stm32读取目标芯片_STM32通过IIC读取MPU6050陀螺仪芯片数据核心程序

以下是STM32通过IIC读取MPU6050陀螺仪芯片数据的核心程序：

#include "stm32f10x.h"
#include "i2c.h"

#define MPU6050_ADDRESS 0xD0

void I2C_Configuration(void)
{
    // 配置I2C时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    
    // 配置I2C引脚
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
    
    // 配置I2C
    I2C_InitTypeDef I2C_InitStructure;
    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0;
    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);
}

void MPU6050_Init(void)
{
    uint8_t data[2];
    
    // 配置MPU6050的采样率和低通滤波器
    data[0] = 0x19;
    data[1] = 0x07;
    I2C_WriteBytes(MPU6050_ADDRESS, data, 2);
    
    // 配置MPU6050的加速度传感器量程
    data[0] = 0x1C;
    data[1] = 0x10;
    I2C_WriteBytes(MPU6050_ADDRESS, data, 2);
    
    // 配置MPU6050的陀螺仪传感器量程
    data[0] = 0x1B;
    data[1] = 0x10;
    I2C_WriteBytes(MPU6050_ADDRESS, data, 2);
}

void MPU6050_ReadAccel(int16_t* accel)
{
    uint8_t buffer[6];
    I2C_ReadBytes(MPU6050_ADDRESS, 0x3B, buffer, 6);
    accel[0] = (int16_t)((buffer[0] << 8) | buffer[1]);
    accel[1] = (int16_t)((buffer[2] << 8) | buffer[3]);
    accel[2] = (int16_t)((buffer[4] << 8) | buffer[5]);
}

void MPU6050_ReadGyro(int16_t* gyro)
{
    uint8_t buffer[6];
    I2C_ReadBytes(MPU6050_ADDRESS, 0x43, buffer, 6);
    gyro[0] = (int16_t)((buffer[0] << 8) | buffer[1]);
    gyro[1] = (int16_t)((buffer[2] << 8) | buffer[3]);
    gyro[2] = (int16_t)((buffer[4] << 8) | buffer[5]);
}

int main(void)
{
    I2C_Configuration();
    MPU6050_Init();
    
    int16_t accel[3];
    int16_t gyro[3];
    
    while(1)
    {
        MPU6050_ReadAccel(accel);
        MPU6050_ReadGyro(gyro);
        // 处理数据...
    }
}

需要注意的是，此程序使用了一个名为“i2c.h”的库文件，其中包含了I2C读写函数。您需要先引入该库文件才能使用上述程序。