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RP6 ArduIO Erweiterungsmodul

Die RP6-ArduIO Erweiterungsplatine (siehe auch das Vorgängerprojekt,die RP6-MultiIO-Erweiterungsplatine) im üblichen RP6-Layout ist als reine I2C-Erweiterung sowohl für den RP6, als auch für Arduino-Boards und –Shields gedacht. Entwickelt wurde sie zusammen mit einigen Mitgliedern des Roboternetzes von fabqu (Hardwarearbeiten) und Dirk (Softwarearbeiten).

Umfangreiche Dokumentation, sämtliche Beispielprogramme und Bibliotheken, Daten, Teilelisten und eine Lötanleitung finden sich unten in den Weblinks.


Hier wird es mal um die Software für die RP6 ArduIO Platine von fabqu gehen.

Bis dahin ist das hier eine ...

BAUSTELLE ........ BAUSTELLE ........ BAUSTELLE ........ BAUSTELLE ........ BAUSTELLE


Hardware

Der Hardware-Artikel befindet sich HIER.


Software

RP6 M256 WIFI, CONTROL M32, BASE

ArduIO Library

Configuration Header

Datei RP6_ArduIO.h: 

/* ****************************************************************************
 *                           _______________________
 *                           \| RP6  ROBOT SYSTEM |/
 *                            \_-_-_-_-_-_-_-_-_-_/                  >>> COMMON
 * ----------------------------------------------------------------------------
 * ----------------------------- [c]2014 - Dirk -------------------------------
 * ****************************************************************************
 * File: RP6_ArduIO.h
 * Version: 1.0
 * Target: RP6 Base & Processor Expansion - ATMEGA32 @8.00 or 16.00MHz
 *         & RP6 M256 WiFi                - ATMEGA2560 @16.00MHz
 * Author(s): Dirk
 * ****************************************************************************
 * Description:
 * Configuration header file for new ArduIO Board library.
 *
 * ****************************************************************************
 * THE CHANGELOG CAN BE FOUND AT THE END OF THIS FILE!
 * ****************************************************************************
 */

#ifndef RP6_ARDUIO_H
#define RP6_ARDUIO_H


/*****************************************************************************/
// ArduIO hardwired components:
// - I2C PWM Controller (IC3: PCA9685)
// - I2C I/O Expander 1 5V (IC8: PCF8575)
// - I2C I/O Expander 2 5V (IC13: PCF8575)
// - I2C I/O Expander 3 3V3 (IC12: PCF8575)
// - I2C A/D and D/A Converter 1 (IC11: PCF8591)
// - I2C A/D and D/A Converter 2 (IC10: PCF8591)
// - I2C A/D and D/A Converter 3 (IC9: PCF8591)
// - UB Voltage Sensor
// - LEDs
// - PWM Ports
// - Power PWM Ports & H-Bridges

/*****************************************************************************/
// Includes:

#include "RP6_ArduIOConfig.h"		// Configure the target system

/*****************************************************************************/
// I2C PWM Controller (PCA9685):
// (A5, A4, A3 always 0, A1 always 1!)
#define I2C_ARDUIO_PWM_ADR				0x84	// A2/0 = 0/0
//#define I2C_ARDUIO_PWM_ADR			0x86	// A2/0 = 0/1
//#define I2C_ARDUIO_PWM_ADR			0x8c	// A2/0 = 1/0
//#define I2C_ARDUIO_PWM_ADR			0x8e	// A2/0 = 1/1
//#define I2C_ARDUIO_PWM_ADR			0xe0	// ALLCALLADR

// ---------------------------------------------------------------
#define PWM_FREQUENCY					1000	// 1kHz (default)
// ---------------------------------------------------------------

#define CHALL_LED						0		// All LEDs (channels)

/*****************************************************************************/
// I2C I/O Expander (PCF8575):
// (A1 always 1!)
#define I2C_ARDUIO_IO_1_ADR				0x44	// A2/0 = 0/0
//#define I2C_ARDUIO_IO_1_ADR			0x46	// A2/0 = 0/1
//#define I2C_ARDUIO_IO_1_ADR			0x4c	// A2/0 = 1/0
//#define I2C_ARDUIO_IO_1_ADR			0x4e	// A2/0 = 1/1

