This page describes experiments in communicating between a [Raspberry Pi] (as a master) and an [Arduino] (as a slave) over [I2C]. The Raspberry Pi is programmed in [Python], the Arduino using a sketch (the Arduino's own language).

I based this experiment on an article found on ''The Robotics Back-End'' (see References below), but have modified it to use Python rather than C on the Raspberry Pi, since that's the main language I've been using to write the operating system of the [KR01] robot.

__WiringPi__ is a C++ library for communicating with a Raspberry Pi. It's been ported to Python as the
[WiringPi-Python|https://github.com/WiringPi/WiringPi-Python] library. This can be installed via:
{{{
 sudo pip3 install wiringpi
}}}

You'll need to install an Arduino sketch on your Arduino using the Arduino IDE. As an example, I modified the original source to blink the Arduino's built-in LEDs when either a transmit (TX) or receive (RX) event occurs.
{{{
#include <Wire.h>
#define SLAVE_ADDRESS 0x08
byte data_to_echo = 0;

// this slave code is meant to work on I2C address 0x08
// with rpi_arduino_wiringpi_i2c.cpp as described at:
// https://roboticsbackend.com/raspberry-pi-master-arduino-slave-i2c-communication-with-wiringpi/

void setup()
{
  Wire.begin(SLAVE_ADDRESS);
  Wire.onReceive(receiveData);
  Wire.onRequest(sendData);
  ready_blink();
}

void loop() {

}

void receiveData(int bytecount)
{
  for (int i = 0; i < bytecount; i++) {
    data_to_echo = Wire.read();
  }
  blink_rx();
}

void sendData()
{
  Wire.write(data_to_echo);
  blink_tx();
}

// status displays .....................................................

void ready_blink() {
  int i = 0;
  while ( i < 800 ) {
    blink_builtin();
    delay(i);
    i = i + 50;
  }
}

void blink_builtin() {
  digitalWrite(LED_BUILTIN, HIGH);      // turn the LED on (HIGH is the voltage level)
  delay(100);                           // wait 100ms
  digitalWrite(LED_BUILTIN, LOW);       // turn the LED off by making the voltage LOW
}

void blink_tx() {
  digitalWrite(LED_BUILTIN_TX, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(100);                           // wait 100ms
  digitalWrite(LED_BUILTIN_TX, LOW);    // turn the LED off by making the voltage LOW
}

void blink_rx() {
  digitalWrite(LED_BUILTIN_RX, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(100);                           // wait 100ms
  digitalWrite(LED_BUILTIN_RX, LOW);    // turn the LED off by making the voltage LOW
}
}}}




!! References
 
* [WiringPi-Python|https://github.com/WiringPi/WiringPi-Python] on github
* [Raspberry Pi (master) Arduino (slave) I2C communication with WiringPi|https://roboticsbackend.com/raspberry-pi-master-arduino-slave-i2c-communication-with-wiringpi/]

----

[{Tag RaspberryPi Arduino}]