We all know that cc2540 doesn't have hardware I2C pin. In this article, I :
1.use to GPIO pins to simulate I2C SDA and SCL.
2.read the electrics potential as I2C data.
3.print out the data by UART
*For how to use UART in CC254x,
please look for it on previous article here:
http://blog.csdn.net/feilusia/article/details/47431659
STEP 0. set MPU6050 on CC2541
I define
SCL = P1.5
SDA= P1.6
STEP 1 .
I made a project file "
SimpleBLEPeripheral_uart_mpu6050_file".
add these files in :
..\BLE-CC254x-1.3.2\Projects\ble\SimpleBLEPeripheral_uart_mpu6050_file\Source
and add in IAR.
1. sw_iic.c
2. sw_iic.h
3. mpu6050.c
4. mpu6050.h
and here is the source code：
sw_iic.h
#ifndef _SW_IIC_H_
#define _SW_IIC_H_
/*power by Agatha Kuan
2017.06.09*/
#define uchar unsigned char
#define uint unsigned int
#define SCL P1_5
#define SDA P1_6
#define HIGH (1)
#define LOW (0)
extern void SDA_OUT(void);
extern void SDA_OUT(void);
extern void SDA_IN(void);
extern void SDA_HIGH(void);
extern void SDA_LOW(void);
extern void SCL_HIGH(void);
extern void SCL_LOW(void);
extern uint SDA_READ(void);
extern void IIC_DELAY(void);
extern void delay_1ms(void);
extern void IIC_Init(void);
extern void Signal_Start(void);
extern void Signal_Stop(void);
extern void Write_Byte(uchar wdata);
extern uchar Read_Byte();
extern void Write_Add(uchar add,uchar wdata,uchar comd);
extern uchar Read_Add(uchar add,uchar comd);
#endif
sw_iic.c
/*power by Agatha Kuan
2017.06.09*/
#include "IIC.h"
#include "sw_iic.h"
#include <iocc2540.h>
#define uchar unsigned char
#define uint unsigned int
void SDA_OUT(void)
{
P1SEL &= ~(1 << 6);
P1DIR |= (1 << 6);
}
void SCL_OUT(void)
{
P1SEL &= ~(1 << 5);
P1DIR |= (1 << 5);
}
void SDA_IN(void)
{
P1SEL &= ~(1 << 6);
P1DIR &=~(1 << 1);
}
void SDA_HIGH(void)
{
SDA = HIGH;
}
void SDA_LOW(void)
{
SDA = LOW;
}
void SCL_HIGH(void)
{
SCL = HIGH;
}
void SCL_LOW(void)
{
SCL = LOW;
}
uint SDA_READ(void)
{
uint i = 0;
i = SDA;
if (LOW == SDA)
i = 0;
else if (HIGH == SDA)
i = 1;
else
return 0xFF;
return i;
}
void delay_1ms(void)
{
uchar a,b,c;
for(c=4;c>0;c--)
{
//for(b=142;b>0;b--)
{
for(a=2;a>0;a--)
{
}
}
}
}
void IIC_DELAY(void)
{
delay_1ms();
}
void IIC_Init(void)
{
SDA_OUT();
SCL_OUT();
SDA_HIGH();
IIC_DELAY;
SCL_HIGH();
IIC_DELAY();
}
void Signal_Start(void)
{
SDA_OUT();
SDA_HIGH();
SCL_HIGH();
IIC_DELAY();
SDA_LOW();
IIC_DELAY();
SCL_LOW();
}
void Signal_Stop(void)
{
SDA_OUT();
SDA_LOW();
IIC_DELAY();
SCL_HIGH();
IIC_DELAY();
SDA_HIGH();
IIC_DELAY();
}
void Respons(void) /*wait_ack*/
{
SDA_IN();
SCL_HIGH();
IIC_DELAY();
SCL_LOW();
IIC_DELAY();
#if (0) /*this part is to match ACK or nACK. I don't really know the implement*/
uint i = 0;
if(i>=300)
{
delay_1ms();
i++;
}
#endif
}
void Write_Byte(uchar wdata)
{
uchar i,mdata;
SDA_OUT();
SCL_OUT();
mdata = wdata;
for(i=0;i<8;i++)
{
SCL_LOW();
IIC_DELAY();
if(mdata & 0x80)
{
SDA_HIGH();
}
else
{
SDA_LOW();
}
IIC_DELAY();
SCL_HIGH();
IIC_DELAY();
mdata <<= 1;
}
SCL_LOW();
IIC_DELAY();
SCL_HIGH();
IIC_DELAY();
}
uchar Read_Byte()
{
uchar i,rdata = 0;
