search

ROBOTIS-GIT / OpenCR

Software for ROS Embedded board (a.k.a. OpenCR). OpenCR means Open-source Control Module for ROS.
Apache License 2.0
384 stars 238 forks source link

Cannot get I2C communication to raspberry pi to work #303

Open LordSyd opened 2 years ago

LordSyd commented 2 years ago

I tried connecting the RP using the following Arduino code: `

include

void setup() { Wire.begin(11); // join i2c bus with address #11 Wire.onReceive(receiveEvent); // register event Serial.begin(115200); // start serial for output }

String msg = ""; boolean reset = false; char current; char previous;

void loop() {

}

void receiveEvent(int howMany) { //msg = "";

while(Wire.available()) { char current = Wire.read(); msg += current; //Serial.println("current: " + String(current) + " pre: " + String(previous)); if(current == ';' && previous == ';'){ //Serial.println("c == 10"); //msg = ""; reset = true; //break; } previous = current; }

if(reset == true){ Serial.println(msg); msg = ""; reset = false; }

}`

On a standard Arduino, this works, but the opencr board does not get recognised as an i2c device. I looked at the libraries in the repository, trying to make sense of them, but I had to give up. Sadly this functionality is also not documented in the e-manual. What methods and libraries do I need to use to establish an i2c connection with the board?

Regards, Daniel

ROBOTIS-Will commented 2 years ago

Hi @LordSyd I'm sorry about the delayed response. Did you have a chance to look at the thread below which is related to the hardware I2C implementation https://github.com/ROBOTIS-GIT/OpenCR/issues/107

LordSyd commented 2 years ago

Hi, I found a few threads regarding low-level I2c implementations. Not sure if I stumbled upon this one. The problem is that the project I am working on has a tight deadline, so playing around with native Stm32 functions is not an option. I know a bit about programming the MC directly, but not enough to get a working connection in the allotted timeframe (around two weeks from the time of writing and many other things to take care of). I hoped I could use the library just as I would with a "normal" Arduino, but that does not seem to be the case.

To be clear, is I2C support even something that should be available? Because I was a little bit confused about not finding any reference to it in the official e-manual.

If messing around with HAL or the Lower Layer of the Stm32 MC is the only way to get I2C working, I will have to move on for now and use an Arduino.