{"id":75018,"date":"2026-02-11T08:11:39","date_gmt":"2026-02-11T00:11:39","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/75018.html"},"modified":"2026-02-11T08:11:39","modified_gmt":"2026-02-11T00:11:39","slug":"stm32-i2c%e9%80%9a%e4%bf%a1%e5%ae%9e%e6%88%98%ef%bc%9a%e4%bb%8e%e5%8d%8f%e8%ae%ae%e8%a7%a3%e6%9e%90%e5%88%b0%e9%a9%b1%e5%8a%a8%e5%bc%80%e5%8f%91","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/75018.html","title":{"rendered":"STM32 I2C\u901a\u4fe1\u5b9e\u6218\uff1a\u4ece\u534f\u8bae\u89e3\u6790\u5230\u9a71\u52a8\u5f00\u53d1"},"content":{"rendered":"<h3>1. I2C\u534f\u8bae\u57fa\u7840&#xff1a;\u4ece\u96f6\u7406\u89e3\u901a\u4fe1\u539f\u7406<\/h3>\n<p>I2C&#xff08;Inter-Integrated Circuit&#xff09;\u662f\u4e00\u79cd\u7b80\u5355\u5374\u5f3a\u5927\u7684\u4e32\u884c\u901a\u4fe1\u534f\u8bae&#xff0c;\u6211\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u7528\u5b83\u8fde\u63a5\u8fc7\u5404\u79cd\u4f20\u611f\u5668\u3001\u5b58\u50a8\u5668\u548c\u5916\u8bbe\u3002\u7b80\u5355\u6765\u8bf4&#xff0c;\u5b83\u5c31\u50cf\u662f\u5728\u8bbe\u5907\u4e4b\u95f4\u642d\u5efa\u4e86\u4e00\u6761&#034;\u7535\u8bdd\u7ebf&#034;&#xff0c;\u8ba9\u5b83\u4eec\u80fd\u591f\u4e92\u76f8\u901a\u8bdd\u3002<\/p>\n<p>\u6700\u8ba9\u6211\u559c\u6b22I2C\u7684\u4e00\u70b9\u662f\u5b83\u7684\u7b80\u6d01\u6027\u2014\u2014\u53ea\u9700\u8981\u4e24\u6839\u7ebf\u5c31\u80fd\u5b9e\u73b0\u8bbe\u5907\u95f4\u901a\u4fe1&#xff1a;<\/p>\n<ul>\n<li>SDA&#xff08;Serial Data&#xff09;&#xff1a;\u6570\u636e\u7ebf&#xff0c;\u8d1f\u8d23\u4f20\u8f93\u5b9e\u9645\u7684\u6570\u636e<\/li>\n<li>SCL&#xff08;Serial Clock&#xff09;&#xff1a;\u65f6\u949f\u7ebf&#xff0c;\u50cf\u6307\u6325\u5bb6\u4e00\u6837\u534f\u8c03\u6570\u636e\u4f20\u8f93\u7684\u8282\u594f<\/li>\n<\/ul>\n<p>\u5728\u5b9e\u9645\u5e03\u7ebf\u65f6&#xff0c;\u8fd9\u4e24\u6839\u7ebf\u90fd\u9700\u8981\u901a\u8fc7\u4e0a\u62c9\u7535\u963b\u8fde\u63a5\u5230\u7535\u6e90\u3002\u5f53\u6240\u6709\u8bbe\u5907\u90fd\u7a7a\u95f2\u65f6&#xff0c;\u5b83\u4eec\u4f1a\u8f93\u51fa\u9ad8\u963b\u6001&#xff0c;\u8fd9\u65f6\u5019\u4e0a\u62c9\u7535\u963b\u5c31\u628a\u603b\u7ebf\u62c9\u6210\u9ad8\u7535\u5e73\u3002\u4e00\u65e6\u67d0\u4e2a\u8bbe\u5907\u8981\u901a\u4fe1&#xff0c;\u5b83\u5c31\u4f1a\u628a\u603b\u7ebf\u62c9\u4f4e&#xff0c;\u5176\u4ed6\u8bbe\u5907\u5c31\u81ea\u52a8&#034;\u9000\u5c45\u4e8c\u7ebf&#034;\u3002<\/p>\n<p>I2C\u652f\u6301\u591a\u4e3b\u673a\u591a\u4ece\u673a\u7684\u67b6\u6784&#xff0c;\u8fd9\u5728\u5f88\u591a\u573a\u666f\u4e0b\u7279\u522b\u5b9e\u7528\u3002\u6bd4\u5982\u5728\u4e00\u4e2a\u667a\u80fd\u5bb6\u5c45\u7cfb\u7edf\u4e2d&#xff0c;\u591a\u4e2a\u4f20\u611f\u5668&#xff08;\u4ece\u673a&#xff09;\u53ef\u4ee5\u628a\u6570\u636e\u53d1\u9001\u7ed9\u4e3b\u63a7\u5236\u5668&#xff08;\u4e3b\u673a&#xff09;&#xff0c;\u751a\u81f3\u4e0d\u540c\u7684\u4e3b\u63a7\u5236\u5668\u4e4b\u95f4\u4e5f\u80fd\u4e92\u76f8\u901a\u4fe1\u3002<\/p>\n<p>\u8d77\u59cb\u548c\u505c\u6b62\u6761\u4ef6\u662fI2C\u534f\u8bae\u4e2d\u7684\u5173\u952e\u4fe1\u53f7&#xff1a;<\/p>\n<ul>\n<li>\u8d77\u59cb\u6761\u4ef6&#xff1a;SCL\u4e3a\u9ad8\u7535\u5e73\u65f6&#xff0c;SDA\u4ece\u9ad8\u53d8\u4f4e<\/li>\n<li>\u505c\u6b62\u6761\u4ef6&#xff1a;SCL\u4e3a\u9ad8\u7535\u5e73\u65f6&#xff0c;SDA\u4ece\u4f4e\u53d8\u9ad8<\/li>\n<\/ul