I2C 接 MPU6050

#include "main.h"
#include "MPU6050.h"
#include "i2c.h"
#include "usart.h"



/*读指定寄存器*/
uint8_t MPU6050_ReadReg(uint8_t RegAddress )
{
    
    uint8_t data;
    HAL_I2C_Master_Transmit(&hi2c1,MPU6050_Address, &RegAddress, 1, 1000);
    HAL_I2C_Master_Receive(&hi2c1,MPU6050_Address,&data,1,1000);
    return data;

}

/*写指定寄存器*/
void MPU6050_WriteReg(uint8_t RegAddress,uint8_t Data)
{
    uint8_t transmitData[2] = {RegAddress,Data};
    HAL_I2C_Master_Transmit(&hi2c1,MPU6050_Address, transmitData, 2, 1000);
}


void MPU6050_Init(void )
{
  uint8_t getReadReg = 0x00;

  getReadReg = MPU6050_ReadReg(MPU6050_WHO_AM_I);
  HAL_UART_Transmit(&huart2,&getReadReg,1,1000);
    
    MPU6050_WriteReg(MPU6050_PWR_MGMT_1,0x01);
    MPU6050_WriteReg(MPU6050_PWR_MGMT_2,0x00);
    MPU6050_WriteReg(MPU6050_SMPLRT_DIV,0x09);
    MPU6050_WriteReg(MPU6050_CONFIG,0x06);
    MPU6050_WriteReg(MPU6050_GYRO_CONFIG,0x18);
    MPU6050_WriteReg(MPU6050_ACCEL_CONFIG,0x18);
}

void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ,
                     int16_t *GyroX,int16_t *GyroY,int16_t *GyroZ)
{
    uint16_t DataH,DataL;
    
    /*读取加速度*/
    DataH = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);
    DataL = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);
    *AccX = (DataH<<8) | DataL;
    
    DataH = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);
    DataL = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);
    *AccY = (DataH<<8) | DataL;
    
    DataH = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);
    DataL = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);
    *AccZ = (DataH<<8) | DataL;
    
    /*读取角速度*/
    DataH = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);
    DataL = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);
    *GyroX = (DataH<<8) | DataL;
    
    DataH = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);
    DataL = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);
    *GyroY = (DataH<<8) | DataL;
    
    DataH = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);
    DataL = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);
    *GyroZ = (DataH<<8) | DataL;
    

}