{"id":94936,"date":"2026-08-15T18:49:14","date_gmt":"2026-08-15T10:49:14","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/94936.html"},"modified":"2026-08-15T18:49:14","modified_gmt":"2026-08-15T10:49:14","slug":"stm32-i2c%e9%80%9a%e4%bf%a1%e5%8d%8f%e8%ae%ae%e3%80%81%e8%bd%af%e4%bb%b6i2c","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/94936.html","title":{"rendered":"stm32-I2C\u901a\u4fe1\u534f\u8bae\u3001\u8f6f\u4ef6I2C"},"content":{"rendered":"

I2C<\/h4>\n

\u901a\u4fe1\u7b80\u4ecb<\/h5>\n

\"\"<\/p>\n

\u786c\u4ef6\u7535\u8def<\/h5>\n

\"\"<\/p>\n

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\u8f6f\u4ef6\u65f6\u5e8f<\/h4>\n

\u57fa\u672c\u5355\u5143<\/h5>\n

\"\"<\/p>\n

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\"\"<\/p>\n

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\"\"<\/p>\n

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\"\"<\/p>\n

\u53d1\u9001\u5e94\u7b54<\/span><\/p>\n

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\u63a5\u6536\u5e94\u7b54<\/span><\/p>\n

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\u6307\u5b9a\u5730\u5740\u5199<\/h5>\n

\"\"<\/p>\n

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\u5f53\u524d\u5730\u5740\u8bfb<\/h5>\n

\"\"<\/p>\n

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\"\"<\/p>\n

\u8d77\u59cb\u6761\u4ef6\u4e4b\u540e\u4e3b\u673a\u53d1\u9001\u4ece\u673a\u5730\u5740+\u5199，\u7b2c\u4e8c\u4e2a\u5b57\u8282\u4e3b\u673a\u6307\u5b9a\u5bc4\u5b58\u5668\u5730\u5740，\u4ece\u673a\u7684\u5bc4\u5b58\u5668\u6307\u9488\u5c31\u6307\u5411\u6307\u5b9a\u7684\u5730\u5740\u4e86，\u4ece\u673a\u5e94\u7b54\u4e4b\u540e\u4e3b\u673a\u518d\u6b21\u53d1\u9001\u8d77\u59cb\u6761\u4ef6，\u7136\u540e\u53d1\u9001\u4ece\u673a\u5730\u5740+\u8bfb，\u4ece\u673a\u5c31\u4f1a\u53d1\u9001\u8fd9\u4e2a\u5bc4\u5b58\u5668\u5730\u5740\u4e0b\u7684\u5185\u5bb9\u4e86\u3002<\/p>\n

\u8f6f\u4ef6I2C\u8bfb\u5199MPU6050<\/h4>\n

I2C.c\u6587\u4ef6<\/h5>\n

#include "stm32f10x.h" \/\/ Device header
\n\/\/\u4f7f\u7528\u8f6f\u4ef6I2C，\u5c31\u4e0d\u4f7f\u7528\u5e93\u51fd\u6570\u4e86，\u5728\u51fd\u6570\u91cc\u624b\u52a8\u6539\u53d8\u7535\u5e73\u6a21\u62df\u65f6\u5e8f
\n\/\/\u521d\u59cb\u5316\u51fd\u6570\u91cc\u521d\u59cb\u5316GPIO\u53e3\u4e3a\u5f00\u6f0f\u8f93\u51fa\u6a21\u5f0f，\u5e76\u5c06SCL,SDA\u7f6e\u9ad8\u7535\u5e73
\nvoid IIC_init(void)
\n{
\nRCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
\nGPIO_InitTypeDef GPIO_InitSturcture;
\nGPIO_InitSturcture.GPIO_Mode=GPIO_Mode_Out_OD;\/\/\u867d\u7136\u53eb\u5f00\u6f0f\u8f93\u51fa，\u4f46\u662f\u4e5f\u53ef\u4ee5\u8f93\u5165
\nGPIO_InitSturcture.GPIO_Pin=GPIO_Pin_10|GPIO_Pin_11;
\nGPIO_InitSturcture.GPIO_Speed=GPIO_Speed_50MHz;
\nGPIO_Init(GPIOB,&GPIO_InitSturcture);
\nGPIO_SetBits(GPIOB,GPIO_Pin_10|GPIO_Pin_11);
\n}<\/p>\n

