JonHylands wrote:
There really isn't any. I2C is a serial communications protocol, like RS-232 or SPI or even USB. Its just a specification that allows two or more devices to communicate using a couple wires.
In order to support putting an I2C port (or even a regular serial port) on say my I/O board, we would need to add a few new commands to the bioloid bus specification (current it has commands like WRITE_DATA and READ_DATA). We would need to add something like SEND_COMMAND, which (from a philosophical standpoint) goes against what Robotis tried to do with the control-table implementation. When I build a Bioloid bus device, it is important to me that it works exactly the same as Robotis devices, including having a similar layout to the control table, and a similar way to talk to the device.
- Jon
I did a very basic I2C using the pepperm i/o board - used a register to act as a trigger to send an I2C command to a sensor then loaded the result back into another register and read it from there. The tough bit is the timing as the sensor took 65ms to respond, so it was trigger it - do a load of other stuff then read the results. I have considered putting an I2C slave processor with the module and having that service all the I2C sensors continually from powerup then just using the I/O module to read the I2C slave when requested with the results for each sensor at different register addresses but have never got around to implementing it.
PevStatistics: Posted by Pev — Wed Mar 12, 2008 9:20 am
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