<\/p>\n
1. `I2C_DeInit(I2C_TypeDef* I2Cx);`<\/p>\n
– **\u7528\u9014**\uff1a\u5c06\u6307\u5b9a\u7684I2C\u5916\u8bbe\u5bc4\u5b58\u5668\u91cd\u7f6e\u4e3a\u9ed8\u8ba4\u503c\u3002\n– **\u4f5c\u7528**\uff1a\u901a\u5e38\u7528\u4e8e\u5728\u91cd\u65b0\u914d\u7f6eI2C\u4e4b\u524d\u8fdb\u884c\u590d\u4f4d\u3002<\/p>\n
2. `I2C_Init(I2C_TypeDef* I2Cx, I2C_InitTypeDef* I2C_InitStruct);`<\/p>\n
– **\u7528\u9014**\uff1a\u6839\u636e\u6307\u5b9a\u7684\u53c2\u6570\u521d\u59cb\u5316I2C\u5916\u8bbe\u3002\n– **\u53c2\u6570**\uff1a`I2C_InitStruct` \u5305\u542bI2C\u7684\u65f6\u949f\u901f\u5ea6\u3001\u6a21\u5f0f\u3001\u5730\u5740\u7b49\u914d\u7f6e\u3002<\/p>\n
3. `I2C_StructInit(I2C_InitTypeDef* I2C_InitStruct);`<\/p>\n
– **\u7528\u9014**\uff1a\u7528\u9ed8\u8ba4\u503c\u521d\u59cb\u5316 `I2C_InitTypeDef` \u7ed3\u6784\u4f53\u3002\n– **\u4f5c\u7528**\uff1a\u4e3a\u914d\u7f6e\u7ed3\u6784\u4f53\u63d0\u4f9b\u521d\u59cb\u503c\uff0c\u786e\u4fdd\u53c2\u6570\u6709\u6548\u6027\u3002<\/p>\n
4. `I2C_Cmd(I2C_TypeDef* I2Cx, FunctionalState NewState);`<\/p>\n
– **\u7528\u9014**\uff1a\u4f7f\u80fd\u6216\u7981\u7528\u6307\u5b9a\u7684I2C\u5916\u8bbe\u3002\n– **\u53c2\u6570**\uff1a`NewState` \u53ef\u4ee5\u662f `ENABLE` \u6216 `DISABLE`\u3002<\/p>\n
5.`I2C_GenerateSTART(I2C_TypeDef* I2Cx, FunctionalState NewState);` \u662f\u7528\u4e8e\u5728I2C\u901a\u4fe1\u4e2d\u751f\u6210\u8d77\u59cb\u6761\u4ef6\u7684\u51fd\u6570\u3002<\/p>\n
### \u7528\u9014<\/p>\n
– **\u529f\u80fd**\uff1a\u751f\u6210I2C\u603b\u7ebf\u7684\u8d77\u59cb\u4fe1\u53f7\u3002\n– **\u53c2\u6570**\uff1a\n– `I2Cx`\uff1a\u6307\u5b9a\u8981\u4f7f\u7528\u7684I2C\u5916\u8bbe\uff08\u5982I2C1, I2C2\uff09\u3002\n– `NewState`\uff1a\u4f7f\u7528 `ENABLE` \u751f\u6210\u8d77\u59cb\u6761\u4ef6\uff0c`DISABLE` \u505c\u6b62\u751f\u6210\u3002<\/p>\n
### \u4f5c\u7528<\/p>\n
– **\u8d77\u59cb\u6761\u4ef6**\uff1a\u7528\u4e8e\u5f00\u59cbI2C\u901a\u4fe1\uff0c\u901a\u77e5\u4ece\u8bbe\u5907\u63a5\u6536\u6570\u636e\u3002<\/p>\n
6.`I2C_GenerateSTOP(I2C_TypeDef* I2Cx, FunctionalState NewState);` \u662f\u7528\u4e8e\u5728I2C\u901a\u4fe1\u4e2d\u751f\u6210\u505c\u6b62\u6761\u4ef6\u7684\u51fd\u6570\u3002<\/p>\n
– **\u529f\u80fd**\uff1a\u751f\u6210I2C\u603b\u7ebf\u7684\u505c\u6b62\u4fe1\u53f7\u3002\n– **\u53c2\u6570**\uff1a\n– `I2Cx`\uff1a\u6307\u5b9a\u8981\u4f7f\u7528\u7684I2C\u5916\u8bbe\uff08\u5982I2C1, I2C2\uff09\u3002\n– `NewState`\uff1a\u4f7f\u7528 `ENABLE` \u751f\u6210\u505c\u6b62\u6761\u4ef6\u3002<\/p>\n
– **\u505c\u6b62\u6761\u4ef6**\uff1a\u7528\u4e8e\u7ed3\u675fI2C\u901a\u4fe1\uff0c\u91ca\u653e\u603b\u7ebf\u3002<\/p>\n
7. `I2C_AcknowledgeConfig(I2C_TypeDef* I2Cx, FunctionalState NewState);`<\/p>\n
– **\u7528\u9014**\uff1a\u914d\u7f6eI2C\u7684\u5e94\u7b54\u4f4d\u3002\n– **\u53c2\u6570**\uff1a\n– `I2Cx`\uff1a\u6307\u5b9aI2C\u5916\u8bbe\u3002\n– `NewState`\uff1a`ENABLE` \u542f\u7528\u5e94\u7b54\uff0c`DISABLE` \u7981\u7528\u5e94\u7b54\u3002<\/p>\n
8. `I2C_SendData(I2C_TypeDef* I2Cx, uint8_t Data);`<\/p>\n
– **\u7528\u9014**\uff1a\u901a\u8fc7I2C\u603b\u7ebf\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\u7684\u6570\u636e\u3002\n– **\u53c2\u6570**\uff1a\n– `I2Cx`\uff1a\u6307\u5b9aI2C\u5916\u8bbe\u3002\n– `Data`\uff1a\u8981\u53d1\u9001\u7684\u5b57\u8282\u6570\u636e\u3002<\/p>\n
9. `uint8_t I2C_ReceiveData(I2C_TypeDef* I2Cx);`<\/p>\n
– **\u7528\u9014**\uff1a\u4eceI2C\u603b\u7ebf\u63a5\u6536\u4e00\u4e2a\u5b57\u8282\u7684\u6570\u636e\u3002\n– **\u8fd4\u56de\u503c**\uff1a\u63a5\u6536\u5230\u7684\u5b57\u8282\u6570\u636e\u3002<\/p>\n
10. `I2C_Send7bitAddress(I2C_TypeDef* I2Cx, uint8_t Address, uint8_t I2C_Direction);`<\/p>\n
– **\u7528\u9014**\uff1a\u53d1\u90017\u4f4d\u4ece\u8bbe\u5907\u5730\u5740\u3002\n– **\u53c2\u6570**\uff1a\n– `I2Cx`\uff1a\u6307\u5b9aI2C\u5916\u8bbe\u3002\n– `Address`\uff1a\u8981\u53d1\u9001\u7684\u4ece\u8bbe\u5907\u5730\u5740\u3002\n– `I2C_Direction`\uff1a\u6307\u5b9a\u4f20\u8f93\u65b9\u5411\uff08\u53d1\u9001\u6216\u63a5\u6536\uff09\u3002<\/p>\n
<\/div><\/div><\/div>\n
\/\/\u521d\u59cb\u5316MPU6050\r\nvoid MPU6050_Init(void)\r\n{\r\n\t\/\/\u5f00\u542fI2C\u5916\u8bbe\u548cGPIO\u53e3\u7684\u65f6\u949f\r\n\tRCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2,ENABLE);\r\n\tRCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);\r\n\t\/\/\u521d\u59cb\u5316GPIO\u53e3\r\n\tGPIO_InitTypeDef GPIO_InitStructure;\r\n\tGPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;\/\/\u590d\u7528\u5f00\u6f0f\u6a21\u5f0f\r\n\tGPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;\r\n\tGPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;\r\n\tGPIO_Init(GPIOB,&GPIO_InitStructure);\r\n\t\/\/\u521d\u59cb\u5316I2C\u5916\u8bbe\r\n\tI2C_InitTypeDef I2C_InitStructure;\r\n\tI2C_InitStructure.I2C_Ack=I2C_Ack_Enable;\/\/\u9ed8\u8ba4\u7ed9\u5e94\u7b54\uff0c\u4e4b\u540e\u53ef\u4ee5\u7528\u5355\u72ec\u51fd\u6570\u8fdb\u884c\u66f4\u6539\u3002\r\n\tI2C_InitStructure.I2C_AcknowledgedAddress=I2C_AcknowledgedAddress_7bit;\/\/\u8fd9\u4e2a\u662fSTM32\u4f5c\u4e3a\u4ece\u673a\uff0c\u53ef\u4ee5\u54cd\u5e94\u51e0\u4f4d\u5730\u5740\r\n\tI2C_InitStructure.I2C_ClockSpeed= 50000;\/\/\u914d\u7f6eSCL\u7684\u65f6\u949f\u9891\u738750KHz\r\n\tI2C_InitStructure.I2C_DutyCycle=I2C_DutyCycle_2;\/\/\u65f6\u949f\u5360\u7a7a\u6bd4\uff0c\u53ea\u6709\u5728\u65f6\u949f\u9891\u7387\u5927\u4e8e100KHz\uff0c\u8fdb\u5165\u5feb\u901f\u72b6\u6001\u65f6\u624d\u6709\u7528\u3002\u5728\u5c0f\u4e8e\u7b49\u4e8e100KHz\u7684\u60c5\u51b5\u4e0b\uff0c\u5360\u7a7a\u6bd4\u662f\u56fa\u5b9a\u76841:1\r\n\tI2C_InitStructure.I2C_Mode=I2C_Mode_I2C; \/\/I2C\u6a21\u5f0f\r\n\tI2C_InitStructure.I2C_OwnAddress1=0X00;\/\/\u8fd9\u4e2a\u662fSTM32\u4f5c\u4e3a\u4ece\u673a\uff0c\u7528\u4e8e\u6307\u5b9aSTM32\u7684\u81ea\u8eab\u5730\u5740\u3002\r\n\tI2C_Init(I2C2,&I2C_InitStructure);\r\n\tI2C_Cmd(I2C2,ENABLE);\r\n\t\r\n\t\/*MPU6050\u5bc4\u5b58\u5668\u521d\u59cb\u5316\uff0c\u9700\u8981\u5bf9\u7167MPU6050\u624b\u518c\u7684\u5bc4\u5b58\u5668\u63cf\u8ff0\u914d\u7f6e\uff0c\u6b64\u5904\u4ec5\u914d\u7f6e\u4e86\u90e8\u5206\u91cd\u8981\u7684\u5bc4\u5b58\u5668*\/\r\n\tMPU6050_WriteReg(MPU6050_PWR_MGMT_1, 