SDA_OUT();
SCL_OUT();
SCL_LOW();
IIC_DELAY();
SCL_HIGH();
for(i=0;i<8;i++)
{
SCL_HIGH();
IIC_DELAY();
rdata = (rdata<<1)|SDA_READ();
SCL_LOW();
IIC_DELAY();
}
return rdata;
}
void Write_Add(uchar add,uchar wdata,uchar comd)
{
Signal_Start();
Write_Byte(comd);
Respons();
Write_Byte(add);
Respons();
Write_Byte(wdata);
Respons();
Signal_Stop();
}
uchar Read_Add(uchar add,uchar comd)/*read at specific addr in i2c*/
{
uchar tdata;
Signal_Start();
Write_Byte(comd);
Respons();
Write_Byte(add);
Respons();
Signal_Start();
Write_Byte(comd|0x01);
Respons();
tdata = Read_Byte();
Signal_Stop();
return tdata;
}
mpu6050.h
#ifndef _MPU6050_H
#define _MPU6050_H
#define PORT_USED 0
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
#define MPU6050_DEFAULT_ADDRESS (MPU6050_ADDRESS_AD0_LOW<<1)
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU6050_RA_XA_OFFS_L_TC 0x07
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU6050_RA_YA_OFFS_L_TC 0x09
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL 0x14
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU6050_RA_YG_OFFS_USRL 0x16
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU6050_RA_ZG_OFFS_USRL 0x18
#define MPU6050_RA_SMPLRT_DIV 0x19
#define MPU6050_RA_CONFIG 0x1A
#define MPU6050_RA_GYRO_CONFIG 0x1B
#define MPU6050_RA_ACCEL_CONFIG 0x1C
#define MPU6050_RA_FF_THR 0x1D
#define MPU6050_RA_FF_DUR 0x1E
#define MPU6050_RA_MOT_THR 0x1F
#define MPU6050_RA_MOT_DUR 0x20
#define MPU6050_RA_ZRMOT_THR 0x21
#define MPU6050_RA_ZRMOT_DUR 0x22
#define MPU6050_RA_FIFO_EN 0x23
#define MPU6050_RA_I2C_MST_CTRL 0x24
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
#define MPU6050_RA_I2C_SLV0_REG 0x26
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
#define MPU6050_RA_I2C_SLV1_REG 0x29
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
#define MPU6050_RA_I2C_SLV2_REG 0x2C
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
#define MPU6050_RA_I2C_SLV3_REG 0x2F
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
#define MPU6050_RA_I2C_SLV4_REG 0x32
#define MPU6050_RA_I2C_SLV4_DO 0x33
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
#define MPU6050_RA_I2C_SLV4_DI 0x35
#define MPU6050_RA_I2C_MST_STATUS 0x36
#define MPU6050_RA_INT_PIN_CFG 0x37
#define MPU6050_RA_INT_ENABLE 0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS 0x3A
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
#define MPU6050_RA_TEMP_OUT_H 0x41
#define MPU6050_RA_TEMP_OUT_L 0x42
#define MPU6050_RA_GYRO_XOUT_H 0x43
#define MPU6050_RA_GYRO_XOUT_L 0x44
#define MPU6050_RA_GYRO_YOUT_H 0x45
#define MPU6050_RA_GYRO_YOUT_L 0x46
#define MPU6050_RA_GYRO_ZOUT_H 0x47
#define MPU6050_RA_GYRO_ZOUT_L 0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
#define MPU6050_RA_I2C_SLV0_DO 0x63
#define MPU6050_RA_I2C_SLV1_DO 0x64
#define MPU6050_RA_I2C_SLV2_DO 0x65
#define MPU6050_RA_I2C_SLV3_DO 0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
#define MPU6050_RA_USER_CTRL 0x6A
#define MPU6050_RA_PWR_MGMT_1 0x6B
#define MPU6050_RA_PWR_MGMT_2 0x6C
