Part Number: MSP432P401R
I am trying to use the MPU6050 to get a compass reading for a navigation project. I need a guide on how to go about it. I looked at the driverlib examples from the mspware. I have attached the one i think I would need to use to start. I would really appreciate if anyone could help.
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/******************************************************************************
* MSP432 I2C - EUSCI_B0 I2C Master TX bytes to MSP432 Slave - Repeated Start
*
* Description: This demo connects two MSP432 's via the I2C bus. The master
* transmits to the slave. This is the MASTER CODE. It continuously
* transmits an array of data and demonstrates how to implement an I2C
* master transmitter sending multiple bytes followed by a repeated start,
* followed by a read of multiple bytes. This is a common operation for
* reading register values from I2C slave devices such as sensors. The
* transaction for the I2C that is written looks as follows:
*
* _________________________________________________________
* | Start | | Start | | |
* | 0x48Addr | 0x04 | 0x48Addr | <10 Byte Read> | Stop |
* | W | | R | | |
* |__________|______|__________|___________________|_______|
*
* ACLK = n/a, MCLK = HSMCLK = SMCLK = BRCLK = default DCO = ~3.0MHz
*
* /|\ /|\
* MSP432P401 10k 10k MSP432P401
* slave | | master
* ----------------- | | -----------------
* | P1.6/UCB0SDA|<-|----+->|P1.6/UCB0SDA |
* | | | | |
* | | | | |
* | P1.7/UCB0SCL|<-+------>|P1.7/UCB0SCL |
* | | | |
*
*****************************************************************************/
/* DriverLib Defines */
#include <ti/devices/msp432p4xx/driverlib/driverlib.h>
/* Standard Defines */
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
/* Slave Address for I2C Slave */
#define SLAVE_ADDRESS 0x1E
#define NUM_OF_REC_BYTES 10
/* Variables */
const uint8_t TXData[] = {0x04};
static uint8_t RXData[NUM_OF_REC_BYTES];
static volatile uint32_t xferIndex;
static volatile bool stopSent;
/* I2C Master Configuration Parameter */
const eUSCI_I2C_MasterConfig i2cConfig =
{
EUSCI_B_I2C_CLOCKSOURCE_SMCLK, // SMCLK Clock Source
3000000, // SMCLK = 3MHz
EUSCI_B_I2C_SET_DATA_RATE_400KBPS, // Desired I2C Clock of 100khz
0, // No byte counter threshold
EUSCI_B_I2C_NO_AUTO_STOP // No Autostop
};
int main(void)
{
/* Disabling the Watchdog */
MAP_WDT_A_holdTimer();
/* Select Port 1 for I2C - Set Pin 6, 7 to input Primary Module Function,
* (UCB0SIMO/UCB0SDA, UCB0SOMI/UCB0SCL).
*/
MAP_GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P1,
GPIO_PIN6 + GPIO_PIN7, GPIO_PRIMARY_MODULE_FUNCTION);
stopSent = false;
memset(RXData, 0x00, NUM_OF_REC_BYTES);
/* Initializing I2C Master to SMCLK at 100khz with no autostop */
MAP_I2C_initMaster(EUSCI_B0_BASE, &i2cConfig);
/* Specify slave address */
MAP_I2C_setSlaveAddress(EUSCI_B0_BASE, SLAVE_ADDRESS);
/* Enable I2C Module to start operations */
MAP_I2C_enableModule(EUSCI_B0_BASE);
MAP_Interrupt_enableInterrupt(INT_EUSCIB0);
while (1)
{
/* Making sure the last transaction has been completely sent out */
while (MAP_I2C_masterIsStopSent(EUSCI_B0_BASE));
MAP_Interrupt_disableSleepOnIsrExit();
/* Send start and the first byte of the transmit buffer. */
MAP_I2C_masterSendMultiByteStart(EUSCI_B0_BASE, TXData[0]);
/* Sent the first byte, now we need to initiate the read */
xferIndex = 0;
MAP_I2C_masterReceiveStart(EUSCI_B0_BASE);
MAP_I2C_enableInterrupt(EUSCI_B0_BASE, EUSCI_B_I2C_RECEIVE_INTERRUPT0);
MAP_PCM_gotoLPM0InterruptSafe();
}
}
/*******************************************************************************
* eUSCIB0 ISR. The repeated start and transmit/receive operations happen
* within this ISR.
*******************************************************************************/
void EUSCIB0_IRQHandler(void)
{
uint_fast16_t status;
status = MAP_I2C_getEnabledInterruptStatus(EUSCI_B0_BASE);
MAP_I2C_clearInterruptFlag(EUSCI_B0_BASE, status);
/* Receives bytes into the receive buffer. If we have received all bytes,
* send a STOP condition */
if (status & EUSCI_B_I2C_RECEIVE_INTERRUPT0)
{
if (xferIndex == NUM_OF_REC_BYTES - 2)
{
MAP_I2C_disableInterrupt(EUSCI_B0_BASE,
EUSCI_B_I2C_RECEIVE_INTERRUPT0);
MAP_I2C_enableInterrupt(EUSCI_B0_BASE, EUSCI_B_I2C_STOP_INTERRUPT);
/*
* Switch order so that stop is being set during reception of last
* byte read byte so that next byte can be read.
*/
MAP_I2C_masterReceiveMultiByteStop(EUSCI_B0_BASE);
RXData[xferIndex++] = MAP_I2C_masterReceiveMultiByteNext(
EUSCI_B0_BASE);
} else
{
RXData[xferIndex++] = MAP_I2C_masterReceiveMultiByteNext(
EUSCI_B0_BASE);
}
}
else if (status & EUSCI_B_I2C_STOP_INTERRUPT)
{
MAP_Interrupt_disableSleepOnIsrExit();
MAP_I2C_disableInterrupt(EUSCI_B0_BASE,
EUSCI_B_I2C_STOP_INTERRUPT);
}
}
