自学教程：C++ HAL_SPI_Init函数代码示例

//------------------------------------------------------------------------------void uart_init(void){  uart1Handle.Instance = USART1;  uart1Handle.Init.BaudRate = 9600;  uart1Handle.Init.WordLength = UART_WORDLENGTH_8B;  uart1Handle.Init.StopBits = UART_STOPBITS_1;  uart1Handle.Init.Parity = UART_PARITY_NONE;  uart1Handle.Init.Mode = UART_MODE_TX_RX;  uart1Handle.Init.HwFlowCtl = UART_HWCONTROL_NONE;  uart1Handle.Init.OverSampling = UART_OVERSAMPLING_16;  uart1Handle.Init.OneBitSampling = UART_ONEBIT_SAMPLING_DISABLED ;  uart1Handle.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;  HAL_UART_Init(&uart1Handle);  spi1Handle.Instance = SPI1;  spi1Handle.Init.Mode = SPI_MODE_SLAVE;  spi1Handle.Init.Direction = SPI_DIRECTION_2LINES;  spi1Handle.Init.DataSize = SPI_DATASIZE_8BIT;  spi1Handle.Init.CLKPolarity = SPI_POLARITY_LOW;  spi1Handle.Init.CLKPhase = SPI_PHASE_1EDGE;  spi1Handle.Init.NSS = SPI_NSS_SOFT;  spi1Handle.Init.FirstBit = SPI_FIRSTBIT_MSB;  spi1Handle.Init.TIMode = SPI_TIMODE_DISABLED;  spi1Handle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;  spi1Handle.Init.CRCPolynomial = 7;  spi1Handle.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;  spi1Handle.Init.NSSPMode = SPI_NSS_PULSE_DISABLED;  HAL_SPI_Init(&spi1Handle);  }

/**  * @brief SPIx Bus initialization  * @param None  * @retval None  */static void SPIx_Init(void){  if(HAL_SPI_GetState(&heval_Spi) == HAL_SPI_STATE_RESET)  {    /* SPI Config */    heval_Spi.Instance = EVAL_SPIx;    /* SPI baudrate is set to 16 MHz (PCLK2/SPI_BaudRatePrescaler = 32/2 = 16 MHz)     to verify these constraints:    HX8347D LCD SPI interface max baudrate is  50MHz for write and 6.66MHz for read    PCLK1 frequency is set to 32 MHz     - SD card SPI interface max baudrate is 25MHz for write/read    */    heval_Spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;    heval_Spi.Init.Direction = SPI_DIRECTION_2LINES;    heval_Spi.Init.CLKPhase = SPI_PHASE_2EDGE;    heval_Spi.Init.CLKPolarity = SPI_POLARITY_HIGH;    heval_Spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;    heval_Spi.Init.CRCPolynomial = 7;    heval_Spi.Init.DataSize = SPI_DATASIZE_8BIT;    heval_Spi.Init.FirstBit = SPI_FIRSTBIT_MSB;    heval_Spi.Init.NSS = SPI_NSS_SOFT;    heval_Spi.Init.TIMode = SPI_TIMODE_DISABLE;    heval_Spi.Init.Mode = SPI_MODE_MASTER;        SPIx_MspInit(&heval_Spi);    HAL_SPI_Init(&heval_Spi);  }}

/* SPI3 init function */static void MX_SPI3_Init(void){    // The Fpclk is at 36MHz  hspi3.Instance = SPI3;  hspi3.Init.Mode = SPI_MODE_MASTER;  hspi3.Init.Direction = SPI_DIRECTION_1LINE;  hspi3.Init.DataSize = SPI_DATASIZE_8BIT;  hspi3.Init.CLKPolarity = SPI_POLARITY_HIGH;  hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;  hspi3.Init.NSS = SPI_NSS_HARD_OUTPUT;  // 36MHz/2 = 18MHz  // 36MHz/4 = 9MHz  // 36MHz/8 = 4.5MHz  // 36MHz/16 = 2.25MHz  // 36MHz/32 = 1.125MHz  // 36MHz/64 = 562.5KHz  // 36MHz/128 = 281.25KHz  // 36MHz/256 = 140.625KHz  hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;  hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;  hspi3.Init.TIMode = SPI_TIMODE_DISABLE;  hspi3.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;  hspi3.Init.CRCPolynomial = 10;  if (HAL_SPI_Init(&hspi3) != HAL_OK)  {    Error_Handler();  }}