#define MPU6050_RA_BANK_SEL 0x6D
#define MPU6050_RA_MEM_START_ADDR 0x6E
#define MPU6050_RA_MEM_R_W 0x6F
#define MPU6050_RA_DMP_CFG_1 0x70
#define MPU6050_RA_DMP_CFG_2 0x71
#define MPU6050_RA_FIFO_COUNTH 0x72
#define MPU6050_RA_FIFO_COUNTL 0x73
#define MPU6050_RA_FIFO_R_W 0x74
#define MPU6050_RA_WHO_AM_I 0x75
#define MPU6050_TC_PWR_MODE_BIT 7
#define MPU6050_TC_OFFSET_BIT 6
#define MPU6050_TC_OFFSET_LENGTH 6
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
#define MPU6050_VDDIO_LEVEL_VDD 1
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
#define MPU6050_CFG_DLPF_CFG_BIT 2
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
#define MPU6050_EXT_SYNC_DISABLED 0x0
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
#define MPU6050_DLPF_BW_256 0x00
#define MPU6050_DLPF_BW_188 0x01
#define MPU6050_DLPF_BW_98 0x02
#define MPU6050_DLPF_BW_42 0x03
#define MPU6050_DLPF_BW_20 0x04
#define MPU6050_DLPF_BW_10 0x05
#define MPU6050_DLPF_BW_5 0x06
#define MPU6050_GCONFIG_FS_SEL_BIT 4
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
#define MPU6050_GYRO_FS_250 0x00
#define MPU6050_GYRO_FS_500 0x01
#define MPU6050_GYRO_FS_1000 0x02
#define MPU6050_GYRO_FS_2000 0x03
#define MPU6050_ACONFIG_XA_ST_BIT 7
#define MPU6050_ACONFIG_YA_ST_BIT 6
#define MPU6050_ACONFIG_ZA_ST_BIT 5
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
#define MPU6050_ACCEL_FS_2 0x00
#define MPU6050_ACCEL_FS_4 0x01
#define MPU6050_ACCEL_FS_8 0x02
#define MPU6050_ACCEL_FS_16 0x03
#define MPU6050_DHPF_RESET 0x00
#define MPU6050_DHPF_5 0x01
#define MPU6050_DHPF_2P5 0x02
#define MPU6050_DHPF_1P25 0x03
#define MPU6050_DHPF_0P63 0x04
#define MPU6050_DHPF_HOLD 0x07
#define MPU6050_TEMP_FIFO_EN_BIT 7
#define MPU6050_XG_FIFO_EN_BIT 6
#define MPU6050_YG_FIFO_EN_BIT 5
#define MPU6050_ZG_FIFO_EN_BIT 4
#define MPU6050_ACCEL_FIFO_EN_BIT 3
#define MPU6050_SLV2_FIFO_EN_BIT 2
#define MPU6050_SLV1_FIFO_EN_BIT 1
#define MPU6050_SLV0_FIFO_EN_BIT 0
#define MPU6050_MULT_MST_EN_BIT 7
#define MPU6050_WAIT_FOR_ES_BIT 6
#define MPU6050_SLV_3_FIFO_EN_BIT 5
#define MPU6050_I2C_MST_P_NSR_BIT 4
#define MPU6050_I2C_MST_CLK_BIT 3
#define MPU6050_I2C_MST_CLK_LENGTH 4
#define MPU6050_CLOCK_DIV_348 0x0
#define MPU6050_CLOCK_DIV_333 0x1
#define MPU6050_CLOCK_DIV_320 0x2
#define MPU6050_CLOCK_DIV_308 0x3
#define MPU6050_CLOCK_DIV_296 0x4
#define MPU6050_CLOCK_DIV_286 0x5
#define MPU6050_CLOCK_DIV_276 0x6
#define MPU6050_CLOCK_DIV_267 0x7
#define MPU6050_CLOCK_DIV_258 0x8
#define MPU6050_CLOCK_DIV_500 0x9
#define MPU6050_CLOCK_DIV_471 0xA
#define MPU6050_CLOCK_DIV_444 0xB
#define MPU6050_CLOCK_DIV_421 0xC
#define MPU6050_CLOCK_DIV_400 0xD
#define MPU6050_CLOCK_DIV_381 0xE
#define MPU6050_CLOCK_DIV_364 0xF
#define MPU6050_I2C_SLV_RW_BIT 7
#define MPU6050_I2C_SLV_ADDR_BIT 6
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
#define MPU6050_I2C_SLV_EN_BIT 7
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
#define MPU6050_I2C_SLV_GRP_BIT 4
#define MPU6050_I2C_SLV_LEN_BIT 3
#define MPU6050_I2C_SLV_LEN_LENGTH 4
