N76E003 模拟IIC 读写陀螺仪模块

N76E003   <========IIC========>  脱落仪模块(IIC Slave)

 

IIC 模拟部分代码：

bsp_iic.c

#include "bsp_iic.h"



unsigned char SDA_READ(void)
{
    if(SDA_RD)
        return 1;
    else
        return 0;
}

void delay_10us(unsigned int dly)
{
    Delay10us(dly);
}

void IIC_Start(void)
{
    SDA_H();
    SCL_H();
    delay_10us(RW_DELAY);
    SDA_L();
    delay_10us(RW_DELAY);
    SCL_L();
}

void IIC_Stop(void)
{
    SDA_L();
    SCL_L();
    delay_10us(RW_DELAY);
    SCL_H();
    delay_10us(RW_DELAY);
    SDA_H();
    delay_10us(RW_DELAY);
}


void IIC_Ack(void)		
{
	SCL_L();
    SDA_L();
    delay_10us(RW_DELAY);
    SCL_H();
    delay_10us(RW_DELAY);
    SCL_L();
}

void IIC_NAck(void)  
{
    SCL_L();
    SDA_H();
    delay_10us(RW_DELAY);
    SCL_H();
    delay_10us(RW_DELAY);
    SCL_L();
}

unsigned char IIC_Wait_Ack(void)
{
    unsigned char ucErrTime = 0;

    SDA_H();
    delay_10us(1);
    SCL_H();
    delay_10us(1);
    
    while(SDA_READ()) {
        ucErrTime++;
        if(ucErrTime > 250) {
            IIC_Stop();
            return 1;
        }
    }    

    SCL_L();

    return 0;
}

void IIC_WriteByte(unsigned char SendByte)
{
    unsigned char t;
      
    SCL_L(); // Set CLK as low to start
    delay_10us(RW_DELAY);
    for (t = 0; t < 8; t++) {
        if ((SendByte & 0x80) >> 7) {
            SDA_H();
        } else {
            SDA_L();
        }

        SendByte <<= 1;

        delay_10us(RW_DELAY);
        SCL_H();
        delay_10us(RW_DELAY);
        SCL_L();
        delay_10us(RW_DELAY);
    }
}

unsigned char IIC_ReadByte(unsigned char ack)
{
    unsigned char i, receive = 0;

    SCL_L();
    for (i = 0; i < 8; i++) {
        delay_10us(RW_DELAY);
        SCL_H();
        receive <<= 1;
        if (SDA_READ()) {
            receive++;
        }

        delay_10us(RW_DELAY);
        SCL_L();
        delay_10us(RW_DELAY);
    }
    
    if (!ack) {
        IIC_NAck();
    } else {
        IIC_Ack();
    }

    return receive;
}

void write_add(unsigned char slaveaddr,unsigned char regaddr,unsigned char dat)
{
	IIC_Start();
	IIC_WriteByte(slaveaddr | IIC_WR);
	IIC_Wait_Ack();
	IIC_WriteByte(regaddr);
	IIC_Wait_Ack();
    delay_10us(10);
	IIC_WriteByte(dat);
	IIC_Wait_Ack();
	IIC_Stop();
}

unsigned char read_add(unsigned char slaveaddr,unsigned char regaddr)
{
	unsigned char dat;
	IIC_Start();
	IIC_WriteByte(slaveaddr | IIC_WR);
	IIC_Wait_Ack();
	IIC_WriteByte(regaddr);
	IIC_Wait_Ack();
    IIC_Stop();
    //delay_10us(10);
	IIC_Start();
	IIC_WriteByte(slaveaddr | IIC_RD);
	IIC_Wait_Ack();
	dat=IIC_ReadByte(0);
	IIC_Stop();

	return dat;
}

u8 IIC_WriteToSlave(u8 DevAddr, u8 RegAddr, u8 len, u8 *WData)
{
    u8 i;
    
    IIC_Start();
    
    IIC_WriteByte( DevAddr|0x00);//???,???????
    if(IIC_Wait_Ack())  //1 Ack Failed, 0 Ack Success
        return 1;
    
    IIC_WriteByte(RegAddr);//???
    if(IIC_Wait_Ack())  //1 Ack Failed, 0 Ack Success
        return 2;
    
    for(i = 0; i < len; i++)
    {
        IIC_WriteByte(WData[i]);//???
        if(IIC_Wait_Ack())  //1 Ack Failed, 0 Ack Success
            return 3;
    }
    
