CCS/TMS320F28377D: 28377D i2c

Tool/software: Code Composer Studio

Hello Guys.

I need help I2C communication of MPU6500 sensors.

I search a lot of information on online, but I don't finish yet.

I don't know why the sensors doesn't working.

Attached my Main.c Code.

void main(void)
{

InitSysCtrl();

InitGpio();

EALLOW;

GpioCtrlRegs.GPCPUD.bit.GPIO91 = 0;
GpioCtrlRegs.GPCPUD.bit.GPIO92 = 0;

GpioCtrlRegs.GPCQSEL2.bit.GPIO91 = 3;
GpioCtrlRegs.GPCQSEL2.bit.GPIO92 = 3;

GpioCtrlRegs.GPCGMUX2.bit.GPIO91 = 1;
GpioCtrlRegs.GPCMUX2.bit.GPIO91 = 2;

GpioCtrlRegs.GPCGMUX2.bit.GPIO92 = 1;
GpioCtrlRegs.GPCMUX2.bit.GPIO92 = 2;

EDIS;

DINT;

InitPieCtrl();

IER = 0x0000;
IFR = 0x0000;

InitPieVectTable();

EALLOW;

PieVectTable.I2CA_INT = &i2c_int1a_isr;

EDIS;

I2CA_Init();

PieCtrlRegs.PIEIER8.bit.INTx1 = 1;

IER |= M_INT8;
EINT;

I2CA_WriteData(0x68, 0x6B, 0x00);
DELAY_US(100);
Check_flag++;

I2CA_WriteData(0x68, 0x6C, 0x00);
DELAY_US(100);
Check_flag++;

for(;;)
{
I2CA_ReadData(0x68, 0x75, 1, 1);
Transmitted_flag++;
DELAY_US(500000);
}

void I2CA_Init(void)

{
I2caRegs.I2CMDR.bit.IRS = 0;
I2caRegs.I2CPSC.all = 19; // Prescaler - need 7-12 Mhz on module clk
I2caRegs.I2CCLKL = 60; // NOTE: must be non zero
I2caRegs.I2CCLKH = 30; // NOTE: must be non zero
I2caRegs.I2CIER.all = 0x24; // Enable SCD & ARDY __interrupts

I2caRegs.I2CMDR.all = 0x0020; // Take I2C out of reset
// Stop I2C when suspended

I2caRegs.I2CFFTX.all = 0x6000; // Enable FIFO mode and TXFIFO
I2caRegs.I2CFFRX.all = 0x2040; // Enable RXFIFO, clear RXFFINT,
I2caRegs.I2CMDR.bit.IRS = 1;
}

void I2CA_WriteData(Uint16 Dev_Addr, Uint16 Reg_Addr, Uint16 Data)
{

while(I2caRegs.I2CMDR.bit.STP == 1);
while(I2caRegs.I2CSTR.bit.BB == 1);

I2caRegs.I2CSAR.all = Dev_Addr;
I2caRegs.I2CCNT = 2;
I2caRegs.I2CDXR = Reg_Addr;
I2caRegs.I2CDXR = Data;

I2caRegs.I2CMDR.all = 0x2E20;
}

void I2CA_ReadData(Uint16 Dev_Addr, Uint16 Reg_Addr, Uint16 len, Uint16 Return_len)
{

while(I2caRegs.I2CMDR.bit.STP == 1)
while(I2caRegs.I2CSTR.bit.BB == 1)

I2caRegs.I2CSAR.all = Dev_Addr;
I2caRegs.I2CCNT = len;
I2caRegs.I2CDXR = Reg_Addr;
I2caRegs.I2CMDR.all = 0x2620; // Send data to setup EEPROM address

DELAY_US(2);

I2caRegs.I2CCNT = Return_len;
I2caRegs.I2CMDR.all = 0x2C20; // Send data to setup EEPROM address
}

__interrupt void i2c_int1a_isr(void)
{

IntSource = I2caRegs.I2CISRC.all;
I2C_NUMBYTES = I2caRegs.I2CFFRX.bit.RXFFST;

if(IntSource == I2C_SCD_ISRC)
{

Rx_Buff = I2caRegs.I2CDRR.all;

Received_flag++;
}

else if(IntSource == I2C_ARDY_ISRC)
{
if(I2caRegs.I2CSTR.bit.NACK == 1)
{
I2caRegs.I2CMDR.bit.STP = 1;
I2caRegs.I2CSTR.all = I2C_CLR_NACK_BIT;
}
}

PieCtrlRegs.PIEACK.all = PIEACK_GROUP8;
}

}