\/\/\u63a5\u4e0b\u6765\u5199\u516d\u4e2a\u65f6\u5e8f\u57fa\u672c\u5355\u5143\u7684\u51fd\u6570
\nvoid IIC_W_SCL(uint8_t bitvalue)\/\/\u8bfbSCL，\u5148\u628a\u6539\u53d8\u7535\u5e73\u7684\u51fd\u6570\u53d8\u4e00\u4e0b，\u8bed\u4e49\u66f4\u6e05\u695a，\u66f4\u65b9\u4fbf
\n{
\nGPIO_WriteBit(GPIOB,GPIO_Pin_10,(BitAction)bitvalue);\/\/W\u5c31\u662f\u5199，\u8c03\u7528\u51fd\u6570\u518d\u7ed9\u9ad8\u4f4e\u7535\u5e73\u5373\u53ef
\n}<\/p>\n

void IIC_W_SDA(uint8_t bitvalue)\/\/\u5199SDA
\n{
\nGPIO_WriteBit(GPIOB,GPIO_Pin_11,(BitAction)bitvalue);
\n}<\/p>\n

uint8_t IIC_R_SDA(void)\/\/\u8bfbSDA
\n{
\nuint8_t bitvalue;
\nbitvalue=GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_11);
\nreturn bitvalue;
\n}<\/p>\n

\/\/\u8d77\u59cb\u6761\u4ef6
\nvoid IIC_START(void)
\n{
\nIIC_W_SDA(1);\/\/\u5148\u62c9\u9ad8SDA，\u4e3a\u4e86\u517c\u5bb9\u91cd\u590d\u8d77\u59cb\u6761\u4ef6
\nIIC_W_SCL(1);\/\/\u628a\u4e24\u4e2a\u90fd\u62c9\u9ad8，\u786e\u4fdd\u662f\u7a7a\u95f2\u72b6\u6001
\nIIC_W_SDA(0);
\nIIC_W_SCL(0);
\n}<\/p>\n

\/\/\u7ec8\u6b62\u6761\u4ef6
\nvoid IIC_STOP(void)
\n{
\nIIC_W_SDA(0);
\nIIC_W_SCL(1);\/\/\u4e0d\u7528\u62c9\u4f4eSCL，\u662f\u56e0\u4e3a\u6bcf\u6b21\u5e94\u7b54\u4e4b\u540eSCL\u9ed8\u8ba4\u662f\u4f4e\u7535\u5e73
\nIIC_W_SDA(1);<\/p>\n

}<\/p>\n

\/\/\u53d1\u9001\u4e00\u4e2a\u5b57\u8282
\nvoid IIC_send(uint8_t byte)
\n{
\nuint8_t i;
\nfor(i=0;i<8;i++)
\n{
\nIIC_W_SDA(byte&(0x80>>i));\/\/\u5904\u7406\u7ec8\u6b62\u6761\u4ef6\u5916，\u6240\u6709\u5355\u5143\u5f00\u59cb\u65f6SCL\u90fd\u662f\u4f4e\u7535\u5e73,\u5faa\u73af8\u6b21\u53d6\u51fa\u6bcf\u4e00\u4f4d
\nIIC_W_SCL(1);\/\/\u53d1\u9001
\nIIC_W_SCL(0);\/\/\u62c9\u4f4e\u4e3a\u4e0b\u4e00\u6b21\u505a\u51c6\u5907
\n}
\n}<\/p>\n

\/\/\u63a5\u6536\u4e00\u4e2a\u5b57\u8282
\nuint8_t IIC_receive(void)
\n{
\nuint8_t i,byte=0x00;
\nIIC_W_SDA(1);\/\/\u91ca\u653eSDA
\nfor(i=0;i<8;i++)
\n{
\nIIC_W_SCL(1);\/\/\u63a5\u6536\u6570\u636e\u4f4d
\nif(IIC_R_SDA()==1)
\n{
\nbyte|=(0x80>>i);\/\/\u5982\u679c\u63a5\u6536\u52301，\u5c31\u901a\u8fc7\u4e0e\u5728byte\u5bf9\u5e94\u4f4d\u7f6e\u51991，\u5982\u679c\u662f0\u5c31\u4e0d\u53d8，\u56e0\u4e3abyte\u9ed8\u8ba4\u662f0x00，\u5c31\u76f8\u5f53\u4e8e\u51990
\n}
\nIIC_W_SCL(0);
\n}
\nreturn byte;
\n}<\/p>\n

\/\/\u53d1\u9001\u5e94\u7b54
\nvoid IIC_sengACK(uint8_t bit)
\n{
\nIIC_W_SDA(bit);
\nIIC_W_SCL(1);
\nIIC_W_SCL(0);
\n}<\/p>\n

\/\/\u63a5\u6536\u5e94\u7b54
\nuint8_t IIC_receACK(void)
\n{
\nuint8_t ACK;
\nIIC_W_SDA(1);\/\/\u91ca\u653eSDA
\nIIC_W_SCL(1);\/\/\u63a5\u6536\u5e94\u7b54
\nACK=IIC_R_SDA();
\nIIC_W_SCL(0);
\nreturn ACK;
\n}<\/p>\n

