stm32mpu6050实现代码

下面是一份使用STM32与MPU6050进行通信的示例代码，仅供参考：

#include "stm32f10x.h"
#include "I2C.h"

#define MPU6050_ADDRESS     0xD0

#define MPU6050_SMPLRT_DIV  0x19
#define MPU6050_CONFIG      0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG    0x1C
#define MPU6050_WHO_AM_I    0x75
#define MPU6050_PWR_MGMT_1  0x6B
#define MPU6050_TEMP_OUT_H  0x41
#define MPU6050_TEMP_OUT_L  0x42
#define MPU6050_ACCEL_XOUT_H    0x3B
#define MPU6050_ACCEL_XOUT_L    0x3C
#define MPU6050_ACCEL_YOUT_H    0x3D
#define MPU6050_ACCEL_YOUT_L    0x3E
#define MPU6050_ACCEL_ZOUT_H    0x3F
#define MPU6050_ACCEL_ZOUT_L    0x40
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_XOUT_L 0x44
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_YOUT_L 0x46
#define MPU6050_GYRO_ZOUT_H 0x47
#define MPU6050_GYRO_ZOUT_L 0x48

#define MPU6050_SDA_GPIO    GPIOB
#define MPU6050_SDA_PIN     GPIO_Pin_7
#define MPU6050_SCL_GPIO    GPIOB
#define MPU6050_SCL_PIN     GPIO_Pin_6

void Delay(__IO uint32_t nCount);

int main(void)
{
    I2C_InitTypeDef  I2C_InitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;

    /* Configure I2C1 pins: SCL and SDA */
    GPIO_InitStructure.GPIO_Pin = MPU6050_SCL_PIN;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
    GPIO_Init(MPU6050_SCL_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = MPU6050_SDA_PIN;
    GPIO_Init(MPU6050_SDA_GPIO, &GPIO_InitStructure);

    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0xA0;
    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockSpeed = 100000;
    I2C_Init(I2C1, &I2C_InitStructure);

    I2C_Cmd(I2C1, ENABLE);

    while(1)
    {
        unsigned char WHO_AM_I;
        I2C_Read(MPU6050_ADDRESS, MPU6050_WHO_AM_I, &WHO_AM_I, 1);

        if(WHO_AM_I == 0x68)
        {
            // MPU6050 has been found
            break;
        }

        Delay(100);
    }

    // configure MPU6050
    I2C_Write(MPU6050_ADDRESS, MPU6050_PWR_MGMT_1, 0x00);
    I2C_Write(MPU6050_ADDRESS, MPU6050_SMPLRT_DIV, 0x07);
    I2C_Write(MPU6050_ADDRESS, MPU6050_CONFIG, 0x06);
    I2C_Write(MPU6050_ADDRESS, MPU6050_GYRO_CONFIG, 0x18);
    I2C_Write(MPU6050_ADDRESS, MPU6050_ACCEL_CONFIG, 0x01);

    while(1)
    {
        // read accelerometer data
        unsigned char buffer[6];
        I2C_Read(MPU6050_ADDRESS, MPU6050_ACCEL_XOUT_H, buffer, 6);

        short ax = (buffer[0] << 8) | buffer[1];
        short ay = (buffer[2] << 8) | buffer[3];
        short az = (buffer[4] << 8) | buffer[5];

        // read temperature data
        I2C_Read(MPU6050_ADDRESS, MPU6050_TEMP_OUT_H, buffer, 2);

        short temp = (buffer[0] << 8) | buffer[1];

        // read gyroscope data
        I2C_Read(MPU6050_ADDRESS, MPU6050_GYRO_XOUT_H, buffer, 6);

        short gx = (buffer[0] << 8) | buffer[1];
        short gy = (buffer[2] << 8) | buffer[3];
        short gz = (buffer[4] << 8) | buffer[5];

        // do something with the data

        Delay(50);
    }
}

void Delay(__IO uint32_t nCount)
{
    __IO uint32_t index = 0;
    for(index = (100000 * nCount); index != 0; index--)
    {
    }
}

在这个示例代码中，我们使用了一个简单的I2C库，其中包含了I2C的读写函数。如果你需要使用不同的I2C库，那么需要根据库文档来编写相应的函数。