>\n<p>\u8fd9\u4e24\u4e2a\u4fe1\u53f7\u90fd\u662f\u7531\u4e3b\u673a\u4ea7\u751f\u7684&#xff0c;\u5c31\u50cf\u6253\u7535\u8bdd\u65f6\u7684&#034;\u5582&#034;\u548c&#034;\u518d\u89c1&#034;\u3002<\/p>\n<p>\u6570\u636e\u4f20\u8f93\u65f6&#xff0c;\u6bcf\u4e2a\u5b57\u8282&#xff08;8\u4f4d&#xff09;\u540e\u9762\u90fd\u4f1a\u8ddf\u4e00\u4e2a\u5e94\u7b54\u4f4d\u3002\u4e3b\u673a\u6bcf\u53d1\u9001\u5b8c\u4e00\u4e2a\u5b57\u8282&#xff0c;\u5c31\u4f1a\u91ca\u653eSDA\u7ebf&#xff0c;\u7b49\u5f85\u4ece\u673a\u7ed9\u51fa\u5e94\u7b54\u4fe1\u53f7&#xff08;\u4f4e\u7535\u5e73\u8868\u793a\u5e94\u7b54&#xff0c;\u9ad8\u7535\u5e73\u8868\u793a\u975e\u5e94\u7b54&#xff09;\u3002\u8fd9\u4e2a\u673a\u5236\u786e\u4fdd\u4e86\u6570\u636e\u4f20\u8f93\u7684\u53ef\u9760\u6027&#xff0c;\u6211\u5728\u8c03\u8bd5\u65f6\u7ecf\u5e38\u901a\u8fc7\u68c0\u67e5\u5e94\u7b54\u4f4d\u6765\u5feb\u901f\u5b9a\u4f4d\u95ee\u9898\u3002<\/p>\n<h3>2. STM32\u7684I2C\u786c\u4ef6\u67b6\u6784\u6df1\u5ea6\u89e3\u6790<\/h3>\n<p>STM32\u7cfb\u5217\u5fae\u63a7\u5236\u5668\u5185\u7f6e\u4e86\u786c\u4ef6I2C\u5916\u8bbe&#xff0c;\u8fd9\u5927\u5927\u7b80\u5316\u4e86\u6211\u4eec\u7684\u5f00\u53d1\u5de5\u4f5c\u3002\u4ee5\u5e38\u89c1\u7684STM32F103\u7cfb\u5217\u4e3a\u4f8b&#xff0c;\u5b83\u901a\u5e38\u5305\u542b\u4e24\u4e2aI2C\u63a5\u53e3&#xff08;I2C1\u548cI2C2&#xff09;&#xff0c;\u6bcf\u4e2a\u63a5\u53e3\u90fd\u6709\u7279\u5b9a\u7684\u5f15\u811a\u6620\u5c04\u3002<\/p>\n<p>\u65f6\u949f\u63a7\u5236\u903b\u8f91\u662fI2C\u5916\u8bbe\u7684\u6838\u5fc3\u4e4b\u4e00\u3002\u5b83\u901a\u8fc7\u914d\u7f6e\u65f6\u949f\u63a7\u5236\u5bc4\u5b58\u5668&#xff08;CCR&#xff09;\u6765\u751f\u6210SCL\u65f6\u949f\u4fe1\u53f7\u3002STM32\u7684I2C\u652f\u6301\u6807\u51c6\u6a21\u5f0f&#xff08;100kHz&#xff09;\u548c\u5feb\u901f\u6a21\u5f0f&#xff08;400kHz&#xff09;&#xff0c;\u5728\u6700\u65b0\u7684\u7cfb\u5217\u4e2d\u8fd8\u652f\u6301\u9ad8\u901f\u6a21\u5f0f&#xff08;3.4MHz&#xff09;\u3002<\/p>\n<p>\u8ba1\u7b97\u65f6\u949f\u914d\u7f6e\u53c2\u6570\u65f6\u9700\u8981\u8003\u8651APB1\u603b\u7ebf\u7684\u65f6\u949f\u9891\u7387\u3002\u4e3e\u4e2a\u4f8b\u5b50&#xff0c;\u5982\u679cPCLK1\u662f36MHz&#xff0c;\u6211\u4eec\u60f3\u8981\u914d\u7f6e400kHz\u7684\u5feb\u901f\u6a21\u5f0f&#xff0c;\u8ba1\u7b97\u8fc7\u7a0b\u662f\u8fd9\u6837\u7684&#xff1a;<\/p>\n<ul>\n<li>\u76ee\u6807SCL\u5468\u671f&#xff1a;T_SCL &#061; 1\/400000 &#061; 2.5\u03bcs<\/li>\n<li>\u9ad8\u901f\u6a21\u5f0f\u4e0b\u7684\u9ad8\u7535\u5e73\u65f6\u95f4\u901a\u5e38\u5360\u5468\u671f\u76841\/3&#xff1a;T_HIGH &#061; 2.5\u03bcs \/ 3 \u2248 0.833\u03bcs<\/li>\n<li>CCR\u503c &#061; T_HIGH \/ T_PCLK1 &#061; 0.833\u03bcs \/ (1\/36MHz) \u2248 30<\/li>\n<\/ul>\n<p>\u6570\u636e\u63a7\u5236\u903b\u8f91\u8d1f\u8d23\u7ba1\u7406\u6570\u636e\u7684\u53d1\u9001\u548c\u63a5\u6536\u3002\u6570\u636e\u79fb\u4f4d\u5bc4\u5b58\u5668\u5c31\u50cf\u662f\u4e00\u4e2a\u4e2d\u8f6c\u7ad9&#xff0c;\u4ece\u6570\u636e\u5bc4\u5b58\u5668&#xff08;DR&#xff09;\u83b7\u53d6\u6570\u636e&#xff0c;\u7136\u540e\u4e00\u4f4d\u4e00\u4f4d\u5730\u901a\u8fc7SDA\u7ebf\u53d1\u9001\u51fa\u53bb\u3002\u63a5\u6536\u6570\u636e\u65f6\u8fc7\u7a0b\u6b63\u597d\u76f8\u53cd\u3002<\/p>\n<p>\u5728\u5b9e\u9645\u9879\u76ee\u4e2d&#xff0c;\u6211\u66f4\u559c\u6b22\u4f7f\u7528STM32\u7684\u786c\u4ef6I2C\u800c\u4e0d\u662