0x01);\t\t\/\/\u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u56681\uff0c\u53d6\u6d88\u7761\u7720\u6a21\u5f0f\uff0c\u9009\u62e9\u65f6\u949f\u6e90\u4e3aX\u8f74\u9640\u87ba\u4eea\r\n\tMPU6050_WriteReg(MPU6050_PWR_MGMT_2, 0x00);\t\t\/\/\u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u56682\uff0c\u4fdd\u6301\u9ed8\u8ba4\u503c0\uff0c\u6240\u6709\u8f74\u5747\u4e0d\u5f85\u673a\r\n\tMPU6050_WriteReg(MPU6050_SMPLRT_DIV, 0x09);\t\t\/\/\u91c7\u6837\u7387\u5206\u9891\u5bc4\u5b58\u5668\uff0c\u914d\u7f6e\u91c7\u6837\u7387\r\n\tMPU6050_WriteReg(MPU6050_CONFIG, 0x06);\t\t\t\/\/\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u914d\u7f6eDLPF\r\n\tMPU6050_WriteReg(MPU6050_GYRO_CONFIG, 0x18);\t\/\/\u9640\u87ba\u4eea\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u9009\u62e9\u6ee1\u91cf\u7a0b\u4e3a\u00b12000\u00b0\/s\r\n\tMPU6050_WriteReg(MPU6050_ACCEL_CONFIG, 0x18);\t\/\/\u52a0\u901f\u5ea6\u8ba1\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u9009\u62e9\u6ee1\u91cf\u7a0b\u4e3a\u00b116g\r\n}<\/code><\/pre>\nI2C_InitStructure.I2C_DutyCycle \u662f\u65f6\u949f\u5360\u7a7a\u6bd4\uff0c\u53ea\u6709\u5728\u65f6\u949f\u9891\u7387\u5927\u4e8e100KHz\uff0c\u8fdb\u5165\u5feb\u901f\u72b6\u6001\u65f6\u624d\u6709\u7528\u3002\u5728\u5c0f\u4e8e\u7b49\u4e8e100KHz\u7684\u60c5\u51b5\u4e0b\uff0c\u5360\u7a7a\u6bd4\u662f\u56fa\u5b9a\u76841:1\u3002<\/p>\n\u90a3\u4e3a\u4ec0\u4e48\u8981\u8bbe\u7f6e\u8fd9\u4e2a\u5360\u7a7a\u6bd4\u5462\uff1fI2C\u6539\u7528\u8fd9\u4e2a\u5360\u7a7a\u6bd4\u6709\u4ec0\u4e48\u7528\u5462\uff1f<\/p>\n\u5bf9SCL\u5360\u7a7a\u6bd4\u8fdb\u884c\u8c03\u8282\u4e4b\u540e\uff0c\u4f4e\u7535\u5e73:\u9ad8\u7535\u5e73 \u6211\u4eec\u8bbe\u7f6e 2:1\uff0c\u589e\u5927\u4e86\u4f4e\u7535\u5e73\u65f6\u95f4\u5360\u6574\u4e2a\u5468\u671f\u7684\u6bd4\u4f8b\uff0c\u4e3a\u4ec0\u4e48\u8981\u589e\u5927\u4f4e\u7535\u5e73\u7684\u6bd4\u4f8b\u5462\uff1f\u56e0\u4e3a\u4f4e\u7535\u5e73\u6570\u636e\u53d8\u5316\uff0c\u9ad8\u7535\u5e73\u6570\u636e\u8bfb\u53d6\uff0c\u6570\u636e\u53d8\u5316\u9700\u8981\u4e00\u5b9a\u65f6\u95f4\u6765\u7ffb\u8f6c\u6ce2\u5f62\uff0c\u5c24\u5176\u662f\u4e0a\u5347\u6cbf\uff0c\u53d8\u5316\u76f8\u5bf9\u6765\u8bf4\u6bd4\u8f83\u7f13\u6162\uff0c\u6240\u4ee5\uff0c\u5728\u5feb\u901f\u4f20\u8f93\u7684\u72b6\u6001\u4e0b\uff0c\u9700\u8981\u7ed9\u4f4e\u7535\u5e73\u5206\u914d\u591a\u4e00\u4e9b\u8d44\u6e90\uff0c\u8981\u4e0d\u7136\u4f4e\u7535\u5e73\u6570\u636e\u53d8\u5316\u6765\u4e0d\u53ca\uff0c\u4f60\u9ad8\u7535\u5e73\u6570\u636e\u8bfb\u53d6\u4e5f\u6ca1\u7528\u3002<\/p>\n\u6307\u5b9a\u5730\u5740\u5199<\/h3>\n<\/p>\n\/\/\u6307\u5b9a\u5730\u5740\u5199\r\nvoid MPU6050_WriteReg(uint8_t RegAddress,uint8_t Data)\r\n{\r\n\t\/\/\u4ea7\u751f\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\/*----------------------------------*\/\r\n\t\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u63a5\u53d7\u5e94\u7b54\r\n\t\/* \u5728\u5e93\u51fd\u6570\u4e2d\u5e76\u4e0d\u9700\u8981\u63a5\u6536\u5e94\u7b54\uff0c\u53d1\u9001\u6570\u636e\u90fd\u81ea\u5e26\u4e86\u63a5\u53d7\u5e94\u7b54\u7684\u8fc7\u7a0b\uff1b\u540c\u6837\uff0c\u63a5\u6536\u6570\u636e\u4e5f\u81ea\u5e26\u4e86\u53d1\u9001\u5e94\u7b54\u7684\u8fc7\u7a0b\u3002\r\n\t\u5982\u679c\u5e94\u7b54\u9519\u8bef\uff0c\u786c\u4ef6\u4f1a\u901a\u8fc7\u6807\u5fd7\u4f4d\u548c\u4e2d\u65ad\u6765\u63d0\u9192\u6211\u4eec\u3002*\/\r\n\t\/\/\u5224\u65adEV6\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,RegAddress);\r\n\t\/\/\u5224\u65adEV8\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u4e2d\u95f4\u5b57\u8282\u53d1\u9001\u5b57\u8282\u9700\u8981\u7b49\u5f85EV8\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTING) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,Data);\r\n\t\/\/\u5224\u65adEV8_2\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u6700\u540e\u4e00\u4e2a\u5b57\u8282\u53d1\u9001\u5b8c\u540e\uff0c\u9700\u8981\u7b49\u5f85EV8_2\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4ea7\u751f\u7ec8\u6b62\u6761\u4ef6\r\n\tI2C_GenerateSTOP(I2C2,ENABLE);\r\n}<\/code><\/pre>\n\u00a0\u6307\u5b9a\u5730\u5740\u8bfb<\/h3>\n<\/p>\n\u8fd9\u4e2a\u65f6\u5e8f\u662f\u5f53\u524d\u5730\u5740\u8bfb\u7684\u65f6\u5e8f<\/strong><\/span>\uff0c\u6307\u5b9a\u5730\u5740\u8bfb\u7684\u8fd9\u91cc\u5e76\u6ca1\u6709\u7ed9\uff0c\u9700\u8981\u6211\u4eec\u81ea\u5df1\u7ec4\u5408\u4e00\u4e0b\u3002<\/p>\n\u6211\u4eec\u7ee7\u7eed\u770b7\u4f4d\u4e3b\u63a5\u6536\u7684\u6570\u636e1<\/span>\u8fd9\u91cc\uff0c\u4ee3\u8868\u6570\u636e\u6b63\u5728\u901a\u8fc7\u79fb\u4f4d\u5bc4\u5b58\u5668\u8fdb\u884c\u8f93\u5165\uff0c\u540c\u65f6\u4f1a\u53d1\u751f\u4e00\u4e2aEV6_1\u4e8b\u4ef6\uff0c\u770b\u56fe\u53ef\u77e5\uff0cEV6_1\u53d1\u751f\u65f6\uff0c\u5176\u5b9e\u6570\u636e1\u8fd8\u5728\u79fb\u4f4d\u5bc4\u5b58\u5668\u91cc\u79fb\u4f4d\uff0c\u5e76\u6ca1\u6709\u5b8c\u6210\u79fb\u4f4d\u3002<\/p>\n\u5f53\u6211\u4eec\u53d1\u9001\u5b8c\u5b57\u8282\u4e0d\u9700\u8981\u7ee7\u7eed\u63a5\u6536\u7684\u65f6\u5019\uff0c\u9700\u8981\u5728\u6700\u540e\u4e00\u4e2a\u65f6\u5e8f\u5355\u5143\u53d1\u751f\u65f6\uff0c\u63d0\u524d\u628aACK\u7f6e0\uff0c\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff08EV7_1\u4e8b\u4ef6\uff09\u3002<\/p>\n\u4e3a\u4ec0\u4e48\u8981\u63d0\u524d\u628aACK\u7f6e0\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff1f<\/p>\n\u5982\u679c\u4f60\u4e0d\u63d0\u524d\u5728\u6570\u636e\u8fd8\u6ca1\u6709\u6536\u5230\u7684\u65f6\u5019\u7ed9ACK\u7f6e0\uff0c\u90a3\u7b49\u6570\u636e\u65f6\u5e8f\u5b8c\u5168\u63a5\u6536\u5b8c\u5f97\u5230\u5e94\u7b54\u540e\u518d\u8bbe\u7f6e\u7684\u8bdd\uff0c\u4f60\u518d\u8bf4\u4f60\u8981\u8bbe\u7f6eACK\u7f6e0\uff0c\u4f60\u8981\u7ed9\u975e\u5e94\u7b54\uff0c\u8fd9\u65f6\u5c31\u5b8c\uff08\u665a\uff09\u5566\uff01\u6570\u636e\u6536\u5230\u4e4b\u524d\uff0c\u5e94\u7b54\u4f4d\u5c31\u5df2\u7ecf\u53d1\u9001\u51fa\u53bb\u4e86\uff0c\u4f60\u8fd9\u65f6\u518d\u7ed9ACK\u7f6e0\uff0c\u90a3\u53ea\u80fd\u662f\u5728\u4e0b\u4e00\u4e2a\u6570\u636e\u4e4b\u540e\u7ed9\u975e\u5e94\u7b54\u4e86\uff0c\u65f6\u5e8f\u4e0d\u7b49\u4eba\uff0c\u6240\u4ee5\u8981\u63d0\u524d\u8bbe\u7f6eACK=0\u3002<\/p>\n\/\/\u6307\u5b9a\u5730\u5740\u8bfb\r\nuint8_t