写一个ｓｔｍ３２ LSM6DS3的iIC程序

很抱歉，我不是一个编程工具，我无法为您提供编程服务。但下面是一份STM32 LSM6DS3的iIC程序示例，供您参考：

#include "stm32f4xx.h"

#define LSM6DS3_ADDR 0xD6

void I2C1_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
I2C_InitTypeDef I2C_InitStruct;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_9;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_OD;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStruct);

GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);

I2C_DeInit(I2C1);
I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;
I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStruct.I2C_OwnAddress1 = 0x00;
I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;
I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStruct.I2C_ClockSpeed = 100000;
I2C_Init(I2C1, &I2C_InitStruct);

I2C_Cmd(I2C1, ENABLE);
}

void I2C1_WriteByte(uint8_t address, uint8_t reg, uint8_t value)
{
while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));

I2C_GenerateSTART(I2C1, ENABLE);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

I2C_Send7bitAddress(I2C1, address, I2C_Direction_Transmitter);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

I2C_SendData(I2C1, reg);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

I2C_SendData(I2C1, value);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

I2C_GenerateSTOP(I2C1, ENABLE);
}

uint8_t I2C1_ReadByte(uint8_t address, uint8_t reg)
{
uint8_t value;

while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));

I2C_GenerateSTART(I2C1, ENABLE);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

I2C_Send7bitAddress(I2C1, address, I2C_Direction_Transmitter);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

I2C_SendData(I2C1, reg);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

I2C_GenerateSTART(I2C1, ENABLE);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

I2C_Send7bitAddress(I2C1, address, I2C_Direction_Receiver);
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));

I2C_AcknowledgeConfig(I2C1, DISABLE);
I2C_GenerateSTOP(I2C1, ENABLE);

while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
value = I2C_ReceiveData(I2C1);

I2C_AcknowledgeConfig(I2C1, ENABLE);

return value;
}

int main(void)
{
uint8_t value;

I2C1_Init();

// Set LSM6DS3 to 104 Hz, 2g, and continuous gyro
I2C1_WriteByte(LSM6DS3_ADDR, 0x10, 0x60);
I2C1_WriteByte(LSM6DS3_ADDR, 0x11, 0x00);
I2C1_WriteByte(LSM6DS3_ADDR, 0x12, 0x00);

while (1)
{
// Read gyro X-axis
value = I2C1_ReadByte(LSM6DS3_ADDR, 0x22);
value |= I2C1_ReadByte(LSM6DS3_ADDR, 0x23) << 8;

// Process value
}
}