Greetings,
I'm currently trying to interface my Tiva C Series with a Wii Nunchuk, to be able to read the inputs from the nunchuk onto the TM4C123G board. Over all the code seems to compile properly, however it seems that the board is unable to update the inputted values. I believe that there may be some small details that I may have missed as it is my first time working with the I2C module of the Tiva boards.
I have followed the procedure (pg 15) of initializing the nunchuk from the following link: http://www.robotshop.com/media/files/PDF/inex-zx-nunchuck-datasheet.pdf
The following is my code:
#define PART_TM4C1233H6PM
#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "driverlib/i2c.h"
#include "sensorlib/i2cm_drv.h"
#include "inc/tm4c123gh6pm.h"
#include "inc/hw_i2c.h"
#include "driverlib/systick.h"
#include "utils/uartstdio.h"
#include "driverlib/debug.h"
#include "driverlib/fpu.h"
#include "inc/hw_uart.h"
#ifdef TARGET_IS_BLIZZARD_RB1
#endif
#include "driverlib/rom.h"
//======================================================================================
//Function Declarations
//======================================================================================
void I2CInit(int clockSignalPin);
void I2CWriteData(int peripheral, int address, char* data, int numberOfBytes);
int I2CReadData(int peripheral, int address, char* data, int numberOfBytes);
void nunchukInit();
void nunchuckRecieveRequest();
void nunchuckReadData();
void SysTickHandler();
void UARTInit();
int joyX, joyY;
int accX, accY, accZ;
int btnC, btnZ;
void main(void)
{
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
I2CInit(GPIO_PB2_I2C0SCL);
// Enable systick - system timer
ROM_SysTickPeriodSet(SysCtlClockGet() / 10);
ROM_SysTickEnable();
UARTInit();
ROM_UARTCharPutNonBlocking(UART0_BASE, 'H');
ROM_UARTCharPutNonBlocking(UART0_BASE, 'i');
ROM_UARTCharPutNonBlocking(UART0_BASE, '\n');
nunchukInit();
ROM_SysTickIntEnable();
while(1) {
//nunchuckReadData();
if(joyY > 160)
{
UARTCharPut(UART0_BASE, 'E');
//setMotor(MOTOR_R, MOTOR_DIR_F, (0x40/(216 - 160)) * (joyY-160));
//setMotor(MOTOR_L, MOTOR_DIR_F, (0x40/(216 - 160)) * (joyY-160));
}
else if( joyY <= 90)
{
//setMotor(MOTOR_R, MOTOR_DIR_B, 0x40);
//setMotor(MOTOR_L, MOTOR_DIR_B, 0x40);
}
else if(joyX > 170)
{
//setMotor(MOTOR_R, MOTOR_DIR_B, 0x40);
//setMotor(MOTOR_L, MOTOR_DIR_F, 0x40);
}
else if( joyX <= 90)
{
//setMotor(MOTOR_R, MOTOR_DIR_F, 0x40);
//setMotor(MOTOR_L, MOTOR_DIR_B, 0x40);
}
else
{
//setMotor(MOTOR_R, MOTOR_DIR_F, 0x00);
//setMotor(MOTOR_L, MOTOR_DIR_F, 0x00);
}
/* if(accY > 600)
{
UARTCharPut(UART0_BASE, 'E');
//setMotor(MOTOR_R, MOTOR_DIR_F, 0x40); //(0x40/(750 - 600)) * (accY-600));
//setMotor(MOTOR_L, MOTOR_DIR_F, 0x40); //(0x40/(750 - 600)) * (accY-600));
}
else if( accY <= 400)
{
//setMotor(MOTOR_R, MOTOR_DIR_B, 0x40);
//setMotor(MOTOR_L, MOTOR_DIR_B, 0x40);
}
else if(accX > 700)
{
//setMotor(MOTOR_R, MOTOR_DIR_B, 0x40);
//setMotor(MOTOR_L, MOTOR_DIR_F, 0x40);
}
else if( accX <= 400)
{
//setMotor(MOTOR_R, MOTOR_DIR_F, 0x40);
//setMotor(MOTOR_L, MOTOR_DIR_B, 0x40);
}
else
{
//setMotor(MOTOR_R, MOTOR_DIR_F, 0x00);
//setMotor(MOTOR_L, MOTOR_DIR_F, 0x00);
}
} else {
// setMotor(MOTOR_R, MOTOR_DIR_F, 0x00);
//setMotor(MOTOR_L, MOTOR_DIR_F, 0x00);*/
}
}
//======================================================================================
//FUNCTION DEFINITIONS
//======================================================================================
void I2CInit(int clockSignalPin)
{
// Initialize I2C module #0 on pins PB2 & PB3
if(clockSignalPin == GPIO_PB2_I2C0SCL)
{
// Turn on I2S0 and reset to a known state
SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
SysCtlPeripheralReset(SYSCTL_PERIPH_I2C0);
// Configure the PortB pins for I2C0
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);
// Set correct multiplexed pin
GPIOPinConfigure(GPIO_PB2_I2C0SCL);
GPIOPinConfigure(GPIO_PB3_I2C0SDA);
// Set GPIO Pins for Open-Drain operation
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_OD);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_3, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_OD);
// Give control to the I2C Module
GPIODirModeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_DIR_MODE_HW);