/**  * @brief  SPIx Bus initialization  */static void SPIx_Init(void){  if(HAL_SPI_GetState(&SpiHandle) == HAL_SPI_STATE_RESET)  {    /* SPI configuration -----------------------------------------------------*/    SpiHandle.Instance = DISCOVERY_SPIx;    /* SPI baudrate is set to 5.6 MHz (PCLK2/SPI_BaudRatePrescaler = 90/16 = 5.625 MHz)        to verify these constraints:       - ILI9341 LCD SPI interface max baudrate is 10MHz for write and 6.66MHz for read       - l3gd20 SPI interface max baudrate is 10MHz for write/read       - PCLK2 frequency is set to 90 MHz     */      SpiHandle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;    /* On STM32F429I-Discovery, LCD ID cannot be read then keep a common configuration */    /* for LCD and GYRO (SPI_DIRECTION_2LINES) */    /* Note: To read a register a LCD, SPI_DIRECTION_1LINE should be set */    SpiHandle.Init.Direction      = SPI_DIRECTION_2LINES;    SpiHandle.Init.CLKPhase       = SPI_PHASE_1EDGE;    SpiHandle.Init.CLKPolarity    = SPI_POLARITY_LOW;    SpiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;    SpiHandle.Init.CRCPolynomial  = 7;    SpiHandle.Init.DataSize       = SPI_DATASIZE_8BIT;    SpiHandle.Init.FirstBit       = SPI_FIRSTBIT_MSB;    SpiHandle.Init.NSS            = SPI_NSS_SOFT;    SpiHandle.Init.TIMode         = SPI_TIMODE_DISABLED;    SpiHandle.Init.Mode           = SPI_MODE_MASTER;      SPIx_MspInit(&SpiHandle);    HAL_SPI_Init(&SpiHandle);  } }

/** * Initialize Sharp LCD * @param void No arguments * @return void No return */void SharpLcd_Init(void){	// Local variables	GPIO_InitTypeDef GPIO_InitStruct;	// Init GPIO	__GPIOA_CLK_ENABLE();	__GPIOC_CLK_ENABLE();	__GPIOD_CLK_ENABLE();	// Control Pins	GPIO_InitStruct.Pin = s_SHARPLCD__SCS;	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;	GPIO_InitStruct.Pull = GPIO_PULLDOWN;	GPIO_InitStruct.Speed = GPIO_SPEED_LOW;	HAL_GPIO_Init(s_SHARPLCD__SCS_PORT, &GPIO_InitStruct);	GPIO_InitStruct.Pin = s_SHARPLCD__DISP;	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;	GPIO_InitStruct.Pull = GPIO_PULLDOWN;	GPIO_InitStruct.Speed = GPIO_SPEED_LOW;	HAL_GPIO_Init(s_SHARPLCD__DISP_PORT, &GPIO_InitStruct);	GPIO_InitStruct.Pin = s_SHARPLCD__EXTCOMIN;	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;	GPIO_InitStruct.Pull = GPIO_PULLDOWN;	GPIO_InitStruct.Speed = GPIO_SPEED_LOW;	HAL_GPIO_Init(s_SHARPLCD__VCOM_PORT, &GPIO_InitStruct);	// SPI Pins	GPIO_InitStruct.Pin = s_SHARPLCD__SCLK | s_SHARPLCD__SI;	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;	GPIO_InitStruct.Pull = GPIO_NOPULL;	GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;	GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;	HAL_GPIO_Init(s_SHARPLCD__SPI_PORT, &GPIO_InitStruct);	// Set initial state of GPIO	s_SHARPLCD__DISP_RESET();	s_SHARPLCD__SCS_RESET();	s_SHARPLCD__EXTCOMIN_RESET();	// Init SPI	__SPI3_CLK_ENABLE();	g_SharpLcd_SpiHandle.Instance = SPI3;	g_SharpLcd_SpiHandle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;	g_SharpLcd_SpiHandle.Init.Mode = SPI_MODE_MASTER;	g_SharpLcd_SpiHandle.Init.Direction = SPI_DIRECTION_2LINES;	g_SharpLcd_SpiHandle.Init.DataSize = SPI_DATASIZE_8BIT;	g_SharpLcd_SpiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;	g_SharpLcd_SpiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;	g_SharpLcd_SpiHandle.Init.NSS = SPI_NSS_SOFT;	g_SharpLcd_SpiHandle.Init.FirstBit = SPI_FIRSTBIT_LSB;	g_SharpLcd_SpiHandle.Init.TIMode = SPI_TIMODE_DISABLED;	g_SharpLcd_SpiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;	g_SharpLcd_SpiHandle.Init.CRCPolynomial = 10;	HAL_SPI_Init(&g_SharpLcd_SpiHandle);}

