SD21 an RP6

Hallo, bin Anfänger und benötige Hilfe. Ich habe ein SD21-Servoboard am I2C-Bus des RP6 angeschlossen. Ich erhalte im Terminal folgende Fehlermeldung: "RP6 CONTROL M32 I2C Master Servoboard SF21 I2C ERROR - TWI STATE: 0x20". Wo liegt der Fehler?
Das Program sieht wie folgt aus:

Code:

#include "RP6ControlLib.h" // The RP6 Control Library. // Always needs to be included! #include "RP6I2CmasterTWI.h" /*****************************************************************************/ #define I2C_RP6_BASE_ADR 10 // The default address of the Slave Controller // on the RP6 Mainboard #define I2C_SD21_BASE_ADR 0xC2 uint8_t i; /*****************************************************************************/ // I2C Error handler void I2C_transmissionError(uint8_t errorState) { writeString_P("\nI2C ERROR - TWI STATE: 0x"); writeInteger(errorState, HEX); writeChar('\n'); } /*****************************************************************************/ // Initiirung SD21 // uint8_t servo = 1 // 1 ... 21 // uint8_t speed = 10 // Geschwindigkeit 0...255 // uint16_t angle = 1500; //Min 1000, 0 1500, Max 2000 // SD21 Sendefunktion void I2C_SD21(uint8_t servo, uint8_t speed, uint16_t angle) // vollstaendig // void I2C_SD21(uint8_t speed, uint16_t angle) { uint8_t transmitBuf[4]; transmitBuf[0] = (servo -1)*3; // Register 0-2 = Servo1, 3-5 = Servo2, ... transmitBuf[1] = speed; // Geschwindigkeit 0...255 transmitBuf[2] = (angle & 0xff); // Low Byte Position transmitBuf[3] = ((angle >> 8) & 0xff); // High Byte Position // I2CTWI_transmitBytes(I2C_SD21_BASE_ADR,&transmitBuf[0],4); I2CTWI_transmitBytes(I2C_SD21_BASE_ADR,transmitBuf[0],4); } int main(void) { initRP6Control(); // Always call this first! The Processor will not work initLCD(); // Initialize the LC-Display (LCD) // Always call this before using the LCD! writeString_P("\n\nRP6 CONTROL M32 I2C Master Servoboard SF21\n"); // IMPORTANT: I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation // with 100kHz SCL Frequency // Register the event handlers: I2CTWI_setTransmissionErrorHandler(I2C_transmissionError); // Play two sounds: sound(180,80,25); sound(220,80,25); setLEDs(0b1111); // Turn all LEDs on! showScreenLCD("################", "################"); mSleep(500); showScreenLCD("I2C-Master", "Funktion auf den Schaltern"); mSleep(1000); // --------------------------------------- setLEDs(0b0000); // All LEDs off! while(true) { uint8_t key = checkReleasedKeyEvent(); if(key) { switch(key) { case 1: // Servo 1 in Mittelstellung setLEDs(0b0001); showScreenLCD("Servo 1 Mitte","Tempo 10"); I2C_SD21(1,10,1500); break; case 2: // Servo 1 in linker Anschlag setLEDs(0b0010); showScreenLCD("Servo 1 links","Tempo 10"); I2C_SD21(1,10,1000); break; case 3: // Servo 1 in rechter Anschlag setLEDs(0b0011); showScreenLCD("Servo 1 rechts","Tempo 10"); I2C_SD21(1,10,2000); break; case 4: // Servo 1 10x alternierend mit Stopwatch startStopwatch1(); for(i = 0; i < 10; i++) { I2C_SD21(1,10,2000); if(getStopwatch1()>2000) { I2C_SD21(1,10,1000); setStopwatch1(0); } } break; case 5: // Servo 1 alternierend mit msleep BLOCKIERT for(i = 0; i < 10; i++) { I2C_SD21(1,10,2000); // 2s blockiert mSleep(2000); I2C_SD21(1,10,1000); } break; } } } return 0; }