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I2C.I2CMDR2.REG = 0x0000; //idle disable
I2C.I2CMDR1.BITS.IRS = 0; //I2C disable
I2C.I2CPSC.REG = 0x0002;
I2C.I2CCLKL = 0x00001;
I2C.I2CCLKH = 0;
I2C.I2CCNT = 0;
I2C.I2COAR.BITS.OAR = 0x0058;
I2C.I2CSAR.BITS.SAR = 0x0058;
I2C.I2CMDR1.REG = 0x4000;
I2C.I2CIER.REG = 0x0018;
IRQ_plug(IRQ_SLOT_I2C,i2c_irq);
IRQ_clear(IRQ_FLAG_I2C);
IRQ_enable(IRQ_I2C);
I2C.I2CMDR1.BITS.IRS = 1;