/**  * @brief SPI1 Initialization Function  * @param None  * @retval None  */static void MX_SPI1_Init(void){  /* USER CODE BEGIN SPI1_Init 0 */  /* USER CODE END SPI1_Init 0 */  /* USER CODE BEGIN SPI1_Init 1 */  /* USER CODE END SPI1_Init 1 */  /* 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_8;  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;  hspi1.Init.CRCPolynomial = 10;  if (HAL_SPI_Init(&hspi1) != HAL_OK)  {    Error_Handler();  }  /* USER CODE BEGIN SPI1_Init 2 */  /* USER CODE END SPI1_Init 2 */}

/*====================================================================================================*/static void MPU9250_SetSpeed( uint8_t SpeedSel ){  __HAL_SPI_DISABLE(&SPI_HandleStruct);  SPI_HandleStruct.Init.BaudRatePrescaler = SpeedSel;  HAL_SPI_Init(&SPI_HandleStruct);  __HAL_SPI_ENABLE(&SPI_HandleStruct);}

/**  * @brief  Initializes SPI HAL.  * @retval None  */static void SPIx_Init(void){  if(HAL_SPI_GetState(&hnucleo_Spi) == HAL_SPI_STATE_RESET)  {    /* SPI Config */    hnucleo_Spi.Instance = NUCLEO_SPIx;      /* SPI baudrate is set to 8 MHz maximum (PCLK2/SPI_BaudRatePrescaler = 64/8 = 8 MHz)        to verify these constraints:          - ST7735 LCD SPI interface max baudrate is 15MHz for write and 6.66MHz for read            Since the provided driver doesn't use read capability from LCD, only constraint             on write baudrate is considered.          - SD card SPI interface max baudrate is 25MHz for write/read          - PCLK2 max frequency is 32 MHz        */    hnucleo_Spi.Init.BaudRatePrescaler  = SPI_BAUDRATEPRESCALER_8;    hnucleo_Spi.Init.Direction          = SPI_DIRECTION_2LINES;    hnucleo_Spi.Init.CLKPhase           = SPI_PHASE_1EDGE;    hnucleo_Spi.Init.CLKPolarity        = SPI_POLARITY_LOW;    hnucleo_Spi.Init.CRCCalculation     = SPI_CRCCALCULATION_DISABLE;    hnucleo_Spi.Init.CRCPolynomial      = 7;    hnucleo_Spi.Init.DataSize           = SPI_DATASIZE_8BIT;    hnucleo_Spi.Init.FirstBit           = SPI_FIRSTBIT_MSB;    hnucleo_Spi.Init.NSS                = SPI_NSS_SOFT;    hnucleo_Spi.Init.TIMode             = SPI_TIMODE_DISABLE;    hnucleo_Spi.Init.Mode               = SPI_MODE_MASTER;        SPIx_MspInit();    HAL_SPI_Init(&hnucleo_Spi);  }}

/**  * @brief SPIx Bus initialization  * @param None  * @retval None  */static void SPIx_Init(void){  if(HAL_SPI_GetState(&SpiHandle) == HAL_SPI_STATE_RESET)  {    /* SPI Config */    SpiHandle.Instance = DISCOVERY_SPIx;    /* SPI baudrate is set to 5.6 MHz (PCLK2/SPI_BaudRatePrescaler = 90/16 = 5.625 MHz)      to verify these constraints:      ILI9341 LCD SPI interface max baudrate is 10MHz for write and 6.66MHz for read      l3gd20 SPI interface max baudrate is 10MHz for write/read      PCLK2 frequency is set to 90 MHz  */    SpiHandle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;    SpiHandle.Init.Direction = SPI_DIRECTION_2LINES;    SpiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;    SpiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;    SpiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;    SpiHandle.Init.CRCPolynomial = 7;    SpiHandle.Init.DataSize = SPI_DATASIZE_8BIT;    SpiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;    SpiHandle.Init.NSS = SPI_NSS_SOFT;    SpiHandle.Init.TIMode = SPI_TIMODE_DISABLED;    SpiHandle.Init.Mode = SPI_MODE_MASTER;    SPIx_MspInit(&SpiHandle);    HAL_SPI_Init(&SpiHandle);  }}

