STM32标准库开发—硬件I2C读写MPU6050

硬件I2C配置结构

注意：本次以7位地址模式，一主多从模式对32单片机进行配置

硬件I2C初始化

时钟初始化

RCC_APB2PeriphClockCmd(RCC_APB1Periph_I2C2,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);

引脚初始化

GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.GPIO_Mode=GPIO_Mode_AF_OD;//复用开漏输出模式
GPIO_InitStruct.GPIO_Pin=GPIO_Pin_10|GPIO_Pin_11;
GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStruct);

I2C2配置寄存器初始化（设置stm32从机模式下7位响应地址，自身地址0x00）

I2C_InitTypeDef I2C_InitStruct;
I2C_InitStruct.I2C_Ack=I2C_Ack_Enable;
I2C_InitStruct.I2C_AcknowledgedAddress=I2C_AcknowledgedAddress_7bit;
I2C_InitStruct.I2C_ClockSpeed=50000;
I2C_InitStruct.I2C_DutyCycle=I2C_DutyCycle_2;
I2C_InitStruct.I2C_Mode=I2C_Mode_I2C;
I2C_InitStruct.I2C_OwnAddress1=0x00;
I2C_Init(I2C2,&I2C_InitStruct);
I2C_Cmd(I2C2,ENABLE);

注意：占空比在时钟频率小于100KHZ时配置无效，低于100KHZ占空比时间固定为一比一，为标准模式，且该比例是低电平时间比高电平时间

硬件I2C读写MPU6050

超时等待机制：

void MPU6050_WaitEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT)
{
	uint32_t Timeout;
	Timeout = 10000;
	while(I2C_CheckEvent(I2Cx,I2C_EVENT)!=SUCCESS)
	{
		Timeout --;
		if(Timeout==0)
		{
			return;
		}
	}

}

I2C写MPU6050

void HMPU6050_WriteReg(uint8_t RegAddress, uint8_t Data)
{
	
	I2C_GenerateSTART(I2C2,ENABLE);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT);
	
	I2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);
	
	I2C_SendData(I2C2,RegAddress);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTING);
	
	I2C_SendData(I2C2,Data);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED);
	
	I2C_GenerateSTOP(I2C2,ENABLE);
}

I2C读MPU6050

uint8_t HMPU6050_ReadReg(uint8_t RegAddress)
{
	uint8_t Data;

	I2C_GenerateSTART(I2C2,ENABLE);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT);
	
	I2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);
	
	I2C_GenerateSTART(I2C2,ENABLE);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT);
	
	I2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Receiver);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);
	
	I2C_AcknowledgeConfig(I2C2,DISABLE);
	I2C_GenerateSTOP(I2C2,ENABLE);
	
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED);
	Data = I2C_ReceiveData(I2C2);
	
	I2C_AcknowledgeConfig(I2C2,ENABLE);
	
	return Data;
}

注意：以上发送和接收均是一个字节的代码，多字节代码请自行修改