#define MPU6050_I2C_SLV4_RW_BIT 7
#define MPU6050_I2C_SLV4_ADDR_BIT 6
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
#define MPU6050_I2C_SLV4_EN_BIT 7
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
#define MPU6050_MST_PASS_THROUGH_BIT 7
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
#define MPU6050_INTCFG_INT_OPEN_BIT 6
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
#define MPU6050_INTMODE_ACTIVELOW 0x01
#define MPU6050_INTDRV_PUSHPULL 0x00
#define MPU6050_INTDRV_OPENDRAIN 0x01
#define MPU6050_INTLATCH_50USPULSE 0x00
#define MPU6050_INTLATCH_WAITCLEAR 0x01
#define MPU6050_INTCLEAR_STATUSREAD 0x00
#define MPU6050_INTCLEAR_ANYREAD 0x01
#define MPU6050_INTERRUPT_FF_BIT 7
#define MPU6050_INTERRUPT_MOT_BIT 6
#define MPU6050_INTERRUPT_ZMOT_BIT 5
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
// TODO: Need to work on DMP related things
#define MPU6050_DMPINT_5_BIT 5
#define MPU6050_DMPINT_4_BIT 4
#define MPU6050_DMPINT_3_BIT 3
#define MPU6050_DMPINT_2_BIT 2
#define MPU6050_DMPINT_1_BIT 1
#define MPU6050_DMPINT_0_BIT 0
#define MPU6050_MOTION_MOT_XNEG_BIT 7
#define MPU6050_MOTION_MOT_XPOS_BIT 6
#define MPU6050_MOTION_MOT_YNEG_BIT 5
#define MPU6050_MOTION_MOT_YPOS_BIT 4
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
#define MPU6050_DETECT_FF_COUNT_BIT 3
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
#define MPU6050_DETECT_MOT_COUNT_BIT 1
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
#define MPU6050_DETECT_DECREMENT_RESET 0x0
#define MPU6050_DETECT_DECREMENT_1 0x1
#define MPU6050_DETECT_DECREMENT_2 0x2
#define MPU6050_DETECT_DECREMENT_4 0x3
#define MPU6050_USERCTRL_DMP_EN_BIT 7
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
#define MPU6050_PWR1_SLEEP_BIT 6
#define MPU6050_PWR1_CYCLE_BIT 5
#define MPU6050_PWR1_TEMP_DIS_BIT 3
#define MPU6050_PWR1_CLKSEL_BIT 2
#define MPU6050_PWR1_CLKSEL_LENGTH 3
#define MPU6050_CLOCK_INTERNAL 0x00
#define MPU6050_CLOCK_PLL_XGYRO 0x01
#define MPU6050_CLOCK_PLL_YGYRO 0x02
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
#define MPU6050_CLOCK_PLL_EXT32K 0x04
#define MPU6050_CLOCK_PLL_EXT19M 0x05
#define MPU6050_CLOCK_KEEP_RESET 0x07
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
#define MPU6050_PWR2_STBY_XA_BIT 5
#define MPU6050_PWR2_STBY_YA_BIT 4
#define MPU6050_PWR2_STBY_ZA_BIT 3
#define MPU6050_PWR2_STBY_XG_BIT 2
#define MPU6050_PWR2_STBY_YG_BIT 1
#define MPU6050_PWR2_STBY_ZG_BIT 0
#define MPU6050_WAKE_FREQ_1P25 0x0
#define MPU6050_WAKE_FREQ_2P5 0x1
#define MPU6050_WAKE_FREQ_5 0x2
#define MPU6050_WAKE_FREQ_10 0x3
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
#define MPU6050_WHO_AM_I_BIT 6
#define MPU6050_WHO_AM_I_LENGTH 6
#define MPU6050_DMP_MEMORY_BANKS 8
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
#define uint8_t unsigned char
#define int16_t int
#define uint32_t unsigned long
void MPU6050_Read(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char readNum);
void MPU6050_WriteBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