void SpiInit( Spi_t *obj, PinNames mosi, PinNames miso, PinNames sclk, PinNames nss ){    __HAL_RCC_SPI1_FORCE_RESET( );    __HAL_RCC_SPI1_RELEASE_RESET( );    __HAL_RCC_SPI1_CLK_ENABLE( );    obj->Spi.Instance = ( SPI_TypeDef *) SPI1_BASE;    GpioInit( &obj->Mosi, mosi, PIN_ALTERNATE_FCT, PIN_PUSH_PULL, PIN_PULL_DOWN, GPIO_AF5_SPI1 );    GpioInit( &obj->Miso, miso, PIN_ALTERNATE_FCT, PIN_PUSH_PULL, PIN_PULL_DOWN, GPIO_AF5_SPI1 );    GpioInit( &obj->Sclk, sclk, PIN_ALTERNATE_FCT, PIN_PUSH_PULL, PIN_PULL_DOWN, GPIO_AF5_SPI1 );    if( nss != NC )    {        GpioInit( &obj->Nss, nss, PIN_ALTERNATE_FCT, PIN_PUSH_PULL, PIN_PULL_UP, GPIO_AF5_SPI1 );    }    else    {        obj->Spi.Init.NSS = SPI_NSS_SOFT;    }    if( nss == NC )    {        SpiFormat( obj, SPI_DATASIZE_8BIT, SPI_POLARITY_LOW, SPI_PHASE_1EDGE, 0 );    }    else    {        SpiFormat( obj, SPI_DATASIZE_8BIT, SPI_POLARITY_LOW, SPI_PHASE_1EDGE, 1 );    }    SpiFrequency( obj, 10000000 );    HAL_SPI_Init( &obj->Spi );}

/*====================================================================================================*/void MPU9250_SetSpeed( uint8_t speedSel ){  __HAL_SPI_DISABLE(&MPUPx_InitStruct);  MPUPx_InitStruct.Init.BaudRatePrescaler = speedSel;  HAL_SPI_Init(&MPUPx_InitStruct);  __HAL_SPI_ENABLE(&MPUPx_InitStruct);}

Spi::Spi(Bus bus, const Config& config)        : _bus(bus), _txCallback(0), _rxCallback(0), _txrxCallback(0), _txArgs(0),          _rxArgs(0), _txrxArgs(0) {    bzero(&_spi, sizeof(_spi));    _spi.Instance = _busMap[bus];    _spi.Init.Mode = config.mode == Master ? SPI_MODE_MASTER : SPI_MODE_SLAVE;    _spi.Init.Direction = _dirMap[config.dir];    _spi.Init.DataSize = config.size == S8 ? SPI_DATASIZE_8BIT : SPI_DATASIZE_16BIT;    _spi.Init.CLKPolarity = config.polarity == LOW ? SPI_POLARITY_LOW : SPI_POLARITY_HIGH;    _spi.Init.CLKPhase = config.phase == Rising ? SPI_PHASE_1EDGE : SPI_PHASE_2EDGE;    _spi.Init.NSS = config.ss == SOFTWARE ? SPI_NSS_SOFT            : (config.ss == HARD_OUTPUT ? SPI_NSS_HARD_OUTPUT : SPI_NSS_HARD_INPUT);    _spi.Init.BaudRatePrescaler = clkdivs[config.div];    _spi.Init.FirstBit = config.order == MSB_FIRST ? SPI_FIRSTBIT_MSB : SPI_FIRSTBIT_LSB;    _spi.Init.TIMode = SPI_TIMODE_DISABLE;    _spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;    _spi.Init.CRCPolynomial = 10;    HAL_SPI_Init(&_spi);    // Enable interrupts to allow async transmit/receive    HAL_NVIC_SetPriority(irqMap[bus], 15 /* low preempt priority */, 0 /* high sub-priority*/);    HAL_NVIC_EnableIRQ(irqMap[bus]);    // Keep track of Spi instance    spiMap[bus] = this;}

/********************************************************************* * @fn		 SPI1_Init * * @brief 	 SPIx Bus initialization * * @param 	None * * @return	void */void SPI1_Init(void){  SX1276.Spi.Spi = ( SPI_TypeDef* )SPI1_BASE;  if(HAL_SPI_GetState(&SpiHandle) == HAL_SPI_STATE_RESET)  {    /* SPI Config */    SpiHandle.Instance = SPIx;    /* On STM32L0538-DISCO, EPD ID cannot be read then keep a common configuration */    /* for EPD (SPI_DIRECTION_2LINES) */    /* Note: To read a register a EPD, SPI_DIRECTION_1LINE should be set */    SpiHandle.Init.Mode               = SPI_MODE_MASTER;    SpiHandle.Init.Direction          = SPI_DIRECTION_2LINES;    SpiHandle.Init.BaudRatePrescaler  = SPI_BAUDRATEPRESCALER_8;    SpiHandle.Init.DataSize           = SPI_DATASIZE_8BIT;    SpiHandle.Init.CLKPhase           = SPI_PHASE_1EDGE;//SPI_PHASE_2EDGE;    SpiHandle.Init.CLKPolarity        = SPI_POLARITY_LOW;//SPI_POLARITY_HIGH;SPI_POLARITY_LOW    SpiHandle.Init.FirstBit           = SPI_FIRSTBIT_MSB;    SpiHandle.Init.NSS                = SPI_NSS_SOFT;    SpiHandle.Init.CRCCalculation     = SPI_CRCCALCULATION_DISABLED;    SpiHandle.Init.CRCPolynomial      = 7;    SpiHandle.Init.TIMode             = SPI_TIMODE_DISABLED;    SPI1_MspInit(&SpiHandle);    HAL_SPI_Init(&SpiHandle);  }}

