In my main() function:
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MPU6050_I2C_Init();
uint8_t tmp = 0;
MPU6050_I2C_BufferRead(0x69<<1, &tmp, 0x75, 1);
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void MPU6050_I2C_Init()
{
I2C_InitTypeDef I2C_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIOB clock enable */
RCC_APB2PeriphClockCmd(MPU6050_I2C_RCC_Port, ENABLE);
/* I2C1 clock enable */
RCC_APB1PeriphClockCmd(MPU6050_I2C_RCC_Periph, ENABLE);
/* I2C1 SDA and SCL configuration */
GPIO_InitStructure.GPIO_Pin = MPU6050_I2C_SCL_Pin;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = MPU6050_I2C_SDA_Pin;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Enable I2C1 reset state */
RCC_APB1PeriphResetCmd(MPU6050_I2C_RCC_Periph, ENABLE);
/* Release I2C1 from reset state */
RCC_APB1PeriphResetCmd(MPU6050_I2C_RCC_Periph, DISABLE);
/* I2C1 and I2C2 configuration */
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_OwnAddress1 = 0x69;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed = 400000;
I2C_Init(MPU6050_I2C, &I2C_InitStructure);
}
void MPU6050_I2C_BufferRead(u8 slaveAddr, u8* pBuffer, u8 readAddr, u16 NumByteToRead)
{
// ENTR_CRT_SECTION();
/* While the bus is busy */
while (I2C_GetFlagStatus(MPU6050_I2C, I2C_FLAG_BUSY));
/* Send START condition */
I2C_GenerateSTART(MPU6050_I2C, ENABLE);
/* Test on EV5 and clear it */
while (!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_MODE_SELECT));
/* Send MPU6050 address for write */
I2C_Send7bitAddress(MPU6050_I2C, slaveAddr, I2C_Direction_Transmitter);
/* Test on EV6 and clear it */
while (!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
led_on(LED_RED);
/* Clear EV6 by setting again the PE bit */
I2C_Cmd(MPU6050_I2C, ENABLE);
/* Send the MPU6050's internal address to write to */
I2C_SendData(MPU6050_I2C, readAddr);
/* Test on EV8 and clear it */
while (!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
/* Send STRAT condition a second time */
I2C_GenerateSTART(MPU6050_I2C, ENABLE);
/* Test on EV5 and clear it */
while (!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_MODE_SELECT));
/* Send MPU6050 address for read */
I2C_Send7bitAddress(MPU6050_I2C, slaveAddr, I2C_Direction_Receiver);
/* Test on EV6 and clear it */
while (!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
/* While there is data to be read */
while (NumByteToRead)
{
if (NumByteToRead == 1)
{
/* Disable Acknowledgement */
I2C_AcknowledgeConfig(MPU6050_I2C, DISABLE);
/* Send STOP Condition */
I2C_GenerateSTOP(MPU6050_I2C, ENABLE);
}
/* Test on EV7 and clear it */
if (I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_BYTE_RECEIVED))
{
/* Read a byte from the MPU6050 */
*pBuffer = I2C_ReceiveData(MPU6050_I2C);
/* Point to the next location where the byte read will be saved */
pBuffer++;
/* Decrement the read bytes counter */
NumByteToRead--;
}
}
/* Enable Acknowledgement to be ready for another reception */
I2C_AcknowledgeConfig(MPU6050_I2C, ENABLE);
// EXT_CRT_SECTION();
}
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#define MPU6050_I2C I2C1
#define MPU6050_I2C_RCC_Periph RCC_APB1Periph_I2C1
#define MPU6050_I2C_Port GPIOB
#define MPU6050_I2C_SCL_Pin GPIO_Pin_6
#define MPU6050_I2C_SDA_Pin GPIO_Pin_7
#define MPU6050_I2C_RCC_Port RCC_APB2Periph_GPIOB
#define MPU6050_I2C_Speed 400000 // 400kHz standard mode
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/* Test on EV6 and clear it */
while (!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));