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LAUNCHXL-F28379D: Communication between MPU6050 and launchpad 28379d

Julian Herrera1
Prodigy 10 points

Part Number: LAUNCHXL-F28379D

Hi,

I'm trying to get data from the MPU6050, but it wont show anything in the plot. I'm using Altair Embed, and with another Launchpad F28377S it worked. 

Don´t know if the I2C communication with this Launchpad is screwed or something. 

The connection I'm doing is :

SDA - GPIO104 - Pin10(J1)

SCL - GPIO105 - Pin9(J1)

I will show the code Embed generates

/*** Altair Embed 2019.0.1 Build 41 Automatic C Code Generator ***/
/*  Output for FC.vsm at Thu Nov 14 20:13:22 2019 */
/*  Target: F280X[F28379cpu1] */

#include "math.h"
#include "cgen.h"
#include "cgendll.h"
#include "c2000.h"
#include "vsi2c.h"
int MHZ=200;
#define _SYS_MHZ_ 200
SERIAL_QUEUE_DECL(16) i2cRx0 = {16,0,0,0,0,0,0,0,0};
SERIAL_QUEUE_DECL(16) i2cTx0 = {16,0,0,0,0,0};
extern int _i2cMaxFifo=4;
static CGDOUBLE gxs= 0;
static CGDOUBLE fcang= 0;

static CGDOUBLE _xf_state17[1]={ 0};
static CGDOUBLE _xf_Xdot_17;

/* Init */
static void subsystem3()
{
  if (1)
    i2c0PutChar( 107 );
  if (1)
    i2c0PutChar( 0 );
  if (1)
    {
      I2CSARA = 0x68;	// Set Slave Addr
      I2CCNTA = 0x2;	// Set msg len
      I2CMDRA = 0x2E20;	// Start Tx
    }


}
static void subsystem37(void);
static SIGNAL _vsOutSig37[8]={{T_SCALED_INT,.u.scaledInt={16,16,0}}, {T_SCALED_INT,.u.scaledInt={16,16,0}}, {T_SCALED_INT,.u.scaledInt={16,16,0}}, {T_SCALED_INT,.u.scaledInt={16,16,0}}, {T_SCALED_INT,.u.scaledInt={16,16,0}}, {T_SCALED_INT,.u.scaledInt={16,16,0}}, {T_SCALED_INT,.u.scaledInt={16,16,0}}, {T_SCALED_INT,.u.scaledInt={16,16,0}}};
static SIM_STATE tSubsystem37={0,0,0
,0,0,0,8,0,0,0,0,1,1,1,0,0,0,0,0,_vsOutSig37};
SIM_STATE *hSubsystem37=&tSubsystem37;

/* read_data */
static void subsystem37()
{
  hSubsystem37->outSigS[0].u.scaledInt.val = i2c0GetChar(&i2cRx0);
  hSubsystem37->outSigS[1].u.scaledInt.val = i2c0GetChar(&i2cRx0);
  hSubsystem37->outSigS[2].u.scaledInt.val = i2c0GetChar(&i2cRx0);
  hSubsystem37->outSigS[3].u.scaledInt.val = i2c0GetChar(&i2cRx0);
  hSubsystem37->outSigS[4].u.scaledInt.val = i2c0GetChar(&i2cRx0);
  hSubsystem37->outSigS[5].u.scaledInt.val = i2c0GetChar(&i2cRx0);
  hSubsystem37->outSigS[6].u.scaledInt.val = i2c0GetChar(&i2cRx0);
  hSubsystem37->outSigS[7].u.scaledInt.val = i2c0GetChar(&i2cRx0);


}
static CGDOUBLE _xf_state84[1]={ 0};
static CGDOUBLE _xf_Xdot_84;
static CGDOUBLE _xf_state83[1]={ 0};
static CGDOUBLE _xf_Xdot_83;
static CGDOUBLE _xf_state59[1]={ 0};
static CGDOUBLE _xf_Xdot_59;
static void subsystem53(void);
static SIGNAL _vsOutSig53[1]={{T_DOUBLE,0}};
static T_SIG_SCALED_INT _inSig_53_1={T_SCALED_INT,16,16,0};
static T_SIG_SCALED_INT _inSig_53_2={T_SCALED_INT,16,16,0};
static T_SIG_DOUBLE _inSig_53_3={T_DOUBLE,0};
static T_SIG_SCALED_INT _inSig_53_4={T_SCALED_INT,16,16,0};
static SIGNAL* _vsInSig53[]={
(SIGNAL*)&_inSig_53_1, (SIGNAL*)&_inSig_53_2, (SIGNAL*)&_inSig_53_3, (SIGNAL*)&_inSig_53_4};
static SIM_STATE tSubsystem53={0,0,0
,0,0,4,1,0,0,0,0,1,1,1,0,0,0,0,_vsInSig53,_vsOutSig53};
SIM_STATE *hSubsystem53=&tSubsystem53;

