void Init_I2C(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_GPIOPinConfigure(GPIO_PB2_I2C0SCL);
ROM_GPIOPinConfigure(GPIO_PB3_I2C0SDA);
ROM_GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);
GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD);
ROM_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_3, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_OD);
ROM_I2CMasterInitExpClk(I2C0_BASE,ROM_SysCtlClockGet(),true);
SysCtlDelay(500000);
ROM_I2CMasterEnable(I2C0_BASE);
}
void MPU6050_Init(void){
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlDelay(3);
ROM_GPIOPinConfigure(GPIO_PB2_I2C0SCL);
ROM_GPIOPinConfigure(GPIO_PB3_I2C0SDA);
ROM_GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);
//ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_0);
//GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_0);
//ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_0, GPIO_FALLING_EDGE);
//ROM_IntEnable(INT_GPIOB);
ROM_I2CMasterEnable(I2C0_BASE);
I2CMInit(&sI2CInst, I2C0_BASE, INT_I2C0, 0xff, 0xff, ROM_SysCtlClockGet());
g_bMPU6050Done = false;
MPU6050Init(&sMPU6050, &sI2CInst, 0x68, MPU6050_Callback, 0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_PWR_MGMT_1,
~MPU6050_PWR_MGMT_1_SLEEP,
0, MPU6050_Callback,
0);//从Sleep模式中激活设备，否则无法写入寄存器
while(!g_bMPU6050Done);
// Configure the MPU6050 for +/- 4 g accelerometer range.
//
g_bMPU6050Done = false;
//先读取寄存器的值，再与上Mask，然后再或上Value，将得到的值写入寄存器
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_PWR_MGMT_1,
~MPU6050_PWR_MGMT_1_CLKSEL_M,
MPU6050_PWR_MGMT_1_CLKSEL_XG, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_ACCEL_CONFIG,
~MPU6050_ACCEL_CONFIG_AFS_SEL_M,
MPU6050_ACCEL_CONFIG_AFS_SEL_4G, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_CONFIG,
~MPU6050_CONFIG_DLPF_CFG_M,
MPU6050_CONFIG_DLPF_CFG_44_42, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_GYRO_CONFIG,
~MPU6050_GYRO_CONFIG_FS_SEL_M,
MPU6050_GYRO_CONFIG_FS_SEL_2000, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
MPU6050Read(&sMPU6050,MPU6050_O_WHO_AM_I,&deviceID,1,MPU6050_Callback,0);//MPU-60X0设备号默认0x68
ROM_SysCtlDelay(ROM_SysCtlClockGet()/(3*1000));
MPU6050Read(&sMPU6050,MPU6050_O_PWR_MGMT_1,&PowerInfo,1,MPU6050_Callback,0);//若读到的值是0x00，则设备处于激活状态。0x40则为休眠状态
}