MPU6050_ReadReg(uint8_t RegAddress)\r\n{\r\n\tuint8_t Data;\r\n\t\/\/\u4ea7\u751f\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u63a5\u53d7\u5e94\u7b54\r\n\t\/* \u5728\u5e93\u51fd\u6570\u4e2d\u5e76\u4e0d\u9700\u8981\u63a5\u6536\u5e94\u7b54\uff0c\u53d1\u9001\u6570\u636e\u90fd\u81ea\u5e26\u4e86\u63a5\u53d7\u5e94\u7b54\u7684\u8fc7\u7a0b\uff1b\u540c\u6837\uff0c\u63a5\u6536\u6570\u636e\u4e5f\u81ea\u5e26\u4e86\u53d1\u9001\u5e94\u7b54\u7684\u8fc7\u7a0b\u3002\r\n\t\u5982\u679c\u5e94\u7b54\u9519\u8bef\uff0c\u786c\u4ef6\u4f1a\u901a\u8fc7\u6807\u5fd7\u4f4d\u548c\u4e2d\u65ad\u6765\u63d0\u9192\u6211\u4eec\u3002*\/\r\n\t\/\/\u5224\u65adEV6\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,RegAddress);\r\n\t\/\/\u5224\u65adEV8_2\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u6700\u540e\u5b57\u8282\u53d1\u9001\u5b57\u8282\u9700\u8981\u7b49\u5f85EV8_2\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4ea7\u751f\u91cd\u590d\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Receiver);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u7b49\u5f85EV6\u4e8b\u4ef6\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4e3b\u673a\u4e0d\u7ed9\u5e94\u7b54\uff08\u63a5\u6536\u4e4b\u524d\u63d0\u524d\u8bbe\u7f6eACK\u548cSTOP\uff09\r\n\tI2C_AcknowledgeConfig(I2C2,DISABLE);\r\n\t\/\/\u53d1\u9001\u505c\u6b62\u4f4d\r\n\tI2C_GenerateSTOP(I2C2,ENABLE);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u7b49\u5f85EV7\u4e8b\u4ef6\uff0cEV7\u4e8b\u4ef6\u4ea7\u751f\u540e\uff0c\u5c31\u4ee3\u8868\u63a5\u6536\u5230\u4e86\u8fd9\u4e00\u5b57\u8282\u7684\u4ee3\u7801\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED) == ERROR);\r\n\t\/\/\u8bfb\u53d6\u6570\u636eDR\r\n\tData = I2C_ReceiveData(I2C2);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u6700\u540e\u5c06ACK\u7f6e\u4e3a1\uff0c\u4e3a\u4ec0\u4e48\u8fd9\u6837\u505a\u5462\uff1f\r\n\t\/*\u6211\u4eec\u7684\u60f3\u6cd5\u662f\uff0c\u9ed8\u8ba4\u72b6\u6001\u4e0b\uff0cACK\u662f1\uff0c\u7ed9\u4ece\u673a\u5e94\u7b54\uff0c\u5728\u6536\u6700\u540e\u4e00\u4e2a\u5b57\u8282\u4e4b\u524d\uff0c\u4e34\u65f6\u628aACK\u7f6e0\uff0c\u7ed9\u975e\u5e94\u7b54\uff1b\u6240\u4ee5\r\n\t\u8981\u5728\u63a5\u6536\u51fd\u6570\u7684\u6700\u540e\uff0c\u8981\u6062\u590d\u9ed8\u8ba4\u7684ACK = 1\uff0c\u65b9\u4fbf\u4ee5\u540e\u63a5\u6536\u591a\u4e2a\u5b57\u8282\u3002*\/\r\n\tI2C_AcknowledgeConfig(I2C2,ENABLE);\r\n\treturn Data;\r\n\t\r\n}<\/code><\/pre>\n\u51fd\u6570\u4ee3\u7801\u4f18\u5316<\/h3>\n\u6211\u4eec\u5728\u4e0a\u8ff0\u51fd\u6570\u4e2d\u4f7f\u7528\u4e86\u5927\u91cf\u7684while\u51fd\u6570\uff0c\u8fd9\u6837\u5bf9\u4e8e\u6574\u4e2a\u5de5\u7a0b\u6765\u8bb2\u662f\u81f4\u547d\u7684\uff0c\u5f88\u53ef\u80fd\u4f1a\u5728\u67d0\u4e2a\u6761\u4ef6\u4ea7\u751f\u4e00\u4e2a\u6b7b\u5faa\u73af\uff0c\u6240\u4ee5\u8981\u5bf9while\u51fd\u6570\u8fdb\u884c\u5982\u4e0b\u4f18\u5316\uff1a<\/p>\n\tuint32_t Time;\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR)\r\n\t{\r\n\t\tTime--;\r\n\t\tif(Time == 0)\r\n\t\t{\r\n\t\t\treturn;\r\n\t\t}\r\n\t}<\/code><\/pre>\n\u8fd9\u91cc\u53ef\u4ee5\u81ea\u5df1\u52a0\u4e0a\u62a5\u9519\u7684\u6570\u503c\uff0c\u8fd9\u6837\u4ee3\u7801\u66f4\u52a0\u5b8c\u5584\uff0c\u5f53\u7136\u8fd9\u91cc\u5c31\u4e0d\u518d\u5199\u9519\u8bef\u5904\u7406\u5bf9\u5e94\u7684\u5185\u5bb9\u4e86\u3002<\/p>\n <\/p>\n <\/p>\n <\/p>\n","protected":false},"excerpt":{"rendered":"MPU6050\u63a5\u7ebf\u56fe I2C\u5e93\u51fd\u6570 \u786c\u4ef6I2C\u4ee3\u7801 MPU6050\u521d\u59cb\u5316 \/\/\u521d\u59cb\u5316MPU6050 void […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-986","post","type-post","status-publish","format-standard","hentry","category-stm32"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=986"}],"version-history":[{"count":5,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions"}],"predecessor-version":[{"id":994,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions\/994"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=986"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=986"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=986"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
I2C_InitStructure.I2C_DutyCycle \u662f\u65f6\u949f\u5360\u7a7a\u6bd4\uff0c\u53ea\u6709\u5728\u65f6\u949f\u9891\u7387\u5927\u4e8e100KHz\uff0c\u8fdb\u5165\u5feb\u901f\u72b6\u6001\u65f6\u624d\u6709\u7528\u3002\u5728\u5c0f\u4e8e\u7b49\u4e8e100KHz\u7684\u60c5\u51b5\u4e0b\uff0c\u5360\u7a7a\u6bd4\u662f\u56fa\u5b9a\u76841:1\u3002<\/p>\n
\u90a3\u4e3a\u4ec0\u4e48\u8981\u8bbe\u7f6e\u8fd9\u4e2a\u5360\u7a7a\u6bd4\u5462\uff1fI2C\u6539\u7528\u8fd9\u4e2a\u5360\u7a7a\u6bd4\u6709\u4ec0\u4e48\u7528\u5462\uff1f<\/p>\n
