I am using the example program at ~\ccsv5\TivaWare_C_Series-1.0\examples\boards\ek-tm4c123gxl-boostxl-senshub\compdcm_mpu9150 in the Tivaware software. I want to change the I2C3 interface of mpu9150 to I2C1 interface. May you kindly teach me how to achieve this purpose?
Attachment is my program, Wish your step by step teaching for me.
#define MPU9150_I2C_ADDRESS 0x68
uint32_t g_pui32Colors[3];
tI2CMInstance g_sI2CInst;
tMPU9150 g_sMPU9150Inst;
tCompDCM g_sCompDCMInst;
volatile uint_fast8_t g_vui8I2CDoneFlag;
volatile uint_fast8_t g_vui8ErrorFlag;
volatile uint_fast8_t g_vui8DataFlag;
#define PRINT_SKIP_COUNT 10
uint32_t g_ui32PrintSkipCounter;
#ifdef DEBUG
void
__error__(char *pcFilename, uint32_t ui32Line)
{
}
#endif
void
MPU9150AppCallback(void *pvCallbackData, uint_fast8_t ui8Status)
{
if(ui8Status == I2CM_STATUS_SUCCESS)
{
g_vui8I2CDoneFlag = 1;
}
g_vui8ErrorFlag = ui8Status;
}
void
IntGPIOb(void)
{
unsigned long ulStatus;
ulStatus = GPIOIntStatus(GPIO_PORTB_BASE, true);
GPIOIntClear(GPIO_PORTB_BASE, ulStatus);
if(ulStatus & GPIO_PIN_2)
{
MPU9150DataRead(&g_sMPU9150Inst, MPU9150AppCallback, &g_sMPU9150Inst);
}
}
void
MPU9150I2CIntHandler(void)
{
I2CMIntHandler(&g_sI2CInst);
}
void
MPU9150AppErrorHandler(char *pcFilename, uint_fast32_t ui32Line)
{
UARTprintf("\033[31;1m");
UARTprintf("Error: %d, File: %s, Line: %d\n"
"See I2C status definitions in sensorlib\\i2cm_drv.h\n",
g_vui8ErrorFlag, pcFilename, ui32Line);
UARTprintf("\033[0m");
g_pui32Colors[0] = 0xFFFF;
g_pui32Colors[1] = 0;
g_pui32Colors[2] = 0;
RGBColorSet(g_pui32Colors);
RGBBlinkRateSet(10.0f);
while(1)
{
}
}
void
MPU9150AppI2CWait(char *pcFilename, uint_fast32_t ui32Line)
{
while((g_vui8I2CDoneFlag == 0) && (g_vui8ErrorFlag == 0))
{
}
if(g_vui8ErrorFlag)
{
MPU9150AppErrorHandler(pcFilename, ui32Line);
}
g_vui8I2CDoneFlag = 0;
}
void
ConfigureUART(void)
{
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTClockSourceSet(UART0_BASE, UART_CLOCK_PIOSC);
UARTStdioConfig(0, 115200, 16000000);
}
int
main(void)
{
int_fast32_t i32IPart[16], i32FPart[16];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[16];
float *pfAccel;
pfAccel = pfData;
ROM_SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ConfigureUART();
UARTprintf("\033[2JMPU9150 Raw Example\n");
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x0000;
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_GPIOPinConfigure(GPIO_PA6_I2C1SCL);
ROM_GPIOPinConfigure(GPIO_PA7_I2C1SDA);
GPIOPinTypeI2CSCL(GPIO_PORTA_BASE, GPIO_PIN_6);
ROM_GPIOPinTypeI2C(GPIO_PORTA_BASE, GPIO_PIN_7);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOB);
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
ROM_IntMasterEnable();
I2CMInit(&g_sI2CInst, I2C1_BASE, INT_I2C1, 0xff, 0xff,
ROM_SysCtlClockGet());
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
MPU9150AppI2CWait(__FILE__, __LINE__);
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
MPU9150AppI2CWait(__FILE__, __LINE__);
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
MPU9150AppI2CWait(__FILE__, __LINE__);
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
RGBBlinkRateSet(1.0f);
ui32CompDCMStarted = 0;
while(1)
{
while(!g_vui8I2CDoneFlag)
{
ROM_SysCtlSleep();
}
g_vui8I2CDoneFlag = 0;
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
if(ui32CompDCMStarted == 0)
{
ui32CompDCMStarted = 1;
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
g_ui32PrintSkipCounter++;
if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
{
g_ui32PrintSkipCounter = 0;
for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
{
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
i32FPart[ui32Idx] = i32FPart[ui32Idx] -
(i32IPart[ui32Idx] * 1000);
if(i32FPart[ui32Idx] < 0)
{
i32FPart[ui32Idx] *= -1;
}
}
UARTprintf("\033 x:%3d.%03d", i32IPart[0], i32FPart[0]);
UARTprintf("\033 y:%3d.%03d", i32IPart[1], i32FPart[1]);
UARTprintf("\033 z:%3d.%03d", i32IPart[2], i32FPart[2]);
}
}
}
