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 = %bxrn",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:%+6drn",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：