I2C与串口通讯的冲突

持梦追寻

可以正常使用的APC220收发程序。多次测试没有问题。。。

但是将接收程序与mpu6050的滤波程序结合起来以后就得不到发送的值。大家帮忙看看，找找原因。

1. 
   
2. /* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
   
3. 
   
4. This software may be distributed and modified under the terms of the GNU
   
5. General Public License version 2 (GPL2) as published by the Free Software
   
6. Foundation and appearing in the file GPL2.TXT included in the packaging of
   
7. this file. Please note that GPL2 Section 2[b] requires that all works based
   
8. on this software must also be made publicly available under the terms of
   
9. the GPL2 ("Copyleft").
   
10. 
    
11. Contact information
    
12. -------------------
    
13. 
    
14. Kristian Lauszus, TKJ Electronics
    
15. Web : http://www.tkjelectronics.com
    
16. e-mail : [email][email protected][/email]
    
17. */
    
18. 
    
19. #include <Wire.h> //mpu6050和arduino通过I2C通信，所以要包含这个库
    
20. #include <Kalman.h> //卡尔曼滤波函数
    
21. #define RESTRICT_PITCH
    
22. Kalman kalmanX; // 对X,Y轴创建卡尔曼实例
    
23. Kalman kalmanY;
    
24. double val,Val=0;
    
25. /* IMU Data */
    
26. double accX, accY, accZ;
    
27. double gyroX, gyroY, gyroZ;//从mpu6050读出的六个数据
    
28. 
    
29. double gyroXangle, gyroYangle; // Angle calculate using the gyro only
    
30. double compAngleX, compAngleY; // Calculated angle using a complementary filter
    
31. double kalAngleX, kalAngleY; // Calculated angle using a Kalman filter
    
32. double angleX, angleY, angle, angleZ; //finall angle
    
33. uint32_t timer;
    
34. uint8_t i2cData[14]; // Buffer for I2C data
    
35. 
    
36. // TODO: Make calibration routine
    
37. 
    
38. void setup() {
    
39.   Serial.begin(9600);
    
40.   //if (Serial.available() > 0)
    
41.    //val = Serial.read();
    
42. Wire.begin();
    
43. #if ARDUINO >= 157
    
44. Wire.setClock(400000UL); // Set I2C frequency to 400kHz
    
45. #else
    
46. TWBR = ((F_CPU / 400000UL) - 16) / 2; // Set I2C frequency to 400kHz
    
47. #endif
    
48. 
    
49. i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
    
50. i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
    
51. i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
    
52. i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
    
53. while (i2cWrite(0x19, i2cData, 4, false)); // Write to all four registers at once
    
54. while (i2cWrite(0x6B, 0x01, true)); // PLL with X axis gyroscope reference and disable sleep mode
    
55. 
    
56. while (i2cRead(0x75, i2cData, 1));
    
57. if (i2cData[0] != 0x68) { // Read "WHO_AM_I" register
    
58. Serial.print(F("Error reading sensor"));
    
59. while (1);
    
60. }
    
61. 
    
62. delay(100); // Wait for sensor to stabilize
    
63. 
    
64. /* Set kalman and gyro starting angle */
    
65. while (i2cRead(0x3B, i2cData, 6));
    
66. accX = (i2cData[0] << 8) | i2cData[1];
    
67. accY = (i2cData[2] << 8) | i2cData[3];
    
68. accZ = (i2cData[4] << 8) | i2cData[5];
    
69. 
    
70. // Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26
    
71. // atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2
    
72. // It is then converted from radians to degrees
    
73. #ifdef RESTRICT_PITCH // Eq. 25 and 26
    
74. double roll = atan2(accY, accZ) * RAD_TO_DEG;
    
75. double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
    
76. #else // Eq. 28 and 29
    
77. double roll = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;
    
78. double pitch = atan2(-accX, accZ) * RAD_TO_DEG;
    
79. #endif
    
80. 
    
