#include "MyI2C.h" #include "ti_msp_dl_config.h" #include "delay.h" //��SDA���ţ������ void SDA_OUT(void) { DL_GPIO_initDigitalOutput(MPU6050_SDA_IOMUX); DL_GPIO_setPins(MPU6050_PORT, MPU6050_SDA_PIN); DL_GPIO_enableOutput(MPU6050_PORT, MPU6050_SDA_PIN); } //�ر�SDA���ţ����룩 void SDA_IN(void) { DL_GPIO_initDigitalInputFeatures(MPU6050_SDA_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE); } void I2C_W_SCL (uint8_t BitValue) { if(BitValue == 0) { DL_GPIO_clearPins(MPU6050_PORT,MPU6050_SCL_PIN); } else { DL_GPIO_setPins(MPU6050_PORT,MPU6050_SCL_PIN); } delay_us(8); } void I2C_W_SDA(uint8_t BitValue) { SDA_OUT(); if(BitValue == 0) { DL_GPIO_clearPins(MPU6050_PORT,MPU6050_SDA_PIN); } else { DL_GPIO_setPins(MPU6050_PORT,MPU6050_SDA_PIN); } delay_us(8); } uint8_t I2C_R_SDA(void) { uint8_t BitValue; SDA_IN(); BitValue = DL_GPIO_readPins(MPU6050_PORT,MPU6050_SDA_PIN) == 0 ? 0 : 1; delay_us(8); return BitValue; } void I2C_Init(void) { SYSCFG_DL_GPIO_init(); /*����Ĭ�ϵ�ƽ*/ DL_GPIO_setPins(MPU6050_PORT, MPU6050_SDA_PIN | MPU6050_SCL_PIN);//����PA8��PA9���ų�ʼ����Ĭ��Ϊ�ߵ�ƽ���ͷ�����״̬�� } void I2C_Start(void) { SDA_OUT(); I2C_W_SDA(1); I2C_W_SCL(1); I2C_W_SDA(0); I2C_W_SCL(0); } void I2C_Stop(void) { SDA_OUT(); I2C_W_SDA(0); I2C_W_SCL(1); I2C_W_SDA(1); } void I2C_SendByte(uint8_t Byte) { uint8_t i; SDA_OUT(); for(i = 0;i<8;i++) { I2C_W_SDA(Byte & (0x80 >> i)); I2C_W_SCL(1); I2C_W_SCL(0); } } uint8_t I2C_ReceiveByte(void) { uint8_t i,Byte = 0x00; SDA_OUT(); I2C_W_SDA(1); for(i = 0;i<8;i++) { SDA_IN(); I2C_W_SCL(1); if(I2C_R_SDA() == 1) Byte |= (0x80>>i); I2C_W_SCL(0); } return Byte; } void I2C_SendAck(uint8_t AckBit) { SDA_OUT(); I2C_W_SDA(AckBit); I2C_W_SCL(1); I2C_W_SCL(0); } uint8_t I2C_ReceiveAck(void) { uint8_t AckBit; SDA_OUT(); I2C_W_SDA(1); I2C_W_SCL(1); SDA_IN(); AckBit = I2C_R_SDA(); I2C_W_SCL(0); return AckBit; }