Interface MSP430 and MPU6050

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.

Link Download: Code MSP430 và 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  Address's
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;                     // Xoa co ngat USCI_B0 TX

	while (UCB0CTL1 & UCTXSTT);             // Cho den khi I2C STT duoc gui di
	UCB0CTL1 |= UCTXSTP;                    // Gui bit STOP
	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 */