f\u8f6f\u4ef6\u6a21\u62df&#xff0c;\u539f\u56e0\u5f88\u7b80\u5355&#xff1a;\u786c\u4ef6I2C\u80fd\u591f\u81ea\u52a8\u5904\u7406\u65f6\u5e8f\u3001\u5e94\u7b54\u3001\u65f6\u949f\u540c\u6b65\u7b49\u590d\u6742\u4efb\u52a1&#xff0c;\u5927\u5927\u51cf\u8f7b\u4e86CPU\u7684\u8d1f\u62c5\u3002\u7279\u522b\u662f\u5728\u9700\u8981\u9ad8\u901f\u4f20\u8f93\u6216\u8005CPU\u5fd9\u4e8e\u5176\u4ed6\u4efb\u52a1\u65f6&#xff0c;\u786c\u4ef6I2C\u7684\u4f18\u52bf\u66f4\u52a0\u660e\u663e\u3002<\/p>\n<p>STM32\u7684I2C\u5916\u8bbe\u8fd8\u652f\u6301DMA\u529f\u80fd&#xff0c;\u8fd9\u5bf9\u4e8e\u5927\u6570\u636e\u91cf\u4f20\u8f93\u7279\u522b\u6709\u7528\u3002\u6211\u66fe\u7ecf\u7528DMA\u914d\u5408I2C\u8fde\u7eed\u8bfb\u53d6MPU6050\u7684\u4f20\u611f\u5668\u6570\u636e&#xff0c;CPU\u5360\u7528\u7387\u51e0\u4e4e\u4e3a\u96f6&#xff0c;\u800c\u5982\u679c\u7528\u8f6f\u4ef6\u6a21\u62dfI2C&#xff0c;CPU\u6839\u672c\u5c31\u5fd9\u4e0d\u8fc7\u6765\u3002<\/p>\n<h3>3. \u786c\u4ef6\u7535\u8def\u8bbe\u8ba1\u4e0e\u5e03\u7ebf\u6280\u5de7<\/h3>\n<p>I2C\u7684\u786c\u4ef6\u8bbe\u8ba1\u770b\u4f3c\u7b80\u5355&#xff0c;\u4f46\u7ec6\u8282\u51b3\u5b9a\u6210\u8d25\u3002\u9996\u5148\u8bf4\u8bf4\u4e0a\u62c9\u7535\u963b\u7684\u9009\u62e9\u2014\u2014\u8fd9\u4e2a\u503c\u5f88\u91cd\u8981\u4f46\u53c8\u7ecf\u5e38\u88ab\u5ffd\u89c6\u3002\u4e0a\u62c9\u7535\u963b\u7684\u503c\u9700\u8981\u6839\u636e\u603b\u7ebf\u7535\u5bb9\u548c\u901a\u4fe1\u901f\u5ea6\u6765\u9009\u62e9&#xff1a;<\/p>\n<table>\n<tr>\u901a\u4fe1\u901f\u5ea6\u63a8\u8350\u4e0a\u62c9\u7535\u963b\u503c\u603b\u7ebf\u7535\u5bb9\u9650\u5236<\/tr>\n<tbody>\n<tr>\n<td>100kHz<\/td>\n<td>4.7k\u03a9 &#8211; 10k\u03a9<\/td>\n<td>\u2264400pF<\/td>\n<\/tr>\n<tr>\n<td>400kHz<\/td>\n<td>2.2k\u03a9 &#8211; 4.7k\u03a9<\/td>\n<td>\u2264200pF<\/td>\n<\/tr>\n<tr>\n<td>1MHz<\/td>\n<td>1k\u03a9 &#8211; 2.2k\u03a9<\/td>\n<td>\u2264100pF<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6211\u5728\u4e00\u4e2a\u9879\u76ee\u4e2d\u66fe\u7ecf\u56e0\u4e3a\u4e0a\u62c9\u7535\u963b\u9009\u62e9\u4e0d\u5f53\u800c\u5403\u4e86\u4e8f\u3002\u5f53\u65f6\u4e3a\u4e86\u7701\u4e8b\u7528\u4e8610k\u03a9\u7684\u7535\u963b&#xff0c;\u7ed3\u679c\u5728400kHz\u7684\u901f\u5ea6\u4e0b\u6ce2\u5f62\u53d8\u5f62\u4e25\u91cd&#xff0c;\u901a\u4fe1\u7ecf\u5e38\u5931\u8d25\u3002\u540e\u6765\u6362\u62102.2k\u03a9\u7684\u7535\u963b&#xff0c;\u95ee\u9898\u5c31\u89e3\u51b3\u4e86\u3002<\/p>\n<p>PCB\u5e03\u5c40\u4e5f\u5f88\u5173\u952e\u3002I2C\u7ebf\u8def\u5e94\u8be5\u5c3d\u91cf\u77ed&#xff0c;\u907f\u514d\u4e0e\u5176\u4ed6\u9ad8\u901f\u4fe1\u53f7\u7ebf\u5e73\u884c\u8d70\u7ebf&#xff0c;\u51cf\u5c11\u4ea4\u53c9\u5e72\u6270\u3002\u5982\u679c\u7ebf\u8def\u8f83\u957f&#xff08;\u8d85\u8fc710cm&#xff09;&#xff0c;\u53ef\u4ee5\u8003\u8651\u4f7f\u7528\u5c4f\u853d\u7ebf\u6216\u8005\u53cc\u7ede\u7ebf\u3002<\/p>\n<p>\u591a\u4e2a\u8bbe\u5907\u8fde\u63a5\u65f6&#xff0c;\u8981\u6ce8\u610f\u5730\u5740\u51b2\u7a81\u95ee\u9898\u3002\u6bcf\u4e2aI2C\u8bbe\u5907\u90fd\u6709\u552f\u4e00\u76847\u4f4d\u5730\u5740&#xff0c;\u4f46\u6709\u4e9b\u8bbe\u5907\u7684\u5730\u5740\u662f\u56fa\u5b9a\u7684&#xff0c;\u6709\u4e9b\u53ef\u4ee5\u901a\u8fc7\u786c\u4ef6\u5f15\u811a\u914d\u7f6e\u3002\u6bd4\u5982\u5e38\u89c1\u7684MPU6050\u4f20\u611f\u5668&#xff0c;\u5b83\u7684\