mpu6050 用stm32 iic 库函数

下面是一个简单的使用 STM32 的 I2C 库函数读取 MPU6050 加速度计和陀螺仪数据的示例代码：

#include "stm32f10x.h"
#include "stm32f10x_i2c.h"

#define MPU6050_ADDRESS     0xD0

void I2C_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    I2C_InitTypeDef I2C_InitStructure;

    /* I2C1 clock enable */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);

    /* GPIOB clock enable */
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    /* Configure I2C1 pins: SCL and SDA */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    /* I2C1 configuration */
    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);

    /* Enable I2C1 */
    I2C_Cmd(I2C1, ENABLE);
}

void MPU6050_Init(void)
{
    uint8_t data[2];

    /* Configure MPU6050 */
    data[0] = 0x6B; /* PWR_MGMT_1 register */
    data[1] = 0x00; /* Reset */
    I2C_Write(MPU6050_ADDRESS, data, 2);

    data[0] = 0x1A; /* CONFIG register */
    data[1] = 0x03; /* DLPF_CFG = 3 (Fs = 1 kHz) */
    I2C_Write(MPU6050_ADDRESS, data, 2);

    data[0] = 0x1B; /* GYRO_CONFIG register */
    data[1] = 0x08; /* FS_SEL = 1 (±500 °/s) */
    I2C_Write(MPU6050_ADDRESS, data, 2);

    data[0] = 0x1C; /* ACCEL_CONFIG register */
    data[1] = 0x08; /* AFS_SEL = 1 (±4 g) */
    I2C_Write(MPU6050_ADDRESS, data, 2);
}

void I2C_Write(uint8_t address, uint8_t *data, uint8_t length)
{
    /* While the bus is busy */
    while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));

    /* Generate the start condition */
    I2C_GenerateSTART(I2C1, ENABLE);

    /* Wait until the start condition is sent */
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    /* Send the slave address and enable writing */
    I2C_Send7bitAddress(I2C1, address, I2C_Direction_Transmitter);

    /* Wait until the address is sent */
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

    /* Send the data */
    while(length--)
    {
        I2C_SendData(I2C1, *data++);
        while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
    }

    /* Generate the stop condition */
    I2C_GenerateSTOP(I2C1, ENABLE);
}

void I2C_Read(uint8_t address, uint8_t *data, uint8_t length)
{
    /* While the bus is busy */
    while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));

    /* Generate the start condition */
    I2C_GenerateSTART(I2C1, ENABLE);

    /* Wait until the start condition is sent */
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    /* Send the slave address and enable reading */
    I2C_Send7bitAddress(I2C1, address, I2C_Direction_Receiver);

    /* Wait until the address is sent */
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));

    /* Receive the data */
    while(length--)
    {
        if(length == 0)
        {
            I2C_AcknowledgeConfig(I2C1, DISABLE);
            I2C_GenerateSTOP(I2C1, ENABLE);
        }
        while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
        *data++ = I2C_ReceiveData(I2C1);
    }

    I2C_AcknowledgeConfig(I2C1, ENABLE);
}

int main(void)
{
    uint8_t data[14];

    /* Configure I2C */
    I2C_Configuration();

    /* Initialize MPU6050 */
    MPU6050_Init();

    while(1)
    {
        /* Read accelerometer and gyroscope data */
        data[0] = 0x3B; /* ACCEL_XOUT_H register */
        I2C_Write(MPU6050_ADDRESS, data, 1);
        I2C_Read(MPU6050_ADDRESS, data, 14);

        /* Process accelerometer data */
        int16_t ax = (data[0] << 8) | data[1];
        int16_t ay = (data[2] << 8) | data[3];
        int16_t az = (data[4] << 8) | data[5];

        /* Process gyroscope data */
        int16_t gx = (data[8] << 8) | data[9];
        int16_t gy = (data[10] << 8) | data[11];
        int16_t gz = (data[12] << 8) | data[13];
    }
}

在上面的示例代码中，`I2C_Configuration()` 函数用于配置 I2C1 的 GPIO 和参数，`MPU6050_Init()` 函数用于配置 MPU6050 的寄存器，`I2C_Write()` 和 `I2C_Read()` 函数分别用于向 MPU6050 写入数据和读取数据。在主函数中，我们循环读取 MPU6050 的加速度计和陀螺仪数据，并对数据进行处理。