完整的STM32F4 I2C HAL驱动PCA9555程序带容错功能，出错重新初始化PCA9535

以下是一个基本的STM32F4 HAL库驱动程序示例，用于控制PCA9555 I2C扩展器，并具有容错功能。如果出现错误，将重新初始化PCA9535。

#include "stm32f4xx_hal.h"

#define PCA9555_ADDR 0x40 << 1

I2C_HandleTypeDef hi2c1;

void PCA9555_Init(void)
{
    uint8_t data[2];
    data[0] = 0x06; // Configuration register
    data[1] = 0x00; // All outputs
    HAL_I2C_Master_Transmit(&hi2c1, PCA9555_ADDR, data, 2, 1000);
}

void PCA9555_Write(uint8_t channel, uint8_t value)
{
    uint8_t data[2];
    data[0] = 0x02; // Output register
    data[1] = value;
    HAL_I2C_Master_Transmit(&hi2c1, PCA9555_ADDR, data, 2, 1000);
}

void PCA9555_Retry_Write(uint8_t channel, uint8_t value)
{
    uint8_t retry = 3;
    while(retry--)
    {
        if(HAL_I2C_IsDeviceReady(&hi2c1, PCA9555_ADDR, 1, 1000) == HAL_OK)
        {
            PCA9555_Write(channel, value);
            break;
        }
        else
        {
            HAL_I2C_DeInit(&hi2c1);
            HAL_I2C_Init(&hi2c1);
            PCA9555_Init();
        }
    }
}

int main(void)
{
    HAL_Init();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    __HAL_RCC_I2C1_CLK_ENABLE();

    GPIO_InitTypeDef GPIO_InitStruct;
    GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    hi2c1.Instance = I2C1;
    hi2c1.Init.ClockSpeed = 100000;
    hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
    hi2c1.Init.OwnAddress1 = 0;
    hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
    hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
    hi2c1.Init.OwnAddress2 = 0;
    hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
    hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
    if (HAL_I2C_Init(&hi2c1) != HAL_OK)
    {
        Error_Handler();
    }

    PCA9555_Init();
    PCA9555_Retry_Write(0, 0xFF);

    while (1)
    {
        PCA9555_Retry_Write(0, 0x00);
        HAL_Delay(500);
        PCA9555_Retry_Write(0, 0xFF);
        HAL_Delay(500);
    }
}

在这个例子中，PCA9555_Init（）函数初始化PCA9555，并将其配置为所有输出。PCA9555_Write（）函数将输出值写入PCA9555的输出寄存器。PCA9555_Retry_Write（）函数带有重试逻辑，如果I2C总线上的设备没有响应，则会重新初始化PCA9555，然后重试写操作。最后，在main（）函数中，我们以1秒的间隔循环写入PCA9555的输出寄存器。