motor_ctl-3/User/Inc/ICM20600_i2c.h

#include "stm32f1xx_hal.h"

//若定义这个宏，使用硬件iic，否则使用软件iic,
//#define HARD_IIC 

/*********************软件IIC使用的宏****************************/
#define Soft_I2C_SDA 		GPIO_PIN_7
#define Soft_I2C_SCL 		GPIO_PIN_6
#define Soft_I2C_PORT   GPIOB
//
#define Soft_I2C_SCL_0 		HAL_GPIO_WritePin(Soft_I2C_PORT, Soft_I2C_SCL, GPIO_PIN_RESET)
#define Soft_I2C_SCL_1 		HAL_GPIO_WritePin(Soft_I2C_PORT, Soft_I2C_SCL, GPIO_PIN_SET)
#define Soft_I2C_SDA_0 		HAL_GPIO_WritePin(Soft_I2C_PORT, Soft_I2C_SDA, GPIO_PIN_RESET)
#define Soft_I2C_SDA_1   	HAL_GPIO_WritePin(Soft_I2C_PORT, Soft_I2C_SDA, GPIO_PIN_SET)


/**************************I2C参数定义，I2C1或I2C2********************************/
#define             SENSORS_I2Cx                                I2C1  
#define             SENSORS_I2C_SCL_PORT                        GPIOB   
#define             SENSORS_I2C_SCL_PIN                         GPIO_Pin_6
#define             SENSORS_I2C_SDA_PORT                        GPIOB 
#define             SENSORS_I2C_SDA_PIN                         GPIO_Pin_7

/*等待超时时间*/
#define I2CT_FLAG_TIMEOUT         ((uint32_t)0x1000)
#define I2CT_LONG_TIMEOUT         ((uint32_t)(10 * I2CT_FLAG_TIMEOUT))


extern void I2C_Bus_Init(void);																			
extern void Set_I2C_Retry(unsigned short ml_sec);
extern unsigned short Get_I2C_Retry(void);
extern uint8_t Soft_DMP_I2C_Read(uint8_t soft_dev_addr, uint8_t soft_reg_addr, uint8_t soft_i2c_len,uint8_t *soft_i2c_data_buf);
extern void Sensors_I2C_ReadRegister(uint8_t Address, uint8_t RegisterAddr, 
                                          uint8_t RegisterLen, uint8_t *RegisterValue);
extern void Sensors_I2C_WriteRegister(uint8_t Address, uint8_t RegisterAddr, 
                                           uint8_t RegisterLen, uint8_t *RegisterValue);