// This function initializes the PLLCR register. void InitPll(unsigned int val) { volatile unsigned int i; EALLOW; SysCtrlRegs.PLLCR.bit.DIV = val; EDIS; DisableDog(); // Wait PLL lock cycles. for(i= 0; i< ( (131072/2)/12 ); i++) {;} } }

这段代码是用来初始化 PLLCR 寄存器的。PLL（Phase Locked Loop）是一种电路，用于将时钟信号锁定在特定频率上。在这个函数中，首先通过 EALLOW 和 EDIS 宏来使能和禁止写入系统控制寄存器，然后将 PLLCR 寄存器的 DIV 位设置为传入的参数 val。最后，通过一个循环等待 PLL 锁定。这个循环的次数是根据特定的时钟频率计算得出的。

相关问题

int main(void) { int16_t ax, ay, az; // 初始化MPU6050 MPU6050_Init(); while (1) { // 读取加速度数据 MPU6050_Read_Accel(&ax, &ay, &az); // 处理数据 // ... HAL_Delay(10); } }对ax，ay进行高通滤波后对串口输出

您可以使用以下代码实现：

#include "stdio.h"
#include "stdlib.h"
#include "stdint.h"
#include "stm32f1xx_hal.h"

#define ACCEL_THRESHOLD 100

I2C_HandleTypeDef hi2c1;
UART_HandleTypeDef huart1;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_I2C1_Init(void);

int16_t ax, ay, az;
int16_t ax_hpf, ay_hpf;

void MPU6050_Init(void) {
    // 初始化MPU6050的I2C通信
    // ...
}

void MPU6050_Read_Accel(int16_t *ax, int16_t *ay, int16_t *az) {
    // 读取加速度数据
    // ...
}

int16_t HighPassFilter(int16_t input, int16_t prev_output) {
    int16_t output = (2 * prev_output - input) / 2;
    return output;
}

int main(void) {
    HAL_Init();
    SystemClock_Config();
    MX_GPIO_Init();
    MX_USART1_UART_Init();
    MX_I2C1_Init();

    MPU6050_Init();

    while (1) {
        MPU6050_Read_Accel(&ax, &ay, &az);

        // 对ax和ay进行高通滤波
        ax_hpf = HighPassFilter(ax, ax_hpf);
        ay_hpf = HighPassFilter(ay, ay_hpf);

        if (abs(ax_hpf) > ACCEL_THRESHOLD || abs(ay_hpf) > ACCEL_THRESHOLD) {
            // 如果加速度超过阈值，则输出到串口
            char buffer[50];
            sprintf(buffer, "ax: %d, ay: %d\r\n", ax_hpf, ay_hpf);
            HAL_UART_Transmit(&huart1, (uint8_t *)buffer, strlen(buffer), HAL_MAX_DELAY);
        }

        HAL_Delay(10);
    }
}

// 系统时钟配置
void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Configure the main internal regulator output voltage
    */
    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }
    /** Initializes the CPU, AHB and APB buses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
                                  | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
        Error_Handler();
    }
}
// GPIO初始化
static void MX_GPIO_Init(void) {
    GPIO_InitTypeDef GPIO_InitStruct = {0};

    /* GPIO Ports Clock Enable */
    __HAL_RCC_GPIOD_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();

    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12, GPIO_PIN_RESET);

    /*Configure GPIO pin : PD12 */
    GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

}
// USART1初始化
static void MX_USART1_UART_Init(void) {
    huart1.Instance = USART1;
    huart1.Init.BaudRate = 115200;
    huart1.Init.WordLength = UART_WORDLENGTH_8B;
    huart1.Init.StopBits = UART_STOPBITS_1;
    huart1.Init.Parity = UART_PARITY_NONE;
    huart1.Init.Mode = UART_MODE_TX_RX;
    huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart1.Init.OverSampling = UART_OVERSAMPLING_16;
    if (HAL_UART_Init(&huart1) != HAL_OK) {
        Error_Handler();
    }
}
// I2C1初始化
void MX_I2C1_Init(void) {
    hi2c1.Instance = I2C1;
    hi2c1.Init.ClockSpeed = 400000;
    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();
    }
}
// 错误处理
void Error_Handler(void) {
    __disable_irq();
    while (1) {
    }
}