\u5bf9SCL\u5360\u7a7a\u6bd4\u8fdb\u884c\u8c03\u8282\u4e4b\u540e\uff0c\u4f4e\u7535\u5e73:\u9ad8\u7535\u5e73 \u6211\u4eec\u8bbe\u7f6e 2:1\uff0c\u589e\u5927\u4e86\u4f4e\u7535\u5e73\u65f6\u95f4\u5360\u6574\u4e2a\u5468\u671f\u7684\u6bd4\u4f8b\uff0c\u4e3a\u4ec0\u4e48\u8981\u589e\u5927\u4f4e\u7535\u5e73\u7684\u6bd4\u4f8b\u5462\uff1f\u56e0\u4e3a\u4f4e\u7535\u5e73\u6570\u636e\u53d8\u5316\uff0c\u9ad8\u7535\u5e73\u6570\u636e\u8bfb\u53d6\uff0c\u6570\u636e\u53d8\u5316\u9700\u8981\u4e00\u5b9a\u65f6\u95f4\u6765\u7ffb\u8f6c\u6ce2\u5f62\uff0c\u5c24\u5176\u662f\u4e0a\u5347\u6cbf\uff0c\u53d8\u5316\u76f8\u5bf9\u6765\u8bf4\u6bd4\u8f83\u7f13\u6162\uff0c\u6240\u4ee5\uff0c\u5728\u5feb\u901f\u4f20\u8f93\u7684\u72b6\u6001\u4e0b\uff0c\u9700\u8981\u7ed9\u4f4e\u7535\u5e73\u5206\u914d\u591a\u4e00\u4e9b\u8d44\u6e90\uff0c\u8981\u4e0d\u7136\u4f4e\u7535\u5e73\u6570\u636e\u53d8\u5316\u6765\u4e0d\u53ca\uff0c\u4f60\u9ad8\u7535\u5e73\u6570\u636e\u8bfb\u53d6\u4e5f\u6ca1\u7528\u3002<\/p>\n
\/\/\u6307\u5b9a\u5730\u5740\u5199\r\nvoid MPU6050_WriteReg(uint8_t RegAddress,uint8_t Data)\r\n{\r\n\t\/\/\u4ea7\u751f\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\/*----------------------------------*\/\r\n\t\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u63a5\u53d7\u5e94\u7b54\r\n\t\/* \u5728\u5e93\u51fd\u6570\u4e2d\u5e76\u4e0d\u9700\u8981\u63a5\u6536\u5e94\u7b54\uff0c\u53d1\u9001\u6570\u636e\u90fd\u81ea\u5e26\u4e86\u63a5\u53d7\u5e94\u7b54\u7684\u8fc7\u7a0b\uff1b\u540c\u6837\uff0c\u63a5\u6536\u6570\u636e\u4e5f\u81ea\u5e26\u4e86\u53d1\u9001\u5e94\u7b54\u7684\u8fc7\u7a0b\u3002\r\n\t\u5982\u679c\u5e94\u7b54\u9519\u8bef\uff0c\u786c\u4ef6\u4f1a\u901a\u8fc7\u6807\u5fd7\u4f4d\u548c\u4e2d\u65ad\u6765\u63d0\u9192\u6211\u4eec\u3002*\/\r\n\t\/\/\u5224\u65adEV6\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,RegAddress);\r\n\t\/\/\u5224\u65adEV8\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u4e2d\u95f4\u5b57\u8282\u53d1\u9001\u5b57\u8282\u9700\u8981\u7b49\u5f85EV8\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTING) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,Data);\r\n\t\/\/\u5224\u65adEV8_2\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u6700\u540e\u4e00\u4e2a\u5b57\u8282\u53d1\u9001\u5b8c\u540e\uff0c\u9700\u8981\u7b49\u5f85EV8_2\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4ea7\u751f\u7ec8\u6b62\u6761\u4ef6\r\n\tI2C_GenerateSTOP(I2C2,ENABLE);\r\n}<\/code><\/pre>\n\u00a0\u6307\u5b9a\u5730\u5740\u8bfb<\/h3>\n<\/p>\n\u8fd9\u4e2a\u65f6\u5e8f\u662f\u5f53\u524d\u5730\u5740\u8bfb\u7684\u65f6\u5e8f<\/strong><\/span>\uff0c\u6307\u5b9a\u5730\u5740\u8bfb\u7684\u8fd9\u91cc\u5e76\u6ca1\u6709\u7ed9\uff0c\u9700\u8981\u6211\u4eec\u81ea\u5df1\u7ec4\u5408\u4e00\u4e0b\u3002<\/p>\n\u6211\u4eec\u7ee7\u7eed\u770b7\u4f4d\u4e3b\u63a5\u6536\u7684\u6570\u636e1<\/span>\u8fd9\u91cc\uff0c\u4ee3\u8868\u6570\u636e\u6b63\u5728\u901a\u8fc7\u79fb\u4f4d\u5bc4\u5b58\u5668\u8fdb\u884c\u8f93\u5165\uff0c\u540c\u65f6\u4f1a\u53d1\u751f\u4e00\u4e2aEV6_1\u4e8b\u4ef6\uff0c\u770b\u56fe\u53ef\u77e5\uff0cEV6_1\u53d1\u751f\u65f6\uff0c\u5176\u5b9e\u6570\u636e1\u8fd8\u5728\u79fb\u4f4d\u5bc4\u5b58\u5668\u91cc\u79fb\u4f4d\uff0c\u5e76\u6ca1\u6709\u5b8c\u6210\u79fb\u4f4d\u3002<\/p>\n\u5f53\u6211\u4eec\u53d1\u9001\u5b8c\u5b57\u8282\u4e0d\u9700\u8981\u7ee7\u7eed\u63a5\u6536\u7684\u65f6\u5019\uff0c\u9700\u8981\u5728\u6700\u540e\u4e00\u4e2a\u65f6\u5e8f\u5355\u5143\u53d1\u751f\u65f6\uff0c\u63d0\u524d\u628aACK\u7f6e0\uff0c\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff08EV7_1\u4e8b\u4ef6\uff09\u3002<\/p>\n\u4e3a\u4ec0\u4e48\u8981\u63d0\u524d\u628aACK\u7f6e0\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff1f<\/p>\n\u5982\u679c\u4f60\u4e0d\u63d0\u524d\u5728\u6570\u636e\u8fd8\u6ca1\u6709\u6536\u5230\u7684\u65f6\u5019\u7ed9ACK\u7f6e0\uff0c\u90a3\u7b49\u6570\u636e\u65f6\u5e8f\u5b8c\u5168\u63a5\u6536\u5b8c\u5f97\u5230\u5e94\u7b54\u540e\u518d\u8bbe\u7f6e\u7684\u8bdd\uff0c\u4f60\u518d\u8bf4\u4f60\u8981\u8bbe\u7f6eACK\u7f6e0\uff0c\u4f60\u8981\u7ed9\u975e\u5e94\u7b54\uff0c\u8fd9\u65f6\u5c31\u5b8c\uff08\u665a\uff09\u5566\uff01\u6570\u636e\u6536\u5230\u4e4b\u524d\uff0c\u5e94\u7b54\u4f4d\u5c31\u5df2\u7ecf\u53d1\u9001\u51fa\u53bb\u4e86\uff0c\u4f60\u8fd9\u65f6\u518d\u7ed9ACK\u7f6e0\uff0c\u90a3\u53ea\u80fd\u662f\u5728\u4e0b\u4e00\u4e2a\u6570\u636e\u4e4b\u540e\u7ed9\u975e\u5e94\u7b54\u4e86\uff0c\u65f6\u5e8f\u4e0d\u7b49\u4eba\uff0c\u6240\u4ee5\u8981\u63d0\u524d\u8bbe\u7f6eACK=0\u3002<\/p>\n\/\/\u6307\u5b9a\u5730\u5740\u8bfb\r\nuint8_t MPU6050_ReadReg(uint8_t RegAddress)\r\n{\r\n\tuint8_t Data;\r\n\t\/\/\u4ea7\u751f\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u63a5\u53d7\u5e94\u7b54\r\n\t\/* \u5728\u5e93\u51fd\u6570\u4e2d\u5e76\u4e0d\u9700\u8981\u63a5\u6536\u5e94\u7b54\uff0c\u53d1\u9001\u6570\u636e\u90fd\u81ea\u5e26\u4e86\u63a5\u53d7\u5e94\u7b54\u7684\u8fc7\u7a0b\uff1b\u540c\u6837\uff0c\u63a5\u6536\u6570\u636e\u4e5f\u81ea\u5e26\u4e86\u53d1\u9001\u5e94\u7b54\u7684\u8fc7\u7a0b\u3002\r\n\t\u5982\u679c\u5e94\u7b54\u9519\u8bef\uff0c\u786c\u4ef6\u4f1a\u901a\u8fc7\u6807\u5fd7\u4f4d\u548c\u4e2d\u65ad\u6765\u63d0\u9192\u6211\u4eec\u3002*\/\r\n\t\/\/\u5224\u65adEV6\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,RegAddress);\r\n\t\/\/\u5224\u65adEV8_2\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u6700\u540e\u5b57\u8282\u53d1\u9001\u5b57\u8282\u9700\u8981\u7b49\u5f85EV8_2\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4ea7\u751f\u91cd\u590d\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Receiver);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u7b49\u5f85EV6\u4e8b\u4ef6\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4e3b\u673a\u4e0d\u7ed9\u5e94\u7b54\uff08\u63a5\u6536\u4e4b\u524d\u63d0\u524d\u8bbe\u7f6eACK\u548cSTOP\uff09\r\n\tI2C_AcknowledgeConfig(I2C2,DISABLE);\r\n\t\/\/\u53d1\u9001\u505c\u6b62\u4f4d\r\n\tI2C_GenerateSTOP(I2C2,ENABLE);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u7b49\u5f85EV7\u4e8b\u4ef6\uff0cEV7\u4e8b\u4ef6\u4ea7\u751f\u540e\uff0c\u5c31\u4ee3\u8868\u63a5\u6536\u5230\u4e86\u8fd9\u4e00\u5b57\u8282\u7684\u4ee3\u7801\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED) == ERROR);\r\n\t\/\/\u8bfb\u53d6\u6570\u636eDR\r\n\tData = I2C_ReceiveData(I2C2);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u6700\u540e\u5c06ACK\u7f6e\u4e3a1\uff0c\u4e3a\u4ec0\u4e48\u8fd9\u6837\u505a\u5462\uff1f\r\n\t\/*\u6211\u4eec\u7684\u60f3\u6cd5\u662f\uff0c\u9ed8\u8ba4\u72b6\u6001\u4e0b\uff0cACK\u662f1\uff0c\u7ed9\u4ece\u673a\u5e94\u7b54\uff0c\u5728\u6536\u6700\u540e\u4e00\u4e2a\u5b57\u8282\u4e4b\u524d\uff0c\u4e34\u65f6\u628aACK\u7f6e0\uff0c\u7ed9\u975e\u5e94\u7b54\uff1b\u6240\u4ee5\r\n\t\u8981\u5728\u63a5\u6536\u51fd\u6570\u7684\u6700\u540e\uff0c\u8981\u6062\u590d\u9ed8\u8ba4\u7684ACK = 1\uff0c\u65b9\u4fbf\u4ee5\u540e\u63a5\u6536\u591a\u4e2a\u5b57\u8282\u3002*\/\r\n\tI2C_AcknowledgeConfig(I2C2,ENABLE);\r\n\treturn Data;\r\n\t\r\n}<\/code><\/pre>\n\u51fd\u6570\u4ee3\u7801\u4f18\u5316<\/h3>\n\u6211\u4eec\u5728\u4e0a\u8ff0\u51fd\u6570\u4e2d\u4f7f\u7528\u4e86\u5927\u91cf\u7684while\u51fd\u6570\uff0c\u8fd9\u6837\u5bf9\u4e8e\u6574\u4e2a\u5de5\u7a0b\u6765\u8bb2\u662f\u81f4\u547d\u7684\uff0c\u5f88\u53ef\u80fd\u4f1a\u5728\u67d0\u4e2a\u6761\u4ef6\u4ea7\u751f\u4e00\u4e2a\u6b7b\u5faa\u73af\uff0c\u6240\u4ee5\u8981\u5bf9while\u51fd\u6570\u8fdb\u884c\u5982\u4e0b\u4f18\u5316\uff1a<\/p>\n\tuint32_t Time;\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR)\r\n\t{\r\n\t\tTime--;\r\n\t\tif(Time == 0)\r\n\t\t{\r\n\t\t\treturn;\r\n\t\t}\r\n\t}<\/code><\/pre>\n\u8fd9\u91cc\u53ef\u4ee5\u81ea\u5df1\u52a0\u4e0a\u62a5\u9519\u7684\u6570\u503c\uff0c\u8fd9\u6837\u4ee3\u7801\u66f4\u52a0\u5b8c\u5584\uff0c\u5f53\u7136\u8fd9\u91cc\u5c31\u4e0d\u518d\u5199\u9519\u8bef\u5904\u7406\u5bf9\u5e94\u7684\u5185\u5bb9\u4e86\u3002<\/p>\n <\/p>\n <\/p>\n <\/p>\n","protected":false},"excerpt":{"rendered":"MPU6050\u63a5\u7ebf\u56fe I2C\u5e93\u51fd\u6570 \u786c\u4ef6I2C\u4ee3\u7801 MPU6050\u521d\u59cb\u5316 \/\/\u521d\u59cb\u5316MPU6050 void […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-986","post","type-post","status-publish","format-standard","hentry","category-stm32"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=986"}],"version-history":[{"count":5,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions"}],"predecessor-version":[{"id":994,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions\/994"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=986"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=986"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=986"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
\u8fd9\u4e2a\u65f6\u5e8f\u662f\u5f53\u524d\u5730\u5740\u8bfb\u7684\u65f6\u5e8f<\/strong><\/span>\uff0c\u6307\u5b9a\u5730\u5740\u8bfb\u7684\u8fd9\u91cc\u5e76\u6ca1\u6709\u7ed9\uff0c\u9700\u8981\u6211\u4eec\u81ea\u5df1\u7ec4\u5408\u4e00\u4e0b\u3002<\/p>\n\u6211\u4eec\u7ee7\u7eed\u770b7\u4f4d\u4e3b\u63a5\u6536\u7684\u6570\u636e1<\/span>\u8fd9\u91cc\uff0c\u4ee3\u8868\u6570\u636e\u6b63\u5728\u901a\u8fc7\u79fb\u4f4d\u5bc4\u5b58\u5668\u8fdb\u884c\u8f93\u5165\uff0c\u540c\u65f6\u4f1a\u53d1\u751f\u4e00\u4e2aEV6_1\u4e8b\u4ef6\uff0c\u770b\u56fe\u53ef\u77e5\uff0cEV6_1\u53d1\u751f\u65f6\uff0c\u5176\u5b9e\u6570\u636e1\u8fd8\u5728\u79fb\u4f4d\u5bc4\u5b58\u5668\u91cc\u79fb\u4f4d\uff0c\u5e76\u6ca1\u6709\u5b8c\u6210\u79fb\u4f4d\u3002<\/p>\n\u5f53\u6211\u4eec\u53d1\u9001\u5b8c\u5b57\u8282\u4e0d\u9700\u8981\u7ee7\u7eed\u63a5\u6536\u7684\u65f6\u5019\uff0c\u9700\u8981\u5728\u6700\u540e\u4e00\u4e2a\u65f6\u5e8f\u5355\u5143\u53d1\u751f\u65f6\uff0c\u63d0\u524d\u628aACK\u7f6e0\uff0c\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff08EV7_1\u4e8b\u4ef6\uff09\u3002<\/p>\n\u4e3a\u4ec0\u4e48\u8981\u63d0\u524d\u628aACK\u7f6e0\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff1f<\/p>\n\u5982\u679c\u4f60\u4e0d\u63d0\u524d\u5728\u6570\u636e\u8fd8\u6ca1\u6709\u6536\u5230\u7684\u65f6\u5019\u7ed9ACK\u7f6e0\uff0c\u90a3\u7b49\u6570\u636e\u65f6\u5e8f\u5b8c\u5168\u63a5\u6536\u5b8c\u5f97\u5230\u5e94\u7b54\u540e\u518d\u8bbe\u7f6e\u7684\u8bdd\uff0c\u4f60\u518d\u8bf4\u4f60\u8981\u8bbe\u7f6eACK\u7f6e0\uff0c\u4f60\u8981\u7ed9\u975e\u5e94\u7b54\uff0c\u8fd9\u65f6\u5c31\u5b8c\uff08\u665a\uff09\u5566\uff01\u6570\u636e\u6536\u5230\u4e4b\u524d\uff0c\u5e94\u7b54\u4f4d\u5c31\u5df2\u7ecf\u53d1\u9001\u51fa\u53bb\u4e86\uff0c\u4f60\u8fd9\u65f6\u518d\u7ed9ACK\u7f6e0\uff0c\u90a3\u53ea\u80fd\u662f\u5728\u4e0b\u4e00\u4e2a\u6570\u636e\u4e4b\u540e\u7ed9\u975e\u5e94\u7b54\u4e86\uff0c\u65f6\u5e8f\u4e0d\u7b49\u4eba\uff0c\u6240\u4ee5\u8981\u63d0\u524d\u8bbe\u7f6eACK=0\u3002<\/p>\n\/\/\u6307\u5b9a\u5730\u5740\u8bfb\r\nuint8_t MPU6050_ReadReg(uint8_t RegAddress)\r\n{\r\n\tuint8_t Data;\r\n\t\/\/\u4ea7\u751f\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u63a5\u53d7\u5e94\u7b54\r\n\t\/* \u5728\u5e93\u51fd\u6570\u4e2d\u5e76\u4e0d\u9700\u8981\u63a5\u6536\u5e94\u7b54\uff0c\u53d1\u9001\u6570\u636e\u90fd\u81ea\u5e26\u4e86\u63a5\u53d7\u5e94\u7b54\u7684\u8fc7\u7a0b\uff1b\u540c\u6837\uff0c\u63a5\u6536\u6570\u636e\u4e5f\u81ea\u5e26\u4e86\u53d1\u9001\u5e94\u7b54\u7684\u8fc7\u7a0b\u3002\r\n\t\u5982\u679c\u5e94\u7b54\u9519\u8bef\uff0c\u786c\u4ef6\u4f1a\u901a\u8fc7\u6807\u5fd7\u4f4d\u548c\u4e2d\u65ad\u6765\u63d0\u9192\u6211\u4eec\u3002*\/\r\n\t\/\/\u5224\u65adEV6\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,RegAddress);\r\n\t\/\/\u5224\u65adEV8_2\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u6700\u540e\u5b57\u8282\u53d1\u9001\u5b57\u8282\u9700\u8981\u7b49\u5f85EV8_2\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4ea7\u751f\u91cd\u590d\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Receiver);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u7b49\u5f85EV6\u4e8b\u4ef6\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4e3b\u673a\u4e0d\u7ed9\u5e94\u7b54\uff08\u63a5\u6536\u4e4b\u524d\u63d0\u524d\u8bbe\u7f6eACK\u548cSTOP\uff09\r\n\tI2C_AcknowledgeConfig(I2C2,DISABLE);\r\n\t\/\/\u53d1\u9001\u505c\u6b62\u4f4d\r\n\tI2C_GenerateSTOP(I2C2,ENABLE);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u7b49\u5f85EV7\u4e8b\u4ef6\uff0cEV7\u4e8b\u4ef6\u4ea7\u751f\u540e\uff0c\u5c31\u4ee3\u8868\u63a5\u6536\u5230\u4e86\u8fd9\u4e00\u5b57\u8282\u7684\u4ee3\u7801\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED) == ERROR);\r\n\t\/\/\u8bfb\u53d6\u6570\u636eDR\r\n\tData = I2C_ReceiveData(I2C2);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u6700\u540e\u5c06ACK\u7f6e\u4e3a1\uff0c\u4e3a\u4ec0\u4e48\u8fd9\u6837\u505a\u5462\uff1f\r\n\t\/*\u6211\u4eec\u7684\u60f3\u6cd5\u662f\uff0c\u9ed8\u8ba4\u72b6\u6001\u4e0b\uff0cACK\u662f1\uff0c\u7ed9\u4ece\u673a\u5e94\u7b54\uff0c\u5728\u6536\u6700\u540e\u4e00\u4e2a\u5b57\u8282\u4e4b\u524d\uff0c\u4e34\u65f6\u628aACK\u7f6e0\uff0c\u7ed9\u975e\u5e94\u7b54\uff1b\u6240\u4ee5\r\n\t\u8981\u5728\u63a5\u6536\u51fd\u6570\u7684\u6700\u540e\uff0c\u8981\u6062\u590d\u9ed8\u8ba4\u7684ACK = 1\uff0c\u65b9\u4fbf\u4ee5\u540e\u63a5\u6536\u591a\u4e2a\u5b57\u8282\u3002*\/\r\n\tI2C_AcknowledgeConfig(I2C2,ENABLE);\r\n\treturn Data;\r\n\t\r\n}<\/code><\/pre>\n\u51fd\u6570\u4ee3\u7801\u4f18\u5316<\/h3>\n\u6211\u4eec\u5728\u4e0a\u8ff0\u51fd\u6570\u4e2d\u4f7f\u7528\u4e86\u5927\u91cf\u7684while\u51fd\u6570\uff0c\u8fd9\u6837\u5bf9\u4e8e\u6574\u4e2a\u5de5\u7a0b\u6765\u8bb2\u662f\u81f4\u547d\u7684\uff0c\u5f88\u53ef\u80fd\u4f1a\u5728\u67d0\u4e2a\u6761\u4ef6\u4ea7\u751f\u4e00\u4e2a\u6b7b\u5faa\u73af\uff0c\u6240\u4ee5\u8981\u5bf9while\u51fd\u6570\u8fdb\u884c\u5982\u4e0b\u4f18\u5316\uff1a<\/p>\n\tuint32_t Time;\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR)\r\n\t{\r\n\t\tTime--;\r\n\t\tif(Time == 0)\r\n\t\t{\r\n\t\t\treturn;\r\n\t\t}\r\n\t}<\/code><\/pre>\n\u8fd9\u91cc\u53ef\u4ee5\u81ea\u5df1\u52a0\u4e0a\u62a5\u9519\u7684\u6570\u503c\uff0c\u8fd9\u6837\u4ee3\u7801\u66f4\u52a0\u5b8c\u5584\uff0c\u5f53\u7136\u8fd9\u91cc\u5c31\u4e0d\u518d\u5199\u9519\u8bef\u5904\u7406\u5bf9\u5e94\u7684\u5185\u5bb9\u4e86\u3002<\/p>\n <\/p>\n <\/p>\n <\/p>\n","protected":false},"excerpt":{"rendered":"MPU6050\u63a5\u7ebf\u56fe I2C\u5e93\u51fd\u6570 \u786c\u4ef6I2C\u4ee3\u7801 MPU6050\u521d\u59cb\u5316 \/\/\u521d\u59cb\u5316MPU6050 void […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-986","post","type-post","status-publish","format-standard","hentry","category-stm32"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=986"}],"version-history":[{"count":5,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions"}],"predecessor-version":[{"id":994,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions\/994"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=986"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=986"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=986"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
\u6211\u4eec\u7ee7\u7eed\u770b7\u4f4d\u4e3b\u63a5\u6536\u7684\u6570\u636e1<\/span>\u8fd9\u91cc\uff0c\u4ee3\u8868\u6570\u636e\u6b63\u5728\u901a\u8fc7\u79fb\u4f4d\u5bc4\u5b58\u5668\u8fdb\u884c\u8f93\u5165\uff0c\u540c\u65f6\u4f1a\u53d1\u751f\u4e00\u4e2aEV6_1\u4e8b\u4ef6\uff0c\u770b\u56fe\u53ef\u77e5\uff0cEV6_1\u53d1\u751f\u65f6\uff0c\u5176\u5b9e\u6570\u636e1\u8fd8\u5728\u79fb\u4f4d\u5bc4\u5b58\u5668\u91cc\u79fb\u4f4d\uff0c\u5e76\u6ca1\u6709\u5b8c\u6210\u79fb\u4f4d\u3002<\/p>\n\u5f53\u6211\u4eec\u53d1\u9001\u5b8c\u5b57\u8282\u4e0d\u9700\u8981\u7ee7\u7eed\u63a5\u6536\u7684\u65f6\u5019\uff0c\u9700\u8981\u5728\u6700\u540e\u4e00\u4e2a\u65f6\u5e8f\u5355\u5143\u53d1\u751f\u65f6\uff0c\u63d0\u524d\u628aACK\u7f6e0\uff0c\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff08EV7_1\u4e8b\u4ef6\uff09\u3002<\/p>\n\u4e3a\u4ec0\u4e48\u8981\u63d0\u524d\u628aACK\u7f6e0\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff1f<\/p>\n\u5982\u679c\u4f60\u4e0d\u63d0\u524d\u5728\u6570\u636e\u8fd8\u6ca1\u6709\u6536\u5230\u7684\u65f6\u5019\u7ed9ACK\u7f6e0\uff0c\u90a3\u7b49\u6570\u636e\u65f6\u5e8f\u5b8c\u5168\u63a5\u6536\u5b8c\u5f97\u5230\u5e94\u7b54\u540e\u518d\u8bbe\u7f6e\u7684\u8bdd\uff0c\u4f60\u518d\u8bf4\u4f60\u8981\u8bbe\u7f6eACK\u7f6e0\uff0c\u4f60\u8981\u7ed9\u975e\u5e94\u7b54\uff0c\u8fd9\u65f6\u5c31\u5b8c\uff08\u665a\uff09\u5566\uff01\u6570\u636e\u6536\u5230\u4e4b\u524d\uff0c\u5e94\u7b54\u4f4d\u5c31\u5df2\u7ecf\u53d1\u9001\u51fa\u53bb\u4e86\uff0c\u4f60\u8fd9\u65f6\u518d\u7ed9ACK\u7f6e0\uff0c\u90a3\u53ea\u80fd\u662f\u5728\u4e0b\u4e00\u4e2a\u6570\u636e\u4e4b\u540e\u7ed9\u975e\u5e94\u7b54\u4e86\uff0c\u65f6\u5e8f\u4e0d\u7b49\u4eba\uff0c\u6240\u4ee5\u8981\u63d0\u524d\u8bbe\u7f6eACK=0\u3002<\/p>\n\/\/\u6307\u5b9a\u5730\u5740\u8bfb\r\nuint8_t MPU6050_ReadReg(uint8_t RegAddress)\r\n{\r\n\tuint8_t Data;\r\n\t\/\/\u4ea7\u751f\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u63a5\u53d7\u5e94\u7b54\r\n\t\/* \u5728\u5e93\u51fd\u6570\u4e2d\u5e76\u4e0d\u9700\u8981\u63a5\u6536\u5e94\u7b54\uff0c\u53d1\u9001\u6570\u636e\u90fd\u81ea\u5e26\u4e86\u63a5\u53d7\u5e94\u7b54\u7684\u8fc7\u7a0b\uff1b\u540c\u6837\uff0c\u63a5\u6536\u6570\u636e\u4e5f\u81ea\u5e26\u4e86\u53d1\u9001\u5e94\u7b54\u7684\u8fc7\u7a0b\u3002\r\n\t\u5982\u679c\u5e94\u7b54\u9519\u8bef\uff0c\u786c\u4ef6\u4f1a\u901a\u8fc7\u6807\u5fd7\u4f4d\u548c\u4e2d\u65ad\u6765\u63d0\u9192\u6211\u4eec\u3002*\/\r\n\t\/\/\u5224\u65adEV6\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,RegAddress);\r\n\t\/\/\u5224\u65adEV8_2\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u6700\u540e\u5b57\u8282\u53d1\u9001\u5b57\u8282\u9700\u8981\u7b49\u5f85EV8_2\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4ea7\u751f\u91cd\u590d\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Receiver);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u7b49\u5f85EV6\u4e8b\u4ef6\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4e3b\u673a\u4e0d\u7ed9\u5e94\u7b54\uff08\u63a5\u6536\u4e4b\u524d\u63d0\u524d\u8bbe\u7f6eACK\u548cSTOP\uff09\r\n\tI2C_AcknowledgeConfig(I2C2,DISABLE);\r\n\t\/\/\u53d1\u9001\u505c\u6b62\u4f4d\r\n\tI2C_GenerateSTOP(I2C2,ENABLE);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u7b49\u5f85EV7\u4e8b\u4ef6\uff0cEV7\u4e8b\u4ef6\u4ea7\u751f\u540e\uff0c\u5c31\u4ee3\u8868\u63a5\u6536\u5230\u4e86\u8fd9\u4e00\u5b57\u8282\u7684\u4ee3\u7801\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED) == ERROR);\r\n\t\/\/\u8bfb\u53d6\u6570\u636eDR\r\n\tData = I2C_ReceiveData(I2C2);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u6700\u540e\u5c06ACK\u7f6e\u4e3a1\uff0c\u4e3a\u4ec0\u4e48\u8fd9\u6837\u505a\u5462\uff1f\r\n\t\/*\u6211\u4eec\u7684\u60f3\u6cd5\u662f\uff0c\u9ed8\u8ba4\u72b6\u6001\u4e0b\uff0cACK\u662f1\uff0c\u7ed9\u4ece\u673a\u5e94\u7b54\uff0c\u5728\u6536\u6700\u540e\u4e00\u4e2a\u5b57\u8282\u4e4b\u524d\uff0c\u4e34\u65f6\u628aACK\u7f6e0\uff0c\u7ed9\u975e\u5e94\u7b54\uff1b\u6240\u4ee5\r\n\t\u8981\u5728\u63a5\u6536\u51fd\u6570\u7684\u6700\u540e\uff0c\u8981\u6062\u590d\u9ed8\u8ba4\u7684ACK = 1\uff0c\u65b9\u4fbf\u4ee5\u540e\u63a5\u6536\u591a\u4e2a\u5b57\u8282\u3002*\/\r\n\tI2C_AcknowledgeConfig(I2C2,ENABLE);\r\n\treturn Data;\r\n\t\r\n}<\/code><\/pre>\n\u51fd\u6570\u4ee3\u7801\u4f18\u5316<\/h3>\n\u6211\u4eec\u5728\u4e0a\u8ff0\u51fd\u6570\u4e2d\u4f7f\u7528\u4e86\u5927\u91cf\u7684while\u51fd\u6570\uff0c\u8fd9\u6837\u5bf9\u4e8e\u6574\u4e2a\u5de5\u7a0b\u6765\u8bb2\u662f\u81f4\u547d\u7684\uff0c\u5f88\u53ef\u80fd\u4f1a\u5728\u67d0\u4e2a\u6761\u4ef6\u4ea7\u751f\u4e00\u4e2a\u6b7b\u5faa\u73af\uff0c\u6240\u4ee5\u8981\u5bf9while\u51fd\u6570\u8fdb\u884c\u5982\u4e0b\u4f18\u5316\uff1a<\/p>\n\tuint32_t Time;\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR)\r\n\t{\r\n\t\tTime--;\r\n\t\tif(Time == 0)\r\n\t\t{\r\n\t\t\treturn;\r\n\t\t}\r\n\t}<\/code><\/pre>\n\u8fd9\u91cc\u53ef\u4ee5\u81ea\u5df1\u52a0\u4e0a\u62a5\u9519\u7684\u6570\u503c\uff0c\u8fd9\u6837\u4ee3\u7801\u66f4\u52a0\u5b8c\u5584\uff0c\u5f53\u7136\u8fd9\u91cc\u5c31\u4e0d\u518d\u5199\u9519\u8bef\u5904\u7406\u5bf9\u5e94\u7684\u5185\u5bb9\u4e86\u3002<\/p>\n <\/p>\n <\/p>\n <\/p>\n","protected":false},"excerpt":{"rendered":"MPU6050\u63a5\u7ebf\u56fe I2C\u5e93\u51fd\u6570 \u786c\u4ef6I2C\u4ee3\u7801 MPU6050\u521d\u59cb\u5316 \/\/\u521d\u59cb\u5316MPU6050 void […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-986","post","type-post","status-publish","format-standard","hentry","category-stm32"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=986"}],"version-history":[{"count":5,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions"}],"predecessor-version":[{"id":994,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions\/994"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=986"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=986"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=986"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
\u5f53\u6211\u4eec\u53d1\u9001\u5b8c\u5b57\u8282\u4e0d\u9700\u8981\u7ee7\u7eed\u63a5\u6536\u7684\u65f6\u5019\uff0c\u9700\u8981\u5728\u6700\u540e\u4e00\u4e2a\u65f6\u5e8f\u5355\u5143\u53d1\u751f\u65f6\uff0c\u63d0\u524d\u628aACK\u7f6e0\uff0c\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff08EV7_1\u4e8b\u4ef6\uff09\u3002<\/p>\n
\u4e3a\u4ec0\u4e48\u8981\u63d0\u524d\u628aACK\u7f6e0\u5e76\u8bbe\u7f6e\u7ec8\u6b62\u6761\u4ef6\uff1f<\/p>\n
\u5982\u679c\u4f60\u4e0d\u63d0\u524d\u5728\u6570\u636e\u8fd8\u6ca1\u6709\u6536\u5230\u7684\u65f6\u5019\u7ed9ACK\u7f6e0\uff0c\u90a3\u7b49\u6570\u636e\u65f6\u5e8f\u5b8c\u5168\u63a5\u6536\u5b8c\u5f97\u5230\u5e94\u7b54\u540e\u518d\u8bbe\u7f6e\u7684\u8bdd\uff0c\u4f60\u518d\u8bf4\u4f60\u8981\u8bbe\u7f6eACK\u7f6e0\uff0c\u4f60\u8981\u7ed9\u975e\u5e94\u7b54\uff0c\u8fd9\u65f6\u5c31\u5b8c\uff08\u665a\uff09\u5566\uff01\u6570\u636e\u6536\u5230\u4e4b\u524d\uff0c\u5e94\u7b54\u4f4d\u5c31\u5df2\u7ecf\u53d1\u9001\u51fa\u53bb\u4e86\uff0c\u4f60\u8fd9\u65f6\u518d\u7ed9ACK\u7f6e0\uff0c\u90a3\u53ea\u80fd\u662f\u5728\u4e0b\u4e00\u4e2a\u6570\u636e\u4e4b\u540e\u7ed9\u975e\u5e94\u7b54\u4e86\uff0c\u65f6\u5e8f\u4e0d\u7b49\u4eba\uff0c\u6240\u4ee5\u8981\u63d0\u524d\u8bbe\u7f6eACK=0\u3002<\/p>\n
\/\/\u6307\u5b9a\u5730\u5740\u8bfb\r\nuint8_t MPU6050_ReadReg(uint8_t RegAddress)\r\n{\r\n\tuint8_t Data;\r\n\t\/\/\u4ea7\u751f\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u63a5\u53d7\u5e94\u7b54\r\n\t\/* \u5728\u5e93\u51fd\u6570\u4e2d\u5e76\u4e0d\u9700\u8981\u63a5\u6536\u5e94\u7b54\uff0c\u53d1\u9001\u6570\u636e\u90fd\u81ea\u5e26\u4e86\u63a5\u53d7\u5e94\u7b54\u7684\u8fc7\u7a0b\uff1b\u540c\u6837\uff0c\u63a5\u6536\u6570\u636e\u4e5f\u81ea\u5e26\u4e86\u53d1\u9001\u5e94\u7b54\u7684\u8fc7\u7a0b\u3002\r\n\t\u5982\u679c\u5e94\u7b54\u9519\u8bef\uff0c\u786c\u4ef6\u4f1a\u901a\u8fc7\u6807\u5fd7\u4f4d\u548c\u4e2d\u65ad\u6765\u63d0\u9192\u6211\u4eec\u3002*\/\r\n\t\/\/\u5224\u65adEV6\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u5199\u5165DR\uff0c\u53d1\u9001\u6570\u636e\u3002\r\n\tI2C_SendData(I2C2,RegAddress);\r\n\t\/\/\u5224\u65adEV8_2\u4e8b\u4ef6\u662f\u5426\u5230\u6765(\u6700\u540e\u5b57\u8282\u53d1\u9001\u5b57\u8282\u9700\u8981\u7b49\u5f85EV8_2\u4e8b\u4ef6)\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4ea7\u751f\u91cd\u590d\u8d77\u59cb\u6761\u4ef6\r\n\tI2C_GenerateSTART(I2C2,ENABLE);\r\n\t\/\/\u5224\u65adEV5\u4e8b\u4ef6\u662f\u5426\u5230\u6765\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u53d1\u9001\u4ece\u673a\u5730\u5740\uff08\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\uff09\r\n\tI2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Receiver);\/\/\u53d1\u9001\u6700\u4f4e\u4f4d\u6e05\u96f6\uff0c\u63a5\u6536\u6700\u4f4e\u4f4d\u7f6e1.