//SPI6 peripheral initialization. SPI6 is available on the Expansion connectorvoid init_spi6(void){	//Configure SPI6 in Mode 0, Master	//CPOL = 0 --> clock is low when idle	//CPHA = 0 --> data is sampled at the first edge	spi6_handle.Instance = SPI6;	spi6_handle.Init.Direction = SPI_DIRECTION_2LINES; 				// Full duplex	spi6_handle.Init.Mode = SPI_MODE_MASTER;     					// Master	spi6_handle.Init.DataSize = SPI_DATASIZE_8BIT; 					// 8bits words	spi6_handle.Init.CLKPolarity = SPI_POLARITY_LOW;        		// clock is low when idle (CPOL = 0)	spi6_handle.Init.CLKPhase = SPI_PHASE_1EDGE;      				// data sampled at first (rising) edge (CPHA = 0)	spi6_handle.Init.NSS = SPI_NSS_HARD_OUTPUT; 					// uses hardware slave select	spi6_handle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; 	// SPI frequency is APB2 frequency / 4	****ToDo Adjust!	spi6_handle.Init.FirstBit = SPI_FIRSTBIT_MSB;					// data is transmitted MSB first	spi6_handle.Init.TIMode = SPI_TIMODE_DISABLED;					//	spi6_handle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;	spi6_handle.Init.CRCPolynomial = 7;	if(HAL_SPI_Init(&spi6_handle) != HAL_OK)	{		flexsea_error(SE_INIT_SPI);	}}

/** *  @brief  IMU_Config */void IMU_Config( void ){  hImu.pTxBuf = IMU_TX_BUFFER;  hImu.pRxBuf = IMU_RX_BUFFER;#if defined(__MPU9250_H)  MPU92_Config();#endif#if defined(__LPS22HB_H)  LPS22_Config();#endif  /* SPI Init ****************************************************************/  hImu.handle->Instance               = IMU_SPIx;  hImu.handle->Init.Mode              = SPI_MODE_MASTER;  hImu.handle->Init.Direction         = SPI_DIRECTION_2LINES;  hImu.handle->Init.DataSize          = SPI_DATASIZE_8BIT;  hImu.handle->Init.CLKPolarity       = SPI_POLARITY_HIGH;  hImu.handle->Init.CLKPhase          = SPI_PHASE_2EDGE;  hImu.handle->Init.NSS               = SPI_NSS_SOFT;  hImu.handle->Init.BaudRatePrescaler = IMU_SPIx_SPEED_LOW;  hImu.handle->Init.FirstBit          = SPI_FIRSTBIT_MSB;  hImu.handle->Init.TIMode            = SPI_TIMODE_DISABLE;  hImu.handle->Init.CRCCalculation    = SPI_CRCCALCULATION_ENABLE;  hImu.handle->Init.CRCPolynomial     = 7;  HAL_SPI_Init(hImu.handle);  __HAL_SPI_ENABLE(hImu.handle);}

/*====================================================================================================*/void IMU_SetSpeed( uint8_t speedSel ){  __HAL_SPI_DISABLE(&IMU_HandleStruct);  IMU_HandleStruct.Init.BaudRatePrescaler = speedSel;  HAL_SPI_Init(&IMU_HandleStruct);  __HAL_SPI_ENABLE(&IMU_HandleStruct);}