void MPU6050_WriteBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
void MPU6050_ReadBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data);
void MPU6050_Initialize(void);
uint8_t MPU6050_GetDeviceID(void);
void MPU6050_GetRawAccelGyro(int16_t* ax, int16_t* ay, int16_t* az, \
int16_t* temperature, int16_t* gx, int16_t* gy, int16_t* gz);
unsigned char MPU6050_Read_1BYTE(unsigned char SlaveAddress,unsigned char REG_Address);
typedef signed char int8;
typedef unsigned char uint8;
//***********************************************************************************
// Function prototypes
void accInit(void);
void accStop(void);
void accWriteReg(uint8 reg, uint8 val);
void accReadReg(uint8 reg, uint8 *pVal);
void accReadAcc(int8 *pXVal, int8 *pYVal, int8 *pZVal);
void accReadAccGro(int8 *pXAcc, int8 *pYAcc, int8 *pZAcc, int8 *pXGro, int8 *pYGro, int8 *pZGro);
#endif
mpu6050.c
#include <ioCC2540.h>
#include "IIC.h"
#include "MPU6050.h"
#define I2C_PORT_NUM 1
#define BUFSIZE 14
volatile uint8_t I2CMasterBuffer[I2C_PORT_NUM][BUFSIZE];
volatile uint8_t I2CSlaveBuffer[I2C_PORT_NUM][BUFSIZE];
volatile uint32_t I2CReadLength[I2C_PORT_NUM];
volatile uint32_t I2CWriteLength[I2C_PORT_NUM];
void DelayI2C(uint32_t m)
{
uint32_t i;
for(; m != 0; m--)
for (i=0; i<5; i++);
}
void MPU6050_Read(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char readNum)
{
unsigned char i;
for(i = 0; i<readNum; i++)
{
I2CSlaveBuffer[PORT_USED][i] = Read_Add(REG_Address + i, SlaveAddress);
}
}
unsigned char MPU6050_Read_1BYTE(unsigned char SlaveAddress,unsigned char REG_Address)
{
return Read_Add(REG_Address, SlaveAddress);
}
void MPU6050_Write(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char REG_data)
{
Write_Add(REG_Address, REG_data, SlaveAddress);
}
void MPU6050_WriteBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
{
// 010 value to write
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 00011100 mask byte
// 10101111 original value (sample)
// 10100011 original & ~mask
// 10101011 masked | value
uint8_t tmp;
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
MPU6050_Read(slaveAddr, regAddr, 1);
tmp = I2CSlaveBuffer[PORT_USED][0];
// uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
tmp &= ~(mask); // zero all important bits in existing byte
tmp |= data; // combine data with existing byte
MPU6050_Write(slaveAddr,regAddr,tmp);
}
void MPU6050_WriteBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)
{
uint8_t tmp;
MPU6050_Read(slaveAddr, regAddr, 1);
tmp = I2CSlaveBuffer[PORT_USED][0];
tmp = (data != 0) ? (tmp | (1 << bitNum)) : (tmp & ~(1 << bitNum));
MPU6050_Write(slaveAddr,regAddr,tmp);
}
void MPU6050_ReadBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data)
{
// 01101001 read byte
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 010 masked
// -> 010 shifted
#if 1
uint8_t tmp;
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
MPU6050_Read(slaveAddr, regAddr, 1);
tmp = I2CSlaveBuffer[PORT_USED][0];
// uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