u5730\u5740\u53ef\u4ee5\u901a\u8fc7AD0\u5f15\u811a\u6765\u8bbe\u7f6e&#xff1a;AD0\u63a5\u4f4e\u7535\u5e73\u65f6\u5730\u5740\u662f0x68&#xff0c;\u63a5\u9ad8\u7535\u5e73\u65f6\u662f0x69\u3002<\/p>\n<p>\u6211\u5728\u4e00\u4e2a\u673a\u5668\u4eba\u9879\u76ee\u4e2d\u9700\u8981\u8fde\u63a5\u4e24\u4e2aMPU6050&#xff0c;\u5c31\u662f\u901a\u8fc7\u914d\u7f6e\u4e0d\u540c\u7684AD0\u7535\u5e73\u6765\u89e3\u51b3\u5730\u5740\u51b2\u7a81\u7684\u3002\u5177\u4f53\u63a5\u7ebf\u662f\u8fd9\u6837\u7684&#xff1a;<\/p>\n<ul>\n<li>\u7b2c\u4e00\u4e2aMPU6050&#xff1a;AD0\u63a5\u5730&#xff0c;\u5730\u57400x68<\/li>\n<li>\u7b2c\u4e8c\u4e2aMPU6050&#xff1a;AD0\u63a53.3V&#xff0c;\u5730\u57400x69<\/li>\n<\/ul>\n<p>\u7535\u6e90\u53bb\u8026\u4e5f\u5f88\u91cd\u8981\u3002\u6bcf\u4e2aI2C\u8bbe\u5907\u90fd\u5e94\u8be5\u6709\u72ec\u7acb\u7684100nF\u53bb\u8026\u7535\u5bb9&#xff0c;\u5c3d\u91cf\u9760\u8fd1\u82af\u7247\u7684\u7535\u6e90\u5f15\u811a\u3002\u8fd9\u80fd\u6709\u6548\u6291\u5236\u7535\u6e90\u566a\u58f0&#xff0c;\u63d0\u9ad8\u901a\u4fe1\u7a33\u5b9a\u6027\u3002<\/p>\n<h3>4. \u8f6f\u4ef6\u9a71\u52a8\u5f00\u53d1&#xff1a;\u4ece\u521d\u59cb\u5316\u5230\u6570\u636e\u4f20\u8f93<\/h3>\n<p>STM32\u7684I2C\u9a71\u52a8\u5f00\u53d1\u53ef\u4ee5\u4f7f\u7528HAL\u5e93\u3001\u6807\u51c6\u5e93\u6216\u8005\u76f4\u63a5\u5bc4\u5b58\u5668\u64cd\u4f5c\u3002\u6211\u4e2a\u4eba\u63a8\u8350\u4f7f\u7528HAL\u5e93&#xff0c;\u56e0\u4e3a\u5b83\u5c01\u88c5\u5f97\u6bd4\u8f83\u597d&#xff0c;\u5f00\u53d1\u6548\u7387\u9ad8&#xff0c;\u800c\u4e14\u79fb\u690d\u6027\u4e5f\u4e0d\u9519\u3002<\/p>\n<p>\u521d\u59cb\u5316\u914d\u7f6e\u662f\u7b2c\u4e00\u6b65&#xff0c;\u6211\u4eec\u9700\u8981\u8bbe\u7f6e\u51e0\u4e2a\u5173\u952e\u53c2\u6570&#xff1a;<\/p>\n<p>I2C_HandleTypeDef hi2c1;<\/p>\n<p>void I2C1_Init(void)<br \/>\n{<br \/>\n    hi2c1.Instance &#061; I2C1;<br \/>\n    hi2c1.Init.ClockSpeed &#061; 400000;      \/\/ 400kHz<br \/>\n    hi2c1.Init.DutyCycle &#061; I2C_DUTYCYCLE_2; \/\/ \u6807\u51c6\u5360\u7a7a\u6bd4<br \/>\n    hi2c1.Init.OwnAddress1 &#061; 0;          \/\/ \u4e3b\u6a21\u5f0f\u4e0d\u9700\u8981\u5730\u5740<br \/>\n    hi2c1.Init.AddressingMode &#061; I2C_ADDRESSINGMODE_7BIT;<br \/>\n    hi2c1.Init.DualAddressMode &#061; I2C_DUALADDRESS_DISABLE;<br \/>\n    hi2c1.Init.OwnAddress2 &#061; 0;<br \/>\n    hi2c1.Init.GeneralCallMode &#061; I2C_GENERALCALL_DISABLE;<br \/>\n    hi2c1.Init.NoStretchMode &#061; I2C_NOSTRETCH_DISABLE;<\/p>\n<p>    HAL_I2C_Init(&amp;hi2c1);<br \/>\n}<\/p>\n<p>GPIO\u7684\u914d\u7f6e\u4e5f\u5f88\u91cd\u8981&#xff0c;I2C\u5f15\u811a\u5fc5\u987b\u8bbe\u7f6e\u4e3a\u5f00\u6f0f\u8f93\u51fa\u6a21\u5f0f&#xff1a;<\/p>\n<p>GPIO_InitTypeDef GPIO_InitStruct &#061; {0};<\/p>\n<p>__HAL_RCC_GPIOB_CLK_ENABLE();<br \/>\n__HAL_RCC_I2C1_CLK_ENABLE();<\/p>\n<p>\/\/ SCL\u5f15\u811a\u914d\u7f6e<br \/>\nGPIO_InitStruct.Pin &#061; GPIO_PIN_6;<br \/>\nGPIO_InitStruct.Mode &#061; GPIO_MODE_AF_OD;<br \/>\nGPIO_InitStruct.Pull &#061; GPIO_PULLUP;<br \/>\nGPIO_InitStruct.Speed &#061; GPIO_SPEED_FREQ_HIGH;<br \/>\nHAL_GPIO_Init(GPIOB, &amp;GPIO_InitStruct);<\/p>\n<p>\/\/ SDA\u5f15\u811a\u914d\u7f6e<br \/>\nGPIO_InitStruct.Pin &#061; GPIO_PIN_7;<br \/>\nHAL_GPIO_Init(GPIOB, &amp;GPIO_InitStruct);<\/p>\n<p>\u6570\u636e\u8bfb\u5199\u51fd\u6570\u662f\u9a71\u52a8\u6838\u5fc3\u3002HAL\u5e93\u63d0\u4f9b\u4e86\u51e0\u4e2a\u5c42\u6b21\u7684API&#xff1a;<\/p>\n<ul>\n<li>\u57fa\u7840\u51fd\u6570&#xff1a;HAL_I2C_Master_Transmit(), HAL_I2C_Master_Receive()<\/li>\n<li>\u5185\u5b58\u8bbf\u95ee\u51fd\u6570&#xff1a;HAL_I2C_Mem_Write(), HAL_I2C_Mem_Read()<\/li>\n<li>\u4e2d\u65ad\u548cDMA\u51fd\u6570&#xff1a;\u5e26_IT\u6216_DMA\u540e\u7f00\u7684\u7248\u672c<\/li>\n<\/ul>\n<p>\u5bf9\u4e8e\u5927\u591a\u6570\u5e94\u7528&#xff0c;\u6211\u63a8\u8350\u4f7f\u7528\u5185\u5b58\u8bbf\u95ee\u51fd\u6570&#xff0c;\u56e0\u4e3a\u5b83\u4eec\u5c01\u88c5\u4e86\u5bc4\u5b58\u5668\u5730\u5740\u64cd\u4f5c&#xff0c;\u4f7f\u7528\u8d77\u6765\u66f4\u7b80\u5355&#xff1a;<\/p>\n<p>\/\/ \u5411MPU6050\u76840x6B\u5bc4\u5b58\u5668\u5199\u51650x00&#xff08;\u5524\u9192\u8bbe\u5907&#xff09;<br \/>\nuint8_t data &#061; 0x00;<br \/>\nHAL_I2C_Mem_Write(&amp;hi2c1, 0xD0, 0x6B, I2C_MEMADD_SIZE_8BIT, &amp;data, 1, 100);<\/p>\n<p>\/\/ \u4eceMPU6050\u76840x3B\u5bc4\u5b58\u5668\u8bfb\u53d66\u5b57\u8282\u6570\u636e&#xff08;\u52a0\u901f\u5ea6\u8ba1\u6570\u636e&#xff09;<br \/>\nuint8_t buffer[6];<br \/>\nHAL_I2C_Mem_Read(&amp;hi2c1, 0xD1, 0x3B, I2C_MEMADD_SIZE_8BIT, buffer, 6, 100);<\/p>\n<p>\u6ce8\u610f\u8fd9\u91cc\u8bbe\u5907\u5730\u5740\u7684\u5199\u6cd5&#xff1a;\u5199\u64cd\u4f5c\u65f6\u5730\u5740\u662f0xD0&#xff08;0x68\u5de6\u79fb1\u4f4d&#xff09;&#xff0c;\u8bfb\u64cd\u4f5c\u65f6\u662f0xD1&#xff08;0x68\u5de6\u79fb1\u4f4d\u518d\u52a01&#xff09;\u3002<\/p>\n<h3>5. MPU6050\u4f20\u611f\u5668\u5b9e\u6218\u5e94\u7528<\/h3>\n<p>MPU6050\u662f\u6211\u6700\u5e38\u7528\u7684I2C\u8bbe\u5907\u4e4b\u4e00&#xff0c;\u5b83\u662f\u4e00\u4e2a\u96c6\u6210\u4e863\u8f74\u52a0\u901f\u5ea6\u8ba1\u548c3\u8f74\u9640\u87ba\u4eea\u7684IMU\u4f20\u611f\u5668\u3002\u5728\u5b9e\u9645\u9879\u76ee\u4e2d&#xff0c;\u6211\u603b\u7ed3\u51fa\u4e86\u4e00\u5957\u7a33\u5b9a\u7684\u9a71\u52a8\u65b9\u6cd5\u3002<\/p>\n<p>\u521d\u59cb\u5316\u5e8f\u5217\u5f88\u5173\u952e&#xff0c;MPU6050\u4e0a\u7535\u540e\u5904\u4e8e\u7761\u7720\u6a21\u5f0f&#xff0c;\u9700\u8981\u5148\u5524\u9192&#xff1a;<\/p>\n<p>void MPU6050_Init(void)<br \/>\n{<br \/>\n    \/\/ \u5524\u9192MPU6050<br \/>\n    uint8_t data &#061; 0x00;<br \/>\n    HAL_I2C_Mem_Write(&amp;hi2c1, 0xD0, 0x6B, I2C_MEMADD_SIZE_8BIT, &amp;data, 1, 100);<\/p>\n<p>    \/\/ \u8bbe\u7f6e\u9640\u87ba\u4eea\u91cf\u7a0b\u4e3a\u00b12000\u00b0\/s<br \/>\n    data &#061; 0x18;<br \/>\n    HAL_I2C_Mem_Write(&amp;hi2c1, 0xD0, 0x1B, I2C_MEMADD_SIZE_8BIT, &amp;data, 1, 100);<\/p>\n<p>    \/\/ \u8bbe\u7f6e\u52a0\u901f\u5ea6\u8ba1\u91cf\u7a0b\u4e3a\u00b18g<br \/>\n    data &#061; 0x10;<br \/>\n    HAL_I2C_Mem_Write(&amp;hi2c1, 0xD0, 0x1C, I2C_MEMADD_SIZE_8BIT, &amp;data, 1, 100);<\/p>\n<p>    \/\/ \u914d\u7f6e\u6570\u5b57\u4f4e\u901a\u6ee4\u6ce2\u5668<br \/>\n    data &#061; 0x03;<br \/>\n    HAL_I2C_Mem_Write(&amp;hi2c1, 0xD0, 0x1A, I2C_MEMADD_SIZE_8BIT, &amp;data, 1, 100);<br \/>\n}<\/p>\n<p>\u6570\u636e\u8bfb\u53d6\u9700\u8981\u5904\u7406\u539f\u59cb\u6570\u636e\u5e76\u8f6c\u6362\u4e3a\u5b9e\u9645\u7269\u7406\u91cf&#xff1a;<\/p>\n<p>typedef struct {<br \/>\n    int16_t Accel_X;<br \/>\n    int16_t Accel_Y;<br \/>\n    int16_t Accel_Z;<br \/>\n    int16_t