MPU6050.c\u6587\u4ef6<\/h5>\n

#include "stm32f10x.h" \/\/ Device header
\n#include "IIC.h"
\n#include "MPU6050_REG.h"
\n\/\/\u6307\u5b9a\u5730\u5740\u5199\u65f6\u5e8f
\nvoid mpu6050_write(uint8_t regaddress,uint8_t data)
\n{
\nIIC_START();
\nIIC_send(0XD0);\/\/MPU6050\u7684\u5730\u5740+\u5199 1101 000 0
\nIIC_receACK();
\nIIC_send(regaddress);\/\/\u5bc4\u5b58\u5668\u5730\u5740
\nIIC_receACK();
\nIIC_send(data);\/\/\u5199\u5165\u6570\u636e
\nIIC_receACK();
\nIIC_STOP();
\n}<\/p>\n

\/\/\u6307\u5b9a\u5730\u5740\u8bfb
\nuint8_t mpu6050_read(uint8_t regaddress)
\n{
\nuint8_t byte;
\nIIC_START();
\nIIC_send(0XD0);\/\/MPU6050\u7684\u5730\u5740+\u5199 1101 000 0
\nIIC_receACK();
\nIIC_send(regaddress);\/\/\u5bc4\u5b58\u5668\u5730\u5740
\nIIC_receACK();
\nIIC_START();\/\/\u91cd\u590d\u8d77\u59cb\u6761\u4ef6
\nIIC_send(0XD1);\/\/MPU6050\u7684\u5730\u5740+\u8bfb 1101 000 1
\nIIC_receACK();
\nbyte=IIC_receive();
\nIIC_sengACK(1);
\nIIC_STOP();
\nreturn byte;
\n}<\/p>\n

void mpu6050_init(void)\/\/\u914d\u7f6empu6050\u7684\u5bc4\u5b58\u5668
\n{
\nIIC_init();
\nmpu6050_write(MPU6050_PWR_MGMT_1, 0x01);
\nmpu6050_write(MPU6050_PWR_MGMT_2, 0x00);
\nmpu6050_write(MPU6050_SMPLRT_DIV, 0x09);
\nmpu6050_write(MPU6050_CONFIG, 0x06);
\nmpu6050_write(MPU6050_GYRO_CONFIG, 0x18);
\nmpu6050_write(MPU6050_ACCEL_CONFIG, 0x18);
\n}<\/p>\n

uint8_t MPU6050_GetID(void)
\n{
\nreturn mpu6050_read(MPU6050_WHO_AM_I);
\n}<\/p>\n

void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ,
\nint16_t *GyroX, int16_t *GyroY, int16_t *GyroZ)\/\/\u5bc4\u5b58\u5668\u4e2d\u7684\u503c\u4e3a16\u4f4d
\n{
\nuint8_t DataH, DataL;<\/p>\n

DataH = mpu6050_read(MPU6050_ACCEL_XOUT_H);\/\/\u83b7\u53d6\u9ad8\u516b\u4f4d
\nDataL = mpu6050_read(MPU6050_ACCEL_XOUT_L);\/\/\u83b7\u53d6\u4f4e\u516b\u4f4d
\n*AccX = (DataH << 8) | DataL;<\/p>\n

DataH = mpu6050_read(MPU6050_ACCEL_YOUT_H);
\nDataL = mpu6050_read(MPU6050_ACCEL_YOUT_L);
\n*AccY = (DataH << 8) | DataL;<\/p>\n

DataH = mpu6050_read(MPU6050_ACCEL_ZOUT_H);
\nDataL = mpu6050_read(MPU6050_ACCEL_ZOUT_L);
\n*AccZ = (DataH << 8) | DataL;<\/p>\n

DataH = mpu6050_read(MPU6050_GYRO_XOUT_H);
\nDataL = mpu6050_read(MPU6050_GYRO_XOUT_L);
\n*GyroX = (DataH << 8) | DataL;<\/p>\n

DataH = mpu6050_read(MPU6050_GYRO_YOUT_H);
\nDataL = mpu6050_read(MPU6050_GYRO_YOUT_L);
\n*GyroY = (DataH << 8) | DataL;<\/p>\n

DataH = mpu6050_read(MPU6050_GYRO_ZOUT_H);
\nDataL = mpu6050_read(MPU6050_GYRO_ZOUT_L);
\n*GyroZ = (DataH << 8) | DataL;
\n}<\/p>\n