tmp &= mask;
tmp >>= (bitStart - length + 1);
*data = tmp;
#else
uint8_t tmp;
MPU6050_Read(slaveAddr, regAddr, 1);
tmp = I2CSlaveBuffer[PORT_USED][0];
*data = tmp;
#endif
}
void MPU6050_Initialize(void)
{
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1,
MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, MPU6050_CLOCK_PLL_XGYRO);
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG,
MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, MPU6050_GYRO_FS_250);
MPU6050_WriteBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG,
MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, MPU6050_ACCEL_FS_2);
MPU6050_WriteBit(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, 0);//(DISABLE);
}
uint8_t MPU6050_GetDeviceID()
{
uint8_t tmp;
MPU6050_ReadBits(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_WHO_AM_I, \
MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, &tmp);
return tmp<<(MPU6050_WHO_AM_I_BIT-MPU6050_WHO_AM_I_LENGTH+1); // 注意这里的移位 amomcu
}
void MPU6050_GetRawAccelGyro(int16_t* ax, int16_t* ay, int16_t* az, int16_t* temperature, int16_t* gx, int16_t* gy, int16_t* gz)
{
// u8 tmpBuffer[14];
//int i;
MPU6050_Read(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, 14);
/* Get acceleration */
// for(i=0; i<3; i++)
// AccelGyro[i]=((int16_t)((uint16_t)I2CSlaveBuffer[PORT_USED][2*i] << 8) + I2CSlaveBuffer[PORT_USED][2*i+1]);
/* Get Angular rate */
// for(i=4; i<7; i++)
// AccelGyro[i-1]=((int16_t)((uint16_t)I2CSlaveBuffer[PORT_USED][2*i] << 8) + I2CSlaveBuffer[PORT_USED][2*i+1]);
*ax = (((int16_t)I2CSlaveBuffer[PORT_USED][0]) << 8) | ((int16_t)I2CSlaveBuffer[PORT_USED][1]);
*ay = (((int16_t)I2CSlaveBuffer[PORT_USED][2]) << 8) | ((int16_t)I2CSlaveBuffer[PORT_USED][3]);
*az = (((int16_t)I2CSlaveBuffer[PORT_USED][4]) << 8) | ((int16_t)I2CSlaveBuffer[PORT_USED][5]);
// 温度
*temperature = (((int16_t)I2CSlaveBuffer[PORT_USED][6]) << 8) | ((int16_t)I2CSlaveBuffer[PORT_USED][7]);
*gx = (((int16_t)I2CSlaveBuffer[PORT_USED][8]) << 8) | ((int16_t)I2CSlaveBuffer[PORT_USED][9]);
*gy = (((int16_t)I2CSlaveBuffer[PORT_USED][10]) << 8) | ((int16_t)I2CSlaveBuffer[PORT_USED][11]);
*gz = (((int16_t)I2CSlaveBuffer[PORT_USED][12]) << 8) | ((int16_t)I2CSlaveBuffer[PORT_USED][13]);
}
#if 1
uint8_t bIfConnected = 0;
void accInit(void)
{
unsigned char tempV = 0;
IIC_Init();
tempV = MPU6050_GetDeviceID();
if(tempV == MPU6050_ADDRESS_AD0_LOW)
{
bIfConnected = 1;
}
else
{
bIfConnected = 0;
}
if(bIfConnected)
{
MPU6050_Initialize();
}
}
void accStop(void)
{
}
void accWriteReg(uint8 reg, uint8 val)
{
if(bIfConnected)
{
MPU6050_Write(0x68<<1, reg, val);
}
}
void accReadReg(uint8 reg, uint8 *pVal)
{
if(bIfConnected)
{
*pVal = MPU6050_Read_1BYTE(0x68<<1, reg);
}
}
void accReadAcc(int8 *pXVal, int8 *pYVal, int8 *pZVal)
{
int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t temperature;
if(bIfConnected)
{
MPU6050_GetRawAccelGyro(&ax, &ay, &az, &temperature, &gx, &gy, &gz);
*pXVal = ax/100;
*pYVal = ay/100;
*pZVal = az/100;
}
}