GPIODirModeSet(GPIO_PORTB_BASE, GPIO_PIN_3, GPIO_DIR_MODE_HW);
// Enable and Initalize MASTER/SLAVE
//I2CMasterEnable(I2C0_BASE);
I2CMasterInitExpClk(I2C0_BASE, SysCtlClockGet(), false);
}
}
void I2CWriteData(int peripheral, int address, char* data, int numberOfBytes)
{
int i;
int controlWord;
// Wait for previous transfer
while(I2CMasterBusBusy(peripheral));
// Load address and set that we want read (false)
ROM_I2CMasterSlaveAddrSet(peripheral, address, false);
// We want burst transfer (more than 1 byte)
controlWord = I2C_MASTER_CMD_BURST_SEND_START;
for( i = 0; i < numberOfBytes; i++)
{
// The second byte has to be send with CONTINUE control word
if(i == 1)
controlWord = I2C_MASTER_CMD_BURST_SEND_CONT;
// The last byte has to be send with FINISH control word
if(i == numberOfBytes - 1)
controlWord = I2C_MASTER_CMD_BURST_SEND_FINISH;
// If we have only one byte to send, it is not BURST send but SINGLE
if(numberOfBytes == 1)
controlWord = I2C_MASTER_CMD_SINGLE_SEND;
// Set byte to send
I2CMasterDataPut(peripheral, data[i]);
// Send byte
I2CMasterControl(peripheral, controlWord);
// Wait to send the byte
while(I2CMasterBusBusy(peripheral));
}
}
int I2CReadData(int peripheral, int address, char* data, int numberOfBytes)
{
int i;
int controlWord;
// Wait for previous transfer
while(I2CMasterBusBusy(peripheral));
// Load address and set that we want write (true)
I2CMasterSlaveAddrSet(peripheral, address, true);
// We want burst transfer (more than 1 byte)
controlWord = I2C_MASTER_CMD_BURST_RECEIVE_START;
for(i = 0; i < numberOfBytes; i++)
{
// The second byte has to be receive with CONTINUE control word
if(i == 1)
controlWord = I2C_MASTER_CMD_BURST_RECEIVE_CONT;
// The last byte has to be receive with FINISH control word
if(i == numberOfBytes - 1)
controlWord = I2C_MASTER_CMD_BURST_RECEIVE_FINISH;
// If we have only one byte to receive, it is not BURST send but SINGLE
if(numberOfBytes == 1)
controlWord = I2C_MASTER_CMD_SINGLE_RECEIVE;
// Read a byte
I2CMasterControl(peripheral, controlWord);
// Wait to finish reading
while(I2CMasterBusBusy(peripheral));
// Check for errors
if (I2CMasterErr(peripheral) != I2C_MASTER_ERR_NONE)
return -1;
// Move byte from register
data[i] = I2CMasterDataGet(peripheral);
}
// send number of received bytes
return i;
}
void nunchukInit()
{
char handShake[] = {0x40, 0x00};
//I2CInit(GPIO_PB2_I2C0SCL);
I2CWriteData(I2C0_BASE, 0xA4, handShake, sizeof(handShake));
}
void nunchuckRecieveRequest()
{
char readValues[] = {0x00};
I2CWriteData(I2C0_BASE, 0xA4, readValues, sizeof(readValues));
}
void nunchuckReadData()
{
char data[6];
int i;
// Read 6 bytes
I2CReadData(I2C0_BASE, 0xA4, data , 6);
// Necessary for original Nunchuk
for(i=0; i < 6; i++)
data[i] = (data[i] ^ 0x17) + 0x17;
// Decode read bytes
joyX = data[0];
joyY = data[1];
accX = data[2] << 2 | ((data[5] >> 2) & 0x03);
accY = data[3] << 2 | ((data[5] >> 4) & 0x03) ;
accZ = data[4] << 2 | ((data[5] >> 6) & 0x03) ;
btnZ = (data[5] & 0x01) == 0;
btnC = ((data[5] >> 1) & 0x01) == 0;
// Debug values
//UARTprintf("%u, %u, %u, %u, %u, %c, %c\n", joyX, joyY, accX, accY, accZ, btnC ? '1' : '0', btnZ ? '1' : '0' );
// Send request for new values for future reading
nunchuckRecieveRequest();
}
void SysTickHandler()
{
// Invert pin4
//GPIO_PORTF_DATA_R ^= 0x01 << 4;
nunchuckReadData();
}
void UARTInit()
{
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
//
// Set GPIO A0 and A1 as UART pins.
//
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Configure the UART for 115,200, 8-N-1 operation.
//
ROM_UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), 115200, (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
//UARTStdioInit(2);
}
//=============================================================//======================================================================================
END OF CODE
//=============================================================//======================================================================================
The following is a photo of my debug window from the CCS software that I'm using to run my Tiva board. It clearly enters the main loop but cannot updates the values of my variables:
//======================================================================================
