MPU9250STM32C8T6库函数磁力计自检代码

以下是使用STM32库函数对MPU9250磁力计进行自检的代码示例：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_i2c.h"
#include "stdio.h"

#define MPU9250_ADDRESS 0x68
#define MAG_ADDRESS 0x0C

I2C_InitTypeDef I2C_InitStruct;
GPIO_InitTypeDef GPIO_InitStruct;

void I2C_Config(void)
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_9;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);

    I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStruct.I2C_OwnAddress1 = 0x00;
    I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStruct.I2C_ClockSpeed = 100000;
    I2C_Init(I2C1, &I2C_InitStruct);

    I2C_Cmd(I2C1, ENABLE);
}

void I2C_WriteByte(uint8_t address, uint8_t reg, uint8_t value)
{
    while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY))
    {
    }

    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
    {
    }

    I2C_Send7bitAddress(I2C1, address, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
    {
    }

    I2C_SendData(I2C1, reg);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
    {
    }

    I2C_SendData(I2C1, value);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
    {
    }

    I2C_GenerateSTOP(I2C1, ENABLE);
}

uint8_t I2C_ReadByte(uint8_t address, uint8_t reg)
{
    uint8_t value;

    while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY))
    {
    }

    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
    {
    }

    I2C_Send7bitAddress(I2C1, address, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
    {
    }

    I2C_SendData(I2C1, reg);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
    {
    }

    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
    {
    }

    I2C_Send7bitAddress(I2C1, address, I2C_Direction_Receiver);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED))
    {
    }

    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED))
    {
    }
    value = I2C_ReceiveData(I2C1);

    I2C_AcknowledgeConfig(I2C1, DISABLE);
    I2C_GenerateSTOP(I2C1, ENABLE);

    return value;
}

void MPU9250_Init(void)
{
    I2C_WriteByte(MPU9250_ADDRESS, 0x6B, 0x80); // Reset MPU9250
    delay(100);
    I2C_WriteByte(MPU9250_ADDRESS, 0x6B, 0x00); // Wake up MPU9250
    delay(100);
    I2C_WriteByte(MPU9250_ADDRESS, 0x1A, 0x06); // Set accelerometer range to +/- 4g
    delay(100);
    I2C_WriteByte(MPU9250_ADDRESS, 0x1B, 0x08); // Set gyroscope range to +/- 500 degrees/s
    delay(100);
    I2C_WriteByte(MPU9250_ADDRESS, 0x37, 0x02); // Enable bypass mode for magnetometer
    delay(100);
    I2C_WriteByte(MAG_ADDRESS, 0x0A, 0x12); // Set magnetometer resolution to 16 bits
    delay(100);
}

void MPU9250_SelfTest(void)
{
    uint8_t selfTest[6];
    float factoryTrim[6];
    float selfTestResult[6];

    I2C_WriteByte(MPU9250_ADDRESS, 0x1F, 0x08); // Enable self-test mode
    delay(100);

    selfTest[0] = I2C_ReadByte(MPU9250_ADDRESS, 0x0D); // X-axis accelerometer self-test
    selfTest[1] = I2C_ReadByte(MPU9250_ADDRESS, 0x0E); // Y-axis accelerometer self-test
    selfTest[2] = I2C_ReadByte(MPU9250_ADDRESS, 0x0F); // Z-axis accelerometer self-test
    selfTest[3] = I2C_ReadByte(MPU9250_ADDRESS, 0x10); // X-axis gyroscope self-test
    selfTest[4] = I2C_ReadByte(MPU9250_ADDRESS, 0x11); // Y-axis gyroscope self-test
    selfTest[5] = I2C_ReadByte(MPU9250_ADDRESS, 0x12); // Z-axis gyroscope self-test

    factoryTrim[0] = (float)(2620 / 1 << 13) * (pow(1.01, ((float)selfTest[0] - 1.0)));
    factoryTrim[1] = (float)(2620 / 1 << 13) * (pow(1.01, ((float)selfTest[1] - 1.0)));
    factoryTrim[2] = (float)(2620 / 1 << 13) * (pow(1.01, ((float)selfTest[2] - 1.0)));
    factoryTrim[3] = (float)(2620 / 1 << 13) * (pow(1.01, ((float)selfTest[3] - 1.0)));
    factoryTrim[4] = (float)(2620 / 1 << 13) * (pow(1.01, ((float)selfTest[4] - 1.0)));
    factoryTrim[5] = (float)(2620 / 1 << 13) * (pow(1.01, ((float)selfTest[5] - 1.0)));

    selfTestResult[0] = 100.0 * ((float)(selfTest[0]) - factoryTrim[0]) / factoryTrim[0];
    selfTestResult[1] = 100.0 * ((float)(selfTest[1]) - factoryTrim[1]) / factoryTrim[1];
    selfTestResult[2] = 100.0 * ((float)(selfTest[2]) - factoryTrim[2]) / factoryTrim[2];
    selfTestResult[3] = 100.0 * ((float)(selfTest[3]) - factoryTrim[3]) / factoryTrim[3];
    selfTestResult[4] = 100.0 * ((float)(selfTest[4]) - factoryTrim[4]) / factoryTrim[4];
    selfTestResult[5] = 100.0 * ((float)(selfTest[5]) - factoryTrim[5]) / factoryTrim[5];

    printf("Self-Test Results:\n");
    printf("X-axis accelerometer: %.2f%%\n", selfTestResult[0]);
    printf("Y-axis accelerometer: %.2f%%\n", selfTestResult[1]);
    printf("Z-axis accelerometer: %.2f%%\n", selfTestResult[2]);
    printf("X-axis gyroscope: %.2f%%\n", selfTestResult[3]);
    printf("Y-axis gyroscope: %.2f%%\n", selfTestResult[4]);
    printf("Z-axis gyroscope: %.2f%%\n", selfTestResult[5]);

    I2C_WriteByte(MPU9250_ADDRESS, 0x1F, 0x00); // Disable self-test mode
    delay(100);
}

int main(void)
{
    I2C_Config();
    MPU9250_Init();
    MPU9250_SelfTest();

    while (1)
    {
    }
}

注意：在使用此代码之前，您需要根据实际情况进行适当的修改，例如I2C引脚和时钟配置。此外，还需要添加延迟函数delay()，以提供适当的延迟时间。