mpu6050使用iic一直失败。放弃治疗，使用串口。。。

#include "led.h"

#include "mpu6050.h"

#include "iic.h"

#include "string.h"

//*************************************************

unsigned char Re_buf[11],counter=0;

unsigned char sign;

static unsigned char Temp[11];

float a[3],w[3],angle[3],T;

//************************************************

void GyroscopeInit(){

	GPIO_InitTypeDef GPIO_InitStructure;

	USART_InitTypeDef USART_InitStructure;

	NVIC_InitTypeDef NVIC_InitStructure;

	//PB10 USART3的T PB11 USART3的R

	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE);

	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10;

	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;

	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_10MHz;

	GPIO_Init(GPIOB,&GPIO_InitStructure);

	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_11;

	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;//据说要改成上拉输入***************************************************

	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_10MHz;

	GPIO_Init(GPIOB,&GPIO_InitStructure);

	USART_InitStructure.USART_BaudRate=115200;

	USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;

	USART_InitStructure.USART_Mode=USART_Mode_Tx|USART_Mode_Rx;

	USART_InitStructure.USART_Parity=USART_Parity_No;

	USART_InitStructure.USART_StopBits=USART_StopBits_1;

	USART_InitStructure.USART_WordLength=USART_WordLength_8b;

	USART_Init(USART3,&USART_InitStructure);

	USART_Cmd(USART3,ENABLE);

	USART_ITConfig(USART3,USART_IT_RXNE,ENABLE);

	USART_ClearFlag(USART3, USART_FLAG_TC);

	NVIC_InitStructure.NVIC_IRQChannel=USART3_IRQn;

	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;

	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;

	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;

	NVIC_Init(&NVIC_InitStructure);

}

void USART3_IRQHandler(void)

{

	if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)  //接收中断有效,若接收数据寄存器满

     {

      Temp[counter] = USART_ReceiveData(USART3);   //接收数据

	  if(counter == 0 && Temp[0] != 0x55) return;      //第 0 号数据不是帧头，跳过

      counter++;

      if(counter==11) //接收到 11 个数据

      {

         memcpy(Re_buf,Temp,11);

         counter=0; //重新赋值，准备下一帧数据的接收

         sign=1;

      }

   }

}

int Gyroscopetest(void){

	int AngleCar;

	unsigned char Temp[11];

   //u8 i;

   delay_ms(2);

   while (1)

   {

      if(sign)

      {

         memcpy(Temp,Re_buf,11);

         sign=0;

         if(Re_buf[0]==0x55)       //检查帧头

         {

            switch(Re_buf[1])

            {

				/*//我只需要Z角度所以就注释啦^_^

               case 0x51: //标识这个包是加速度包

                  a[0] = ((short)(Temp[3]<<8 | Temp[2]))/32768.0*16;      //X轴加速度

                  a[1] = ((short)(Temp[5]<<8 | Temp[4]))/32768.0*16;      //Y轴加速度

                  a[2] = ((short)(Temp[7]<<8 | Temp[6]))/32768.0*16;      //Z轴加速度

                  T    = ((short)(Temp[9]<<8 | Temp[8]))/340.0+36.25;      //温度

                  break;

               case 0x52: //标识这个包是角速度包

                  w[0] = ((short)(Temp[3]<<8| Temp[2]))/32768.0*2000;      //X轴角速度

                  w[1] = ((short)(Temp[5]<<8| Temp[4]))/32768.0*2000;      //Y轴角速度

                  w[2] = ((short)(Temp[7]<<8| Temp[6]))/32768.0*2000;      //Z轴角速度

                  T    = ((short)(Temp[9]<<8| Temp[8]))/340.0+36.25;      //温度

                  break;

               case 0x53: //标识这个包是角度包

                  angle[0] = ((short)(Temp[3]<<8| Temp[2]))/32768.0*180;   //X轴滚转角（x 轴）

                  angle[1] = ((short)(Temp[5]<<8| Temp[4]))/32768.0*180;   //Y轴俯仰角（y 轴）

                  angle[2] = ((short)(Temp[7]<<8| Temp[6]))/32768.0*180;   //Z轴偏航角（z 轴）

                  T        = ((short)(Temp[9]<<8| Temp[8]))/340.0+36.25;   //温度

                  //printf("X轴角度：%.2f   Y轴角度：%.2f   Z轴角度：%.2f\r\n",angle[0],angle[1],angle[2]);

				*/

				case 0x53:

					angle[2]=((short)(Temp[7]<<8| Temp[6]))/32768.0*180;   //Z轴偏航角（z 轴）

					T   = ((short)(Temp[9]<<8| Temp[8]))/340.0+36.25;   //温度

					AngleCar=angle[2];

					printf("Z:%.2f\n",angle[2]);

					break;

               default:  break;

            }

			//printf("X角度：%.2f  Y角度：%.2f  Z角度：%.2f  X速度：%.2f  Y速度：%.2f  Z速度：%.2f\r\n",angle[0],angle[1],angle[2],w[0],w[1],w[2]);

         }

      }

   }

}