MiaoUI/HARDWARE/MPU6050/mpuiic.c

#include "mpuiic.h"
#include "Tim_Tick.h"
//////////////////////////////////////////////////////////////////////////////////	 
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֻ<EFBFBD><D6BB>ѧϰʹ<CFB0>ã<EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κ<EFBFBD><CEBA><EFBFBD>;
//ALIENTEK<45><4B>ӢSTM32<33><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>V3
//MPU6050 IIC<49><43><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>	   
//<2F><><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>@ALIENTEK
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̳:www.openedv.com
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:2015/1/17
//<2F>汾<EFBFBD><E6B1BE>V1.0
//<2F><>Ȩ<EFBFBD><C8A8><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؾ<EFBFBD><D8BE><EFBFBD>
//Copyright(C) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿƼ<D3BF><C6BC><EFBFBD><EFBFBD>޹<EFBFBD>˾ 2009-2019
//All rights reserved									  
//////////////////////////////////////////////////////////////////////////////////
 
  //MPU IIC <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
void MPU_IIC_Delay(void)
{
	Tims_delay_us(2);
}

//<2F><>ʼ<EFBFBD><CABC>IIC
void MPU_IIC_Init(void)
{					     
  GPIO_InitTypeDef  GPIO_InitStructure;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);//<2F><>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IO PORTCʱ<43><CAB1> 
		
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5;	 // <20>˿<EFBFBD><CBBF><EFBFBD><EFBFBD><EFBFBD>
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO<49><4F><EFBFBD>ٶ<EFBFBD>Ϊ50MHz
  GPIO_Init(GPIOA, &GPIO_InitStructure);					 //<2F><><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>GPIO 
	
  GPIO_SetBits(GPIOA,GPIO_Pin_4|GPIO_Pin_5);						 //PB10,PB11 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	
 
}
//<2F><><EFBFBD><EFBFBD>IIC<49><43>ʼ<EFBFBD>ź<EFBFBD>
void MPU_IIC_Start(void)
{
	MPU_SDA_OUT();     //sda<64><61><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	MPU_IIC_SDA=1;	  	  
	MPU_IIC_SCL=1;
	MPU_IIC_Delay();
 	MPU_IIC_SDA=0;//START:when CLK is high,DATA change form high to low 
	MPU_IIC_Delay();
	MPU_IIC_SCL=0;//ǯסI2C<32><43><EFBFBD>ߣ<EFBFBD>׼<EFBFBD><D7BC><EFBFBD><EFBFBD><EFBFBD>ͻ<EFBFBD><CDBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
}	  
//<2F><><EFBFBD><EFBFBD>IICֹͣ<CDA3>ź<EFBFBD>
void MPU_IIC_Stop(void)
{
	MPU_SDA_OUT();//sda<64><61><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	MPU_IIC_SCL=0;
	MPU_IIC_SDA=0;//STOP:when CLK is high DATA change form low to high
 	MPU_IIC_Delay();
	MPU_IIC_SCL=1;  
	MPU_IIC_SDA=1;//<2F><><EFBFBD><EFBFBD>I2C<32><43><EFBFBD>߽<EFBFBD><DFBD><EFBFBD><EFBFBD>ź<EFBFBD>
	MPU_IIC_Delay();							   	
}
//<2F>ȴ<EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD>źŵ<C5BA><C5B5><EFBFBD>
//<2F><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6>ʧ<EFBFBD><CAA7>
//        0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD>ɹ<EFBFBD>
u8 MPU_IIC_Wait_Ack(void)
{
	u8 ucErrTime=0;
	MPU_SDA_IN();      //SDA<44><41><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>  
	MPU_IIC_SDA=1;MPU_IIC_Delay();	   
	MPU_IIC_SCL=1;MPU_IIC_Delay();	 
	while(MPU_READ_SDA)
	{
		ucErrTime++;
		if(ucErrTime>250)
		{
			MPU_IIC_Stop();
			return 1;
		}
	}
	MPU_IIC_SCL=0;//ʱ<><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0 	   
	return 0;  
} 
//<2F><><EFBFBD><EFBFBD>ACKӦ<4B><D3A6>
void MPU_IIC_Ack(void)
{
	MPU_IIC_SCL=0;
	MPU_SDA_OUT();
	MPU_IIC_SDA=0;
	MPU_IIC_Delay();
	MPU_IIC_SCL=1;
	MPU_IIC_Delay();
	MPU_IIC_SCL=0;
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ACKӦ<4B><D3A6>		    
void MPU_IIC_NAck(void)
{
	MPU_IIC_SCL=0;
	MPU_SDA_OUT();
	MPU_IIC_SDA=1;
	MPU_IIC_Delay();
	MPU_IIC_SCL=1;
	MPU_IIC_Delay();
	MPU_IIC_SCL=0;
}					 				     
//IIC<49><43><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ֽ<EFBFBD>
//<2F><><EFBFBD>شӻ<D8B4><D3BB><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6>
//1<><31><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6>
//0<><30><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6>			  
void MPU_IIC_Send_Byte(u8 txd)
{                        
    u8 t;   
	MPU_SDA_OUT(); 	    
    MPU_IIC_SCL=0;//<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD>ӿ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD>
    for(t=0;t<8;t++)
    {              
        MPU_IIC_SDA=(txd&0x80)>>7;
        txd<<=1; 	  
		MPU_IIC_SCL=1;
		MPU_IIC_Delay(); 
		MPU_IIC_SCL=0;	
		MPU_IIC_Delay();
    }	 
} 	    
//<2F><>1<EFBFBD><31><EFBFBD>ֽڣ<D6BD>ack=1ʱ<31><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ACK<43><4B>ack=0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>nACK   
u8 MPU_IIC_Read_Byte(unsigned char ack)
{
	unsigned char i,receive=0;
	MPU_SDA_IN();//SDA<44><41><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
    for(i=0;i<8;i++ )
	{
        MPU_IIC_SCL=0; 
        MPU_IIC_Delay();
		MPU_IIC_SCL=1;
        receive<<=1;
        if(MPU_READ_SDA)receive++;   
		MPU_IIC_Delay(); 
    }					 
    if (!ack)
        MPU_IIC_NAck();//<2F><><EFBFBD><EFBFBD>nACK
    else
        MPU_IIC_Ack(); //<2F><><EFBFBD><EFBFBD>ACK   
    return receive;
}