SINT send_nxtcam_command(U8 port_id, U8 command)
{
while (i2c_busy(port_id) != 0)
;
nxtcambuffer[0] = command;
/* write Single shot command */
SINT ret = i2c_start_transaction(port_id, ADDRESS, 0x41, 1, nxtcambuffer,
1, 1);
return ret;
}
int
nxtrike_get_sonic_sensor(void)
{
return ev3_ultrasonic_sensor_get_distance(SONIC_SENSOR);
#if 0
U8 distance;
if (!i2c_busy(SONIC_SENSOR)) {
i2c_start_transaction(SONIC_SENSOR, 1, 0x42, 1, &distance, 1, 0);
return (int)distance;
}
return NXTRIKE_ERROR;
#endif
}
/*
* This is an implementation example of I2C sensor data acquisition for
* mindsensor acceleration sensor. mindsensor acceleration sensor returns
* tilt data and acceleration data in three axes.
*
* This API implementation for I2C communication might be different from
* I2C sensor communication examples in other NXT programming languages.
* Others use a wait until data transaction is finished after sending a request.
* However, it might not be acceptable for real-time control application. So we
* introduce one sampling delay to avoid waiting for the completion of the data acqusition.
*/
void get_mindsensor_accel_sensor(U8 port_id, S16 *buf)
{
int i,j;
static S16 tilt_state[3];
static S16 accel_state[3];
static U8 data[9] = {0,0,0,0,0,0,0,0,0};
/*
* Data spec. of mindsensor acceleration sensor
*
* 0x42 data[0]: X axis Tilt data
* 0x43 data[1]: Y axis Tilt data
* 0x44 data[2]: Z axis Tilt data
* 0x45 data[3]: X axis Accel LSB
* 0x46 data[4]: X axis Accel MSB
* 0x47 data[5]: Y axis Accel LSB
* 0x48 data[6]: Y axis Accel MSB
* 0x49 data[7]: Z axis Accel LSB
* 0x4A data[8]: Z axis Accel MSB
*/
if (i2c_busy(port_id) == 0) /* check the status of I2C comm. */
{
j=0;
for (i=0; i<8; i++)
{
if (i<3)
{
tilt_state[i] = (S16)data[i];
}
else
{
accel_state[j++] = ((S16)data[i+1]<<8) + (S16)data[i];
i++;
}
}
/* i2c_start_transaction just triggers an I2C transaction,
* actual data transaction between ARM7 and an Acceleration
* Sensor is done by an ISR after this, so there is one execution cycle
* delay for consistent data acquistion
*/
i2c_start_transaction(port_id,1,0x42,1,data,9,0);
}
for (i=0; i<3; i++)
{
buf[i] = tilt_state[i];
buf[i+3] = accel_state[i];
}
}
int request(U8 port_id)
{
if (i2c_busy(port_id) == 0) /* check the status of I2C comm. */
{
/* i2c_start_transaction just triggers an I2C transaction,
* actual data transaction between ARM7 and an NxtCam is done
* by an ISR after this, so there is one execution cycle
* delay for consistent data acquistion
*/
SINT ret = i2c_start_transaction(port_id, ADDRESS, 0x42, 1, nxtcamdata,
41, 0);
if (ret == 0)
nxtcamtransaccounter++;
}
return nxtcamtransaccounter;
}
