dsp通过MPU6050测量加速度，角速度等值 dsp硬件I2C通信

ID:116063 · 发表于 2016-4-23 01:26

基于dsp硬件I2C通信，dsp通过MPU6050测量加速度，角速度等值！！！！！

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I2C_MPU6050.rar (213.35 KB, 下载次数: 57)

// TI File $Revision: /main/1 $
// Checkin $Date: August 18, 2006 13:46:27 $
//###########################################################################
//
// FILE: DSP2833x_I2C.c
//
// TITLE: DSP2833x SCI Initialization & Support Functions.
//
//###########################################################################
// $TI Release: DSP2833x Header Files V1.01 $
// $Release Date: September 26, 2007 $
//###########################################################################
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//---------------------------------------------------------------------------
// InitI2C:
//---------------------------------------------------------------------------
// This function initializes the I2C to a known state.
//
void InitI2C(void)
{
// Initialize I2C-A:
I2caRegs.I2CMDR.all = 0x0000; // Take I2C reset 复位I2C
// Stop I2C when suspended
InitI2CGpio(); //初始化GPIO
//复位FIFO寄存器
I2caRegs.I2CFFTX.all = 0x0000; // Disable FIFO mode and TXFIFO
I2caRegs.I2CFFRX.all = 0x0040; // Disable RXFIFO, clear RXFFINT,
//根据晶振不同设置预定标寄存器的值
#if (CPU_FRQ_150MHZ) // Default - For 150MHz SYSCLKOUT
I2caRegs.I2CPSC.all = 14; // Prescaler - need 7-12 Mhz on module clk (150/15 = 10MHz)
#endif
#if (CPU_FRQ_100MHZ) // For 100 MHz SYSCLKOUT
I2caRegs.I2CPSC.all = 9; // Prescaler - need 7-12 Mhz on module clk (100/10 = 10MHz)
#endif
//设定时钟值
// I2caRegs.I2CCLKL = 20; // NOTE: must be non zero
// I2caRegs.I2CCLKH =15; // NOTE: must be non zero
// I2caRegs.I2CIER.all = 0x24; // Enable SCD & ARDY interrupts
// I2caRegs.I2CMDR.all = 0x0020; // Take I2C out of reset 从复位状态恢复
// // Stop I2C when suspended
// I2caRegs.I2CFFTX.all = 0x6000; // Enable FIFO mode and TXFIFO 允许写数据FIFO
// I2caRegs.I2CFFRX.all = 0x206E; // Enable RXFIFO, clear RXFFINT, 允许读取FIFO
I2caRegs.I2CCLKL = 10; // NOTE: must be non zero
I2caRegs.I2CCLKH = 5; // NOTE: must be non zero
I2caRegs.I2CIER.all = 0x24; // Enable SCD & ARDY interrupts
I2caRegs.I2CMDR.all = 0x0020; // Take I2C out of reset
// Stop I2C when suspended
I2caRegs.I2CFFTX.all = 0x6000; // Enable FIFO mode and TXFIFO
I2caRegs.I2CFFRX.all = 0x2040; // Enable RXFIFO, clear RXFFINT
// I2caRegs.I2CFFRX.bit.RXFFINTCLR =1; //清除I2C FIFO中断标志位
// I2caRegs.I2CFFRX.bit.RXFFRST=0; //复位I2C FIFO
//EDIS;
//return;
//tbd...
}
//---------------------------------------------------------------------------
// Example: InitI2CGpio:
//---------------------------------------------------------------------------
// This function initializes GPIO pins to function as I2C pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
// Caution:
// Only one GPIO pin should be enabled for SDAA operation.
// Only one GPIO pin shoudl be enabled for SCLA operation.
// Comment out other unwanted lines.
void InitI2CGpio(void)
{
EALLOW;
/* Enable internal pull-up for the selected pins */
// Pull-ups can be enabled or disabled disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.
GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0; // Enable pull-up for GPIO32 (SDAA)
GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0; // Enable pull-up for GPIO33 (SCLA)
/* Set qualification for selected pins to asynch only */
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.
GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 3; // Asynch input GPIO32 (SDAA)
GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 3; // Asynch input GPIO33 (SCLA)
/* Configure SCI pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be I2C functional pins.
// Comment out other unwanted lines.
GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 1; // Configure GPIO32 for SDAA operation
GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 1; // Configure GPIO33 for SCLA operation
EDIS;
}
//===========================================================================
// End of file.
//===========================================================================