MPU9250与STM32F103C8T6连接软件模拟IIC陀螺仪的配置配置代码

以下是一个简单的示例代码，用于配置MPU9250陀螺仪模块。该代码使用软件模拟I2C通信，并连接到STM32F103C8T6微控制器。

#include "stm32f10x.h"

#define MPU9250_ADDRESS 0xD0 // MPU9250的I2C地址

void I2C_Init(void);
void I2C_Start(void);
void I2C_Stop(void);
void I2C_WriteByte(uint8_t data);
uint8_t I2C_ReadByte(void);
void MPU9250_WriteRegister(uint8_t reg, uint8_t data);
uint8_t MPU9250_ReadRegister(uint8_t reg);

int main(void)
{
    I2C_Init();

    // 配置陀螺仪
    MPU9250_WriteRegister(0x6B, 0x00); // 电源管理器设置为正常工作模式
    MPU9250_WriteRegister(0x1B, 0x08); // 设置陀螺仪的量程范围为±500°/s

    while (1)
    {
        // 读取陀螺仪数据
        uint8_t x_high = MPU9250_ReadRegister(0x43);
        uint8_t x_low = MPU9250_ReadRegister(0x44);
        int16_t x = (x_high << 8) | x_low;

        uint8_t y_high = MPU9250_ReadRegister(0x45);
        uint8_t y_low = MPU9250_ReadRegister(0x46);
        int16_t y = (y_high << 8) | y_low;

        uint8_t z_high = MPU9250_ReadRegister(0x47);
        uint8_t z_low = MPU9250_ReadRegister(0x48);
        int16_t z = (z_high << 8) | z_low;

        // 处理陀螺仪数据
        // ...

        // 延时
        for (int i = 0; i < 1000000; i++);
    }
}

void I2C_Init(void)
{
    // 初始化GPIO
    GPIO_InitTypeDef GPIO_InitStruct;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_OD;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStruct);

    // 初始化I2C
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    I2C_InitTypeDef I2C_InitStruct;
    I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStruct.I2C_OwnAddress1 = 0x00;
    I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStruct.I2C_ClockSpeed = 100000;
    I2C_Cmd(I2C1, ENABLE);
    I2C_Init(I2C1, &I2C_InitStruct);
}

void I2C_Start(void)
{
    // 发送起始位
    I2C_GenerateSTART(I2C1, ENABLE);

    // 等待起始位发送完成
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
}

void I2C_Stop(void)
{
    // 发送停止位
    I2C_GenerateSTOP(I2C1, ENABLE);
}

void I2C_WriteByte(uint8_t data)
{
    // 发送数据
    I2C_SendData(I2C1, data);

    // 等待数据发送完成
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
}

uint8_t I2C_ReadByte(void)
{
    // 接收数据
    I2C_AcknowledgeConfig(I2C1, DISABLE);
    uint8_t data = I2C_ReceiveData(I2C1);

    // 等待数据接收完成
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));

    return data;
}

void MPU9250_WriteRegister(uint8_t reg, uint8_t data)
{
    I2C_Start();
    I2C_WriteByte(MPU9250_ADDRESS);
    I2C_WriteByte(reg);
    I2C_WriteByte(data);
    I2C_Stop();
}

uint8_t MPU9250_ReadRegister(uint8_t reg)
{
    I2C_Start();
    I2C_WriteByte(MPU9250_ADDRESS);
    I2C_WriteByte(reg);
    I2C_Start();
    I2C_WriteByte(MPU9250_ADDRESS | 0x01);
    uint8_t data = I2C_ReadByte();
    I2C_Stop();

    return data;
}

请注意，此代码只是一个示例，可能需要根据您的具体硬件和要求进行修改。