STM32F103C8T6与MPU9250连接SCL为PB14SDA为PB15INT为PB7请帮我写一份获取三个磁力计代码

以下是使用STM32F103C8T6与MPU9250连接并获取三个磁力计数据的代码示例：

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

#define MPU9250_ADDRESS 0xD0

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

    // Enable I2C clock and GPIO clock
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);

    // Configure I2C pins
    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);

    // Configure I2C
    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 = 100000;
    I2C_Init(I2C1, &I2C_InitStructure);

    // Enable I2C
    I2C_Cmd(I2C1, ENABLE);
}

void MPU9250_WriteByte(uint8_t reg, uint8_t data)
{
    // Wait for I2C1 bus to be idle
    while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));

    // Start the I2C1 transaction
    I2C_GenerateSTART(I2C1, ENABLE);

    // Wait for the start condition to be generated
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    // Send MPU9250 address for write
    I2C_Send7bitAddress(I2C1, MPU9250_ADDRESS, I2C_Direction_Transmitter);

    // Wait for address to be sent
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

    // Send register address
    I2C_SendData(I2C1, reg);

    // Wait for data to be sent
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    // Send data
    I2C_SendData(I2C1, data);

    // Wait for data to be sent
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    // Stop the I2C1 transaction
    I2C_GenerateSTOP(I2C1, ENABLE);
}

uint8_t MPU9250_ReadByte(uint8_t reg)
{
    uint8_t data;

    // Wait for I2C1 bus to be idle
    while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));

    // Start the I2C1 transaction
    I2C_GenerateSTART(I2C1, ENABLE);

    // Wait for the start condition to be generated
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    // Send MPU9250 address for write
    I2C_Send7bitAddress(I2C1, MPU9250_ADDRESS, I2C_Direction_Transmitter);

    // Wait for address to be sent
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

    // Send register address
    I2C_SendData(I2C1, reg);

    // Wait for data to be sent
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    // Generate repeated start condition
    I2C_GenerateSTART(I2C1, ENABLE);

    // Wait for the start condition to be generated
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    // Send MPU9250 address for read
    I2C_Send7bitAddress(I2C1, MPU9250_ADDRESS, I2C_Direction_Receiver);

    // Wait for address to be sent
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));

    // Disable ACK
    I2C_AcknowledgeConfig(I2C1, DISABLE);

    // Generate stop condition
    I2C_GenerateSTOP(I2C1, ENABLE);

    // Wait for data to be received
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));

    // Read data
    data = I2C_ReceiveData(I2C1);

    // Re-enable ACK
    I2C_AcknowledgeConfig(I2C1, ENABLE);

    return data;
}

void MPU9250_Init(void)
{
    // Configure I2C
    I2C_Configuration();

    // Configure MPU9250
    MPU9250_WriteByte(0x6B, 0x80); // Reset MPU9250
    Delay(100);
    MPU9250_WriteByte(0x6B, 0x00); // Power on MPU9250
    Delay(100);
    MPU9250_WriteByte(0x37, 0x02); // Enable bypass mode for magnetometer
    Delay(100);
    MPU9250_WriteByte(0x6A, 0x00); // Enable magnetometer
    Delay(100);
}

void MPU9250_GetMagnetometerData(int16_t *mx, int16_t *my, int16_t *mz)
{
    uint8_t rawData[6];

    // Read magnetometer data
    rawData[0] = MPU9250_ReadByte(0x03);
    rawData[1] = MPU9250_ReadByte(0x04);
    rawData[2] = MPU9250_ReadByte(0x05);
    rawData[3] = MPU9250_ReadByte(0x06);
    rawData[4] = MPU9250_ReadByte(0x07);
    rawData[5] = MPU9250_ReadByte(0x08);

    // Combine magnetometer data
    *mx = (int16_t)((rawData[1] << 8) | rawData[0]);
    *my = (int16_t)((rawData[3] << 8) | rawData[2]);
    *mz = (int16_t)((rawData[5] << 8) | rawData[4]);
}

int main(void)
{
    int16_t mx, my, mz;

    // Initialize MPU9250
    MPU9250_Init();

    while (1)
    {
        // Get magnetometer data
        MPU9250_GetMagnetometerData(&mx, &my, &mz);

        // Process magnetometer data

        // Delay for desired interval
        Delay(1000);
    }
}

请注意，以上示例代码中的Delay()函数需要根据您的实际情况进行实现，以便在获取磁力计数据之间提供适当的延迟