Robotics Technologies microBus-Cam II Manual do Utilizador descarregar pdf (Página 19)

Development of Mobile Robot Based on I

C Bus System

211

Step 3 : I2C_ACK ( ),

Step 4 : I2C_SEND ( ) – Enable analog output, single mode and analog channel

selection,

Step 5 : I2C_ACK ( ),

Step 6 : I2C_STOP ( ),

Step 7 : I2C_START ( ),

Step 8 : I2C_SEND ( ) – Read mode; start to read data from analog input of

selected channel,

Step 9 : I2C_ACK ( ),

Step 10 : I2C_RECEIVE ( ),

Step 11 : I2C_ACK ( ),

Step 12 : I2C_STOP ( ).

5.3.4 Function ordering for temperature reading

To read temperature, it must be programmed in 3 steps; start to convert data, stop to convert

data and read data.

Start to convert data:

Step 1 : I2C_START ( ),

Step 2 : I2C_SEND ( ) – Call slave device address from robot and write mode

configuration,

Step 3 : I2C_ACK ( ),

Step 4 : I2C_SEND ( ) – Send command register, start to convert data,

Step 5 : I2C_ACK ( ),

Step 6 : I2C_STOP ( ),

Stop to convert data:

Step 1 : I2C_START ( ),

Step 2 : I2C_SEND ( ) – Call slave device address from robot and write mode

configuration,

Step 3 : I2C_ACK ( ),

Step 4 : I2C_SEND ( ) – Send command register, stop to convert data,

Step 5 : I2C_ACK ( ),

Step 6 : I2C_STOP ( ),

Read data:

Step 1 : I2C_START ( ),

Step 2 : I2C_SEND ( ) – Call slave device address from robot and write mode

configuration,

Step 3 : I2C_ACK ( ),

Step 4 : I2C_SEND ( ) – Send command register, stop to convert data,

Step 5 : I2C_ACK ( ),

Step 6 : I2C_START ( ),

Step 7 : I2C_SEND ( ) – Send command register, stop to convert data,

Step 8 : I2C_ACK ( ),

Step 9 : I2C_RECEIVE ( ) – Read MSB of temperature register,

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