test-example-projects/qt_projects/MyCar_demo/USER/mpuiic.c

#include "mpuiic.h"
#include "delay.h"
 
  //MPU IIC <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void MPU_IIC_Delay(void)
{
	delay_us(2);
}

//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>IIC
void MPU_IIC_Init(void)
{					     
  GPIO_InitTypeDef  GPIO_InitStructure;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);//<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IO PORTCʱ<EFBFBD><EFBFBD> 
		
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_11;	 // <EFBFBD>˿<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>Ϊ50MHz
  GPIO_Init(GPIOC, &GPIO_InitStructure);					 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>GPIO 
	
  GPIO_SetBits(GPIOC,GPIO_Pin_12|GPIO_Pin_11);						 //PB10,PB11 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	
 
}
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>IIC<EFBFBD><EFBFBD>ʼ<EFBFBD>ź<EFBFBD>
void MPU_IIC_Start(void)
{
	MPU_SDA_OUT();     //sda<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	MPU_IIC_SDA=1;	  	  
	MPU_IIC_SCL=1;
	MPU_IIC_Delay();
 	MPU_IIC_SDA=0;//START:when CLK is high,DATA change form high to low 
	MPU_IIC_Delay();
	MPU_IIC_SCL=0;//ǯסI2C<EFBFBD><EFBFBD><EFBFBD>ߣ<EFBFBD>׼<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
}	  
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>IICֹͣ<EFBFBD>ź<EFBFBD>
void MPU_IIC_Stop(void)
{
	MPU_SDA_OUT();//sda<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	MPU_IIC_SCL=0;
	MPU_IIC_SDA=0;//STOP:when CLK is high DATA change form low to high
 	MPU_IIC_Delay();
	MPU_IIC_SCL=1;  
	MPU_IIC_SDA=1;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>I2C<EFBFBD><EFBFBD><EFBFBD>߽<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
	MPU_IIC_Delay();							   	
}
//<EFBFBD>ȴ<EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD>źŵ<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD>ʧ<EFBFBD><EFBFBD>
//        0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>
u8 MPU_IIC_Wait_Ack(void)
{
	u8 ucErrTime=0;
	MPU_SDA_IN();      //SDA<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  
	MPU_IIC_SDA=1;MPU_IIC_Delay();	   
	MPU_IIC_SCL=1;MPU_IIC_Delay();	 
	while(MPU_READ_SDA)
	{
		ucErrTime++;
		if(ucErrTime>250)
		{
			MPU_IIC_Stop();
			return 1;
		}
	}
	MPU_IIC_SCL=0;//ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0 	   
	return 0;  
} 
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ACKӦ<EFBFBD><EFBFBD>
void MPU_IIC_Ack(void)
{
	MPU_IIC_SCL=0;
	MPU_SDA_OUT();
	MPU_IIC_SDA=0;
	MPU_IIC_Delay();
	MPU_IIC_SCL=1;
	MPU_IIC_Delay();
	MPU_IIC_SCL=0;
}
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ACKӦ<EFBFBD><EFBFBD>		    
void MPU_IIC_NAck(void)
{
	MPU_IIC_SCL=0;
	MPU_SDA_OUT();
	MPU_IIC_SDA=1;
	MPU_IIC_Delay();
	MPU_IIC_SCL=1;
	MPU_IIC_Delay();
	MPU_IIC_SCL=0;
}					 				     
//IIC<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
//<EFBFBD><EFBFBD><EFBFBD>شӻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD>
//1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD>
//0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD>			  
void MPU_IIC_Send_Byte(u8 txd)
{                        
    u8 t;   
	MPU_SDA_OUT(); 	    
    MPU_IIC_SCL=0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ӿ<EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD>ݴ<EFBFBD><EFBFBD><EFBFBD>
    for(t=0;t<8;t++)
    {              
        MPU_IIC_SDA=(txd&0x80)>>7;
        txd<<=1; 	  
		MPU_IIC_SCL=1;
		MPU_IIC_Delay(); 
		MPU_IIC_SCL=0;	
		MPU_IIC_Delay();
    }	 
} 	    
//<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ֽڣ<EFBFBD>ack=1ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ACK<EFBFBD><EFBFBD>ack=0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>nACK   
u8 MPU_IIC_Read_Byte(unsigned char ack)
{
	unsigned char i,receive=0;
	MPU_SDA_IN();//SDA<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    for(i=0;i<8;i++ )
	{
        MPU_IIC_SCL=0; 
        MPU_IIC_Delay();
		MPU_IIC_SCL=1;
        receive<<=1;
        if(MPU_READ_SDA)receive++;   
		MPU_IIC_Delay(); 
    }					 
    if (!ack)
        MPU_IIC_NAck();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>nACK
    else
        MPU_IIC_Ack(); //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ACK   
    return receive;
}