//#define I2C_ARDUIO_IO_2_ADR			0x44	// A2/0 = 0/0
#define I2C_ARDUIO_IO_2_ADR				0x46	// A2/0 = 0/1
//#define I2C_ARDUIO_IO_2_ADR			0x4c	// A2/0 = 1/0
//#define I2C_ARDUIO_IO_2_ADR			0x4e	// A2/0 = 1/1

//#define I2C_ARDUIO_IO_3_ADR			0x44	// A2/0 = 0/0
//#define I2C_ARDUIO_IO_3_ADR			0x46	// A2/0 = 0/1
#define I2C_ARDUIO_IO_3_ADR				0x4c	// A2/0 = 1/0
//#define I2C_ARDUIO_IO_3_ADR			0x4e	// A2/0 = 1/1

/*****************************************************************************/
// I2C A/D and D/A Converter (PCF8591):
// (A1 always 1!)
#define I2C_ARDUIO_AD_1_ADR				0x94	// A2/0 = 0/0
//#define I2C_ARDUIO_AD_1_ADR			0x96	// A2/0 = 0/1
//#define I2C_ARDUIO_AD_1_ADR			0x9c	// A2/0 = 1/0
//#define I2C_ARDUIO_AD_1_ADR			0x9e	// A2/0 = 1/1

//#define I2C_ARDUIO_AD_2_ADR			0x94	// A2/0 = 0/0
#define I2C_ARDUIO_AD_2_ADR				0x96	// A2/0 = 0/1
//#define I2C_ARDUIO_AD_2_ADR			0x9c	// A2/0 = 1/0
//#define I2C_ARDUIO_AD_2_ADR			0x9e	// A2/0 = 1/1

//#define I2C_ARDUIO_AD_3_ADR			0x94	// A2/0 = 0/0
//#define I2C_ARDUIO_AD_3_ADR			0x96	// A2/0 = 0/1
#define I2C_ARDUIO_AD_3_ADR				0x9c	// A2/0 = 1/0
//#define I2C_ARDUIO_AD_3_ADR			0x9e	// A2/0 = 1/1

/*****************************************************************************/
// UB Voltage Sensor:
// (Connected to A/D and D/A Converter 1 (ADDA_1: IC11), AIN3 (AD13),
//  if jumper JP_AD-UB on the ArduIO Board is CLOSED!)
#define ADCVAL_UB_LOW					175		// UB 6.9V

/*****************************************************************************/
// LEDs:
// (Status LED1..LED4 are connected to LED11..LED8 of the PCA9685!)
#define CHLED1							12
#define CHLED2							11
#define CHLED3							10
#define CHLED4							9

/*****************************************************************************/
// PWM Ports:
// (Ports PWM1..PWM4 are connected to LED15..LED12 of the PCA9685!)
#define CHPWM1							16
#define CHPWM2							15
#define CHPWM3							14
#define CHPWM4							13

/*****************************************************************************/
// Power PWM Ports & H-Bridges:
// (H-Bridges HB1/HB2 are connected to LED0..LED3/LED4..LED7 of the PCA9685!)
// Power PWM Ports:
#define CHPOWERPWM1_P					1
#define CHPOWERPWM2_N					2
#define CHPOWERPWM3_P					3
#define CHPOWERPWM4_N					4
#define CHPOWERPWM5_P					5
#define CHPOWERPWM6_N					6
#define CHPOWERPWM7_P					7
#define CHPOWERPWM8_N					8

// H-Bridges:
#define CHHB1_P1						1
#define CHHB1_N1						2
#define CHHB1_P2						3
#define CHHB1_N2						4
#define CHHB2_P1						5
#define CHHB2_N1						6
#define CHHB2_P2						7
#define CHHB2_N2						8