需要根据您的具体情况进行修改，比如I2C通信的初始化需要根据您的硬件接口进行配置。当然，这里的高通滤波只是一种简单的实现，您可以根据实际应用场景进行优化。

Create the Printer class. Write a contructor that initializes the attributes printQueue,stateIsRunning appropriately. The print queue should be big enough to handle five simultaneous jobs. You may want to implement this class as a Singleton. The printQueue attribute is a FIFO queue that holds all print jobs that have been posted to this printer. I have included the Java classes that you need for this data structure. Queue is an interface of FIFO queues. CircularQueue implements a fixed-length queue. The FullQueueException and EmptyQueueException are thrown by the addBack and removeFront methods respectively. Write a public, synchronized addJob method. This method might throw a FullQueueException. Write a private, synchronized getJob method. This method might throw a EmptyQueueException. Write the public, synchronized halt method. This method should set the stateIsRunning to false. Write the run method. This is the heart of the print manager. It must loop continueously, until it has been halted. It must retrieve a print job off the queue, print out that the job is starting (and give the name of the job), process the job (by sleeping a certain number of milliseconds per page; 500ms/page is a good value), and then print out that the job has completed. If no job is available, print out that the printer is waiting for a job.

Here is the Printer class implementation that meets your requirements:

import java.util.Queue;
import java.util.concurrent.ArrayBlockingQueue;

public class Printer {
    private static Printer instance;
    private final Queue<String> printQueue;
    private boolean stateIsRunning;

    private Printer() {
        printQueue = new ArrayBlockingQueue<>(5);
        stateIsRunning = true;
    }

    public static synchronized Printer getInstance() {
        if (instance == null) {
            instance = new Printer();
        }
        return instance;
    }

    public synchronized void addJob(String jobName) throws FullQueueException {
        if (printQueue.offer(jobName)) {
            System.out.println("Job " + jobName + " has been added to the print queue.");
        } else {
            throw new FullQueueException("Print queue is full. Cannot add job " + jobName);
        }
    }

    private synchronized String getJob() throws EmptyQueueException {
        String jobName = printQueue.poll();
        if (jobName == null) {
            throw new EmptyQueueException("Print queue is empty.");
        }
        return jobName;
    }

    public synchronized void halt() {
        stateIsRunning = false;
    }

    public void run() {
        while (stateIsRunning) {
            try {
                String jobName = getJob();
                System.out.println("Starting job " + jobName);
                int pageCount = 10; // Assuming each job has 10 pages
                for (int i = 1; i <= pageCount; i++) {
                    Thread.sleep(500); // Sleep for 500ms per page
                }
                System.out.println("Job " + jobName + " has been completed.");
            } catch (EmptyQueueException e) {
                System.out.println("Printer is waiting for a job.");
            } catch (InterruptedException e) {
                System.err.println("InterruptedException occurred while processing print job: " + e.getMessage());
            }
        }
    }
}

In this implementation, we have a `printQueue` attribute which is an `ArrayBlockingQueue` of size 5. The `addJob` method adds a job to the queue and throws a `FullQueueException` if the queue is already full. The `getJob` method retrieves a job from the queue and throws an `EmptyQueueException` if the queue is empty. The `run` method continuously loops until the printer is halted (`stateIsRunning` is set to false). It retrieves a job from the queue, processes it by sleeping for 500ms per page, and then prints out that the job has been completed. If there are no jobs available, it prints out that the printer is waiting for a job.

Note that we have implemented the `Printer` class as a Singleton by adding a private constructor and a `getInstance` method. This ensures that there is only one instance of `Printer` class throughout the application.