碼

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:

1. #include <Wire.h>
   
2. byte data[6]; //six data bytes
   
3. int yaw, pitch, roll; //three axes
   
4. int yaw0, pitch0, roll0; //calibration zeroes
   
5. 
   
6. void wmpOn(){
   
7. Wire.beginTransmission(0x53); //WM+ starts out deactivated at address 0x53
   
8. Wire.send(0xfe); //send 0x04 to address 0xFE to activate WM+
   
9. Wire.send(0x04);
   
10. Wire.endTransmission(); //WM+ jumps to address 0x52 and is now active
    
11. }
    
12. 
    
13. void wmpSendZero(){
    
14. Wire.beginTransmission(0x52); //now at address 0x52
    
15. Wire.send(0x00); //send zero to signal we want info
    
16. Wire.endTransmission();
    
17. }
    
18. 
    
19. void calibrateZeroes(){
    
20. for (int i=0;i<10;i++){
    
21. wmpSendZero();
    
22. Wire.requestFrom(0x52,6);
    
23. for (int i=0;i<6;i++){
    
24. data[i]=Wire.receive();
    
25. }
    
26. yaw0+=(((data[3]>>2)<<8)+data[0])/10; //average 10 readings
    
27. pitch0+=(((data[4]>>2)<<8)+data[1])/10;
    
28. roll0+=(((data[5]>>2)<<8)+data[2])/10;
    
29. }
    
30. Serial.print("Yaw0:");
    
31. Serial.print(yaw0);
    
32. Serial.print(" Pitch0:");
    
33. Serial.print(pitch0);
    
34. Serial.print(" Roll0:");
    
35. Serial.println(roll0);
    
36. }
    
37. 
    
38. void receiveData(){
    
39. wmpSendZero(); //send zero before each request (same as nunchuck)
    
40. Wire.requestFrom(0x52,6); //request the six bytes from the WM+
    
41. for (int i=0;i<6;i++){
    
42. data[i]=Wire.receive();
    
43. }
    
44. yaw=((data[3]>>2)<<8)+data[0]-yaw0;
    
45. pitch=((data[4]>>2)<<8)+data[1]-pitch0;
    
46. roll=((data[5]>>2)<<8)+data[2]-roll0;
    
47. }
    
48. //see http://wiibrew.org/wiki/Wiimote/Extension_Controllers#Wii_Motion_Plus
    
49. //for info on what each byte represents
    
50. void setup(){
    
51. Serial.begin(115200);
    
52. Serial.println("WM+ tester");
    
53. Wire.begin();
    
54. wmpOn(); //turn WM+ on
    
55. calibrateZeroes(); //calibrate zeroes
    
56. delay(1000);
    
57. }
    
58. 
    
59. void loop(){
    
60. receiveData(); //receive data and calculate yaw pitch and roll
    
61. Serial.print("yaw:");//see diagram on randomhacksofboredom.blogspot.com
    
62. Serial.print(yaw); //for info on which axis is which
    
63. Serial.print(" pitch:");
    
64. Serial.print(pitch);
    
65. Serial.print(" roll:");
    
66. Serial.println(roll);
    
67. delay(100);
    
68. }
    

複製代碼

acen2008

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[i] = i2c0master_ReadN();

試試看吧 :)

tommylin

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();
}

acen2008

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)

tommylin

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

阿~ 抱歉...真是低級的錯誤..晚上馬上試試...