KalmanFilter/Simulation_IIC.c

#include"stm32f1ox.h"

/*模拟IIC端口IO定义*/
#define SCL_H         GPIOB->BSRR = GPIO_Pin_6
#define SCL_L         GPIOB->BRR  = GPIO_Pin_6 
   
#define SDA_H         GPIOB->BSRR = GPIO_Pin_7
#define SDA_L         GPIOB->BRR  = GPIO_Pin_7

//#define SCL_read      GPIOB->IDR  & GPIO_Pin_6
#define SDA_read      GPIOB->IDR  & GPIO_Pin_7

void I2C_GPIO_Config(void)
{
  GPIO_InitTypeDef  GPIO_InitStructure; 
 
  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;  
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
}

void I2C_delay(void)
{
   u8 i=30; //the min of i is 5
   while(i) 
   { 
     i--; 
   }  
}

void delay5ms(void)
{		
   int i=5000;  
   while(i) 
   { 
     i--; 
   }  
}
/*******************************************************************************
* Function Name  : I2C_Start
* Description    : Master Start Simulation IIC Communication
* Input          : None
* Output         : None
* Return         : Wheather	 Start
****************************************************************************** */
bool I2C_Start(void)
{
	SDA_H;
	SCL_H;
	I2C_delay();
	if(!SDA_read)return FALSE;	//if SDA is 0 , then BUS is busy	
  SDA_L;
	I2C_delay();
	if(SDA_read) return FALSE;	//if SDA is 1 , then BUS occur error	
  SDA_L;
	I2C_delay();
	return TRUE;
}
/*******************************************************************************
* Function Name  : I2C_Stop
* Description    : Master Stop Simulation IIC Communication
* Input          : None
* Output         : None
* Return         : None
****************************************************************************** */

void I2C_Stop(void)
{
	SCL_L;
	I2C_delay();
	SDA_L;
	I2C_delay();
	SCL_H;
	I2C_delay();
	SDA_H;
	I2C_delay();
} 
/*******************************************************************************
* Function Name  : I2C_Ack
* Description    : Master Send Acknowledge Single
* Input          : None
* Output         : None
* Return         : None
****************************************************************************** */
void I2C_Ack(void)
{
  SCL_L;
  I2C_delay();
  SDA_L;
  I2C_delay();
  SCL_H;
  I2C_delay();
  SCL_L;
  I2C_delay();
}
/*******************************************************************************
* Function Name  : I2C_NoAck
* Description    : Master Send No Acknowledge Single
* Input          : None
* Output         : None
* Return         : None
****************************************************************************** */
void I2C_NoAck(void)
{	
	SCL_L;
	I2C_delay();
	SDA_H;
	I2C_delay();
	SCL_H;
	I2C_delay();
	SCL_L;
	I2C_delay();
} 
/*******************************************************************************
* Function Name  : I2C_WaitAck
* Description    : Master Reserive Slave Acknowledge Single
* Input          : None
* Output         : None
* Return         : Wheather	 Reserive Slave Acknowledge Single
****************************************************************************** */
bool I2C_WaitAck(void) 	 //return 1 - Ack ;return 0 - NoAck
{
	SCL_L;
	I2C_delay();
	SDA_H;			
	I2C_delay();
	SCL_H;
	I2C_delay();
	if(SDA_read)
	{
      SCL_L;
	  I2C_delay();
      return FALSE;
	}
	SCL_L;
	I2C_delay();
	return TRUE;
}
/*******************************************************************************
* Function Name  : I2C_SendByte
* Description    : Master Send a Byte to Slave
* Input          : Will Send Date
* Output         : None
* Return         : None
****************************************************************************** */
void I2C_SendByte(u8 SendByte) //MSB
{
    u8 i=8;
    while(i--)
    {
        SCL_L;
        I2C_delay();
      if(SendByte&0x80)
        SDA_H;  
      else 
        SDA_L;   
        SendByte<<=1;
        I2C_delay();
		SCL_H;
        I2C_delay();
    }
    SCL_L;
}  
/*******************************************************************************
* Function Name  : I2C_RadeByte
* Description    : Master Reserive a Byte From Slave
* Input          : None
* Output         : None
* Return         : Date From Slave 
****************************************************************************** */
unsigned char I2C_RadeByte(void)  
{ 
    u8 i=8;
    u8 ReceiveByte=0;

    SDA_H;				
    while(i--)
    {
      ReceiveByte<<=1;      
      SCL_L;
      I2C_delay();
	  SCL_H;
      I2C_delay();	
      if(SDA_read)
      {
        ReceiveByte|=0x01;
      }
    }
    SCL_L;
    return ReceiveByte;
} 

bool Single_Write(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char REG_data)		     //void
{
  	if(!I2C_Start())return FALSE;
    I2C_SendByte(SlaveAddress);   
    I2C_SendByte(((REG_Address & 0x0700) >>7) | SlaveAddress & 0xFFFE); //ALTER
    if(!I2C_WaitAck()){I2C_Stop(); return FALSE;}
    I2C_SendByte(REG_Address );        
    I2C_WaitAck();	
    I2C_SendByte(REG_data);
    I2C_WaitAck();   
    I2C_Stop(); 
    delay5ms();
    return TRUE;
}

unsigned char Single_Read(unsigned char SlaveAddress,unsigned char REG_Address)
{   
	unsigned char REG_data;     	
	if(!I2C_Start())return FALSE;
    I2C_SendByte(SlaveAddress); 	
    I2C_SendByte(((REG_Address & 0x0700) >>7) | REG_Address & 0xFFFE);//ALTER
    if(!I2C_WaitAck()){I2C_Stop();test=1; return FALSE;}
    I2C_SendByte((u8) REG_Address);       
    I2C_WaitAck();
    I2C_Start();
    I2C_SendByte(SlaveAddress+1);
    I2C_WaitAck();

	REG_data= I2C_RadeByte();
    I2C_NoAck();
    I2C_Stop();
    //return TRUE;
	return REG_data;
}