Temp;<br \/>\n    int16_t Gyro_X;<br \/>\n    int16_t Gyro_Y;<br \/>\n    int16_t Gyro_Z;<br \/>\n} MPU6050_Data;<\/p>\n<p>void MPU6050_ReadData(MPU6050_Data* data)<br \/>\n{<br \/>\n    uint8_t buffer[14];<br \/>\n    HAL_I2C_Mem_Read(&amp;hi2c1, 0xD1, 0x3B, I2C_MEMADD_SIZE_8BIT, buffer, 14, 100);<\/p>\n<p>    \/\/ \u7ec4\u5408\u9ad8\u4f4e\u4f4d\u5b57\u8282<br \/>\n    data-&gt;Accel_X &#061; (buffer[0] &lt;&lt; 8) | buffer[1];<br \/>\n    data-&gt;Accel_Y &#061; (buffer[2] &lt;&lt; 8) | buffer[3];<br \/>\n    data-&gt;Accel_Z &#061; (buffer[4] &lt;&lt; 8) | buffer[5];<br \/>\n    data-&gt;Temp &#061; (buffer[6] &lt;&lt; 8) | buffer[7];<br \/>\n    data-&gt;Gyro_X &#061; (buffer[8] &lt;&lt; 8) | buffer[9];<br \/>\n    data-&gt;Gyro_Y &#061; (buffer[10] &lt;&lt; 8) | buffer[11];<br \/>\n    data-&gt;Gyro_Z &#061; (buffer[12] &lt;&lt; 8) | buffer[13];<br \/>\n}<\/p>\n<p>\u6570\u636e\u8f6c\u6362\u4e3a\u5b9e\u9645\u7269\u7406\u503c&#xff1a;<\/p>\n<p>void MPU6050_ConvertToRealValue(MPU6050_Data* raw, MPU6050_RealData* real)<br \/>\n{<br \/>\n    \/\/ \u52a0\u901f\u5ea6\u8f6c\u6362&#xff1a;\u00b18g\u91cf\u7a0b&#xff0c;\u7075\u654f\u5ea64096 LSB\/g<br \/>\n    real-&gt;Accel_X &#061; raw-&gt;Accel_X \/ 4096.0;<br \/>\n    real-&gt;Accel_Y &#061; raw-&gt;Accel_Y \/ 4096.0;<br \/>\n    real-&gt;Accel_Z &#061; raw-&gt;Accel_Z \/ 4096.0;<\/p>\n<p>    \/\/ \u6e29\u5ea6\u8f6c\u6362<br \/>\n    real-&gt;Temperature &#061; raw-&gt;Temp \/ 340.0 &#043; 36.53;<\/p>\n<p>    \/\/ \u9640\u87ba\u4eea\u8f6c\u6362&#xff1a;\u00b12000\u00b0\/s\u91cf\u7a0b&#xff0c;\u7075\u654f\u5ea616.4 LSB\/\u00b0\/s<br \/>\n    real-&gt;Gyro_X &#061; raw-&gt;Gyro_X \/ 16.4;<br \/>\n    real-&gt;Gyro_Y &#061; raw-&gt;Gyro_Y \/ 16.4;<br \/>\n    real-&gt;Gyro_Z &#061; raw-&gt;Gyro_Z \/ 16.4;<br \/>\n}<\/p>\n<p>\u5728\u5b9e\u9645\u5e94\u7528\u4e2d&#xff0c;\u6211\u8fd8\u4f1a\u6dfb\u52a0\u6570\u636e\u6ee4\u6ce2\u5904\u7406\u3002\u7b80\u5355\u7684\u79fb\u52a8\u5e73\u5747\u6ee4\u6ce2\u5c31\u80fd\u663e\u8457\u6539\u5584\u6570\u636e\u8d28\u91cf&#xff1a;<\/p>\n<p>#define FILTER_SIZE 10<\/p>\n<p>typedef struct {<br \/>\n    float buffer[FILTER_SIZE];<br \/>\n    uint8_t index;<br \/>\n    float sum;<br \/>\n} MovingAverageFilter;<\/p>\n<p>float UpdateFilter(MovingAverageFilter* filter, float newValue)<br \/>\n{<br \/>\n    filter-&gt;sum -&#061; filter-&gt;buffer[filter-&gt;index];<br \/>\n    filter-&gt;buffer[filter-&gt;index] &#061; newValue;<br \/>\n    filter-&gt;sum &#043;&#061; newValue;<br \/>\n    filter-&gt;index &#061; (filter-&gt;index &#043; 1) % FILTER_SIZE;<\/p>\n<p>    return filter-&gt;sum \/ FILTER_SIZE;<br \/>\n}<\/p>\n<h3>6. \u5e38\u89c1\u95ee\u9898\u6392\u67e5\u4e0e\u8c03\u8bd5\u6280\u5de7<\/h3>\n<p>I2C\u8c03\u8bd5\u662f\u6211\u9047\u5230\u8fc7\u6700\u591a\u6311\u6218\u7684\u90e8\u5206&#xff0c;\u7279\u522b\u662f\u5bf9\u4e8e\u521d\u5b66\u8005\u3002\u6839\u636e\u6211\u7684\u7ecf\u9a8c&#xff0c;\u5927\u90e8\u5206I2C\u95ee\u9898\u90fd\u53ef\u4ee5\u5f52\u4e3a\u4ee5\u4e0b\u51e0\u7c7b&#xff1a;<\/p>\n<p>\u901a\u4fe1\u5b8c\u5168\u5931\u8d25\u662f\u6700\u5e38\u89c1\u7684\u95ee\u9898\u3002\u9996\u5148\u68c0\u67e5\u786c\u4ef6\u8fde\u63a5&#xff1a;<\/p>\n<ul>\n<li>\u7535\u6e90\u