IDF的IIC使用本质上是在梳理“总线”与“设备”的关系第一步：创建IIC总线，获得总线句柄i2c_bus_handl

本质上是在梳理“总线”与“设备”的关系

第一步：创建IIC总线，获得总线句柄i2c_bus_handle_

i2c_master_bus_config_t bus_config = {};  
bus_config.i2c_port = I2C_NUM_0;  
bus_config.sda_io_num = app_config::IMU_I2C_SDA_GPIO;  
bus_config.scl_io_num = app_config::IMU_I2C_SCL_GPIO;  
bus_config.clk_source = I2C_CLK_SRC_DEFAULT;  
bus_config.glitch_ignore_cnt = 7;  
bus_config.flags.enable_internal_pullup = true;

ESP_ERROR_CHECK(i2c_new_master_bus(&bus_config, &i2c_bus_handle_));

第二步：将I2C设备添加到总线上

i2c_device_config_t dev_cfg = {};  
dev_cfg.dev_addr_length = I2C_ADDR_BIT_LEN_7;  
dev_cfg.device_address = device_address_;  
dev_cfg.scl_speed_hz = 400000;  

esp_err_t ret = i2c_master_bus_add_device(bus_handle_, &dev_cfg, &dev_handle_);