/** * @brief  Configures LIS3DSH * @param  InitTypeDef: Specifies the configuration. * @retval None */void LIS3DSH_init(LIS3DSH_InitTypeDef li) {	GPIO_InitTypeDef GPIO_InitStructure;	/* Configure the LIS3DSH Control pins --------------------------------*/	/* Enable CS GPIO clock and configure GPIO pin for LIS3DSH Chip select */	LIS3DSH_SPI_CS_GPIO_CLK_ENABLE();	/* Configure GPIO PIN for LIS Chip select */	GPIO_InitStructure.Pin = LIS3DSH_SPI_CS_PIN;	GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;	GPIO_InitStructure.Pull = GPIO_NOPULL;	GPIO_InitStructure.Speed = GPIO_SPEED_MEDIUM;	HAL_GPIO_Init(LIS3DSH_SPI_CS_GPIO_PORT, &GPIO_InitStructure);	/* Deselect: Chip Select high */	/* SPI start when the chip select is low */	LIS3DSH_CS_HIGH();	/* Configure the SPI1 to communicate with the accelerometer */	if (HAL_SPI_GetState(&SpiHandle) == HAL_SPI_STATE_RESET)	{		/* SPI configuration -----------------------------------------------------*/		SpiHandle.Instance = LIS3DSH_SPI;		SpiHandle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;		SpiHandle.Init.Direction = SPI_DIRECTION_2LINES;		SpiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;		SpiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;		SpiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;		SpiHandle.Init.CRCPolynomial = 7;		SpiHandle.Init.DataSize = SPI_DATASIZE_8BIT;		SpiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;		SpiHandle.Init.NSS = SPI_NSS_SOFT;		SpiHandle.Init.TIMode = SPI_TIMODE_DISABLED;		SpiHandle.Init.Mode = SPI_MODE_MASTER;		/* SPI low level configuration */		/* Enable the SPI peripheral */		LIS3DSH_SPI_CLK_ENABLE();		/* Enable SCK, MOSI and MISO GPIO clocks */		LIS3DSH_SPI_GPIO_CLK_ENABLE();		/* SPI SCK, MOSI, MISO pin configuration */		GPIO_InitStructure.Pin = (LIS3DSH_SPI_SCK_PIN | LIS3DSH_SPI_MISO_PIN				| LIS3DSH_SPI_MOSI_PIN);		GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;		GPIO_InitStructure.Pull = GPIO_PULLDOWN;		GPIO_InitStructure.Speed = GPIO_SPEED_FAST;		GPIO_InitStructure.Alternate = LIS3DSH_SPI_AF;		HAL_GPIO_Init(LIS3DSH_SPI_GPIO_PORT, &GPIO_InitStructure);		HAL_SPI_Init(&SpiHandle);	}	/* Configures the inner register of the accelerometer */	LIS3DSH_writeRegister(LIS3DSH_CTRL_REG4_ADDR, li.OutputDataRate | li.Axes_Enable | li.BlockDataUpdate);	LIS3DSH_writeRegister(LIS3DSH_CTRL_REG5_ADDR, li.FullScale);}

void spiInit(void){    SIGNAL_TIMER_CHANNEL_GPIO_PORT();    SPI_CLK_ENABLE();    GPIO_InitTypeDef spiGpioInit = { 0 };    // SPI has GPIOB 3..5    spiGpioInit.Pin  = GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5;    spiGpioInit.Mode = GPIO_MODE_AF_PP;    spiGpioInit.Pull = GPIO_NOPULL;    HAL_GPIO_Init(SPI_GPIO_PORT, &spiGpioInit);    // Initialize SPI1 module    g_spiInit.Instance = SPI;    g_spiInit.Init.BaudRatePrescaler   = SPI_BAUDRATEPRESCALER_8;    g_spiInit.Init.CLKPhase            = SPI_PHASE_1EDGE;    g_spiInit.Init.CLKPolarity         = SPI_POLARITY_LOW;    g_spiInit.Init.CRCCalculation      = SPI_CRCCALCULATION_DISABLE;    g_spiInit.Init.DataSize            = SPI_DATASIZE_8BIT;    g_spiInit.Init.FirstBit            = SPI_FIRSTBIT_MSB;    g_spiInit.Init.Mode                = SPI_MODE_MASTER;    g_spiInit.Init.NSS                 = SPI_NSS_SOFT;    g_spiInit.Init.TIMode              = SPI_TIMODE_DISABLE;    if (HAL_SPI_Init(&g_spiInit) != HAL_OK)    {        ERROR_SPI(ED_SPI_FAILED_TO_INITIALIZE_SPI);    }    // Initialize DMA for SPI1    g_dmaSpiRx.Instance                 = SPI_DMA_RX_INSTANCE;    g_dmaSpiRx.Init.Request             = DMA_REQUEST_1;    g_dmaSpiRx.Init.Direction           = DMA_PERIPH_TO_MEMORY;    g_dmaSpiRx.Init.PeriphInc           = DMA_PINC_DISABLE;    g_dmaSpiRx.Init.MemInc              = DMA_MINC_ENABLE;    g_dmaSpiRx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;    g_dmaSpiRx.Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;    g_dmaSpiRx.Init.Mode                = DMA_NORMAL;    g_dmaSpiRx.Init.Priority            = DMA_PRIORITY_MEDIUM;    if (HAL_DMA_Init(&g_dmaSpiRx) != HAL_OK)    {        ERROR_SPI(ED_SPI_FAILED_TO_INITIALIZE_SPI);    }    g_dmaSpiTx.Instance                 = SPI_DMA_TX_INSTANCE;    g_dmaSpiTx.Init.Request             = DMA_REQUEST_1;    g_dmaSpiTx.Init.Direction           = DMA_MEMORY_TO_PERIPH;    g_dmaSpiTx.Init.PeriphInc           = DMA_PINC_DISABLE;    g_dmaSpiTx.Init.MemInc              = DMA_MINC_ENABLE;    g_dmaSpiTx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;    g_dmaSpiTx.Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;    g_dmaSpiTx.Init.Mode                = DMA_NORMAL;    g_dmaSpiTx.Init.Priority            = DMA_PRIORITY_MEDIUM;    if (HAL_DMA_Init(&g_dmaSpiTx) != HAL_OK)    {        ERROR_SPI(ED_SPI_FAILED_TO_INITIALIZE_SPI);    }}

