A whole MPU6050 Lib with stmf1 mcu by hardware dma i2c This project can be opened by KEIL5 The driver code is created by stm32cubeMX
I2C1 GPIO Configuration :
PB6 ------> I2C1_SCL
PB7 ------> I2C1_SDA
MPU6050 raw is read in TIM4 global interupt, it can be found in stm32f1xx_it.c The raw is saved in struct acc and gyro ,you can transfer it with usart1 or watch them in debug watch window
The MPU6050 default settings is 1000Hz sampling rate, 2000deg/s and ±16g You can find the initialization function is in i2c.c