81. kalmanX.setAngle(roll); // Set starting angle
    
82. kalmanY.setAngle(pitch);
    
83. gyroXangle = roll;
    
84. gyroYangle = pitch;
    
85. compAngleX = roll;
    
86. compAngleY = pitch;
    
87. 
    
88. //Calibration();
    
89. timer = micros();
    
90. }
    
91. 
    
92. void loop() {
    
93.   //if (Serial.available() > 0)
    
94.   // val = Serial.read();
    
95. double ret(double x);
    
96. /* Update all the values */
    
97. while (i2cRead(0x3B, i2cData, 14));
    
98. accX = ((i2cData[0] << 8) | i2cData[1]);
    
99. accY = ((i2cData[2] << 8) | i2cData[3]);
    
100. accZ = ((i2cData[4] << 8) | i2cData[5]);
     
101. //tempRaw = (i2cData[6] << 8) | i2cData[7];
     
102. gyroX = (i2cData[8] << 8) | i2cData[9];
     
103. gyroY = (i2cData[10] << 8) | i2cData[11];
     
104. gyroZ = (i2cData[12] << 8) | i2cData[13];
     
105. 
     
106. double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
     
107. timer = micros();
     
108. 
     
109. // Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26
     
110. // atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2
     
111. // It is then converted from radians to degrees
     
112. #ifdef RESTRICT_PITCH // Eq. 25 and 26
     
113. double roll = atan2(accY, accZ) * RAD_TO_DEG;
     
114. double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
     
115. #else // Eq. 28 and 29
     
116. double roll = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;
     
117. double pitch = atan2(-accX, accZ) * RAD_TO_DEG;
     
118. #endif
     
119. 
     
120. double gyroXrate = gyroX / 131.0; // Convert to deg/s
     
121. double gyroYrate = gyroY / 131.0; // Convert to deg/s
     
122. 
     
123. #ifdef RESTRICT_PITCH
     
124. // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees
     
125. if ((roll < -90 && kalAngleX > 90) || (roll > 90 && kalAngleX < -90)) {
     
126. kalmanX.setAngle(roll);
     
127. compAngleX = roll;
     
128. kalAngleX = roll;
     
129. gyroXangle = roll;
     
130. } else
     
131. kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter
     
132. 
     
133. if (abs(kalAngleX) > 90)
     
134. gyroYrate = -gyroYrate; // Invert rate, so it fits the restriced accelerometer reading
     
135. kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt);
     
136. #else
     
137. // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees
     
138. if ((pitch < -90 && kalAngleY > 90) || (pitch > 90 && kalAngleY < -90)) {
     
139. kalmanY.setAngle(pitch);
     
140. compAngleY = pitch;
     
141. kalAngleY = pitch;
     
142. gyroYangle = pitch;
     
143. } else
     
144. kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt); // Calculate the angle using a Kalman filter
     
145. 
     
146. if (abs(kalAngleY) > 90)
     
147. gyroXrate = -gyroXrate; // Invert rate, so it fits the restriced accelerometer reading
     
148. kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter
     
149. #endif
     
150. 
     
151. gyroXangle += gyroXrate * dt; // Calculate gyro angle without any filter
     
152. gyroYangle += gyroYrate * dt;
     
153. angle += gyroZ * dt / 131.0;
     
154. 
     
155. gyroXangle += kalmanX.getRate() * dt; // Calculate gyro angle using the unbiased rate
     
156. gyroYangle += kalmanY.getRate() * dt;
     
157. 
     
158. compAngleX = 0.93 * (compAngleX + gyroXrate * dt) + 0.07 * roll; // Calculate the angle using a Complimentary filter
     
159. compAngleY = 0.93 * (compAngleY + gyroYrate * dt) + 0.07 * pitch;
     
160. 
     
161. // Reset the gyro angle when it has drifted too much
     
162. if (gyroXangle < -180 || gyroXangle > 180)
     
163. gyroXangle = kalAngleX;
     
164. if (gyroYangle < -180 || gyroYangle > 180)
     
165. gyroYangle = kalAngleY;
     
166. 
     