\r\n\t\/\/\u7b49\u5f85EV6\u4e8b\u4ef6\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED) == ERROR);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u4e3b\u673a\u4e0d\u7ed9\u5e94\u7b54\uff08\u63a5\u6536\u4e4b\u524d\u63d0\u524d\u8bbe\u7f6eACK\u548cSTOP\uff09\r\n\tI2C_AcknowledgeConfig(I2C2,DISABLE);\r\n\t\/\/\u53d1\u9001\u505c\u6b62\u4f4d\r\n\tI2C_GenerateSTOP(I2C2,ENABLE);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u7b49\u5f85EV7\u4e8b\u4ef6\uff0cEV7\u4e8b\u4ef6\u4ea7\u751f\u540e\uff0c\u5c31\u4ee3\u8868\u63a5\u6536\u5230\u4e86\u8fd9\u4e00\u5b57\u8282\u7684\u4ee3\u7801\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED) == ERROR);\r\n\t\/\/\u8bfb\u53d6\u6570\u636eDR\r\n\tData = I2C_ReceiveData(I2C2);\r\n\t\r\n\t\/*----------------------------------*\/\r\n\t\/\/\u6700\u540e\u5c06ACK\u7f6e\u4e3a1\uff0c\u4e3a\u4ec0\u4e48\u8fd9\u6837\u505a\u5462\uff1f\r\n\t\/*\u6211\u4eec\u7684\u60f3\u6cd5\u662f\uff0c\u9ed8\u8ba4\u72b6\u6001\u4e0b\uff0cACK\u662f1\uff0c\u7ed9\u4ece\u673a\u5e94\u7b54\uff0c\u5728\u6536\u6700\u540e\u4e00\u4e2a\u5b57\u8282\u4e4b\u524d\uff0c\u4e34\u65f6\u628aACK\u7f6e0\uff0c\u7ed9\u975e\u5e94\u7b54\uff1b\u6240\u4ee5\r\n\t\u8981\u5728\u63a5\u6536\u51fd\u6570\u7684\u6700\u540e\uff0c\u8981\u6062\u590d\u9ed8\u8ba4\u7684ACK = 1\uff0c\u65b9\u4fbf\u4ee5\u540e\u63a5\u6536\u591a\u4e2a\u5b57\u8282\u3002*\/\r\n\tI2C_AcknowledgeConfig(I2C2,ENABLE);\r\n\treturn Data;\r\n\t\r\n}<\/code><\/pre>\n\u51fd\u6570\u4ee3\u7801\u4f18\u5316<\/h3>\n\u6211\u4eec\u5728\u4e0a\u8ff0\u51fd\u6570\u4e2d\u4f7f\u7528\u4e86\u5927\u91cf\u7684while\u51fd\u6570\uff0c\u8fd9\u6837\u5bf9\u4e8e\u6574\u4e2a\u5de5\u7a0b\u6765\u8bb2\u662f\u81f4\u547d\u7684\uff0c\u5f88\u53ef\u80fd\u4f1a\u5728\u67d0\u4e2a\u6761\u4ef6\u4ea7\u751f\u4e00\u4e2a\u6b7b\u5faa\u73af\uff0c\u6240\u4ee5\u8981\u5bf9while\u51fd\u6570\u8fdb\u884c\u5982\u4e0b\u4f18\u5316\uff1a<\/p>\n\tuint32_t Time;\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR)\r\n\t{\r\n\t\tTime--;\r\n\t\tif(Time == 0)\r\n\t\t{\r\n\t\t\treturn;\r\n\t\t}\r\n\t}<\/code><\/pre>\n\u8fd9\u91cc\u53ef\u4ee5\u81ea\u5df1\u52a0\u4e0a\u62a5\u9519\u7684\u6570\u503c\uff0c\u8fd9\u6837\u4ee3\u7801\u66f4\u52a0\u5b8c\u5584\uff0c\u5f53\u7136\u8fd9\u91cc\u5c31\u4e0d\u518d\u5199\u9519\u8bef\u5904\u7406\u5bf9\u5e94\u7684\u5185\u5bb9\u4e86\u3002<\/p>\n <\/p>\n <\/p>\n <\/p>\n","protected":false},"excerpt":{"rendered":"MPU6050\u63a5\u7ebf\u56fe I2C\u5e93\u51fd\u6570 \u786c\u4ef6I2C\u4ee3\u7801 MPU6050\u521d\u59cb\u5316 \/\/\u521d\u59cb\u5316MPU6050 void […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-986","post","type-post","status-publish","format-standard","hentry","category-stm32"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=986"}],"version-history":[{"count":5,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions"}],"predecessor-version":[{"id":994,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions\/994"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=986"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=986"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=986"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
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\tuint32_t Time;\r\n\twhile(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT) == ERROR)\r\n\t{\r\n\t\tTime--;\r\n\t\tif(Time == 0)\r\n\t\t{\r\n\t\t\treturn;\r\n\t\t}\r\n\t}<\/code><\/pre>\n\u8fd9\u91cc\u53ef\u4ee5\u81ea\u5df1\u52a0\u4e0a\u62a5\u9519\u7684\u6570\u503c\uff0c\u8fd9\u6837\u4ee3\u7801\u66f4\u52a0\u5b8c\u5584\uff0c\u5f53\u7136\u8fd9\u91cc\u5c31\u4e0d\u518d\u5199\u9519\u8bef\u5904\u7406\u5bf9\u5e94\u7684\u5185\u5bb9\u4e86\u3002<\/p>\n <\/p>\n <\/p>\n <\/p>\n","protected":false},"excerpt":{"rendered":"MPU6050\u63a5\u7ebf\u56fe I2C\u5e93\u51fd\u6570 \u786c\u4ef6I2C\u4ee3\u7801 MPU6050\u521d\u59cb\u5316 \/\/\u521d\u59cb\u5316MPU6050 void […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-986","post","type-post","status-publish","format-standard","hentry","category-stm32"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=986"}],"version-history":[{"count":5,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions"}],"predecessor-version":[{"id":994,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions\/994"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=986"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=986"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=986"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
\u8fd9\u91cc\u53ef\u4ee5\u81ea\u5df1\u52a0\u4e0a\u62a5\u9519\u7684\u6570\u503c\uff0c\u8fd9\u6837\u4ee3\u7801\u66f4\u52a0\u5b8c\u5584\uff0c\u5f53\u7136\u8fd9\u91cc\u5c31\u4e0d\u518d\u5199\u9519\u8bef\u5904\u7406\u5bf9\u5e94\u7684\u5185\u5bb9\u4e86\u3002<\/p>\n
<\/p>\n","protected":false},"excerpt":{"rendered":"
MPU6050\u63a5\u7ebf\u56fe I2C\u5e93\u51fd\u6570 \u786c\u4ef6I2C\u4ee3\u7801 MPU6050\u521d\u59cb\u5316 \/\/\u521d\u59cb\u5316MPU6050 void […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-986","post","type-post","status-publish","format-standard","hentry","category-stm32"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=986"}],"version-history":[{"count":5,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions"}],"predecessor-version":[{"id":994,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/986\/revisions\/994"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=986"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=986"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=986"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
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<\/p>\n<\/p>\n