MPU6050\u5bc4\u5b58\u5668.h\u6587\u4ef6<\/h5>\n

#ifndef __MPU6050_REG_H
\n#define __MPU6050_REG_H<\/p>\n

#defineMPU6050_SMPLRT_DIV0x19
\n#defineMPU6050_CONFIG0x1A
\n#defineMPU6050_GYRO_CONFIG0x1B
\n#defineMPU6050_ACCEL_CONFIG0x1C<\/p>\n

#defineMPU6050_ACCEL_XOUT_H0x3B
\n#defineMPU6050_ACCEL_XOUT_L0x3C
\n#defineMPU6050_ACCEL_YOUT_H0x3D
\n#defineMPU6050_ACCEL_YOUT_L0x3E
\n#defineMPU6050_ACCEL_ZOUT_H0x3F
\n#defineMPU6050_ACCEL_ZOUT_L0x40
\n#defineMPU6050_TEMP_OUT_H0x41
\n#defineMPU6050_TEMP_OUT_L0x42
\n#defineMPU6050_GYRO_XOUT_H0x43
\n#defineMPU6050_GYRO_XOUT_L0x44
\n#defineMPU6050_GYRO_YOUT_H0x45
\n#defineMPU6050_GYRO_YOUT_L0x46
\n#defineMPU6050_GYRO_ZOUT_H0x47
\n#defineMPU6050_GYRO_ZOUT_L0x48<\/p>\n

#defineMPU6050_PWR_MGMT_10x6B
\n#defineMPU6050_PWR_MGMT_20x6C
\n#defineMPU6050_WHO_AM_I0x75<\/p>\n

#endif<\/p>\n

\u4e3b\u51fd\u6570<\/h5>\n

#include "stm32f10x.h"\/\/ Device header
\n#include "Delay.h"
\n#include "OLED.h"
\n#include "MPU6050.h"
\nuint8_t id;
\nint16_t AX,AY,AZ,GX,GY,GZ;
\nint main()
\n{
\nOLED_Init();
\nmpu6050_init();
\nOLED_ShowString(1,1,"ID:");
\nid=MPU6050_GetID();
\nOLED_ShowHexNum(1,4,id,2);
\n while(1)
\n {
\n MPU6050_GetData(&AX, &AY, &AZ, &GX, &GY, &GZ);
\nOLED_ShowSignedNum(2, 1, AX, 5);
\nOLED_ShowSignedNum(3, 1, AY, 5);
\nOLED_ShowSignedNum(4, 1, AZ, 5);
\nOLED_ShowSignedNum(2, 8, GX, 5);
\nOLED_ShowSignedNum(3, 8, GY, 5);
\nOLED_ShowSignedNum(4, 8, GZ, 5);
\n }
\n}<\/p>\n","protected":false},"excerpt":{"rendered":"

I2C\u901a\u4fe1\u7b80\u4ecb\u786c\u4ef6\u7535\u8def\u5bf9\u4e8e\u4e00\u4e3b\u591a\u4ece，SCL\u5168\u7a0b\u7531\u4e3b\u673a\u63a7\u5236，\u4ece\u673a\u4e0d\u80fd\u63a7\u5236；\u4e3b\u673a\u8981\u8bfb\u64cd\u4f5c\u6216\u8005\u4ece\u673a\u8981\u5e94\u7b54\u7684\u65f6\u5019\u4ece\u673a\u624d\u80fd\u6682\u65f6\u63a7\u5236SDA\u3002\u8bbe\u7f6e\u4e3a\u5f00\u6f0f\u8f93\u51fa\u6a21\u5f0f\u4ee5\u53ca\u5916\u7f6e\u4e0a\u62c9\u7535\u963b：\u5982\u679c\u8bbe\u7f6e\u4e3a\u63a8\u633d\u8f93\u51fa\u6a21\u5f0f，\u90fd\u80fd\u4e3b\u52a8\u8f93\u51fa\u9ad8\u4f4e\u7535\u5e73，\u53ef\u80fd\u5c31\u4f1a\u51fa\u73b0\u4e00\u65b9\u8f93\u51fa\u9ad8\u7535\u5e73，\u4e00\u65b9\u8f93\u51fa\u4f4e\u7535\u5e73，\u6700\u7ec8\u5bfc\u81f4\u77ed\u8def\u3002\u4e3a\u4e86\u907f\u514d\u8fd9\u4e2a\u60c5\u51b5，\u5c31\u6709\u4e86\u201c\u7ebf\u4e0e\u201d\u7684\u9700\u6c42：\u4e00\u65b9\u8f93\u51fa\u4f4e\u7535\u5e73，\u603b<\/p>\n","protected":false},"author":2,"featured_media":94927,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[217,270,269],"topic":[],"class_list":["post-94936","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-stm32","tag-270","tag-269"],"yoast_head":"\nstm32-I2C\u901a\u4fe1\u534f\u8bae\u3001\u8f6f\u4ef6I2C - 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