步骤

一、配置I2C外设，对I2C2外设进行初始化（MyI2C_Init） 

• 开启I2C外设和对应的GPIO口的时钟
• 把I2C对应的GPIO口初始化为复用开漏模式
• 使用结构体配置I2C
• I2C_Cmd,使能I2C

I2C_GenerateSTART        //生产起始条件

I2C_GenerateSTOP        //生产终止条件

I2C_AcknowledgeConfig        //配置ACK应答使能

I2C_SendData        //把数据写入DR寄存器

I2C_ReceiveData        //读取DR数据

I2C_Send7bitAddress        //发送7位地址

I2C_CheckEvent        //检查标志位

二、控制外设电路，实现指定地址写的时序（WriteReg）

三、控制外设电路，实现指定地址读的实现（ReadReg）

MPU6050.c

#include "stm32f10x.h"                  // Device header
#include "MPU6050_Reg.h"

#define MPU6050_ADDRESS		0xD0

void MPU6050_waitEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT)
{
	uint32_t Timeout;
	Timeout = 10000;
	while(I2C_CheckEvent(I2Cx , I2C_EVENT) != SUCCESS)	
	{
		Timeout --; 	//超时退出机制
		if(Timeout == 0)
		{
			break;
		}
	}
	
}

void MPU6050_WriteReg(uint8_t RegAddress, uint8_t Data)
{

	I2C_GenerateSTART(I2C2 , ENABLE);	//起始
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_MODE_SELECT);	//检测EV5
	
	
	I2C_Send7bitAddress(I2C2 , MPU6050_ADDRESS  ,I2C_Direction_Transmitter);	//发送7位地址
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);	//检测EV6
	
	I2C_SendData(I2C2 , RegAddress);	//发送数据
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_BYTE_TRANSMITTING);	//检测EV8
	
	I2C_SendData(I2C2 , Data);
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_BYTE_TRANSMITTED);	//检测EV8_2

	I2C_GenerateSTOP(I2C2 , ENABLE);	//终止 

}

uint8_t MPU6050_ReadReg(uint8_t RegAddress)
{
	uint8_t Data;
	
	I2C_GenerateSTART(I2C2 , ENABLE);	//起始
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_MODE_SELECT);	//检测EV5
	
	I2C_Send7bitAddress(I2C2 , MPU6050_ADDRESS  ,I2C_Direction_Transmitter);	//发送7位地址
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);	//检测EV6
	
	I2C_SendData(I2C2 , RegAddress);	//发送数据
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_BYTE_TRANSMITTED);	//检测EV8
	
	I2C_GenerateSTART(I2C2 , ENABLE);	//重复起始条件
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_MODE_SELECT);	//检测EV5
	
	I2C_Send7bitAddress(I2C2 , MPU6050_ADDRESS  ,I2C_Direction_Receiver);	//接收7位地址
	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED);	//检测EV6
	
	I2C_AcknowledgeConfig(I2C2 , DISABLE);	//设置ack=0
	I2C_GenerateSTOP(I2C2 ,ENABLE); //stop = 1 申请产生终止条件

	MPU6050_waitEvent(I2C2 , I2C_EVENT_MASTER_BYTE_RECEIVED);	//检测EV7
	Data = I2C_ReceiveData(I2C2);	//数值赋给Data

	I2C_AcknowledgeConfig(I2C2 , ENABLE);	//设置ack=1

	return Data;
}


void MPU6050_Init(void)
{
//	MyI2C_Init();
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2 , ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;	//复用AF:GPIO的控制权要交给硬件外设 开漏OD:I2C协议的要求
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitStructure);
	
	I2C_InitTypeDef I2C_Initstructure;
	I2C_Initstructure.I2C_Mode = I2C_Mode_I2C;
	I2C_Initstructure.I2C_ClockSpeed = 50000;
	I2C_Initstructure.I2C_DutyCycle = I2C_DutyCycle_2;
	I2C_Initstructure.I2C_Ack = I2C_Ack_Enable;
	I2C_Initstructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
	I2C_Initstructure.I2C_OwnAddress1 = 0x00;
	I2C_Init(I2C2 , &I2C_Initstructure);
	
	I2C_Cmd(I2C2 , ENABLE);
	
	MPU6050_WriteReg(MPU6050_PWR_MGMT_1, 0x01);//解除睡眠、选择陀螺仪时钟
	MPU6050_WriteReg(MPU6050_PWR_MGMT_2, 0x00);//6个轴均不待机
	MPU6050_WriteReg(MPU6050_SMPLRT_DIV, 0x09);//10分频
	MPU6050_WriteReg(MPU6050_CONFIG, 0x06);//配置寄存器
	MPU6050_WriteReg(MPU6050_GYRO_CONFIG, 0x18);//陀螺仪配置寄存器
	MPU6050_WriteReg(MPU6050_ACCEL_CONFIG, 0x18);//加速度配置寄存器
}

uint8_t MPU6050_GetID(void)
{
	return MPU6050_ReadReg(MPU6050_WHO_AM_I);
}


void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ, 
					int16_t *GyroX, int16_t *GyroY, int16_t *GyroZ)	
//分别读取6个轴数据寄存器的高位和低位，拼接为16位数据再通过指针变量返回																
{
	uint8_t DataH, DataL;
	
	DataH = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);
	DataL = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);
	*AccX = (DataH << 8) | DataL;
	
	DataH = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);
	DataL = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);
	*AccY = (DataH << 8) | DataL;
	
	DataH = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);
	DataL = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);
	*AccZ = (DataH << 8) | DataL;
	
	DataH = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);
	DataL = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);
	*GyroX = (DataH << 8) | DataL;
	
	DataH = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);
	DataL = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);
	*GyroY = (DataH << 8) | DataL;
	
	DataH = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);
	DataL = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);
	*GyroZ = (DataH << 8) | DataL;
}