7535\u538b\u662f\u5426\u6b63\u5e38<\/li>\n<li>SDA\u548cSCL\u7ebf\u662f\u5426\u63a5\u53cd<\/li>\n<li>\u4e0a\u62c9\u7535\u963b\u662f\u5426\u6b63\u786e\u8fde\u63a5<\/li>\n<li>\u8bbe\u5907\u5730\u5740\u662f\u5426\u6b63\u786e<\/li>\n<\/ul>\n<p>\u6211\u7528\u903b\u8f91\u5206\u6790\u4eea\u6293\u53d6\u7684\u7b2c\u4e00\u4e2aI2C\u6ce2\u5f62\u5c31\u53d1\u73b0\u4e86\u95ee\u9898\u2014\u2014SCL\u7ebf\u6839\u672c\u6ca1\u6709\u65f6\u949f\u4fe1\u53f7\u3002\u539f\u56e0\u662fGPIO\u6a21\u5f0f\u914d\u7f6e\u9519\u8bef&#xff0c;\u5e94\u8be5\u8bbe\u7f6e\u4e3a\u5f00\u6f0f\u8f93\u51fa&#xff0c;\u4f46\u6211\u8bef\u914d\u7f6e\u6210\u4e86\u63a8\u633d\u8f93\u51fa\u3002<\/p>\n<p>\u5076\u5c14\u901a\u4fe1\u5931\u8d25\u5f80\u5f80\u4e0e\u65f6\u5e8f\u95ee\u9898\u6709\u5173\u3002STM32\u7684I2C\u65f6\u5e8f\u53ef\u4ee5\u901a\u8fc7\u8c03\u6574\u65f6\u949f\u914d\u7f6e\u53c2\u6570\u6765\u4f18\u5316&#xff1a;<\/p>\n<p>\/\/ \u8c03\u6574\u65f6\u5e8f\u914d\u7f6e&#xff0c;\u89e3\u51b3\u67d0\u4e9b\u8bbe\u5907\u7684\u65f6\u5e8f\u517c\u5bb9\u6027\u95ee\u9898<br \/>\nhi2c1.Init.Timing &#061; 0x2000090E;  \/\/ \u81ea\u5b9a\u4e49\u65f6\u5e8f\u53c2\u6570<\/p>\n<p>\u5982\u679c\u4f7f\u7528\u903b\u8f91\u5206\u6790\u4eea&#xff0c;\u53ef\u4ee5\u68c0\u67e5\u8fd9\u4e9b\u5173\u952e\u53c2\u6570&#xff1a;<\/p>\n<ul>\n<li>\u8d77\u59cb\u6761\u4ef6\u5efa\u7acb\u65f6\u95f4<\/li>\n<li>\u6570\u636e\u4fdd\u6301\u65f6\u95f4<\/li>\n<li>\u65f6\u949f\u4f4e\u7535\u5e73\u65f6\u95f4<\/li>\n<li>\u65f6\u949f\u9ad8\u7535\u5e73\u65f6\u95f4<\/li>\n<\/ul>\n<p>\u4ece\u673a\u65e0\u5e94\u7b54\u662f\u53e6\u4e00\u4e2a\u5e38\u89c1\u95ee\u9898\u3002\u53ef\u80fd\u7684\u539f\u56e0\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u8bbe\u5907\u5730\u5740\u9519\u8bef<\/li>\n<li>\u8bbe\u5907\u672a\u6b63\u786e\u521d\u59cb\u5316<\/li>\n<li>\u8bbe\u5907\u7535\u6e90\u95ee\u9898<\/li>\n<li>\u603b\u7ebf\u51b2\u7a81<\/li>\n<\/ul>\n<p>\u6211\u5e38\u7528\u7684\u8c03\u8bd5\u65b9\u6cd5\u662f\u9010\u6b65\u6392\u67e5&#xff1a;<\/p>\n<li>\u5148\u7528\u4e07\u7528\u8868\u68c0\u67e5\u7535\u6e90\u548c\u5730\u7ebf<\/li>\n<li>\u68c0\u67e5I2C\u7ebf\u8def\u662f\u5426\u6709\u77ed\u8def\u6216\u65ad\u8def<\/li>\n<li>\u7528\u903b\u8f91\u5206\u6790\u4eea\u6293\u53d6\u6ce2\u5f62&#xff0c;\u5206\u6790\u65f6\u5e8f<\/li>\n<li>\u7b80\u5316\u4ee3\u7801&#xff0c;\u6700\u5c0f\u5316\u590d\u73b0\u95ee\u9898<\/li>\n<p>\u903b\u8f91\u5206\u6790\u4eea\u662fI2C\u8c03\u8bd5\u7684\u5229\u5668\u3002\u6211\u63a8\u8350\u4f7f\u7528Saleae\u903b\u8f91\u5206\u6790\u4eea\u6216\u8005\u4fbf\u5b9c\u7684\u56fd\u4ea7\u66ff\u4ee3\u54c1&#xff0c;\u914d\u5408PulseView\u8f6f\u4ef6\u53ef\u4ee5\u76f4\u89c2\u5730\u770b\u5230&#xff1a;<\/p>\n<ul>\n<li>\u8d77\u59cb\u548c\u505c\u6b62\u6761\u4ef6<\/li>\n<li>\u8bbe\u5907\u5730\u5740\u548c\u8bfb\u5199\u4f4d<\/li>\n<li>\u6bcf\u4e2a\u6570\u636e\u5b57\u8282\u548c\u5e94\u7b54\u4f4d<\/li>\n<li>\u65f6\u5e8f\u53c2\u6570\u6d4b\u91cf<\/li>\n<\/ul>\n<p>\u8f6f\u4ef6\u8c03\u8bd5\u6280\u5de7&#xff1a;<\/p>\n<p>\/\/ \u6dfb\u52a0\u8d85\u65f6\u548c\u91cd\u8bd5\u673a\u5236<br \/>\n#define I2C_RETRY_COUNT 3<br \/>\n#define I2C_TIMEOUT 100<\/p>\n<p>HAL_StatusTypeDef I2C_WriteWithRetry(I2C_HandleTypeDef* hi2c, uint16_t DevAddress, uint8_t* pData, uint16_t Size)<br \/>\n{<br \/>\n    HAL_StatusTypeDef status;<br \/>\n    uint8_t retry &#061; 0;<\/p>\n<p>    while (retry &lt; I2C_RETRY_COUNT) {<br \/>\n        status &#061; HAL_I2C_Master_Transmit(hi2c, DevAddress, pData, Size, I2C_TIMEOUT);<br \/>\n        if (status &#061;&#061; HAL_OK) {<br \/>\n            return HAL_OK;<br \/>\n        }<br \/>\n        retry&#043;&#043;;<br \/>\n        HAL_Delay(1);<br \/>\n    }<br \/>\n    return status;<br \/>\n}<\/p>\n<p>\u9519\u8bef\u5904\u7406\u4e5f\u5f88\u91cd\u8981\u3002STM32\u7684I2C\u5916\u8bbe\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u72b6\u6001\u6807\u5fd7\u4f4d&#xff0c;\u53ef\u4ee5\u5e2e\u52a9\u6211\u4eec\u5b9a\u4f4d\u95ee\u9898&#xff1a;<\/p>\n<p>void I2C_ErrorHandler(I2C_HandleTypeDef* hi2c)<br \/>\n{<br \/>\n    if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_AF)) {<br \/>\n        \/\/ \u5e94\u7b54\u5931\u8d25<br \/>\n        __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF);<br \/>\n    }<\/p>\n<p>    if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BERR)) {<br \/>\n        \/\/ \u603b\u7ebf\u9519\u8bef<br \/>\n        __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_BERR);<br \/>\n    }<\/p>\n<p>    if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_ARLO)) {<br \/>\n        \/\/ \u4ef2\u88c1\u4e22\u5931<br \/>\n        __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_ARLO);<br \/>\n    }<\/p>\n<p>    \/\/ \u91cd\u65b0\u521d\u59cb\u5316I2C<br \/>\n    HAL_I2C_DeInit(hi2c);<br \/>\n    HAL_I2C_Init(hi2c);<br \/>\n}<\/p>\n<p>\u5728\u5b9e\u9645\u9879\u76ee\u4e2d&#xff0c;\u6211\u8fd8\u53d1\u73b0\u7535\u6e90\u566a\u58f0\u4f1a\u5f71\u54cdI2\u901a\u4fe1\u7a33\u5b9a\u6027\u3002\u7279\u522b\u662f\u5728\u7535\u673a\u63a7\u5236\u6216\u8005\u7535\u6e90\u5f00\u5173\u573a\u5408&#xff0c;\u9700\u8981\u5728I2C\u7ebf\u8def\u4e0a\u6dfb\u52a0\u989d\u5916\u7684\u6ee4\u6ce2\u7535\u5bb9&#xff0c;\u6216\u8005\u5728\u8f6f\u4ef6\u4e0a\u589e\u52a0\u9519\u8bef\u6062\u590d\u673a\u5236\u3002<\/p>\n<p>\u6e29\u5ea6\u5f71\u54cd\u4e5f\u4e0d\u5bb9\u5ffd\u89c6\u3002\u6211\u66fe\u7ecf\u9047\u5230\u4e00\u4e2a\u9879\u76ee&#xff0c;\u8bbe\u5907\u5728\u5e38\u6e29\u4e0b\u5de5\u4f5c\u6b63\u5e38&#xff0c;\u4f46\u5728\u9ad8\u6e29\u73af\u5883\u4e0bI2C\u901a\u4fe1\u9891\u7e41\u5931\u8d25\u3002\u6700\u540e\u53d1\u73b0\u662f\u4e0a\u62c9\u7535\u963b\u503c\u4e0d\u5408\u9002&#xff0c;\u6e29\u5ea6\u5347\u9ad8\u540e\u7535\u963b\u503c\u53d8\u5316\u5bfc\u81f4\u65f6\u5e8f\u4e0d\u7b26\u5408\u8981\u6c42\u3002\u6539\u7528\u6e29\u5ea6\u7cfb\u6570\u66f4\u5c0f\u7684\u91d1\u5c5e\u819c\u7535\u963b\u540e\u95ee\u9898\u5f97\u5230\u89e3\u51b3\u3002<\/p>\n<p>\u957f\u671f\u8fd0\u884c\u7684\u9879\u76ee\u8fd8\u9700\u8981\u8003\u8651\u8fde\u63a5\u53ef\u9760\u6027\u3002\u6211\u9047\u5230\u8fc7\u56e0\u4e3a\u8fde\u63a5\u5668\u6c27\u5316\u5bfc\u81f4\u7684\u95f4\u6b47\u6027\u901a\u4fe1\u6545\u969c&#xff0c;\u8fd9\u79cd\u95ee\u9898\u5f88\u96be\u6392\u67e5&#xff0c;\u540e\u6765\u6539\u7528\u9540\u91d1\u8fde\u63a5\u5668\u5e76\u5b9a\u671f\u68c0\u67e5\u8fde\u63a5\u72b6\u6001&#xff0c;\u95ee\u9898\u5c31\u4e0d\u518d\u51fa\u73b0\u4e86\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. 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