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
#include "mpu6050.h"
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 is 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 can 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.
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