thuanbk55

MPU6050 are accelerometer and gyroscope sensor , cheap and very useful.But there aren't a lot of library codes available for MSP430.Here is the library,include initialing and reading MPU6050.I had convert this library from AVR's library.
 
Use for : MSP430x2xx ,other MSP430 must redefine some register of I2C Module or rewrite "I2C_USCI.h" function
Link Download: Code MSP430 and MPU6050
 
I2C_USCI Library use for MPU6050 Library:
//////////////////////////////////////////////////////////////////// // LIBRARY CONTROL I2C USCI MODULE // Write by : PHAM VAN THUAN DTVT07-K55 // Email: terran991992@gmail.com // Blog : http://thuanbk55.blogspot.com/ // ................................................................. // USE FOR MSP430 //******************************************************************/ #ifndef I2C_USCI_H #define I2C_USCI_H // Address #define MPU6050_ADDRESS 0x68 #define BQ32000_ADDRESS 0x68 #define DS1307_ADDRESS 0x68 #define LM92_ADDRESS 0x48 /******************************************************************************\ * Prototype * \******************************************************************************/ void I2C_USCI_Init(unsigned char addr); //Init I2C void I2C_USCI_Set_Address(unsigned char addr); //Change Slave's Address unsigned char I2C_USCI_Read_Byte(unsigned char address); //Read 1 byte //Read many Byte unsigned char I2C_USCI_Read_Word(unsigned char Addr_Data,unsigned char *Data, unsigned char Length); //Write 1 Byte unsigned char I2C_USCI_Write_Byte(unsigned char address, unsigned char Data); /******************************************************************************\ * Function * \******************************************************************************/ void I2C_USCI_Init(unsigned char addr) { P1SEL |= BIT6 + BIT7; // Assign I2C pins to USCI_B0 P1SEL2|= BIT6 + BIT7; // Assign I2C pins to USCI_B0 UCB0CTL1 |= UCSWRST; // Enable SW reset UCB0CTL0 = UCMST+UCMODE_3+UCSYNC; // I2C Master, synchronous mode UCB0CTL1 = UCSSEL_2+UCSWRST; // Use SMCLK, keep SW reset UCB0BR0 = 40; // fSCL = SMCLK/40 = ~400kHz UCB0BR1 = 0; UCB0I2CSA = addr; // Set slave address UCB0CTL1 &= ~UCSWRST; // Clear SW reset, resume operation } void I2C_USCI_Set_Address(unsigned char addr) { UCB0CTL1 |= UCSWRST; UCB0I2CSA = addr; // Set slave address UCB0CTL1 &= ~UCSWRST; // Clear SW reset, resume operation } unsigned char I2C_USCI_Read_Byte(unsigned char address) { while (UCB0CTL1 & UCTXSTP); UCB0CTL1 |= UCTR + UCTXSTT; // I2C TX,START while (!(IFG2&UCB0TXIFG)); UCB0TXBUF = address; while (!(IFG2&UCB0TXIFG)); UCB0CTL1 &= ~UCTR; // I2C RX UCB0CTL1 |= UCTXSTT; // I2C RESTART IFG2 &= ~UCB0TXIFG; while (UCB0CTL1 & UCTXSTT); UCB0CTL1 |= UCTXSTP; return UCB0RXBUF; } unsigned char I2C_USCI_Read_Word(unsigned char Addr_Data,unsigned char *Data, unsigned char Length) { unsigned char i=0; while (UCB0CTL1 & UCTXSTP); // Loop until I2C STT is sent UCB0CTL1 |= UCTR + UCTXSTT; // I2C TX, start condition while (!(IFG2&UCB0TXIFG)); IFG2 &= ~UCB0TXIFG; // Clear USCI_B0 TX int flag if(UCB0STAT & UCNACKIFG) return UCB0STAT; UCB0TXBUF = Addr_Data; while (!(IFG2&UCB0TXIFG)); if(UCB0STAT & UCNACKIFG) return UCB0STAT; UCB0CTL1 &= ~UCTR; // I2C RX UCB0CTL1 |= UCTXSTT; // I2C start condition IFG2 &= ~UCB0TXIFG; // Clear USCI_B0 TX int flag while (UCB0CTL1 & UCTXSTT); // Loop until I2C STT is sent for(i=0;i<(Length-1);i++) { while (!(IFG2&UCB0RXIFG)); IFG2 &= ~UCB0TXIFG; // Clear USCI_B0 TX int flag Data[i] = UCB0RXBUF; } while (!(IFG2&UCB0RXIFG)); IFG2 &= ~UCB0TXIFG; // Clear USCI_B0 TX int flag UCB0CTL1 |= UCTXSTP; // I2C stop condition after 1st TX Data[Length-1] = UCB0RXBUF; IFG2 &= ~UCB0TXIFG; // Clear USCI_B0 TX int flag return 0; } unsigned char I2C_USCI_Write_Byte(unsigned char address, unsigned char data) { while (UCB0CTL1 & UCTXSTP); UCB0CTL1 |= UCTR + UCTXSTT; while (!(IFG2&UCB0TXIFG)); if(UCB0STAT & UCNACKIFG) return UCB0STAT; UCB0TXBUF = address; while (!(IFG2&UCB0TXIFG)); if(UCB0STAT & UCNACKIFG) return UCB0STAT; UCB0TXBUF = data; while (!(IFG2&UCB0TXIFG)); if(UCB0STAT & UCNACKIFG) return UCB0STAT; UCB0CTL1 |= UCTXSTP; IFG2 &= ~UCB0TXIFG; return 0; } #endif /* I2C_USCI */ MSP430 vs MPU6050.rar