{"id":42226,"date":"2023-09-30T09:42:52","date_gmt":"2023-09-30T01:42:52","guid":{"rendered":"https:\/\/www.techphant.cn\/?p=42226"},"modified":"2023-11-25T00:13:15","modified_gmt":"2023-11-24T16:13:15","slug":"symzmyi","status":"publish","type":"post","link":"https:\/\/www.techphant.cn\/blog\/42226.html","title":{"rendered":"\u4f7f\u7528microros\u600e\u4e48\u7528i2c"},"content":{"rendered":"
MicroROS\u662f\u4e00\u4e2a\u5f00\u6e90\u7cfb\u7edf\uff0c\u5b83\u652f\u6301\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u53ef\u4ee5\u5e2e\u52a9\u60a8\u5728\u4f4e\u529f\u8017\u3001\u4f4e\u5ef6\u8fdf\u548c\u53ef\u9760\u6027\u8981\u6c42\u7684\u73af\u5883\u4e2d\u90e8\u7f72\u8f6f\u4ef6\u3002\u672c\u6587\u5c06\u4ecb\u7ecd\u5982\u4f55\u4f7f\u7528MicroROS\u7cfb\u7edf\u642d\u914dI2C\u63a5\u53e3\uff0c\u5b9e\u73b0\u4f4e\u529f\u8017\u3001\u4f4e\u5ef6\u8fdf\u7684\u8f6f\u4ef6\u90e8\u7f72\u3002<\/p>\n
I2C\uff08Inter-Integrated Circuit\uff0c\u53c8\u79f0\u4e3aIIC\u6216\u8005Two-Wire Interface\uff09\u662f\u4e00\u79cd\u53cc\u7ebf\u603b\u7ebf\u63a5\u53e3\uff0c\u7528\u4e8e\u5728\u5fae\u63a7\u5236\u5668\u548c\u5176\u4ed6\u7535\u5b50\u8bbe\u5907\u4e4b\u95f4\u8fdb\u884c\u6570\u636e\u4f20\u8f93\u3002I2C\u63a5\u53e3\u53ef\u4ee5\u5b9e\u73b0\u4f4e\u529f\u8017\u3001\u4f4e\u5ef6\u8fdf\u7684\u6570\u636e\u4f20\u8f93\uff0c\u56e0\u6b64\u5b83\u5728\u8bb8\u591a\u5d4c\u5165\u5f0f\u5e94\u7528\u4e2d\u5f97\u5230\u4e86\u5e7f\u6cdb\u7684\u5e94\u7528\u3002<\/p>\n
I2C\u63a5\u53e3\u901a\u8fc7\u4e24\u6839\u7ebf\u8fde\u63a5\uff0c\u5206\u522b\u4e3aSCL\uff08\u65f6\u949f\u7ebf\uff09\u548cSDA\uff08\u6570\u636e\u7ebf\uff09\uff0c\u5728\u4f7f\u7528I2C\u63a5\u53e3\u65f6\uff0c\u4e3b\u673a\u8bbe\u5907\u9700\u8981\u53d1\u9001\u4e00\u4e2a\u4fe1\u53f7\uff0c\u4ee5\u63a7\u5236\u4ece\u673a\u8bbe\u5907\u7684\u64cd\u4f5c\uff0c\u4ece\u673a\u8bbe\u5907\u6536\u5230\u4fe1\u53f7\u540e\u4f1a\u8fd4\u56de\u4e00\u4e2a\u5e94\u7b54\u4fe1\u53f7\u7ed9\u4e3b\u673a\u8bbe\u5907\uff0c\u4ee5\u786e\u8ba4\u5df2\u7ecf\u6536\u5230\u4fe1\u53f7\u3002\u6b64\u5916\uff0cI2C\u63a5\u53e3\u8fd8\u652f\u6301\u591a\u4e2a\u4ece\u673a\u8bbe\u5907\uff0c\u53ef\u4ee5\u5c06\u591a\u4e2a\u4ece\u673a\u8bbe\u5907\u8fde\u63a5\u5230\u540c\u4e00\u6761I2C\u603b\u7ebf\u4e0a\u3002<\/p>\n
