spi驱动mpu9250

以下是使用STM32CubeIDE驱动MPU9250的SPI代码示例：

#include "main.h"
#include "spi.h"

#define MPU9250_CS_GPIO_Port GPIOA
#define MPU9250_CS_Pin GPIO_PIN_4

#define MPU9250_SPI hspi1

#define MPU9250_WHO_AM_I 0x75
#define MPU9250_WHO_AM_I_VALUE 0x71

void MPU9250_Init(void{
  uint8_t who_am_i = 0;
  uint8_t data = 0;

  // 使能SPI总线
  HAL_GPIO_WritePin(MPU9250_CS_GPIO_Port, MPU9250_CS_Pin, GPIO_PIN_RESET);

  // 读取WHO_AM_I寄存器
  data = MPU9250_WHO_AM_I | 0x80;
  HAL_SPI_Transmit(&MPU9250_SPI, &data, 1, 100);
  HAL_SPI_Receive(&MPU9250_SPI, &who_am_i, 1, 100);

  // 禁用SPI总线
  HAL_GPIO_WritePin(MPU9250_CS_GPIO_Port, MPU9250_CS_Pin, GPIO_PIN_SET);

  // 检查WHO_AM_I寄存器的值
  if (who_am_i != MPU9250_WHO_AM_I_VALUE)
  {
    // 错误处理
  }

  // MPU9250初始化代码
  // ...

}

void MPU9250_ReadAccel(float *accel)
{
  uint8_t data[6] = {0};
  int16_t raw_accel[3] = {0};

  // 使能SPI总线
  HAL_GPIO_WritePin(MPU9250_CS_GPIO_Port, MPU9250_CS_Pin, GPIO_PIN_RESET);

  // 读取加速度计数据
  data[0] = 0x3B | 0x80;
  HAL_SPI_Transmit(&MPU9250_SPI, &data[0], 1, 100);
  HAL_SPI_Receive(&MPU9250_SPI, &data[0], 1, 100);
  data[1] = 0x3C | 0x80;
  HAL_SPI_Transmit(&MPU9250_SPI, &data[1], 1, 100);
  HAL_SPI_Receive(&MPU9250_SPI, &data[1], 1, 100);
  data[2] = 0x3D | 0x80;
  HAL_SPI_Transmit(&MPU9250_SPI, &data[2], 1, 100);
  HAL_SPI_Receive(&MPU9250_SPI, &data[2], 1, 100);
  data[3] = 0x3E | 0x80;
  HAL_SPI_Transmit(&MPU9250_SPI, &data[3], 1, 100);
  HAL_SPI_Receive(&MPU9250_SPI, &data[3], 1, 100);
  data[4] = 0x3F | 0x80;
  HAL_SPI_Transmit(&MPU9250_SPI, &data[4], 1, 100);
  HAL_SPI_Receive(&MPU9250_SPI, &data[4], 1, 100);
  data[5] = 0x40 | 0x80;
  HAL_SPI_Transmit(&MPU9250_SPI, &data[5], 1, 100);
  HAL_SPI_Receive(&MPU9250_SPI, &data[5], 1, 100);

  // 禁用SPI总线
  HAL_GPIO_WritePin(MPU9250_CS_GPIO_Port, MPU9250_CS_Pin, GPIO_PIN_SET);

  // 将原始数据转换为加速度值
  raw_accel[0] = (int16_t)((data[0] << 8) | data[1]);
  raw_accel[1] = (int16_t)((data[2] << 8) | data[3]);
  raw_accel[2] = (int16_t)((data[4] << 8) | data[5]);
  accel[0] = (float)raw_accel[0] / 16384.0f;
  accel[1] = (float)raw_accel[1] / 16384.0f;
  accel[2] = (float)raw_accel[2] / 16384.0f;
}

// 更多MPU9250的SPI驱动代码可以在STM32CubeIDE中找到