ICM-42688-P例程

您可以参考以下的 STM32 HAL 库的例程，使用 SPI 接口与 ICM-42688-P 进行通信：

#include "stm32f1xx_hal.h"
#include <stdio.h>

#define ICM42688_SPI_HANDLE hspi1
#define ICM42688_CS_GPIO GPIOA
#define ICM42688_CS_PIN GPIO_PIN_4

#define ICM42688_WHO_AM_I 0x75
#define ICM42688_WHO_AM_I_RESULT 0x49

#define SPI_TIMEOUT 1000

SPI_HandleTypeDef ICM42688_SPI_HANDLE;

void ICM42688_SPI_CS_LOW(void)
{
    HAL_GPIO_WritePin(ICM42688_CS_GPIO, ICM42688_CS_PIN, GPIO_PIN_RESET);
}

void ICM42688_SPI_CS_HIGH(void)
{
    HAL_GPIO_WritePin(ICM42688_CS_GPIO, ICM42688_CS_PIN, GPIO_PIN_SET);
}

uint8_t ICM42688_SPI_Transfer(uint8_t data)
{
    uint8_t rx_data;
    HAL_SPI_TransmitReceive(&ICM42688_SPI_HANDLE, &data, &rx_data, 1, SPI_TIMEOUT);
    return rx_data;
}

void ICM42688_SPI_Read(uint8_t reg_addr, uint8_t *data, uint16_t len)
{
    ICM42688_SPI_CS_LOW();
    ICM42688_SPI_Transfer(reg_addr | 0x80);
    for (uint16_t i = 0; i < len; i++)
    {
        data[i] = ICM42688_SPI_Transfer(0);
    }
    ICM42688_SPI_CS_HIGH();
}

void ICM42688_SPI_Write(uint8_t reg_addr, uint8_t data)
{
    ICM42688_SPI_CS_LOW();
    ICM42688_SPI_Transfer(reg_addr);
    ICM42688_SPI_Transfer(data);
    ICM42688_SPI_CS_HIGH();
}

uint8_t ICM42688_WHO_AM_I_Test(void)
{
    uint8_t who_am_i;
    ICM42688_SPI_Read(ICM42688_WHO_AM_I, &who_am_i, 1);
    return who_am_i == ICM42688_WHO_AM_I_RESULT;
}

void ICM42688_SPI_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    __HAL_RCC_GPIOA_CLK_ENABLE();

    ICM42688_SPI_HANDLE.Instance = SPI1;
    ICM42688_SPI_HANDLE.Init.Mode = SPI_MODE_MASTER;
    ICM42688_SPI_HANDLE.Init.Direction = SPI_DIRECTION_2LINES;
    ICM42688_SPI_HANDLE.Init.DataSize = SPI_DATASIZE_8BIT;
    ICM42688_SPI_HANDLE.Init.CLKPolarity = SPI_POLARITY_LOW;
    ICM42688_SPI_HANDLE.Init.CLKPhase = SPI_PHASE_1EDGE;
    ICM42688_SPI_HANDLE.Init.NSS = SPI_NSS_SOFT;
    ICM42688_SPI_HANDLE.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
    ICM42688_SPI_HANDLE.Init.FirstBit = SPI_FIRSTBIT_MSB;
    ICM42688_SPI_HANDLE.Init.TIMode = SPI_TIMODE_DISABLE;
    ICM42688_SPI_HANDLE.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
    ICM42688_SPI_HANDLE.Init.CRCPolynomial = 10;
    if (HAL_SPI_Init(&ICM42688_SPI_HANDLE) != HAL_OK)
    {
        Error_Handler();
    }

    GPIO_InitStruct.Pin = ICM42688_CS_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(ICM42688_CS_GPIO, &GPIO_InitStruct);

    ICM42688_SPI_CS_HIGH();
}

int main(void)
{
    HAL_Init();
    ICM42688_SPI_Init();
    if (ICM42688_WHO_AM_I_Test())
    {
        printf("ICM-42688-P is detected.\n");
    }
    else
    {
        printf("ICM-42688-P is NOT detected.\n");
    }
    while (1)
    {
    }
}

这是一个简单的例程，仅仅测试了 ICM-42688-P 是否被正确识别。您可以根据自己的需求，使用 ICM42688_SPI_Read 和 ICM42688_SPI_Write 函数来读写 ICM-42688-P 的寄存器。同时，您也可以将这段代码移植到您自己的工程中，根据需要进行修改和调整。