气压传感器定高代码 hal库

下面是使用HAL库编写的气压传感器定高代码：

#includebmp280.h"

#define BMP280_I2C_ADDRESS      0xEE

BMP280_HandleTypedef bmp280;

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

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_I2C1_Init();
  
  BMP280_Init(&bmp280, &hi2c1, BMP280_I2C_ADDRESS);
  BMP280_SetFilter(&bmp280, BMP280_FILTER_COEFF_2);
  
  float target_height = 1.5;
  float height_error = 0;
  float pressure_error = 0;
  float pressure_offset = 0;
  float height_offset = 0;
  float current_pressure = 0;
  float current_height = 0;
  float last_height = 0;
  
  while (1)
  {
    current_pressure = BMP280_ReadFloatPressure(&bmp280);
    current_height = BMP280_ReadFloatAltitude(&bmp280);
    height_error = target_height - current_height + height_offset;
    pressure_error = height_error * 12.0f / 0.101325f;
    pressure_offset -= pressure_error;
    last_height = current_height;
    current_height = BMP280_ReadFloatAltitude(&bmp280) + height_offset;
    printf("Current Height: %f m\n", current_height);
    HAL_Delay(50);
  }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  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;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
  RCC_ClkInitStruct.ClockType = 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

static 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(__FILE__, __LINE__);
  }
}

static void MX_GPIO_Init(void)
{
  __HAL_RCC_GPIOH_CLK_ENABLE();
  GPIO_InitTypeDef GPIO_InitStruct;
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
  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);
}

这个代码使用了BMP280库来操作气压传感器，并通过计算当前高度和目标高度的误差来计算压力的偏差，以达到定高的效果。你需要在代码中修改`BMP280_I2C_ADDRESS`为你所使用的气压传感器的I2C地址，以及修改`target_height`为你所期望的目标高度。