/*****************************************************************************/
// Interrupt portpin definitions:
// Select INTx portpin definitions depending on RP6_ArduIOConfig.h:
#ifdef ARDUIO_RP6BASE
// Interrupt I/O portpin definitions (RP6Base):
#define IO_ARDUIO_INT1_IN				E_INT1	// ADC4 PA4  XBUS Pin 8
#define IO_ARDUIO_INT1_DDR				DDRA
#define IO_ARDUIO_INT1_PIN				PINA
#define IO_ARDUIO_INT1_PORT				PORTA
#else
#ifdef ARDUIO_RP6CONTROL
// Interrupt I/O portpin definitions (RP6Control M32):
#define IO_ARDUIO_INT1_IN				EINT1	// INT0 PD2  XBUS Pin 8
#define IO_ARDUIO_INT1_DDR				DDRD
#define IO_ARDUIO_INT1_PIN				PIND
#define IO_ARDUIO_INT1_PORT				PORTD
#define IO_ARDUIO_INT2_IN				EINT2	// INT1 PD3  XBUS Pin 11
#define IO_ARDUIO_INT2_DDR				DDRD
#define IO_ARDUIO_INT2_PIN				PIND
#define IO_ARDUIO_INT2_PORT				PORTD
#define IO_ARDUIO_INT3_IN				EINT3	// AIN0/INT2 PB2  XBUS Pin 9
#define IO_ARDUIO_INT3_DDR				DDRB
#define IO_ARDUIO_INT3_PIN				PINB
#define IO_ARDUIO_INT3_PORT				PORTB
#else
#ifdef ARDUIO_RP6M256WIFI
// Interrupt I/O portpin definitions (RP6M256 WiFi):
#define IO_ARDUIO_INT1_IN				INT1_PI12 // PCINT12 PJ3  XBUS Pin 8
#define IO_ARDUIO_INT1_DDR				DDRJ
#define IO_ARDUIO_INT1_PIN				PINJ
#define IO_ARDUIO_INT1_PORT				PORTJ
#define IO_ARDUIO_INT2_IN				INT2_PI15 // PCINT15 PJ6  XBUS Pin 11
#define IO_ARDUIO_INT2_DDR				DDRJ
#define IO_ARDUIO_INT2_PIN				PINJ
#define IO_ARDUIO_INT2_PORT				PORTJ
#define IO_ARDUIO_INT3_IN				INT3_PI14 // PCINT14 PJ5  XBUS Pin 9
#define IO_ARDUIO_INT3_DDR				DDRJ
#define IO_ARDUIO_INT3_PIN				PINJ
#define IO_ARDUIO_INT3_PORT				PORTJ
#define IO_ARDUIO_INTU_IN				INTU_PI13 // PCINT13 PJ4  XBUS Pin 7
#define IO_ARDUIO_INTU_DDR				DDRJ
#define IO_ARDUIO_INTU_PIN				PINJ
#define IO_ARDUIO_INTU_PORT				PORTJ
#else
	#error DEFINE "ARDUIO_RP6BASE", "ARDUIO_RP6CONTROL" OR "ARDUIO_RP6M256WIFI"
	#error AS TARGET IN RP6_ArduIOConfig.h
#endif
#endif
#endif

/*****************************************************************************/
/*                     Arduino Uno Expander definitions                      */
/*****************************************************************************/
// ATTENTION: Using this library you MAY NOT connect an Arduino Uno Board to
//            the RP6 ArduIO Board using the Arduino Uno Expander pin headers
//            on the ArduIO Board!!!
//            BE VERY CAREFUL:
//            You may damage the Arduino Uno AND your RP6 ArduIO Board!
//
//            Of course you may connect Arduino ADDON boards (shields) to the
//            Arduino Uno Expander pin headers on the ArduIO Board.
//            BE VERY CAREFUL:
//            Not all Arduino shields will work on the RP6 ArduIO Board!  
//            You may damage the Arduino shield AND your RP6 ArduIO Board!
/*****************************************************************************/
// Arduino Uno Expander <-> RP6_ArduIO Mapping Table:
//   Arduino Uno:  ATmega328:              RP6_ArduIO:
//   Pin Function  Pin  Functions          Pin   Name  IO ADDA
//  -----------------------------------------------------------
//    0  D0  RX    PD0  RXD_PCINT16        P00   GP200  2
//    1  D1  TX    PD1  TXD_PCINT17        P01   GP201  2
//    2  D2        PD2  INT0_PCINT18       P02   GP202  2
//    3  D3  PWM   PD3  INT1_OC2B_PCINT19  P03   GP203  2
//    4  D4        PD4  T0_XCK_PCINT20     P04   GP204  2
//    5  D5  PWM   PD5  T1_OC0B_PCINT21    P05   GP205  2
//    6  D6  PWM   PD6  AIN0_OC0A_PCINT22  P06   GP206  2
//    7  D7        PD7  AIN1_PCINT23       P07   GP207  2
//    8  D8        PB0  ICP1_CLKO_PCINT0   P15   GP215  2
//    9  D9  PWM   PB1  OC1A_PCINT1        P14   GP214  2
//   10  D10 PWM   PB2  SS_OC1B_PCINT2     P13   GP213  2
//   11  D11 PWM   PB3  MOSI_OC2A_PCINT13  P12   GP212  2
//   12  D12       PB4  MISO_PCINT4        P11   GP211  2
//   13  D13       PB5  SCK_PCINT5         P10   GP210  2
//
//    0  A0        PC0  ADC0_PCINT8        AIN0  AD30      3
//    1  A1        PC1  ADC1_PCINT9        AIN1  AD31      3
//    2  A2        PC2  ADC2_PCINT10       AIN2  AD32      3
//    3  A3        PC3  ADC3_PCINT11       AIN3  AD33      3
//    4  A4  SDA   PC4  ADC4_SDA_PCINT12         SDA
//    5  A5  SCL   PC5  ADC5_SCL_PCINT13         SCL

