Tool/software: TI C / c++编译器
First of all, thank you for your reply to me some time ago, and I apologize for not replying to your letter during this period of time
My problem now is to use the hardware IIC interrupt to read the addresses of more than one register in MPU6050, but I can only read one register now. When I set it to read more than one register, the data will be different from that of the same register. My idea is that tm4c writes multiple registers of MPU6050, writes the data received every time in the interrupt into an array, and finally sorts out the data in the array and sends it to the upper computer with serial port.This is my code.
extern short count;
extern text_data;
extern unsigned char Data[5];
void I2C0SlaveIntHandler()
{
//清除中断标志位
I2CMasterIntClear(I2C0_BASE);
text_data = I2CMasterDataGet(I2C0_BASE);
count=0;
Data[count]=text_data;
count = count + 1;
if (count==6)count=0;
}
void init_write(uint8_t slave_addr,uint8_t reg_addr)
{
I2CMasterSlaveAddrSet(I2C0_BASE, slave_addr,false);
I2CMasterDataPut(I2C0_BASE,reg_addr);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);//TRUE
while(I2CMasterBusy(I2C0_BASE));
I2CMasterSlaveAddrSet(I2C0_BASE, slave_addr,true);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_RECEIVE);//TRUE
while(I2CMasterBusy(I2C0_BASE));
}
void Write_MultipleSlave(uint8_t slave_addr,uint8_t reg_addr,uint8_t num)
{
static uint8_t i=0;
for (i=0;i<num;i++)
{
init_write(slave_addr, reg_addr);
reg_addr=reg_addr+1;
}
}
int main(void)
{
//使能FPU
FPUEnable();
FPULazyStackingEnable();
SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
Init_MPU6050();
UART0_Init();
while(1)
{
Write_MultipleSlave(MPU6050_Addr,MPU_ACCEL_XOUTH_REG,6);
Acce_x= ((u16) Data[0]<<8)|Data[1];
UART0_Report_Imu(Acce_x,Acce_y,Acce_z,Gyro_x,Gyro_y,Gyro_z,1,1,1,2,2,2);//串口发送
}
}
Looking forward to your help and I would like to ask which