/* Controller_block */
static void subsystem53()
{
  static CGDOUBLE _Y_59=0;
static int _squareCnt90=0;
  float t74;
  float t75;
  static CGDOUBLE _Y_84=0;
  float t77;
  static CGDOUBLE _Y_83=0;
  _Y_59 =  _xf_state59[0];
  t74 = ((CGDOUBLE) (short)hSubsystem53->inSigS[0]->u.scaledInt.val);
  t75 = ((CGDOUBLE) (short)hSubsystem53->inSigS[1]->u.scaledInt.val);
  _xf_Xdot_84 = (((( simAtan2(((((((double) t74)+-169.2))*6.103515625e-05)), (0.+((((((double) t75)+-21))*6.103515625e-05)))))))*57.295779513082  /* radians => degrees */)- _xf_state84[0]*-0.99;
  _Y_84 =_xf_Xdot_84*0.01;
  t77 = ((CGDOUBLE) (short)hSubsystem53->inSigS[3]->u.scaledInt.val);
  gxs = ((((((double) t77)+456.))*0.0076335877862595));
  _xf_Xdot_83 =  gxs - _xf_state83[0]*-0.99;
  _Y_83 =_xf_Xdot_83*0.00396;
  fcang = ( _Y_84+ _Y_83);
  if ((++_squareCnt90 > 125?(_squareCnt90>=250?_squareCnt90=0,1:1):0))
    {GPASET = 0x2000L;}
  else
    {GPACLEAR = 0x2000L;}
  if (((int) _Y_59))
    {GPCSET = 0x800000L;}
  else
    {GPCCLEAR = 0x800000L;}
  hSubsystem53->outSigS[0].u.Double =  fcang ;

  _xf_state84[0] = _xf_Xdot_84;
  _xf_state83[0] = _xf_Xdot_83;
  _xf_Xdot_59 = (1.+ -( _Y_59));
  _xf_state59[0] = _xf_Xdot_59;

}
static SIGNAL _vsOutSig2[1]={{T_DOUBLE,0}};
static ARG_DESCR outArgInfo2[]={
  { T_DOUBLE,0,0,0},
};
static ARG_DESCR inArgInfo2[]={
0};
static SIM_STATE tSim={0,0,0
,outArgInfo2, inArgInfo2,0,1,0,0,0,0,1,1,1,0,0,0,0,0,_vsOutSig2};
SIM_STATE *sim=&tSim;

/* MPU */
INTERRUPT void cgMain()
{
  static CGDOUBLE _Y_17=0;
  int t34;
static unsigned _pulseCnt53=2;
    TIMER2TCR = TIMER2TCR;
  _Y_17 =  _xf_state17[0];
  if (((I2CA_RX_QUEUE_LEN(i2cRx0))>=1) )
  { /* read_data */
    subsystem37();
  }
  t34 = (( hSubsystem37->outSigS[4].u.scaledInt.val << (short)8)+ hSubsystem37->outSigS[5].u.scaledInt.val);
  if ((++_pulseCnt53 > 1?_pulseCnt53=0,1:0) )
  { /* Controller_block */
    hSubsystem53->inSigS[0]->u.scaledInt.val = (( hSubsystem37->outSigS[0].u.scaledInt.val << (short)8)+ hSubsystem37->outSigS[1].u.scaledInt.val);
    hSubsystem53->inSigS[1]->u.scaledInt.val = (( hSubsystem37->outSigS[2].u.scaledInt.val << (short)8)+ hSubsystem37->outSigS[3].u.scaledInt.val);
    hSubsystem53->inSigS[2]->u.Double = ((((CGDOUBLE) t34)*0.0029411764705882)+36.53);
    hSubsystem53->inSigS[3]->u.scaledInt.val = (( hSubsystem37->outSigS[6].u.scaledInt.val << (short)8)+ hSubsystem37->outSigS[7].u.scaledInt.val);
    subsystem53();
  }
  if (1)
    i2c0PutChar( 61 );
  if (1)
    {
      I2CSARA = 0x68;	// Set Slave Addr
      I2CCNTA = 0x1;	// Set msg len
      I2CMDRA = 0x2620;	// Start Tx
    }
  if (((int) _Y_17))
    {
      I2CSARA = 0x68;	// Set Slave Addr
      I2CCNTA = 0x8;	// Set msg len
      I2CMDRA = 0x2C20;	// Start Rx
    }
;
  sim->outSigS[0].u.Double =  hSubsystem53->outSigS[0].u.Double;

  _xf_Xdot_17 = (1.+ -( _Y_17));
  _xf_state17[0] = _xf_Xdot_17;
  endOfSampleCount = TIMER2TIM;
  if (TIMER2TCR&0x8000)
    setTgtStatus(VE_STAT_TGT_OVER_FRAMING);