// Arduino Uno Expander ATmega 328 portpin names:
#define IO_ARD_D0_RXD_PCINT16			0
#define IO_ARD_D1_TXD_PCINT17			1
#define IO_ARD_D2_INT0_PCINT18			2
#define IO_ARD_D3_INT1_OC2B_PCINT19		3
#define IO_ARD_D4_T0_XCK_PCINT20		4
#define IO_ARD_D5_T1_OC0B_PCINT21		5
#define IO_ARD_D6_AIN0_OC0A_PCINT22		6
#define IO_ARD_D7_AIN1_PCINT23			7
#define IO_ARD_D8_ICP1_CLKO_PCINT0		8
#define IO_ARD_D9_OC1A_PCINT1			9
#define IO_ARD_D10_SS_OC1B_PCINT2		10
#define IO_ARD_D11_MOSI_OC2A_PCINT13	11
#define IO_ARD_D12_MISO_PCINT4			12
#define IO_ARD_D13_SCK_PCINT5			13

#define AD_ARD_A0_ADC0_PCINT8			0
#define AD_ARD_A1_ADC1_PCINT9			1
#define AD_ARD_A2_ADC2_PCINT10			2
#define AD_ARD_A3_ADC3_PCINT11			3
#define AD_ARD_A4_ADC4_SDA_PCINT12		4
#define AD_ARD_A5_ADC5_SCL_PCINT13		5

// Arduino Uno Expander portpin short definitions:
#define IO_ARD_D0_RX					0
#define IO_ARD_D1_TX					1
#define IO_ARD_D2						2
#define IO_ARD_D3_PWM					3
#define IO_ARD_D4						4
#define IO_ARD_D5_PWM					5
#define IO_ARD_D6_PWM					6
#define IO_ARD_D7						7
#define IO_ARD_D8						8
#define IO_ARD_D9_PWM					9
#define IO_ARD_D10_PWM					10
#define IO_ARD_D11_PWM					11
#define IO_ARD_D12						12
#define IO_ARD_D13						13

#define AD_ARD_A0						0
#define AD_ARD_A1						1
#define AD_ARD_A2						2
#define AD_ARD_A3						3
#define AD_ARD_A4_SDA					4
#define AD_ARD_A5_SCL					5