/** * @brief   Initializes the SPI2 for use with FPGA config * @param   None * @retval  None */ErrorStatus SPI2_InitForFpgaConfig(){  /* Init SPI */  SPI_Handle.Init.FirstBit = SPI_FIRSTBIT_LSB;  SPI_CLK_ENABLE();  HAL_SPI_Init(&SPI_Handle);  return SUCCESS;}

//------------------------------------------------------------------------------------------------------------------------------------------------------void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef* handleSPI){    if (!Panel_ProcessingCommandFromPIC(dataSPIfromPanel))    {        HAL_SPI_DeInit(handleSPI);        HAL_SPI_Init(handleSPI);    }    SPI1->DR = Panel_NextData();}

static void init_spi(spi_t *obj){    SPI_HandleTypeDef *handle = &SpiHandle[obj->spi.module];    __HAL_SPI_DISABLE(handle);    HAL_SPI_Init(handle);    __HAL_SPI_ENABLE(handle);}

// ***** GP22 - Hardware Setupuint8_t gp22_hw_setup(){  GPIO_InitTypeDef GPIO_InitStruct;  HAL_SPI_StateTypeDef spi_status;  // Init INT-Pin  GPIO_InitStruct.Pin = GP22_INT_PIN;  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;  GPIO_InitStruct.Pull = GPIO_NOPULL;  GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;  HAL_GPIO_Init(GP22_INT_PORT, &GPIO_InitStruct);  GP22_INT_CLK_ENABLE();  // Init CS-Pin  GPIO_InitStruct.Pin = GP22_CS_PIN;  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;  GPIO_InitStruct.Pull  = GPIO_NOPULL;  GPIO_InitStruct.Speed = GPIO_SPEED_FAST;  HAL_GPIO_Init(GP22_CS_PORT, &GPIO_InitStruct);  GP22_CS_CLK_ENABLE();  GP22_CS_HIGH();  // Init RESET-Pin  GPIO_InitStruct.Pin = GP22_RESET_PIN;  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;  GPIO_InitStruct.Pull  = GPIO_NOPULL;  GPIO_InitStruct.Speed = GPIO_SPEED_FAST;  HAL_GPIO_Init(GP22_RESET_PORT, &GPIO_InitStruct);  GP22_RESET_CLK_ENABLE();  GP22_RESET_LOW();  // Init SPI  hGP22_SPI.Instance = GP22_SPI;  hGP22_SPI.Init.BaudRatePrescaler = GP22_SPI_PRESCALER;  hGP22_SPI.Init.Direction = SPI_DIRECTION_2LINES;  hGP22_SPI.Init.CLKPhase = SPI_PHASE_2EDGE;  hGP22_SPI.Init.CLKPolarity = SPI_POLARITY_LOW;  hGP22_SPI.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;  hGP22_SPI.Init.CRCPolynomial = 7;  hGP22_SPI.Init.DataSize = SPI_DATASIZE_8BIT;  hGP22_SPI.Init.FirstBit = SPI_FIRSTBIT_MSB;  hGP22_SPI.Init.NSS = SPI_NSS_SOFT;  hGP22_SPI.Init.TIMode = SPI_TIMODE_DISABLED;  hGP22_SPI.Init.Mode = SPI_MODE_MASTER;  spi_status = HAL_SPI_GetState(&hGP22_SPI);  if (spi_status != HAL_SPI_STATE_RESET)  {    hal_status = HAL_SPI_DeInit(&hGP22_SPI);  }  hal_status = HAL_SPI_Init(&hGP22_SPI);  return hal_status;}

