基于STM32单片机HAL库硬件I2C读写LTC2943

已于 2024-10-15 08:08:55 修改
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分类专栏： 单片机开发笔记 文章标签： 单片机 stm32 硬件I2C LTC2943
于 2024-10-14 13:53:32 首次发布
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本文链接：https://blog.csdn.net/PoroKing/article/details/142914708

单片机： STM32L476
库： HAL库
通讯： 硬件I2C，直接用STM32CubeMX生成
目标： 实现读写LTC2943库仑计芯片，采集温度、库伦、电压、电流等。

硬件参考电路
在这里插入图片描述

ws_drive_ltc2943.h
驱动程序

/*! @file
    @ingroup LTC2943
    Header for LTC2943: Multicell Battery Gas Gauge with Temperature, Voltage and Current Measurement
*/

#ifndef WS_DRIVE_LTC2943_H
#define WS_DRIVE_LTC2943_H

#include "stm32l4xx_hal.h"

/*! @name LTC2943 I2C Address
@{ */

#define LTC2943_I2C_ADDRESS 0xC8
#define LTC2943_I2C_ALERT_RESPONSE  0x0C

//! @}

#define I2C_READ_BIT    0x01
#define I2C_WRITE_BIT   0x00
#define WITH_ACK  0  //!<  Use with i2c_read(WITH_ACK) to read with an acknowledge
#define WITH_NACK 1 
/*!
| Name                                              | Value |
| :------------------------------------------------ | :---: |
| LTC2943_STATUS_REG                                | 0x00  |
| LTC2943_CONTROL_REG                               | 0x01  |
| LTC2943_ACCUM_CHARGE_MSB_REG                      | 0x02  |
| LTC2943_ACCUM_CHARGE_LSB_REG                      | 0x03  |
| LTC2943_CHARGE_THRESH_HIGH_MSB_REG                | 0x04  |
| LTC2943_CHARGE_THRESH_HIGH_LSB_REG                | 0x05  |
| LTC2943_CHARGE_THRESH_LOW_MSB_REG                 | 0x06  |
| LTC2943_CHARGE_THRESH_LOW_LSB_REG                 | 0x07  |
| LTC2943_VOLTAGE_MSB_REG                           | 0x08  |
| LTC2943_VOLTAGE_LSB_REG                           | 0x09  |
| LTC2943_VOLTAGE_THRESH_HIGH_MSB_REG               | 0x0A  |
| LTC2943_VOLTAGE_THRESH_HIGH_LSB_REG               | 0x0B  |
| LTC2943_VOLTAGE_THRESH_LOW_MSB_REG                | 0x0C  |
| LTC2943_VOLTAGE_THRESH_LOW_LSB_REG                | 0x0D  |
| LTC2943_CURRENT_MSB_REG                           | 0x0E  |
| LTC2943_CURRENT_LSB_REG                           | 0x0F  |
| LTC2943_CURRENT_THRESH_HIGH_MSB_REG               | 0x10  |
| LTC2943_CURRENT_THRESH_HIGH_LSB_REG               | 0x11  |
| LTC2943_CURRENT_THRESH_LOW_MSB_REG                | 0x12  |
| LTC2943_CURRENT_THRESH_LOW_LSB_REG                | 0x13  |
| LTC2943_TEMPERATURE_MSB_REG                       | 0x14  |
| LTC2943_TEMPERATURE_LSB_REG                       | 0x15  |
| LTC2943_TEMPERATURE_THRESH_HIGH_REG               | 0x16  |
| LTC2943_TEMPERATURE_THRESH_LOW_REG                | 0x17  |
*/

/*! @name Registers
@{ */
// Registers
#define LTC2943_STATUS_REG                          0x00
#define LTC2943_CONTROL_REG                         0x01
#define LTC2943_ACCUM_CHARGE_MSB_REG                0x02
#define LTC2943_ACCUM_CHARGE_LSB_REG                0x03
#define LTC2943_CHARGE_THRESH_HIGH_MSB_REG          0x04
#define LTC2943_CHARGE_THRESH_HIGH_LSB_REG          0x05
#define LTC2943_CHARGE_THRESH_LOW_MSB_REG           0x06
#define LTC2943_CHARGE_THRESH_LOW_LSB_REG           0x07
#define LTC2943_VOLTAGE_MSB_REG                     0x08
#define LTC2943_VOLTAGE_LSB_REG                     0x09
#define LTC2943_VOLTAGE_THRESH_HIGH_MSB_REG         0x0A
#define LTC2943_VOLTAGE_THRESH_HIGH_LSB_REG         0x0B
#define LTC2943_VOLTAGE_THRESH_LOW_MSB_REG          0x0C
#define LTC2943_VOLTAGE_THRESH_LOW_LSB_REG          0x0D
#define LTC2943_CURRENT_MSB_REG                     0x0E
#define LTC2943_CURRENT_LSB_REG                     0x0F
#define LTC2943_CURRENT_THRESH_HIGH_MSB_REG         0x10
#define LTC2943_CURRENT_THRESH_HIGH_LSB_REG         0x11
#define LTC2943_CURRENT_THRESH_LOW_MSB_REG          0x12
#define LTC2943_CURRENT_THRESH_LOW_LSB_REG          0x13
#define LTC2943_TEMPERATURE_MSB_REG                 0x14
#define LTC2943_TEMPERATURE_LSB_REG                 0x15
#define LTC2943_TEMPERATURE_THRESH_HIGH_REG         0x16
#define LTC2943_TEMPERATURE_THRESH_LOW_REG          0x17
//! @}

