MPU9250STM32C8T6库函数磁力计配置磁场强度指令代码用做指南针不需要IIC初始化代码

以下是使用STM32库函数配置MPU9250磁力计的代码片段，用于获取磁场强度数据：

#include "stm32f1xx_hal.h"
#include "stm32f1xx_hal_gpio.h"
#include "stm32f1xx_hal_spi.h"

#define MPU9250_CS_PIN GPIO_PIN_4
#define MPU9250_CS_PORT GPIOA

SPI_HandleTypeDef hspi1;

void MPU9250_CS_GPIO_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;

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

    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(MPU9250_CS_PORT, MPU9250_CS_PIN, GPIO_PIN_SET);

    /*Configure GPIO pin : MPU9250_CS_PIN */
    GPIO_InitStruct.Pin = MPU9250_CS_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(MPU9250_CS_PORT, &GPIO_InitStruct);
}

void MPU9250_SPI_Init(void)
{
    /* SPI1 parameter configuration*/
    hspi1.Instance = SPI1;
    hspi1.Init.Mode = SPI_MODE_MASTER;
    hspi1.Init.Direction = SPI_DIRECTION_2LINES;
    hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
    hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
    hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
    hspi1.Init.NSS = SPI_NSS_SOFT;
    hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
    hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
    hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
    hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
    hspi1.Init.CRCPolynomial = 7;
    if (HAL_SPI_Init(&hspi1) != HAL_OK)
    {
        Error_Handler();
    }
}

void MPU9250_CS_Select(void)
{
    HAL_GPIO_WritePin(MPU9250_CS_PORT, MPU9250_CS_PIN, GPIO_PIN_RESET);
}

void MPU9250_CS_Deselect(void)
{
    HAL_GPIO_WritePin(MPU9250_CS_PORT, MPU9250_CS_PIN, GPIO_PIN_SET);
}

void MPU9250_WriteReg(uint8_t reg, uint8_t data)
{
    MPU9250_CS_Select();
    HAL_SPI_Transmit(&hspi1, &reg, 1, HAL_MAX_DELAY);
    HAL_SPI_Transmit(&hspi1, &data, 1, HAL_MAX_DELAY);
    MPU9250_CS_Deselect();
}

uint8_t MPU9250_ReadReg(uint8_t reg)
{
    uint8_t data;
    reg |= 0x80; // Set MSB for read operation
    MPU9250_CS_Select();
    HAL_SPI_Transmit(&hspi1, &reg, 1, HAL_MAX_DELAY);
    HAL_SPI_Receive(&hspi1, &data, 1, HAL_MAX_DELAY);
    MPU9250_CS_Deselect();
    return data;
}

void MPU9250_Init(void)
{
    MPU9250_CS_GPIO_Init();
    MPU9250_SPI_Init();

    // Configure MPU9250 magnetometer
    MPU9250_WriteReg(0x6B, 0x80); // Reset MPU9250
    HAL_Delay(100);
    MPU9250_WriteReg(0x6B, 0x00); // Exit sleep mode
    HAL_Delay(100);
    MPU9250_WriteReg(0x37, 0x02); // Enable bypass mode for magnetometer
    HAL_Delay(100);
}

void MPU9250_GetMagnetometerData(int16_t *mx, int16_t *my, int16_t *mz)
{
    MPU9250_WriteReg(0x0A, 0x01); // Start single measurement mode
    HAL_Delay(10);
    *mx = (MPU9250_ReadReg(0x03) << 8) | MPU9250_ReadReg(0x04);
    *my = (MPU9250_ReadReg(0x05) << 8) | MPU9250_ReadReg(0x06);
    *mz = (MPU9250_ReadReg(0x07) << 8) | MPU9250_ReadReg(0x08);
}

int main(void)
{
    // Initialize MPU9250
    MPU9250_Init();

    int16_t mx, my, mz;

    while (1)
    {
        // Read magnetometer data
        MPU9250_GetMagnetometerData(&mx, &my, &mz);

        // Process magnetometer data

        HAL_Delay(100);
    }
}

请注意，此代码片段假定您已经正确初始化了SPI和GPIO，并将SPI1连接到MPU9250。如果您的硬件配置不同，请相应地更改代码中的引脚和SPI配置。

此代码片段中的MPU9250_Init函数用于初始化MPU9250，MPU9250_GetMagnetometerData函数用于获取磁场强度数据。您可以在main函数中使用这些函数来读取磁场强度数据并进行进一步处理。