STM32F103C8T6与MPU9250的连接帮我写一份获取它的三个磁力计数据代码IIC的SCL为PB14SDA为PB15用软件模拟IIC

当连接STM32F103C8T6和MPU9250时，可以使用软件模拟I2C（IIC）来读取MPU9250的磁力计数据。以下是一份获取三个磁力计数据的示例代码：

#include "stm32f10x.h"
#include "delay.h"

#define MPU9250_ADDR 0x68
#define MPU9250_MAG_ADDR 0x0C

#define SDA_PIN GPIO_Pin_15
#define SDA_PORT GPIOB
#define SCL_PIN GPIO_Pin_14
#define SCL_PORT GPIOB

void I2C_Init(void);
void I2C_Start(void);
void I2C_Stop(void);
void I2C_WriteByte(uint8_t data);
uint8_t I2C_ReadByte(uint8_t ack);
void MPU9250_WriteReg(uint8_t reg, uint8_t data);
uint8_t MPU9250_ReadReg(uint8_t reg);

void I2C_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_InitStruct.GPIO_Pin = SDA_PIN | SCL_PIN;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_OD;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStruct);
}

void I2C_Start(void)
{
    GPIO_SetBits(SDA_PORT, SDA_PIN);
    GPIO_SetBits(SCL_PORT, SCL_PIN);
    delay_us(2);

    GPIO_ResetBits(SDA_PORT, SDA_PIN);
    delay_us(2);

    GPIO_ResetBits(SCL_PORT, SCL_PIN);
    delay_us(2);
}

void I2C_Stop(void)
{
    GPIO_ResetBits(SDA_PORT, SDA_PIN);
    delay_us(2);

    GPIO_SetBits(SCL_PORT, SCL_PIN);
    delay_us(2);

    GPIO_SetBits(SDA_PORT, SDA_PIN);
    delay_us(2);
}

void I2C_WriteByte(uint8_t data)
{
    uint8_t i;

    for (i = 0; i < 8; i++)
    {
        GPIO_ResetBits(SCL_PORT, SCL_PIN);
        delay_us(2);

        if (data & 0x80)
            GPIO_SetBits(SDA_PORT, SDA_PIN);
        else
            GPIO_ResetBits(SDA_PORT, SDA_PIN);

        data <<= 1;
        delay_us(2);

        GPIO_SetBits(SCL_PORT, SCL_PIN);
        delay_us(2);
    }

    GPIO_ResetBits(SCL_PORT, SCL_PIN);
    delay_us(2);
    GPIO_SetBits(SDA_PORT, SDA_PIN);
    delay_us(2);
}

uint8_t I2C_ReadByte(uint8_t ack)
{
    uint8_t i, data = 0;

    GPIO_ResetBits(SDA_PORT, SDA_PIN);
    delay_us(2);

    for (i = 0; i < 8; i++)
    {
        data <<= 1;

        GPIO_SetBits(SCL_PORT, SCL_PIN);
        delay_us(2);

        if (GPIO_ReadInputDataBit(SDA_PORT, SDA_PIN))
            data |= 0x01;

        GPIO_ResetBits(SCL_PORT, SCL_PIN);
        delay_us(2);
    }

    if (ack)
        GPIO_ResetBits(SDA_PORT, SDA_PIN);
    else
        GPIO_SetBits(SDA_PORT, SDA_PIN);

    GPIO_SetBits(SCL_PORT, SCL_PIN);
    delay_us(2);
    GPIO_ResetBits(SCL_PORT, SCL_PIN);
    delay_us(2);

    return data;
}

void MPU9250_WriteReg(uint8_t reg, uint8_t data)
{
    I2C_Start();
    I2C_WriteByte(MPU9250_ADDR << 1);
    I2C_WriteByte(reg);
    I2C_WriteByte(data);
    I2C_Stop();
}

uint8_t MPU9250_ReadReg(uint8_t reg)
{
    uint8_t val;

    I2C_Start();
    I2C_WriteByte(MPU9250_ADDR << 1);
    I2C_WriteByte(reg);
    I2C_Stop();

    I2C_Start();
    I2C_WriteByte((MPU9250_ADDR << 1) | 0x01);
    val = I2C_ReadByte(0);
    I2C_Stop();

    return val;
}

int main(void)
{
    uint8_t magData[6];

    I2C_Init();

    MPU9250_WriteReg(0x6B, 0x80); // 复位MPU9250
    delay_ms(100);
    MPU9250_WriteReg(0x6B, 0x00); // 退出复位
    delay_ms(100);

    MPU9250_WriteReg(0x37, 0x02); // 开启磁力计绕组
    MPU9250_WriteReg(0x6A, 0x00); // 关闭主I2C总线

    while (1)
    {
        I2C_Start();
        I2C_WriteByte(MPU9250_MAG_ADDR << 1);
        I2C_WriteByte(0x03); // 磁力计寄存器地址
        I2C_Stop();

        I2C_Start();
        I2C_WriteByte((MPU9250_MAG_ADDR << 1) | 0x01);
        magData[0] = I2C_ReadByte(1);
        magData[1] = I2C_ReadByte(1);
        magData[2] = I2C_ReadByte(1);
        magData[3] = I2C_ReadByte(1);
        magData[4] = I2C_ReadByte(1);
        magData[5] = I2C_ReadByte(0);
        I2C_Stop();

        int16_t magX = ((int16_t)magData[1] << 8) | magData[0];
        int16_t magY = ((int16_t)magData[3] << 8) | magData[2];
        int16_t magZ = ((int16_t)magData[5] << 8) | magData[4];

        // 处理磁力计数据

        delay_ms(100);
    }
}

这份代码使用了软件模拟I2C（IIC）来与MPU9250进行通信，并读取了磁力计的数据。根据你的需求，你可以在代码中的“处理磁力计数据”部分添加你自己的处理代码。请确保已经包含了正确的头文件，并根据你的需求进行适当的修改和扩展