PIC32MZ的硬件I2C

void I2C1_Init()

{

    uint32_t actualClock;

    PLIB_I2C_BaudRateSet ( MY_I2C_ID, MY_CLOCK_FREQUENCY, MY_BAUD_RATE);

    actualClock = PLIB_I2C_BaudRateGet ( MY_I2C_ID, MY_CLOCK_FREQUENCY );

    if(abs(actualClock-MY_BAUD_RATE) > MY_BAUD_RATE/10);

    {

        while(1);

    }

    I2C1CONbits.A10M = 0;

    I2C1CONbits.SMEN = 0;

    I2C1CONbits.ON = 1;



}



void I2C1_Start()

{

    I2C1CONbits.SEN = 1;

    while(I2C1STATbits.P);

}

void I2C1_SendData(uint8_t Data)

{

    I2C1TRNbits.I2CTRN = Data;

    while(I2C1STATbits.TBF);

}



void I2C1_Stop()

{

    I2C1CONbits.PEN = 1;

}

#define OAR1_ADD0_Set ((uint16_t)0x0001)

#define OAR1_ADD0_Reset ((uint16_t)0xFFFE)

void Send7bitsAddress(uint8_t Address,uint8_t I2C_Direction)

{

    if(I2C_Direction == 0)

    {

        Address |= OAR1_ADD0_Set;

    }

    else

    {

        Address &= OAR1_ADD0_Reset;

    }

    I2C1TRNbits.I2CTRN = Address;

}



void I2C_Byte_Write(uint8_t SlaveAddress,uint8_t REG_Address,uint8_t REG_data)

{

    I2C1_Start();

    Send7bitsAddress(SlaveAddress,1);

    while(I2C1STATbits.R_W);

    while(I2C1STATbits.TBF);

    I2C1_SendData(REG_Address);

    while(I2C1STATbits.TBF);

    I2C1_SendData(REG_data);

    while(I2C1STATbits.TBF);

    I2C1_Stop();



}



void MPU_6050_Init(void)

{

    I2C_Byte_Write(MPU6050_SlaveAddress,PWR_MGMT_1,0x00);

    delay(50000);

    I2C_Byte_Write(MPU6050_SlaveAddress,SMPLRT_DIV,0x07);

    delay(50000);

    I2C_Byte_Write(MPU6050_SlaveAddress,MPU6050_CONFIG,0x06);

    delay(50000);

    I2C_Byte_Write(MPU6050_SlaveAddress,GYRO_CONFIG,0x08);

    delay(50000);

    I2C_Byte_Write(MPU6050_SlaveAddress,ACCEL_CONFIG,0x08);

}



int main ( void )

{

    SYS_DEVCON_PerformanceConfig(SYS_CLK_FREQUENCY);

    I2C1_Init();

    while(1)

    {

       MPU_6050_Init();

    }

 

  /*

   Initialize the application. */

/* SYS_Initialize(NULL);



    while (true)

    {

        // Maintain the application's state machine.

        SYS_Tasks();

    }

 */

    /* Should not come here during normal operation */

    PLIB_ASSERT(false, "leaving main");

    

    return (EXIT_FAILURE);

}