/*****************************************************************************/
// Arduino Uno Expander read/write software examples:
// 1. Writing to the digital portpins (D0..D13):
//    io2outs.ARD_D10 = true;
//    updateArduIO_IO2();						// Set D10
//    io2outs.ARD_D8 = false;
//    updateArduIO_IO2();						// Clear D8
//    setArduIO_IO2(0b0001000000000000);		// Set D9 & clear all others
//    ==> Bit positions in the io2ins and io2outs word:
//    ==>           0b0000000000000000
//    ==>               |    ||      |
//    ==>               D8   |D7     D0
//    ==>                    D13
// 2. Reading the digital portpins (D0..D13):
//    setArduIO_IO2(0b0011111111111111);		// Set all portpins
//    ==> Hint: portpins can only be read, if they were SET before onetime!!!
//    task_readArduIO_IO2();					// Read D0..D13
//    io_D0 = io2ins.ARD_D0;					// This is D0
//    io_D11 = io2ins.ARD_D11;					// This is D11
//    all_ios = io2ins.word & 0x3fff;			// All portpins in 1 word
// 3. Reading the analog portpins (A0..A3):
//    task_readArduIO_AD3();					// Read A0..A3
//    adc_A0 = ad3ins.ARD_A0;					// This is A0
//    adc_A3 = ad3ins.ARD_A3;					// This is A3
// 4. Reading all portpins and the interrupt signal:
//    task_Arduino_Uno_Exp();					// Read D0..D13, A0..A3 and
//                                              // PCF8575 (2) INT
//    int = interrupt_RP6ArduIOstatus.ioexp_2	// This is PCF8575 (2) INT
//    ==> Hint 1: This XBUS INT1 indicates a level change on D0..D13!!!
//    ==> Hint 2: If the variable interrupt_rp6arduiostatus_changed becomes
//                TRUE after execution of this task, INT1 has changed!!!
//    ==> Hint 3: Pins 1-2 of jumper JP_INT3V3 must be CLOSED!!!

/*****************************************************************************/
/*                   Arduino Uno Expander definitions end                    */
/*****************************************************************************/

#endif

/******************************************************************************
 * Additional info
 * ****************************************************************************
 * Changelog:
 * 
 *  ---> changes are documented in the file "RP6_ArduIOLib.c"
 *
 * ****************************************************************************
 */

/*****************************************************************************/
// EOF
Library Header
Library Source
Erklärung

RP6 M256 WIFI

Config

Datei RP6_ArduIOConfig.h: 

/**
 * Settings for the RP6_ArduIO Library
 */ 

#ifndef RP6_ARDUIOCONFIG_H
#define RP6_ARDUIOCONFIG_H


/**
 * Define the target here: 
 * (Use only ONE of them! Never two or three!) 
 */ 
//#define ARDUIO_RP6BASE 
//#define ARDUIO_RP6CONTROL
#define ARDUIO_RP6M256WIFI


#endif
Demo 1
Erklärung
Demo 2
Erklärung
Demo 3
Erklärung

RP6 CONTROL M32

Config

Datei RP6_ArduIOConfig.h: 

/**
 * Settings for the RP6_ArduIO Library
 */ 

#ifndef RP6_ARDUIOCONFIG_H
#define RP6_ARDUIOCONFIG_H


/**
 * Define the target here: 
 * (Use only ONE of them! Never two or three!) 
 */ 
//#define ARDUIO_RP6BASE 
#define ARDUIO_RP6CONTROL
//#define ARDUIO_RP6M256WIFI


#endif
Demo 1
Erklärung
Demo 2
Erklärung
Demo 3
Erklärung

RP6 BASE

Config

Datei RP6_ArduIOConfig.h: 

/**
 * Settings for the RP6_ArduIO Library
 */ 

#ifndef RP6_ARDUIOCONFIG_H
#define RP6_ARDUIOCONFIG_H


/**
 * Define the target here: 
 * (Use only ONE of them! Never two or three!) 
 */ 
#define ARDUIO_RP6BASE 
//#define ARDUIO_RP6CONTROL
//#define ARDUIO_RP6M256WIFI


#endif
Demo 1
Erklärung
Demo 2
Erklärung
Demo 3
Erklärung

RP6 CCPRO M128

ArduIO Library

Erklärung

Demo 1

Erklärung
Demo 2
Erklärung
Demo 3
Erklärung



Technische Informationen



Siehe auch


Weblinks

Umfangreiche Dokumentation, sämtliche Beispielprogramme und Bibliotheken, Daten, Teilelisten und eine Lötanleitung finden sich HIER.

HIER findet ihr den Hardware-Artikel.



Autoren

--Dirk 15:52, 16. Sep 2014 (CET)

Von „https://rn-wissen.de/wiki/index.php?title=RP6_ArduIO_-_Software&oldid=25316“

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