TM4C123和MPU6050 I2C连接

Question

我一直在尝试通过MPU6050的TM4C123读取传感器数据，但是从mpu6050读取数据时遇到了问题。我只有Arduino Uno的经验，所以如果我的问题很傻，请多多包涵。我的代码出现问题，该代码永远在函数“ MPU6050Example”的第一个“ while（！g_bMPU6050Done）”循环中开始永久循环，而且即使根本没有连接I2C引脚，也会发生这种情况。

我试图在网上和论坛上浏览，但找不到任何能解决我问题的东西，有人可以帮忙吗？

我的代码如下。

#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <stdbool.h>
#include "sensorlib/i2cm_drv.h"
#include "sensorlib/hw_mpu6050.h"
#include "sensorlib/mpu6050.h"
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_types.h"
#include "inc/hw_i2c.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "driverlib/debug.h"
#include "driverlib/interrupt.h"
#include "driverlib/i2c.h"
#include "driverlib/i2c.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"

tI2CMInstance g_sI2CMSimpleInst;

void InitI2C0(void)
{
    //enable I2C module 0
    SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);

    //reset module
    SysCtlPeripheralReset(SYSCTL_PERIPH_I2C0);

    //enable GPIO peripheral that contains I2C 0
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

    // Configure the pin muxing for I2C0 functions on port B2 and B3.
    GPIOPinConfigure(GPIO_PB2_I2C0SCL);
    GPIOPinConfigure(GPIO_PB3_I2C0SDA);

    // Select the I2C function for these pins.
    GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
    GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);

    // Enable and initialize the I2C0 master module.  Use the system clock for
    // the I2C0 module.     // I2C data transfer rate set to 400kbps.
    I2CMasterInitExpClk(I2C0_BASE, SysCtlClockGet(), true);

    //clear I2C FIFOs
    HWREG(I2C0_BASE + I2C_O_FIFOCTL) = 80008000;        // Initialize the I2C master driver.
    I2CMInit(&g_sI2CMSimpleInst, I2C0_BASE, INT_I2C0, 0xff, 0xff, 120000000);
}

//
// A boolean that is set when a MPU6050 command has completed.
//

volatile bool g_bMPU6050Done;

//
// The function that is provided by this example as a callback when MPU6050
// transactions have completed.
//


void MPU6050Callback(void *pvCallbackData, uint_fast8_t ui8Status)
    {
//
// See if an error occurred.
//
        if(ui8Status != I2CM_STATUS_SUCCESS)
        {
//
// An error occurred, so handle it here if required.
//
        }
//
// Indicate that the MPU6050 transaction has completed.
//
        g_bMPU6050Done = true;
    }
//
// The MPU6050 example.
//

void MPU6050Example(void)
    {
        float fAccel[3], fGyro[3];
        tI2CMInstance sI2CInst;
        tMPU6050 sMPU6050;
//
// Initialize the MPU6050. This code assumes that the I2C master instance
// has already been initialized.
//
        g_bMPU6050Done = false;
        MPU6050Init(&sMPU6050, &sI2CInst, 0x68, MPU6050Callback, 0);
        while(!g_bMPU6050Done)
            {
            }
//
// Configure the MPU6050 for +/- 4 g accelerometer range.
//
        g_bMPU6050Done = false;
        MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_ACCEL_CONFIG,
                                ~MPU6050_ACCEL_CONFIG_AFS_SEL_M,
                                MPU6050_ACCEL_CONFIG_AFS_SEL_4G, MPU6050Callback,0);
        while(!g_bMPU6050Done)
            {
            }
//
// Loop forever reading data from the MPU6050. Typically, this process
// would be done in the background, but for the purposes of this example,
// it is shown in an infinite loop.
//
        while(1)
        {
//
// Request another reading from the MPU6050.
//
            g_bMPU6050Done = false;
            MPU6050DataRead(&sMPU6050, MPU6050Callback, 0);
            while(!g_bMPU6050Done)
            {
            }
            //
            // Get the new accelerometer and gyroscope readings.
            //
            MPU6050DataAccelGetFloat(&sMPU6050, &fAccel[0], &fAccel[1],
            &fAccel[2]);
            MPU6050DataGyroGetFloat(&sMPU6050, &fGyro[0], &fGyro[1], &fGyro[2]);
            //
            // Do something with the new accelerometer and gyroscope readings.
            //
        }
    }

int main()
{
    InitI2C0();
    MPU6050Example();
    return(0);
}

几个月以来，我一直试图解决这个问题。最后，我决定在这里提出这个问题。如果有人帮助我，我会很高兴。