HardwareDriver/mpu6050/m451/hal.c

#include "M451Series.h"
#include <stdio.h>
#include "hal.h"

int MPUWriteReg( char RegAddr, char pucDATD_AA)
{
		int i=0;	  

		while(i<32) i++;	   
	
    I2C_START(I2C0);         			               	
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0) != 0x08)	            
    {
       	printf("I2CD_STArt write fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0));
				return FALSE;
    }	        
		I2C_Trigger(I2C0,0,0,1,0);       			

    I2C_SET_DATA(I2C0,0xd0);
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0)!= 0x18)              
    {
	    printf("I2C write ADW fail\r\n");
	    return FALSE;	
    }
		I2C_Trigger(I2C0,0,0,1,0);       			
	//дÈë¶ÁµØÖ·
    I2C_SET_DATA(I2C0,RegAddr);
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0) != 0x28)	            
    {
        printf("I2C write reg addr fail\r\n");
				return FALSE;
    }
		I2C_Trigger(I2C0,0,0,1,0);       			

    I2C_SET_DATA(I2C0,pucDATD_AA);
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0) != 0x28)              
    {					
        printf("I2C write control fail\r\n");
        while (1);
    }

    //Í£Ö¹	  
		I2C_Trigger(I2C0,0,1,1,0);       			   			

		
	//printf("I2C write ok\r\n");
		return 0;

}

int MPUWriteAddr()
{
    if (I2C_GET_STATUS(I2C0) != 0x08)	            
    {
       	printf("I2CD_STArt write add fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0));
				return FALSE;
    }	        
		I2C_Trigger(I2C0,0,0,1,0);       			
    //½øÈë¶Áд¿ØÖƲÙ×÷  
    I2C_SET_DATA(I2C0,0xd0);
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0)!= 0x18)              
    {
	    printf("I2C write ADW fail\r\n");
	    return FALSE;	
    }
		return 1;
}


int MPUWriteACK(char cDat)
{
    if((I2C_GET_STATUS(I2C0) != 0x18)&&(I2C_GET_STATUS(I2C0) != 0x28))	            
    {
        printf("I2C MPUWriteAddrAck STATUS error \r\n");
				return FALSE;
    }
		I2C_Trigger(I2C0,0,0,1,0);       			
		//дÈë¶ÁµØÖ·
    I2C_SET_DATA(I2C0,cDat);
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0)!= 0x28)	            
    {
        printf("MPUWriteAddrAck fail ACK no recv\r\n");
				return FALSE;
    }
		return 1;
}
char MPUReadReg( int unAddr/*, int unLength*/)
{
		char ret;
		int i=0;   	 

		while(i<32) i++;
 		I2C_Trigger(I2C0,0,0,1,0);       			
   
		I2C_START(I2C0);         			    //Æô¶¯                    	
	         			    //Æô¶¯                    	
		I2C_WAIT_READY(I2C0);
    if(I2C_GET_STATUS(I2C0) != 0x08)	            
    {
       	printf("I2CD_STArt read reg fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0));
				return FALSE;
    }	        
		I2C_Trigger(I2C0,0,0,1,0);       			
            			
    //½øÈë¶Áд¿ØÖƲÙ×÷  
    I2C_SET_DATA(I2C0,0xd0);
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0) != 0x018)	            
    {
       	printf("status fault shoube be 0x018 ,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0));
				return FALSE;
    }	        
	//дÈë¶ÁµØÖ·
    I2C_SET_DATA(I2C0,unAddr);
		I2C_Trigger(I2C0,0,0,1,0); 
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0)!= 0x28)              
    {
        printf("I2C write reg addr fail\r\n");
	    return FALSE;
    }
    // ÖØÐÂÆô¶¯	
     
            
		I2C_Trigger(I2C0,0,0,1,0); 
		I2C_Trigger(I2C0,1,0,0,0); 
		I2C_WAIT_READY(I2C0);
		if (I2C_GET_STATUS(I2C0) != 0x10)                      	
    {
        printf("I2C repeated D_STArt fail\r\n");
				return FALSE;
    }     
		I2C_Trigger(I2C0,0,0,1,0); 
  	
    //½øÈë¶Á²Ù×÷  
    I2C_SET_DATA(I2C0,0xd0 | 1); 
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0) != 0x40)              
    {					
        printf("I2C write control fail\r\n");
        while (1);
    }
	//¶ÁÈ¡Êý¾Ý
		I2C_Trigger(I2C0,0,0,1,0); 
		I2C_WAIT_READY(I2C0);
		if (I2C_GET_STATUS(I2C0) != 0x58)              
		{
			printf("I2C read fail\r\n");
			return FALSE;
		}		
		ret = I2C_GET_DATA(I2C0);	
		I2C_Trigger(I2C0,0,1,1,0); 

//		I2C_WAIT_READY(I2C0);                      
		return ret;
}

int MPUReadBuf( int unAddr, char *pucDATD_AA, int unLength)
{
		char ret;
		int i=0;   	 
		while(i<32) i++;
 		I2C_Trigger(I2C0,0,0,1,0);       			
		I2C_START(I2C0);    	
		I2C_WAIT_READY(I2C0);
    if(I2C_GET_STATUS(I2C0) != 0x08)	            
    {
       	printf("I2CD_STArt fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0));
				return FALSE;
    }	        
		I2C_Trigger(I2C0,0,0,1,0);       			
            			
    I2C_SET_DATA(I2C0,0xd0);
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0) != 0x18)	            
    {
       	printf("I2CD_STArt fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0));
				return FALSE;
    }	        
    I2C_SET_DATA(I2C0,unAddr);
		I2C_Trigger(I2C0,0,0,1,0); 
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0)!= 0x28)              
    {
        printf("I2C write reg addr fail\r\n");
	    return FALSE;
    }     
		I2C_Trigger(I2C0,0,0,1,0); 
		I2C_Trigger(I2C0,1,0,0,0); 
		I2C_WAIT_READY(I2C0);
		if (I2C_GET_STATUS(I2C0) != 0x10)                      	
    {
        printf("I2C repeated D_STArt fail\r\n");
				return FALSE;
    }     
		I2C_Trigger(I2C0,0,0,1,0); 
    I2C_SET_DATA(I2C0,0xd0 | 1); 
		I2C_WAIT_READY(I2C0);
    if (I2C_GET_STATUS(I2C0) != 0x40)              
    {					
        printf("I2C write control fail\r\n");
        while (1);
    }
		for(i=0;i<unLength;i++)
		{
			if(i==unLength-1)
					I2C_Trigger(I2C0,0,0,1,0); 
				else
					I2C_Trigger(I2C0,0,0,1,1); 
			I2C_WAIT_READY(I2C0);
			if ((I2C_GET_STATUS(I2C0) != 0x58)&&(I2C_GET_STATUS(I2C0) != 0x50))              
			{
				printf("I2C read fail\r\n");
				return FALSE;
			}		
			pucDATD_AA[i] = I2C_GET_DATA(I2C0);	
		}
			I2C_Trigger(I2C0,0,1,1,0); 

//		I2C_WAIT_READY(I2C0);                      
		return ret;
}