167. angleX = kalAngleX - 2.32;
     
168. angleY = kalAngleY + 0.38;
     
169. angleZ = angle + 5;
     
170. Val = ret(val);
     
171. 
     
172. /* Print Data */
     
173. #if 0 // Set to 1 to activate
     
174. Serial.print(accX); Serial.print(",");
     
175. Serial.print(accY); Serial.print(",");
     
176. Serial.print(accZ); Serial.print(",");
     
177. //Serial.print(tempRaw); Serial.print(",");
     
178. Serial.print(gyroX / 131.0); Serial.print(",");
     
179. Serial.print(gyroY / 131.0); Serial.print(",");
     
180. Serial.print(gyroZ / 131.0); Serial.print(",");
     
181. 
     
182. Serial.print("\t");
     
183. #endif
     
184. Serial.println(Val);// Serial.print(",");
     
185. //Serial.print(roll); Serial.print("\t");
     
186. //Serial.print(gyroXangle); Serial.print("\t");
     
187. //Serial.print(compAngleX); Serial.print("\t");
     
188. //Serial.print(angleX); Serial.print(",");
     
189. 
     
190. //Serial.print("\t");
     
191. 
     
192. //Serial.print(pitch); Serial.print("\t");
     
193. //Serial.print(gyroYangle); Serial.print("\t");
     
194. //Serial.print(compAngleY); Serial.print("\t");
     
195. //Serial.print(angleY); Serial.print(",");
     
196. //Serial.print(angleZ); Serial.println(",");
     
197. 
     
198. }
     
199. double ret(double x)
     
200. {  
     
201.   if(Serial.available()>0){
     
202.   x=Serial.read();
     
203.   }
     
204.   return(x);
     
205. }
     

复制代码

还有一个I2C的文件
const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication

uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
  return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
}

uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
  Wire.beginTransmission(IMUAddress);
  Wire.write(registerAddress);
  Wire.write(data, length);
  uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
  if (rcode) {
    Serial.print(F("i2cWrite failed: "));
    Serial.println(rcode);
  }
  return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
}

uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
  uint32_t timeOutTimer;
  Wire.beginTransmission(IMUAddress);
  Wire.write(registerAddress);
  uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
  if (rcode) {
    Serial.print(F("i2cRead failed: "));
    Serial.println(rcode);
    return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
  }
  Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
  for (uint8_t i = 0; i < nbytes; i++) {
    if (Wire.available())
      data = Wire.read();
    else {
      timeOutTimer = micros();
      while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
      if (Wire.available())
        data = Wire.read();
      else {
        Serial.println(F("i2cRead timeout"));
        return 5; // This error value is not already taken by endTransmission
      }
    }
  }
  return 0; // Success
}

还有两个.h和.cpp文件，以及上面的程序我都做个打包压缩。

持梦追寻

最后一张图片跟主题没有关系，手残了一下，不要意思。

zoologist

化简程序吧，太长了不会有人给你看的

wetnt

查延时吧，串口数据读取其实是内部中断控制的，程序块内耗费时间太长，串口就无法正常工作。

持梦追寻

嗯，其实也这么想过，但是不知从何下手

wetnt

所有delay（）的地方都检查下，添加些串口检测之类的函数……

持梦追寻

已经搞好了，没能及时回你，是我没搞清楚串口通讯的语法，

OHYE

持梦追寻 发表于 2015-10-10 01:02
已经搞好了，没能及时回你，是我没搞清楚串口通讯的语法，

你咋解决的，能说一下吗？

xiao_y

持梦追寻 发表于 2015-10-10 01:02
已经搞好了，没能及时回你，是我没搞清楚串口通讯的语法，

是怎么解决多块从机通信的问题的呢？
我的1主机2从机   从机1还正常，从机2就不正常了，
大神  可以帮我看看我的I2C通信问题吗？谢谢了
传送门：https://www.geek-workshop.com/thread-39910-1-1.html