STM32 400kHz hardware I2C read 0x6B failed if no delay after sending reset command (0x6B bit7)

[huqifj]

Version

v1.0.8

Describe the bug

STM32F103, hardware I2C, 400kHz, reading the 0x6B register successfully if there is a 1 ms delay after sending the reset command. Otherwise, it will fail.

The figure below shows the reading of 0x6B with and without a delay in the 400 kHz I2C.

Reproduce

No response

Expected behavior

No response

Additional context

There is no need for a delay if the frequency is 100 kHz.

[libdriver]

Thank you very much for choosing LibDriver.
It is mentioned in the datasheet that the maximum I2C rate of MPU6050 is 400KHz. When this upper limit rate is reached, there may be some stability issues. We have added necessary delay to ensure the safety of the reset operation. You can pull again to fetch latest code.
Thank you for your report.