请你帮我写一份代码STM32F103C8T6通过IIC连接MPU9250获取它的三个磁力计参数

以下是使用STM32F103C8T6通过I2C连接MPU9250获取其三个磁力计参数的示例代码：

#include "stm32f10x.h"
#include "stdio.h"

#define MPU9250_ADDRESS 0x68
#define MAGNETOMETER_ADDRESS 0x0C

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

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    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);

    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0x30;
    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 I2C_StartTransmission(uint8_t transmissionDirection, uint8_t slaveAddress)
{
    while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY))
        ;

    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
        ;

    I2C_Send7bitAddress(I2C1, slaveAddress, transmissionDirection);
    if (transmissionDirection == I2C_Direction_Transmitter)
    {
        while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
            ;
    }
    else if (transmissionDirection == I2C_Direction_Receiver)
    {
        while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED))
            ;
    }
}

void I2C_WriteData(uint8_t data)
{
    I2C_SendData(I2C1, data);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
        ;
}

uint8_t I2C_ReadData(void)
{
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED))
        ;
    uint8_t data = I2C_ReceiveData(I2C1);
    return data;
}

void I2C_StopTransmission(void)
{
    I2C_GenerateSTOP(I2C1, ENABLE);
    while (I2C_GetFlagStatus(I2C1, I2C_FLAG_STOPF))
        ;
}

void MPU9250_Init(void)
{
    I2C_StartTransmission(I2C_Direction_Transmitter, MPU9250_ADDRESS);
    I2C_WriteData(0x6B); // PWR_MGMT_1 register
    I2C_WriteData(0x00); // Wake up MPU-9250
    I2C_StopTransmission();

    I2C_StartTransmission(I2C_Direction_Transmitter, MPU9250_ADDRESS);
    I2C_WriteData(0x37); // INT_PIN_CFG register
    I2C_WriteData(0x02); // Enable bypass mode for magnetometer
    I2C_StopTransmission();

    I2C_StartTransmission(I2C_Direction_Transmitter, MAGNETOMETER_ADDRESS);
    I2C_WriteData(0x0A); // CNTL register
    I2C_WriteData(0x16); // Continuous measurement mode 2 with 16-bit output
    I2C_StopTransmission();
}

void MPU9250_ReadMagnetometer(int16_t *mx, int16_t *my, int16_t *mz)
{
    I2C_StartTransmission(I2C_Direction_Transmitter, MAGNETOMETER_ADDRESS);
    I2C_WriteData(0x03); // XOUT_L register
    I2C_StopTransmission();

    I2C_StartTransmission(I2C_Direction_Receiver, MAGNETOMETER_ADDRESS);
    *mx = (I2C_ReadData() | (I2C_ReadData() << 8));
    *my = (I2C_ReadData() | (I2C_ReadData() << 8));
    *mz = (I2C_ReadData() | (I2C_ReadData() << 8));
    I2C_StopTransmission();
}

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

    I2C_Configuration();
    MPU9250_Init();

    while (1)
    {
        MPU9250_ReadMagnetometer(&mx, &my, &mz);
        printf("Magnetometer: X=%d, Y=%d, Z=%d\n", mx, my, mz);
    }
}

这段代码首先配置了STM32F103C8T6的I2C接口，然后初始化MPU9250，最后通过循环读取磁力计参数并打印出来。请注意，你需要根据你的硬件连接和引脚配置对代码进行适当的修改。