基于HAL库的STM32F4 I2C驱动的示例代码，包含了对两个PCA9555芯片的读写操作，并且具有容错功能与操作PCA9555输出PIN脚电平功能 并且出错时会重新初始化PCA9555芯片

以下是一个基于HAL库的STM32F4 I2C驱动的示例代码，可以读写两个PCA9555芯片，并且具有容错功能与操作PCA9555输出PIN脚电平功能。如果出现错误，代码将重新初始化PCA9555芯片。此代码需要使用I2C2总线来连接PCA9555芯片。

#include "stm32f4xx_hal.h"

#define PCA9555_ADDRESS_1 0x40
#define PCA9555_ADDRESS_2 0x41

I2C_HandleTypeDef hi2c2;

void PCA9555_Write(I2C_HandleTypeDef *hi2c, uint8_t address, uint8_t reg, uint8_t value)
{
    uint8_t data[2];
    data[0] = reg;
    data[1] = value;
    while (HAL_I2C_Master_Transmit(hi2c, address, data, 2, 1000) != HAL_OK)
    {
        if (HAL_I2C_GetError(hi2c) != HAL_I2C_ERROR_AF)
        {
            /* Reinitialize I2C */
            HAL_I2C_DeInit(hi2c);
            HAL_I2C_Init(hi2c);
        }
    }
}

uint8_t PCA9555_Read(I2C_HandleTypeDef *hi2c, uint8_t address, uint8_t reg)
{
    uint8_t value;
    while (HAL_I2C_Master_Transmit(hi2c, address, &reg, 1, 1000) != HAL_OK)
    {
        if (HAL_I2C_GetError(hi2c) != HAL_I2C_ERROR_AF)
        {
            /* Reinitialize I2C */
            HAL_I2C_DeInit(hi2c);
            HAL_I2C_Init(hi2c);
        }
    }
    while (HAL_I2C_Master_Receive(hi2c, address, &value, 1, 1000) != HAL_OK)
    {
        if (HAL_I2C_GetError(hi2c) != HAL_I2C_ERROR_AF)
        {
            /* Reinitialize I2C */
            HAL_I2C_DeInit(hi2c);
            HAL_I2C_Init(hi2c);
        }
    }
    return value;
}

void PCA9555_SetOutput(I2C_HandleTypeDef *hi2c, uint8_t address, uint8_t pin, uint8_t level)
{
    uint8_t reg = PCA9555_OUTPUT;
    uint8_t value = PCA9555_Read(hi2c, address, reg);
    if (level == 0)
    {
        value &= ~(1 << pin);
    }
    else
    {
        value |= (1 << pin);
    }
    PCA9555_Write(hi2c, address, reg, value);
}

int main(void)
{
    /* Initialize I2C2 */
    hi2c2.Instance = I2C2;
    hi2c2.Init.ClockSpeed = 400000;
    hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
    hi2c2.Init.OwnAddress1 = 0;
    hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
    hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
    hi2c2.Init.OwnAddress2 = 0;
    hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
    hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
    if (HAL_I2C_Init(&hi2c2) != HAL_OK)
    {
        /* Initialization Error */
        while (1);
    }

    /* Write to PCA9555 #1 */
    PCA9555_Write(&hi2c2, PCA9555_ADDRESS_1, PCA9555_OUTPUT, 0xAA);

    /* Read from PCA9555 #1 */
    uint8_t value = PCA9555_Read(&hi2c2, PCA9555_ADDRESS_1, PCA9555_INPUT);

    /* Set Output pin #0 on PCA9555 #2 to high */
    PCA9555_SetOutput(&hi2c2, PCA9555_ADDRESS_2, 0, 1);

    while (1);
}

请注意，此示例代码中的错误处理程序仅尝试重新初始化I2C总线以解决故障。在实际应用中，您可能需要更复杂的错误处理机制，例如记录错误并在发生多个错误时采取更严格的措施。