需要帮助通过RS232，SPI或I2C解密协议以与Arduino的控制器进行通讯

Question

I have a motor controller which I want to receive live telemetry from on my Arduino. I have posted screenshots of the registers below and the way the controller uses these protocols. I just can't get any data using either three? If anyone knows how I can get the data using any of these three protocols your help would be much appreciated!! I am willing to try anything :) Any form of help would be much appreciated.

UPDATE Here is the code for i2c that I have already tried. I was trying to read from register 6. The code simply returns zeroes. Updated code to include Wire.available.

#include <Wire.h>

void setup() {
  // put your setup code here, to run once:
  Wire.begin();
  Serial.begin(9600);
}

void loop() {
  // put your main code here, to run repeatedly:
  int k = readRegister(0x08, 0x06);
  Serial.println(k, DEC);
  delay(500);
}

uint16_t readRegister(uint8_t i2cAddr, uint8_t regAddr) {

    // I2C write sequence to address the given read register
    Wire.beginTransmission(i2cAddr); // Module address
    Wire.write(regAddr);             // Register Address
    Wire.write(0);                   // Command Data = dummy zeroes
    Wire.write(0);
    Wire.write(-regAddr);            // Checksum
    Wire.endTransmission();          // Finish I2C write sequence

    // I2C read sequence to actually get the register value
    Wire.requestFrom(i2cAddr, 3);
    if (Wire.available() == 3) {
    uint16_t regVal = Wire.read();
    regVal <<= 8;
    regVal |= Wire.read();
    if ((Wire.read() + regVal >> 8 + regVal & 0xFF) == 0) {
        return regVal; // Checksum OK
    }
    }
    return 0xFFFF;     // Checksum error
}

EDIT #2
In my attempts to get this device to work I have tried using RS232 with the code below. The serial monitor shows nothing at all but they "Hello" message.

void setup() {
  Serial.begin(9600);
  Serial1.begin(9600);
  Serial1.write(0x0); //write five zeroes to clear the command buffer
  Serial1.write(0x0);
  Serial1.write(0x0);
  Serial1.write(0x0);
  Serial1.write(0x0);
}

void loop() {
  sendData();
  delay(500);
  serialE1();
}

void sendData() {
  Serial1.write((byte)0x17); //device address
  Serial1.write((byte)0x6); //register address
  Serial1.write((byte)0x0); //zeroes
  Serial1.write((byte)0x0); //zeroes
  Serial1.write((byte)-0x1D); //checksum
}
uint16_t serialE1() {

  Serial.println("Hello"); //just letting myself know it got here.
  while (Serial.available()) {
    uint16_t regVal = Serial1.read();
    regVal <<= 8;
    regVal |= Serial1.read();
    if ((Serial1.read() + regVal >> 8 + regVal & 0xFF) == 0) {
        Serial.write(regVal); // Checksum OK
    }
    else {
      Serial.write(0xFFFF);     // Checksum error
    }
  }
}

Answer 1

Probably you will have to WAIT for the bytes to arrive. So, in your code, write

while (Wire.available() != 3);
uint16_t regVal = Wire.read();
regVal <<= 8;
regVal |= Wire.read();
if ((Wire.read() + regVal >> 8 + regVal & 0xFF) == 0) {
    return regVal; // Checksum OK
}

If this does not work, you can try to add also the i2caddr to the initial checksum (shifted by 1 position), since it states that the checksum is Byte0 + Byte1 + ... Byte 3.

One more thing: if you continue getting a checksum error, print directly the bytes and try to figure out what's happening

EDIT:

As for your serial code, there is a bug and some things to improve.

The bug is that you wait for data (call to available) on Serial instead of Serial1.

Then, again you should WAIT for three bytes to arrive, not execute the reading until there are bytes. So.. Try using this code:

uint8_t cmd[5] = {0,0,0,0,0};

void setup() {
    Serial.begin(9600);
    Serial1.begin(9600);

    //write five zeroes to clear the command buffer
    sendWithChecksum(cmd);

    // Initialize the cmd array
    cmd[0] = 0x17;
    cmd[1] = 0x06;
}

void loop() {
    sendWithChecksum(cmd);
    Serial.println("Hello");
    receiveData();
    delay(500); // Wait for some time
}

void sendWithChecksum(uint8_t *array)
{
    uint8_t i;
    array[4] = 0;
    for (i = 0; i < 4; i++)
        array[4] -= array[i];
    Serial1.write(array,5);
}

void receiveData()
{
    // Wait for serial data to become available
    while(Serial1.available() < 3);
    uint16_t regVal = (((uint16_t)Serial1.read()) << 8) | Serial1.read();

    if ((Serial1.read() + regVal >> 8 + regVal & 0xFF) == 0)
    {// Checksum OK
        Serial.print("Received ");
        Serial.println(regVal,HEX);
    }
    else
    {// Checksum wrong
        Serial.println("Checksum wrong");
    }

    // Clear buffer
    while (Serial1.available()) Serial1.read();
}