stm32407通过IIC对MPU6050信号读取核心程序

好的，以下是STM32F407通过IIC对MPU6050信号读取的核心程序：

首先需要定义I2C的初始化函数，如下：

void I2C_GPIO_Config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;

  GPIO_Init(GPIOB, &GPIO_InitStructure);

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

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
}

void I2C_Config(void)
{
  I2C_InitTypeDef I2C_InitStructure;

  I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
  I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
  I2C_InitStructure.I2C_OwnAddress1 = 0x00;
  I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
  I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
  I2C_InitStructure.I2C_ClockSpeed = 400000;

  I2C_Init(I2C1, &I2C_InitStructure);
  I2C_Cmd(I2C1, ENABLE);
}

然后在主函数中调用这两个函数即可初始化I2C。

接下来是读取数据的函数：

uint8_t I2C_ReadOneByte(uint8_t I2C_Addr,uint8_t addr)
{
  uint8_t result=0;
  I2C_GenerateSTART(I2C1, ENABLE);
  while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
  I2C_Send7bitAddress(I2C1, I2C_Addr, I2C_Direction_Transmitter);
  while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
  I2C_SendData(I2C1, addr);
  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, I2C_Addr, I2C_Direction_Receiver);
  while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
  I2C_AcknowledgeConfig(I2C1, DISABLE);
  I2C_GenerateSTOP(I2C1, ENABLE);
  while(I2C_GetFlagStatus(I2C1, I2C_FLAG_RXNE) == RESET);
  result=I2C_ReceiveData(I2C1);
  return result;
}

int16_t I2C_ReadTwoByte(uint8_t I2C_Addr,uint8_t addr)
{
  uint8_t H_byte=0;
  uint8_t L_byte=0;
  int16_t result=0;
  H_byte=I2C_ReadOneByte(I2C_Addr,addr);
  L_byte=I2C_ReadOneByte(I2C_Addr,addr+1);
  result=((int16_t)H_byte<<8)|L_byte;
  return result;
}

其中`I2C_ReadOneByte()`函数是读取一个字节的数据，`I2C_ReadTwoByte()`函数是读取两个字节的数据。

最后，在主函数中调用这两个函数即可读取MPU6050陀螺仪芯片的数据。

希望这个程序对你有所帮助！