一、board.c中添加如下定义（根据自己板子实际情况选择io）：

/* I2C Board */
#define Board_I2C_SCL                       IOID_13          /* RF1.7  */
#define Board_I2C_SDA                       IOID_12          /* RF1.9  */

二、board.c中添加如下定义：

/*
* ============================= I2C Begin=====================================
*/
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(I2C_config, ".const:I2C_config")
#pragma DATA_SECTION(i2cCC26xxHWAttrs, ".const:i2cCC26xxHWAttrs")
#endif
/* Include drivers */
#include 
/* I2C objects */
I2CCC26XX_Object i2cCC26xxObjects[CC2650_I2CCOUNT];

/* I2C configuration structure, describing which pins are to be used */
const I2CCC26XX_HWAttrs i2cCC26xxHWAttrs[CC2650_I2CCOUNT] = {
{
.baseAddr = I2C0_BASE,
.intNum = INT_I2C,
.powerMngrId = PERIPH_I2C0,
.sdaPin = Board_I2C_SDA,
.sclPin = Board_I2C_SCL,
}
};
const I2C_Config I2C_config[] = {
{&I2CCC26XX_fxnTable, &i2cCC26xxObjects[0], &i2cCC26xxHWAttrs[0]},
{NULL, NULL, NULL}
};
/*
* ========================== I2C end =========================================
*/

三、keyfobdemo.c中添加如下内容：

1、

#include 

static I2C_Handle SbpI2cHandle;
static I2C_Params SbpI2cParams;

2、初始化函数中添加

//add by gyb i2c driver
 I2C_Params_init(&SbpI2cParams);
 SbpI2cHandle = I2C_open(CC2650_I2C0, &SbpI2cParams);

3、定义自己的读写函数（仅供参考）：

void writeRegister(uint8 addr, uint8 buf)
{
I2C_Transaction i2cTransaction;
uint8 txBuf[] = {addr, buf, 2, 3};
uint8 rxBuf[5];
i2cTransaction.writeBuf = txBuf;
i2cTransaction.writeCount = 2;
i2cTransaction.readBuf = rxBuf;
i2cTransaction.readCount = 0;
i2cTransaction.slaveAddress = LSM6DS3_SLAVE_ADDR; //arbitrary for demo
I2C_transfer(SbpI2cHandle, &i2cTransaction);
}
void readRegister(uint8 *buf, uint8 addr)
{
I2C_Transaction i2cTransaction;
  //uint8 txBuf[] = {addr, 0x00};
  uint8 txBuf[] = {addr};
  uint8 rxBuf[5];
  i2cTransaction.writeBuf = txBuf;
  i2cTransaction.writeCount = 1;
  i2cTransaction.readBuf = buf;
  i2cTransaction.readCount = 1;
  i2cTransaction.slaveAddress = LSM6DS3_SLAVE_ADDR; //slave addr
  I2C_transfer(SbpI2cHandle, &i2cTransaction);
}

四、添加  i2c.c  i2c.h文件到工程：

文件路径：C:\ti\tirtos_simplelink_2_13_00_06\packages\ti\drivers

ok，完成上述步骤，i2c应该可以工作了