void spi_abort_asynch(spi_t *obj){    // diable interrupt    vIRQ_DisableIRQ(SpiIRQs[obj->spi.module]);    // clean-up    SPI_HandleTypeDef *handle = &SpiHandle[obj->spi.module];    __HAL_SPI_DISABLE(handle);    HAL_SPI_DeInit(handle);    HAL_SPI_Init(handle);    __HAL_SPI_ENABLE(handle);}

void W5500HardwareInitilize(void){  __GPIOH_CLK_ENABLE();  /*W5500 CS/INT/RST Clock enable*/  __GPIOB_CLK_ENABLE();  __GPIOC_CLK_ENABLE();    /*W5500 GPIO&SPI1 Clock enable*/  __GPIOA_CLK_ENABLE();    /*Initialize GPIO Structure*/  GPIO_InitTypeDef	GPIO_InitStructure;  /*Initialize CS Pin*/  GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;  GPIO_InitStructure.Pin = W5500_CS_PIN;  GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;  GPIO_InitStructure.Pull = GPIO_NOPULL;  HAL_GPIO_Init(W5500_CS_PORT,&GPIO_InitStructure);    /*Initialize INT Pin*/  GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;  GPIO_InitStructure.Pin = W5500_INT_PIN;  GPIO_InitStructure.Mode = GPIO_MODE_INPUT;  GPIO_InitStructure.Pull = GPIO_NOPULL;  HAL_GPIO_Init(W5500_INT_PORT,&GPIO_InitStructure);  /*Ethernet shield does not have individual reset pin*/  /* ==> Remove R23 and connect RSTN - D9 pin        Now D9 is Reset pin.*/  GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;  GPIO_InitStructure.Pin = W5500_RESET_PIN;  GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;  GPIO_InitStructure.Pull = GPIO_NOPULL;  HAL_GPIO_Init(W5500_RESET_PORT,&GPIO_InitStructure);    /*SPI init*/  hspi1W5500.Instance = W5500_SPI;  hspi1W5500.Init.Mode = SPI_MODE_MASTER;  hspi1W5500.Init.Direction = SPI_DIRECTION_2LINES;  hspi1W5500.Init.DataSize = SPI_DATASIZE_8BIT;  hspi1W5500.Init.CLKPolarity = SPI_POLARITY_HIGH;  hspi1W5500.Init.CLKPhase = SPI_PHASE_2EDGE;  hspi1W5500.Init.NSS = SPI_NSS_SOFT;  hspi1W5500.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;  hspi1W5500.Init.FirstBit = SPI_FIRSTBIT_MSB;  hspi1W5500.Init.TIMode = SPI_TIMODE_DISABLED;  hspi1W5500.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;  hspi1W5500.Init.CRCPolynomial = 10;  HAL_SPI_Init(&hspi1W5500);    W5500HardwareReset();}

/*====================================================================================================*/void MPU9250_Config( void ){  GPIO_InitTypeDef GPIO_InitStruct;  /* SPI Clk ******************************************************************/  SPIx_CS_GPIO_CLK_ENABLE();  SPIx_SCK_GPIO_CLK_ENABLE();  SPIx_SDO_GPIO_CLK_ENABLE();  SPIx_SDI_GPIO_CLK_ENABLE();  SPIx_CLK_ENABLE();  /* SPI Pin ******************************************************************/  GPIO_InitStruct.Mode      = GPIO_MODE_OUTPUT_PP;  GPIO_InitStruct.Pull      = GPIO_PULLUP;  GPIO_InitStruct.Speed     = GPIO_SPEED_HIGH;  GPIO_InitStruct.Pin       = SPIx_CS_PIN;  HAL_GPIO_Init(SPIx_CS_GPIO_PORT, &GPIO_InitStruct);  GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;  GPIO_InitStruct.Pull      = GPIO_PULLUP;  GPIO_InitStruct.Speed     = GPIO_SPEED_HIGH;  GPIO_InitStruct.Pin       = SPIx_SCK_PIN;  HAL_GPIO_Init(SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);  GPIO_InitStruct.Pin       = SPIx_SDO_PIN;  HAL_GPIO_Init(SPIx_SDO_GPIO_PORT, &GPIO_InitStruct);  GPIO_InitStruct.Pin       = SPIx_SDI_PIN;  HAL_GPIO_Init(SPIx_SDI_GPIO_PORT, &GPIO_InitStruct);  SPIx_CS_H;  // 低
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