I2C\u63a5\u53e3\u6bd4\u5176\u4ed6\u603b\u7ebf\u63a5\u53e3\u66f4\u52a0\u7b80\u5355\uff0c\u53ea\u9700\u8981\u4e24\u6839\u7ebf\u5373\u53ef\u5b9e\u73b0\u6570\u636e\u4f20\u8f93\uff0c\u5b83\u7684\u4f20\u8f93\u901f\u5ea6\u4e5f\u6bd4\u8f83\u5feb\uff0c\u6700\u9ad8\u53ef\u4ee5\u8fbe\u5230400Kbps\u3002\u6b64\u5916\uff0cI2C\u63a5\u53e3\u8fd8\u53ef\u4ee5\u652f\u6301\u591a\u4e2a\u4ece\u673a\u8bbe\u5907\uff0c\u53ef\u4ee5\u5c06\u591a\u4e2a\u4ece\u673a\u8bbe\u5907\u8fde\u63a5\u5230\u540c\u4e00\u6761I2C\u603b\u7ebf\u4e0a\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u9ad8\u6548\u7684\u6570\u636e\u4f20\u8f93\u3002<\/p>\n
MicroROS\u662f\u4e00\u4e2a\u5f00\u6e90\u7cfb\u7edf\uff0c\u5b83\u53ef\u4ee5\u5e2e\u52a9\u60a8\u5728\u4f4e\u529f\u8017\u3001\u4f4e\u5ef6\u8fdf\u548c\u53ef\u9760\u6027\u8981\u6c42\u7684\u73af\u5883\u4e2d\u90e8\u7f72\u8f6f\u4ef6\u3002\u4f7f\u7528MicroROS\u642d\u914dI2C\u63a5\u53e3\uff0c\u53ef\u4ee5\u5b9e\u73b0\u4f4e\u529f\u8017\u3001\u4f4e\u5ef6\u8fdf\u7684\u8f6f\u4ef6\u90e8\u7f72\u3002<\/p>\n
MicroROS\u662f\u4e00\u4e2a\u57fa\u4e8eROS2\u7684\u5fae\u578b\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5b83\u652f\u6301\u591a\u79cd\u786c\u4ef6\u5e73\u53f0\uff0c\u53ef\u4ee5\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\u90e8\u7f72ROS2\u5e94\u7528\u3002MicroROS\u4f7f\u7528I2C\u63a5\u53e3\u4f5c\u4e3a\u901a\u4fe1\u63a5\u53e3\uff0c\u5c06\u591a\u4e2a\u8bbe\u5907\u8fde\u63a5\u5230\u540c\u4e00\u6761I2C\u603b\u7ebf\u4e0a\uff0c\u5b9e\u73b0\u4f4e\u529f\u8017\u3001\u4f4e\u5ef6\u8fdf\u7684\u8f6f\u4ef6\u90e8\u7f72\u3002<\/p>\n
MicroROS\u53ef\u4ee5\u5c06\u591a\u4e2a\u8bbe\u5907\u8fde\u63a5\u5230\u540c\u4e00\u6761I2C\u603b\u7ebf\u4e0a\uff0c\u5b9e\u73b0\u4f4e\u529f\u8017\u3001\u4f4e\u5ef6\u8fdf\u7684\u8f6f\u4ef6\u90e8\u7f72\uff0c\u4ece\u800c\u63d0\u9ad8\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u548c\u53ef\u6269\u5c55\u6027\u3002\u6b64\u5916\uff0cMicroROS\u8fd8\u652f\u6301\u591a\u79cd\u786c\u4ef6\u5e73\u53f0\uff0c\u53ef\u4ee5\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\u90e8\u7f72ROS2\u5e94\u7528\uff0c\u4ece\u800c\u8ba9\u5d4c\u5165\u5f0f\u7cfb\u7edf\u66f4\u52a0\u667a\u80fd\u5316\u3002<\/p>\n
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