配置I2C引脚，以PB6和PB7引脚作为I2C1的SCL和SDA线。配置I2C模式，设置I2C1为主模式，设置I2C传输速率为100Kbps。使能I2C1时钟。配置I2C时钟，使能I2C1时钟。对初始化I2C1接口。MPU6050的I2C地址为0x68。 初始化MPU6050，通过I2C发送初始化指令和参数，设置MPU6050的采样频率为1000Hz、陀螺仪的量程±250°/s，加速度计的量程为±2g。读取MPU6050的原始数据，只需发出读取指令就可以接收MPU6050传输回来的数据。写一段代码

以下是使用STM32CubeMX和HAL库初始化I2C1接口，并通过I2C1接口初始化MPU6050，读取原始数据的示例代码：

#include "main.h"
#include "stdio.h"

I2C_HandleTypeDef hi2c1;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);

#define MPU6050_ADDR (0x68 << 1)

uint8_t MPU6050_Init(void)
{
  uint8_t check;
  uint8_t Data;

  // 检查设备ID
  HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, 0x75, 1, &check, 1, 1000);
  if (check != 0x68) {
    printf("MPU6050 not found.");
    return 1;
  }

  // 设置采样率为1kHz
  Data = 0x07;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x19, 1, &Data, 1, 1000);

  // 设置陀螺仪量程为±250°/s
  Data = 0x00;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1B, 1, &Data, 1, 1000);

  // 设置加速度计量程为±2g
  Data = 0x00;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1C, 1, &Data, 1, 1000);

  // 使能低通滤波器
  Data = 0x06;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1A, 1, &Data, 1, 1000);

  // 使能数据输出
  Data = 0x00;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x6B, 1, &Data, 1, 1000);

  return 0;
}

void MPU6050_Read_RawData(int16_t *Accelerometer_RawData, int16_t *Gyroscope_RawData)
{
  uint8_t Data[14];
  HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, 0x3B, 1, Data, 14, 1000);

  Accelerometer_RawData[0] = (Data[0] << 8) | Data[1];
  Accelerometer_RawData[1] = (Data[2] << 8) | Data[3];
  Accelerometer_RawData[2] = (Data[4] << 8) | Data[5];

  Gyroscope_RawData[0] = (Data[8] << 8) | Data[9];
  Gyroscope_RawData[1] = (Data[10] << 8) | Data[11];
  Gyroscope_RawData[2] = (Data[12] << 8) | Data[13];
}

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_I2C1_Init();

  uint8_t MPU6050_Status = MPU6050_Init();
  if (MPU6050_Status != 0) {
    while (1);
  }

  int16_t Accelerometer_RawData[3];
  int16_t Gyroscope_RawData[3];

  while (1)
  {
    MPU6050_Read_RawData(Accelerometer_RawData, Gyroscope_RawData);
    printf("Accelerometer: %d %d %d\n", Accelerometer_RawData[0], Accelerometer_RawData[1], Accelerometer_RawData[2]);
    printf("Gyroscope: %d %d %d\n", Gyroscope_RawData[0], Gyroscope_RawData[1], Gyroscope_RawData[2]);
    HAL_Delay(1000);
  }
}

void MX_I2C1_Init(void)
{
  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 100000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
}

void Error_Handler(void)
{
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  __HAL_RCC_GPIOB_CLK_ENABLE();

  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);

  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF1_I2C1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}