void accReadAccGro(int8 *pXAcc, int8 *pYAcc, int8 *pZAcc, int8 *pXGro, int8 *pYGro, int8 *pZGro)
{
int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t temperature;
if(bIfConnected)
{
MPU6050_GetRawAccelGyro(&ax, &ay, &az, &temperature, &gx, &gy, &gz);
*pXAcc = ax/100;
*pYAcc = ay/100;
*pZAcc = az/100;
*pXGro = gx/100;
*pYGro = gy/100;
*pZGro = gz/100;
}
}
#endif
STEP 2 Add test code in
simpleBLEPeripheral.c
about line 90
about line 241
void simpleBLE_Delay_1ms(int times);
void mpu6050_gpio_iic_Test();
about line 479 in
SimpleBLEPeripheral_ProcessEvent( uint8 task_id, uint16 events )
uint16 SimpleBLEPeripheral_ProcessEvent( uint8 task_id, uint16 events )
{
VOID task_id; // OSAL required parameter that isn't used in this function
if ( events & SYS_EVENT_MSG )
{
uint8 *pMsg;
if ( (pMsg = osal_msg_receive( simpleBLEPeripheral_TaskID )) != NULL )
{
simpleBLEPeripheral_ProcessOSALMsg( (osal_event_hdr_t *)pMsg );
// Release the OSAL message
VOID osal_msg_deallocate( pMsg );
}
// return unprocessed events
return (events ^ SYS_EVENT_MSG);
}
if ( events & SBP_START_DEVICE_EVT )
{
// Start the Device
VOID GAPRole_StartDevice( &simpleBLEPeripheral_PeripheralCBs );
// Start Bond Manager
VOID GAPBondMgr_Register( &simpleBLEPeripheral_BondMgrCBs );
/*agatha:just for test mpu6050 iic 6/16*/
mpu6050_gpio_iic_Test();
return ( events ^ SBP_START_DEVICE_EVT );
}
if ( events & SBP_PERIODIC_EVT )
{
// Restart timer
if ( SBP_PERIODIC_EVT_PERIOD )
{
osal_start_timerEx( simpleBLEPeripheral_TaskID, SBP_PERIODIC_EVT, SBP_PERIODIC_EVT_PERIOD );
}
// Perform periodic application task
performPeriodicTask();
return (events ^ SBP_PERIODIC_EVT);
}
#if defined ( PLUS_BROADCASTER )
if ( events & SBP_ADV_IN_CONNECTION_EVT )
{
uint8 turnOnAdv = TRUE;
// Turn on advertising while in a connection
GAPRole_SetParameter( GAPROLE_ADVERT_ENABLED, sizeof( uint8 ), &turnOnAdv );
return (events ^ SBP_ADV_IN_CONNECTION_EVT);
}
#endif // PLUS_BROADCASTER
// Discard unknown events
return 0;
}
about line 873
void simpleBLE_Delay_1ms(int times)
{
while(times--)
{
int i=0;
for(i=1500;i>0;i--)
{
asm("nop");
}
}
}
about line 887
void mpu6050_gpio_iic_Test()
{
while(1)
{
uint16 numBytes;
char pktBuffer[128];
int8 XAcc, YAcc, ZAcc;
int8 XGro, YGro, ZGro;
accInit();
accReadAccGro(&XAcc, &YAcc, &ZAcc, &XGro, &YGro, &ZGro);
sprintf((char *)pktBuffer, "%d,%d,%d,%d,%d,%d\r\n", XAcc, YAcc, ZAcc, XGro, YGro, ZGro);
UartSendString(strTemp, strlen(strTemp));
simpleBLE_Delay_1ms(200);
}
Then press "rebuild all" --> "download and debug " --> "Go" on IAR
the result will be like :
Notes:
1. noticed insufficiency
my software implement I2C i
s not comprehensive. I didn't implement some functions like
I2C as External interrupt to wake up SoC ...etc.
2. software implement still need some API of CC2540, and that is why I include <iocc2540.h>.
However, software GPIO pins simulate I2C c
an be used on any chips basically, so actually you can replace those API to those of your platform in order to make the sw_iic.c/h to be cross-platform.
