SRF08超声波传感器和dsPIC33E I2C通信问题
以下是我的代码，实在不知道哪里出了错误，求求大哥们帮忙！！#include "p33EP512MU810.h"
#include "i2c.h"
#include <Initialisierung.h>
#include "Timer.h"
//Schritt 1
/*Configuring the general features of the microcontroller*/
_FGS(GSS_OFF & GWRP_OFF);
// External Oscillator
_FOSCSEL(FNOSC_PRIPLL);
_FOSC(FCKSM_CSECMD & OSCIOFNC_OFF& POSCMD_XT);
// Clock Switching is enabled and Fail Safe Clock Monitor is disabled
// OSC2 Pin Function: OSC2 is Clock Output
// Primary Oscillator Mode: XT Crystal
_FWDT(FWDTEN_OFF);
// Watchdog Timer Enabled/disabled by user software
_FICD(ICS_PGD3 &JTAGEN_OFF & RSTPRI_PF);
_FPOR( BOREN_ON & ALTI2C1_OFF & ALTI2C2_OFF );
// Brown-out Reset (BOR) Detection Enable bit (BOR is enabled)
// Alternate I2C pins for I2C1 (SDA1/SCK1 pins are selected as the I/O pins for I2C1)
// Alternate I2C pins for I2C2 (SDA2/SCK2 pins are selected as the I/O pins for I2C2)
//Schritt 2
#define CFG_I2C2BRG0x188
// (40MHz/100KHz)-2 = 0x188//I2C2=[(1/Fscl-PGD)*Fcy]-2
#define SONAR1 0xE0
unsigned int get_srf08(unsigned int SONAR);
/*** Global functions for the I2C2******************************************/
main(void)
{
unsigned int range1=0;
f_Initialisierung();
unsigned int Config1; // ConfigI2c2 represents I2C2CON register.
Config1 = ( I2C2_ON & I2C2_IDLE_CON & I2C2_CLK_HLD &
I2C2_IPMI_DIS & I2C2_7BIT_ADD & I2C2_SLW_DIS &
I2C2_SM_DIS & I2C2_GCALL_DIS & I2C2_STR_DIS &
I2C2_NACK & I2C2_ACK_DIS & I2C2_RCV_DIS &
I2C2_STOP_DIS & I2C2_RESTART_DIS & I2C2_START_DIS
);
OpenI2C2(Config1,CFG_I2C2BRG);/*The following function initializes the I2C2 bus and
set the I2C2 Bus Speed to 100KHz I2C2 used to communicate with the Ultrasonic sensors*/
IdleI2C2();
/*End Configuration I2C2*/
while(1)
{
range1=get_srf08(SONAR1);
}
}
//Schritt 3
// Start Condition
unsigned int get_srf08 (unsigned int SONAR)
{
unsigned int range;//range=Reichweiten
unsigned char hi,lo; //high Byte,low Byte
//StartI2C2();
I2C2CONbits.SEN=1; //send start bit
while(I2C2CONbits.SEN); //and wait fot it to clear
//MasterWriteI2C2(SRF08_ADDR);
MasterWriteI2C2(0xE0); //SRF08 I2C address
while(I2C2STATbits.TBF);
while(!IFS3bits.MI2C2IF); // Wait for 9th clock cycle.
while(I2C2STATbits.ACKSTAT);
//MasterWriteI2C2(0x01);
MasterWriteI2C2(0x01); //Verstärkungsregister Adresse
while(I2C2STATbits.TBF);
while(!IFS3bits.MI2C2IF); // Wait for 9th clock cycle.
while(I2C2STATbits.ACKSTAT); //then clear it
//MasterWriteI2C2(0x00);
MasterWriteI2C2(0x00); //Verstärkung
while(I2C2STATbits.TBF);
while(!IFS3bits.MI2C2IF); // Wait for 9th clock cycle.
while(I2C2STATbits.ACKSTAT); //then clear it
//StopI2C2();
I2C2CONbits.PEN=1; //send stop bit
while(I2C2CONbits.PEN);
//StartI2C2();
I2C2CONbits.SEN=1; //send start bit
while(I2C2CONbits.SEN); //and wait fot it to clear
//MasterWriteI2C2(SRF08_ADDR);
MasterWriteI2C2(0xE0); //SRF08 I2C address
while(I2C2STATbits.TBF);
while(!IFS3bits.MI2C2IF); // Wait for 9th clock cycle.
while(I2C2STATbits.ACKSTAT);
//MasterWriteI2C2(0x02);
MasterWriteI2C2(0x02); //Reichweiten-Register Adresse
while(I2C2STATbits.TBF);
while(!IFS3bits.MI2C2IF); // Wait for 9th clock cycle.
while(I2C2STATbits.ACKSTAT); //then clear it
//MasterWriteI2C2(0xA0);
MasterWriteI2C2(0xA0); //Reichweiten=160 160*43mm+43mm = 6,9m
while(I2C2STATbits.TBF);
while(!IFS3bits.MI2C2IF); // Wait for 9th clock cycle.
while(I2C2STATbits.ACKSTAT); //then clear it
//StopI2C2();
I2C2CONbits.PEN=1; //send stop bit
while(I2C2CONbits.PEN);
//Schritt 4
/*now wait for the ranging to complete. This delay is 104ms*/
//Timer off; 16-bit mode; Prescaler 2; Input clk CPU/64
//delay_ms(80);
T6CON = 0x0000;
T6CONbits.TCKPS = 2;
// Timer6 period 419.424 ms = 2.384222171 Hz
PR6 = 0xFFFF-0x001; //w:?
// 40MHz/64 = 625KHz , 625KHz/65535 = 9.537 Hz
// = 104,855 ms
// later on 80ms required form this timer for the utrasonic
// initializing. the calculation as it shown below:
//
//PeriodofChecking80ms 65535
// --------------------- = --------- ===> PeriodtoCheck
// 80ms 104,855ms
IFS2bits.T6IF = 0; //clear old interrupt request.
IEC2bits.T6IE = 0; //disable interrupt.
T6CONbits.TON = 0; //switch timer off.
//Schritt 5
//finally get the range form the SRF08
//StartI2C2();
I2C2CONbits.SEN=1; //send start bit
while(I2C2CONbits.SEN); //and wait fot it to clear
//??????? //MasterWriteI2C2(SRF08_ADDR+1);
MasterWriteI2C2(0xE0|0x01); //SRF08 I2C address+Read
while(I2C2STATbits.TBF);
while(!IFS3bits.MI2C2IF); // Wait for 9th clock cycle.
while(I2C2STATbits.ACKSTAT); //then clear it
//??????????????????????
hi = MasterReadI2C2(); //read Most Significant Bit
AckI2C2(); //start acknowledge sequence
while(I2C2CONbits.ACKEN);//wait for ack.sequence to end;
lo = MasterReadI2C2(); //read Least significant Bit
NotAckI2C2(); //start acknowledge sequence
while(I2C2CONbits.ACKEN);//wait for ack.sequence to end
//StopI2C2();
I2C2CONbits.PEN=1; //send stop bit
while(I2C2CONbits.PEN);
range = ((hi<<8)+lo);
}
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