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I2C Port Example

Package 'nsdk_example_i2c':

This package contains two executors: i2c_control_service and i2c_client.

  1. Executor i2c_control_service controls the i2c port by using mraa library, when i2c_control_service get the request from i2c_control_service, it will read or write the ROM connect through i2c port.
  • Run the i2c_control_service of this package by using:
ros2 run nsdk_example_i2c i2c_control_service
  1. Executor i2c_client calls a request to the i2c_client, and in the request contains 2 or 3 parameters.
  • Run the i2c_server of this package by using.
# Write the ROM through i2c
ros2 run nsdk_example_i2c i2c_client W <i2c_bus_num> <i2c_device_address> <i2c_rom_address> value
# Read the ROM through i2c
ros2 run nsdk_example_i2c i2c_client R <i2c_bus_num> <i2c_device_address> <i2c_rom_address>
  • Remarks: Pleace check which i2c hub and address your device is connected to.
    • If you want to write a value:12 to the ROM at ic2 number:0, device address 0x50, ROM address 0x01, pleace excute the client as below:
    ros2 run nsdk_example_i2c i2c_client W 0 0x50 0x01 12
    • If you want to read the value on the ROM at ic2 number 0, device address 0x50, ROM address 0x02, pleace excute the client as below:
    ros2 run nsdk_example_i2c i2c_client R 0 0x50 0x02