LAUNCHXL-F28069M: Simple I2C gyro reading code - migration from C2000Ware to Motorware

Hi,

Thanks to your help, I wrote the program that reads gyro x axis degrees using i2c communication.

I based it on example:

C:\ti\c2000\C2000Ware_1_00_06_00\device_support\f2806x\examples\c28\i2c_eeprom

Now I need to paste that code into motorware project (I want to change the speed of my motor by angle of sensor.)

I spent two days on it, and only progress i make is replacing floats data type to _IQ standard.

How can I access to i2c registers in motorware project? (How to write :    "I2caRegs.I2CSAR = 0x0068;" ?)

Is it possible not to use API? (it looks very difficult to write and use)

There is another problem -  InitI2CGpio(); function makes some pinout setup:

    GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0; // Enable pull-up for GPIO32 (SDAA)
    GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0;	// Enable pull-up for GPIO33 (SCLA)

    GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 3;  // Asynch input GPIO32 (SDAA)
    GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 3;  // Asynch input GPIO33 (SCLA)

    GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 1;
    GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 1;

How can I do that setup in motorware project?

I attach my code:

void main(void)
{

    InitSysCtrl();

    InitI2CGpio();

    DINT;

	//init of i2c:
    I2caRegs.I2CSAR = 0x0068;       // Slave address - EEPROM control code
    I2caRegs.I2CPSC.all = 35;        // Prescaler - need 7-12 Mhz on module clk
    I2caRegs.I2CCLKL = 10;          // NOTE: must be non zero
    I2caRegs.I2CCLKH = 5;           // NOTE: must be non zero
    I2caRegs.I2CMDR.all = 0x0020;

	//write to gyro 0x00 to wake it up
    I2caRegs.I2CSAR = 0x68;                         //Set slave address
    I2caRegs.I2CCNT = 2;                            //Set count to 5 characters plus 2 address bytes
    I2caRegs.I2CDXR = 0x6B;                         //register where i will write 0x00
    I2caRegs.I2CMDR.bit.TRX = 1;                    //Set to Transmit mode
    I2caRegs.I2CMDR.bit.MST = 1;                    //Set to Master mode
    I2caRegs.I2CMDR.bit.FREE = 1;                   //Run in FREE mode
    I2caRegs.I2CMDR.bit.STP = 1;                    //Stop when internal counter becomes 0
    I2caRegs.I2CMDR.bit.STT = 1;                    //Send the start bit, transmission will follow

    while(I2caRegs.I2CSTR.bit.XRDY == 0){};         //Do nothing till data is shifted out
    I2caRegs.I2CDXR = 0x00;

	
	//delay loop
    j=5;
    for(i = 0; i < 4000; i++){
        j++;
    }
    for(i = 0; i < 4000; i++){
        j--;
    }

	
    for(;;)
    {


        I2caRegs.I2CSAR = 0x68;                      //Set slave address
        I2caRegs.I2CCNT = 1;                         //Set count to 1 address bytes
        I2caRegs.I2CDXR = 0x3B;                      //Send high address of register to read
        I2caRegs.I2CMDR.bit.TRX = 1;                 //Set to Transmit mode
        I2caRegs.I2CMDR.bit.MST = 1;                 //Set to Master mode
        I2caRegs.I2CMDR.bit.FREE = 1;                //Run in FREE mode
        I2caRegs.I2CMDR.bit.STP = 0;                 //Dont release the bus after Tx
        I2caRegs.I2CMDR.bit.STT = 1;                 //Send the start bit, transmission will follow

		//delay loop
        j=5;
        for(i = 0; i < 1000; i++){
            j++;
        }
        for(i = 0; i < 1000; i++){
            j--;
        }

        while(I2caRegs.I2CSTR.bit.XRDY == 0){};      //Do nothing till data is shifted out
        I2caRegs.I2CCNT = 14;                        //read 14 bytes from eeprom
        I2caRegs.I2CMDR.bit.TRX = 0;                 //Set to Recieve mode
        I2caRegs.I2CMDR.bit.MST = 1;                 //Set to Master mode
        I2caRegs.I2CMDR.bit.FREE = 1;                //Run in FREE mode
        I2caRegs.I2CMDR.bit.STP = 1;                 //Stop when internal counter becomes 0
        I2caRegs.I2CMDR.bit.STT = 1;                 //Repeated start, Reception will follow

        for(i = 0; i < 14; i++){
             while(I2caRegs.I2CSTR.bit.RRDY == 0){}; //I2CDRR not ready to read?
             RxdData[i] = I2caRegs.I2CDRR;			 //data reading
        }
		
		//raw data to degrees 
        for(i = 0; i < 7; i++){
            GyroData[i] = RxdData[2*i]<<8 | RxdData[(2*i)+1];
        }
        x_acce=(GyroData[0]-333)*1.304347;
        y_acce=(GyroData[1]-333)*1.304347;
        z_acce=(GyroData[2]-333)*1.304347;
        x_angle=((atan2(-y_acce,-z_acce)+M_PI)*180)/M_PI;

		
		//delay loop
        j=5;
        for(i = 0; i < 60000; i++){
            j++;
        }
        for(i = 0; i < 60000; i++){
            j--;
        }



    }
}

Regards,
Wojciech