STM32 HAL库读取ID

 在stm32f1xx_hal.c文件中由读取ID号的子函数,不同单片机的UID_BASE不同,本单片机用的是STM32F103CBT6,跳转之后可以看到地址为:0x1FFFF7E8

在程序中只需定义一个数组调用读取ID的函数即可

uint32_t UID[3];
while(1)
{ 
	UID[0] = HAL_GetUIDw0();
	UID[1] = HAL_GetUIDw1();
	UID[2] = HAL_GetUIDw2();
  
	printf("0x%x\r\n",UID[0]);
	printf("0x%x\r\n",UID[1]);
	printf("0x%x\r\n",UID[2]);
}
    

 与ST-link读出来的ID号一样

 将三组十六进制数拼在一起转换成二进制,刚好为96位ID

### 使用 STM32 HAL 读取 MPU6050 数据 为了通过 STM32 HAL 读取 MPU6050 的数据,通常需要初始化 I2C 接口并配置 MPU6050。下面是一个完整的流程以及相应的代码实现。 #### 初始化硬件资源 首先,在 `main.c` 文件中定义必要的全局变量和函数声明: ```c #include "stm32f1xx_hal.h" #include "mpu6050.h" I2C_HandleTypeDef hi2c1; MPU6050_t mpu; void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_I2C1_Init(void); int main(void) { /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* Configure the system clock */ SystemClock_Config(); /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_I2C1_Init(); // Initialize MPU6050 sensor over I2C bus. MPU6050_Init(&hi2c1, &mpu); while (1) { // Read accelerometer data from MPU6050 into structure members ax, ay, az. MPU6050_Read_Accel(&hi2c1, &mpu); // Process or display acceleration values as needed... HAL_Delay(100); } } ``` #### 配置 I2C 外设 接着设置好用于通信的 I2C 参数: ```c static void MX_I2C1_Init(void) { hi2c1.Instance = I2C1; hi2c1.Init.ClockSpeed = 100000; // Standard mode: up to 100kHz 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__); } /** Configure Analogue filter */ if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) { Error_Handler(__FILE__, __LINE__); } } ``` #### 实现 MPU6050 操作接口 最后编写针对 MPU6050 设备的具体操作方法,比如初始化、获取加速度计数值等: ```c // Function prototypes should be declared here... /** * @brief Initializes the MPU6050 device via I2C communication protocol. * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains * the configuration information for the specified I2C. * @param mpu Pointer to an instance of MPU6050 struct which will hold register value after initialization. * @retval None */ void MPU6050_Init(I2C_HandleTypeDef* hi2c, MPU6050_t* mpu){ uint8_t who_am_i; // Check WHO_AM_I register content is correct before proceeding with further configurations. HAL_I2C_Mem_Read(hi2c, MPU6050_ADDR, MPU6050_WHOAMI_REG, 1, &who_am_i, 1, HAL_MAX_DELAY); if(who_am_i == MPU6050_ID_VALUE){ // Write your own code to configure power management registers etc., according to datasheet recommendations. // Example setting PWR_MGMT_1 register bit(s). uint8_t reg_data = 0x01 << MPU6050_PWR1_SLEEP_BIT | \ 0x01 << MPU6050_CLOCKSEL_PLL_XGYRO; HAL_I2C_Master_Transmit(hi2c, MPU6050_ADDR, MPU6050_PWR_MGMT_1, 1, &reg_data, sizeof(reg_data), HAL_MAX_DELAY); }else{ // Handle error case when wrong chip detected. } } /** * @brief Reads raw accelero meter readings from MPU6050 through I2C connection. * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains * the configuration information for the specified I2C. * @param mpu Pointer to an instance of MPU6050 struct where read results are stored. * @retval None */ void MPU6050_Read_Accel(I2C_HandleTypeDef* hi2c, MPU6050_t* mpu){ int16_t rawData[3]; HAL_I2C_Mem_Read(hi2c, MPU6050_ADDR, ACCEL_START_REG, 1, (uint8_t*)rawData, 6, HAL_MAX_DELAY); mpu->ax = ((int16_t)((rawData[0] << 8) | rawData[1])) / ACCEL_SENSITIVITY; mpu->ay = ((int16_t)((rawData[2] << 8) | rawData[3])) / ACCEL_SENSITIVITY; mpu->az = ((int16_t)((rawData[4] << 8) | rawData[5])) / ACCEL_SENSITIVITY; } ``` 上述代码展示了如何利用 STM32 HAL 来完成 MPU6050 加速度传感器的数据采集工作[^1]。
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