    IIC_Stop();
    
    return 4;
}


u8 IIC_ReadFromSlave(u8 DevAddr, u8 RegAddr, u8 len, u8 *RData)
{
	IIC_Start();
    
    IIC_WriteByte( DevAddr|0x00);//???,???????
    if(IIC_Wait_Ack())  //1 Ack Failed, 0 Ack Success
        return 1;
    
    IIC_WriteByte(RegAddr);//???
    if(IIC_Wait_Ack())  //1 Ack Failed, 0 Ack Success
        return 2;
    
    IIC_Start();
    IIC_WriteByte( DevAddr|0x01);//???,???????
    if(IIC_Wait_Ack())  //1 Ack Failed, 0 Ack Success
        return 3;
    
    while(len)
    {
        if(len == 1)
        {
            *RData = IIC_ReadByte(0);  //???,??????nAck
        }
        else
        {
            *RData = IIC_ReadByte(1);  //??????????????Ack
        }
        len--;
        RData++;
    }
    IIC_Stop();
    
    return 4;
}

//================TEST====================
#define SLAVE_ADDR      0xAA

void IIC_TEST(void)
{
    
//    SDA_H();
//    SCL_H();
//    delay_10us(10);   
//    SDA_L();
//    SCL_L(); 
//    delay_10us(10);  
    
    u8 res;
    u8 temp_arr_pitch[2];
    u8 temp_arr_roll[2];
    u8 temp_arr_yaw[2];
    signed short pitch, roll,yaw;
    
    res = IIC_ReadFromSlave(SLAVE_ADDR, 0x3D, 2, temp_arr_pitch);
    
    delay_10us(300); 
//    //dbg(0, ("res = %bx\r\n",res));
////    res = IIC_ReadFromSlave(SLAVE_ADDR, 0x3E, 2, temp_arr_roll);
////    res = IIC_ReadFromSlave(SLAVE_ADDR, 0x3F, 2, temp_arr_yaw);
//    
//    pitch = (temp_arr_pitch[0]<<8) | temp_arr_pitch[1];   //??????X -90~90
//    roll  = (temp_arr_roll[0]<<8)  | temp_arr_roll[1];    //??o???Y -180~180   
//    yaw   = (temp_arr_yaw[0]<<8)   | temp_arr_yaw[1];     //Dy¡Áa??Z -180~180 
//    
//    //dbg(0, ("pitch: %+6d,  roll:%+6d,   yaw:%+6d\r\n",pitch, roll, yaw));
}

bsp_iic.h

#ifndef __BSP_IIC_H
#define __BSP_IIC_H
#include "N76E003.h"
#include "Common.h"
#include "Delay.h"

/*<-------------------N76E003 Ä£Äâ IIC------------------>*/

typedef unsigned char u8;

/**
 * P00   SCL
 * P01   SDA
 */
 
#define SDA_RD              P01		        //SDA READ
#define SDA_H()             (P01 = 1)  	    //SDA HIGH
#define SDA_L()             (P01 = 0)  	    //SDA LOW

#define SCL_H()             (P00 = 1)  	    //SCL HIGH
#define SCL_L()             (P00 = 0)  	    //SCL LOW

#define RW_DELAY            1               //unit 10us

#define IIC_WR              0               //IIC Write cmd
#define IIC_RD              1               //IIC Read cmd

unsigned char SDA_READ(void);
void delay_10us(unsigned int dly);
void IIC_Start(void);
void IIC_Stop(void);
void IIC_Ack(void);
void IIC_NAck(void);
unsigned char IIC_Wait_Ack(void);
void IIC_WriteByte(unsigned char SendByte);
unsigned char IIC_ReadByte(unsigned char ack);
void write_add(unsigned char slaveaddr,unsigned char regaddr,unsigned char dat);
unsigned char read_add(unsigned char slaveaddr,unsigned char regaddr);
u8 IIC_WriteToSlave(u8 DevAddr, u8 RegAddr, u8 len, u8 *WData);
u8 IIC_ReadFromSlave(u8 DevAddr, u8 RegAddr, u8 len, u8 *RData);
void IIC_TEST(void);


#endif /* __BSP_IIC_H */

main.c的调用：

void main (void) 
{
	Set_All_GPIO_Quasi_Mode;					// Define in Function_define.h
	InitialUART0_Timer3(115200);
	set_CLOEN; 	
	
	while(1)
	{	
	
        IIC_TEST();
    }
}

 

IIC clk速度设置到最快：

22.49K