}

void main()
{
  EALLOW;
  SYSPLLCTL1 = 0;
  CLKSRCCTL1 = 2;	//Internal Osc 1
  CLKSRCCTL2 = 0;	//Internal Osc 2
  SYSPLLMULT = 0x14;	// set PLL to 20xOSC = 200 MHZ
  SYSPLLCTL1 = 1;	// Enable PLL
  while(!(SYSPLLSTS&1));	// Wait for PLL lock
  { int divSel;
    for (divSel =63; divSel >= 0; divSel--)
      { SYSCLKDIVSEL = divSel;	// Ramp up freq
        SysCtlDelay(15);
      }
  }
  SYSPLLCTL1 = 3;	// Use PLL
  PERCLKDIVSEL = 0x10;
  PCLKCR0 = 0x20;
  PCLKCR1 = 0x1;
  PCLKCR9 = 0x1;
  EDIS;
  hSubsystem37 = cgInitSubsystem(hSubsystem37, &tSubsystem37);
  hSubsystem53 = cgInitSubsystem(hSubsystem53, &tSubsystem53);
 simInit( &tSim );
  EALLOW;
  GPADIR = 0x2000;
  GPACSEL1 = 0x22222222;
  GPACSEL2 = 0x22022222;
  GPACSEL3 = 0x22222222;
  GPACSEL4 = 0x22222222;
  GPBQSEL1 = 0xF00000;
  GPBCSEL1 = 0x22222222;
  GPBCSEL2 = 0x22222222;
  GPBCSEL3 = 0x22222222;
  GPBCSEL4 = 0x22222222;
  GPCDIR = 0x800000;
  GPCCSEL1 = 0x22222222;
  GPCCSEL2 = 0x22222222;
  GPCCSEL3 = 0x2222222;
  GPCCSEL4 = 0x22222222;
  GPDMUX1 = 0x50000;
  GPDPUD = 0xFFFFFCFF;
  GPDCSEL1 = 0x22222222;
  GPDCSEL2 = 0x22222200;
  GPDCSEL3 = 0x22222222;
  GPDCSEL4 = 0x22222222;
  GPECSEL1 = 0x22222222;
  GPECSEL2 = 0x22222222;
  GPECSEL3 = 0x22222222;
  GPECSEL4 = 0x22222222;
  GPFCSEL1 = 0x22222222;
  GPFCSEL2 = 0x22222222;
  EDIS;
  I2CPSCA = 50;
  I2COARA = 0;	// Set own address
  I2CCLKLA = 10;
  I2CCLKHA = 5;
  I2CMDRA = 0x20;  // Take I2C out of reset
  I2CFFTXA = 0x4000; // Reset TX FIFO
  I2CFFTXA = 0x6000; // Enable TX FIFO
  I2CFFRXA = 0x64; // Reset RX FIFO
  I2CFFRXA = 0x2064; // Enable RX FIFO
  startSimDsp();
  installInterruptVec( 8, 2, &i2c0rx_isr);
  ENABLE_PIE_INT(8);
  subsystem3(); /* Init */
  installInterruptVec(-2,7,&cgMain);
  TIMER2PRD = 0x1a80; // 32-bit Timer Period Low
  TIMER2PRDH = 0x6; // 32-bit Timer Period High
  TIMER2TCR |= 0x4020; //Interrupt enable, Timer Reset
  EALLOW;
  PIECTRL = 1; // Enable PIE Interrupts
  EDIS;
  IER |= 0x2000; //CPU Interrupt enable
  resetInterrupts();
  disable_interrupts();  // Disable interrupts until PC handshake complete
  EALLOW;
  PCLKCR0 |= 0x80000; // Start all PWM timers
  EDIS;
  dspWait();
}

I know it might be a pull-up resistors problem, but it haven't worked either, also when you try to get the signal from the SCL and SDA ports with an Oscilloscope, it won't even show a noisy signal.

If you could help me, I'd be very thankful

Thanks in advance.

  • 0
    TI__Intellectual 1360 points

    Due to US holidays, you can expect a response by 3'rd Dec.

  • 0
    TI__Mastermind 45606 points

    Hi Julian,

    I'm not familiar with Altair's Embed platform. You're saying this same code worked with the f28377S? Same hardware configuration as well?

    What are the state of the SDA/SCL signals? i.e. are they HIGH or LOW state? Do you see any signal triggering if you set a trigger on your scope?

    Have you tried debugging your software, setting breakpoints or single stepping? Does the code execution get stuck at a certain spot?

    Are you using external pull-up resistors? The C2000 F28379D has internal pull-up resistors that should be disabled if so, check GPAPUD register.

    Best,

    Kevin

  • 0 in reply to Kevin Allen18
    TI__Guru* 86270 points

    Julian,

    Checking back with you to see if you were able to look into Kevin's questions or had any new data from your side.  I'm going to mark this as TI thinks resolved, but if you reply back it will alert us to your post on our end.

    Best,

    Matthew