/*!
| Command Codes                                 | Value     |
| :-------------------------------------------- | :-------: |
| LTC2943_AUTOMATIC_MODE                        | 0xC0      |
| LTC2943_SCAN_MODE                             | 0x80      |
| LTC2943_MANUAL_MODE                           | 0x40      |
| LTC2943_SLEEP_MODE                            | 0x00      |
| LTC2943_PRESCALAR_M_1                         | 0x00      |
| LTC2943_PRESCALAR_M_4                         | 0x08      |
| LTC2943_PRESCALAR_M_16                        | 0x10      |
| LTC2943_PRESCALAR_M_64                        | 0x18      |
| LTC2943_PRESCALAR_M_256                       | 0x20      |
| LTC2943_PRESCALAR_M_1024                      | 0x28      |
| LTC2943_PRESCALAR_M_4096                      | 0x30      |
| LTC2943_PRESCALAR_M_4096_2                    | 0x31      |
| LTC2943_ALERT_MODE                            | 0x04      |
| LTC2943_CHARGE_COMPLETE_MODE                  | 0x02      |
| LTC2943_DISABLE_ALCC_PIN                      | 0x00      |
| LTC2943_SHUTDOWN_MODE                         | 0x01      |
*/

/*! @name Command Codes
@{ */
// Command Codes
#define LTC2943_AUTOMATIC_MODE                  0xC0
#define LTC2943_SCAN_MODE                       0x80
#define LTC2943_MANUAL_MODE                     0x40
#define LTC2943_SLEEP_MODE                      0x00

#define LTC2943_PRESCALAR_M_1                   0x00
#define LTC2943_PRESCALAR_M_4                   0x08
#define LTC2943_PRESCALAR_M_16                  0x10
#define LTC2943_PRESCALAR_M_64                  0x18
#define LTC2943_PRESCALAR_M_256                 0x20
#define LTC2943_PRESCALAR_M_1024                0x28
#define LTC2943_PRESCALAR_M_4096                0x30
#define LTC2943_PRESCALAR_M_4096_2              0x31

#define LTC2943_ALERT_MODE                      0x04
#define LTC2943_CHARGE_COMPLETE_MODE            0x02

#define LTC2943_DISABLE_ALCC_PIN                0x00
#define LTC2943_SHUTDOWN_MODE                   0x01

//! @}

/*!
| Conversion Constants                              |  Value   |
| :------------------------------------------------ | :------: |
| LTC2943_CHARGE_lsb                                | 0.34  mAh|
| LTC2943_VOLTAGE_lsb                               | 1.44   mV|
| LTC2943_CURRENT_lsb                               |  29.3  uV|
| LTC2943_TEMPERATURE_lsb                           | 0.25    C|
| LTC2943_FULLSCALE_VOLTAGE                         |  23.6   V|
| LTC2943_FULLSCALE_CURRENT                         |  60    mV|
| LTC2943_FULLSCALE_TEMPERATURE                     | 510     K|

*/
/*! @name Conversion Constants
@{ */

//! @}

//! @}
void LTC2943_Init(void);

//! Write an 8-bit code to the LTC2943.
//! @return The function returns the state of the acknowledge bit after the I2C address write. 0=acknowledge, 1=no acknowledge.
int8_t LTC2943_write(uint8_t i2c_address, //!< Register address for the LTC2943
                     uint8_t adc_command, //!< The "command byte" for the LTC2943
                     uint8_t code         //!< Value that will be written to the register.
										);

//! Write a 16-bit code to the LTC2943.
//! @return The function returns the state of the acknowledge bit after the I2C address write. 0=acknowledge, 1=no acknowledge.
int8_t LTC2943_write_16_bits(uint8_t i2c_address, //!< Register address for the LTC2943
                             uint8_t adc_command, //!< The "command byte" for the LTC2943
                             uint16_t code        //!< Value that will be written to the register.
                            );


//! Reads an 8-bit adc_code from LTC2943
//! @return The function returns the state of the acknowledge bit after the I2C address write. 0=acknowledge, 1=no acknowledge.
int8_t LTC2943_read(uint8_t i2c_address, //!< Register address for the LTC2943
                    uint8_t adc_command, //!< The "command byte" for the LTC2943
                    uint8_t *adc_code    //!< Value that will be read from the register.
                   );

//! Reads a 16-bit adc_code from LTC2943
//! @return The function returns the state of the acknowledge bit after the I2C address write. 0=acknowledge, 1=no acknowledge.
int8_t LTC2943_read_16_bits(uint8_t i2c_address, //!< Register address for the LTC2943
                            uint8_t adc_command, //!< The "command byte" for the LTC2943
                            uint16_t *adc_code   //!< Value that will be read from the register.
                           );


//! Calculate the LTC2943 charge in Coulombs
//! @return Returns the Coulombs of charge in the ACR register.
float LTC2943_code_to_coulombs(uint16_t adc_code,        //!< The RAW ADC value
                               float resistor,         //!< The sense resistor value
                               uint16_t prescalar      //!< The prescalar value
                              );

//! Calculate the LTC2943 charge in mAh
//! @return Returns the Coulombs of charge in the ACR register.
float LTC2943_code_to_mAh(uint16_t adc_code,            //!< The RAW ADC value
                          float resistor,       //!< The sense resistor value
                          uint16_t prescalar    //!< The prescalar value
                         );

//! Calculate the LTC2943 SENSE+ voltage
//! @return Returns the SENSE+ Voltage in Volts
float LTC2943_code_to_voltage(uint16_t adc_code              //!< The RAW ADC value
                             );

//! Calculate the LTC2943 current with a sense resistor
//! @return Returns the current through the sense resisor
float LTC2943_code_to_current(uint16_t adc_code,                //!< The RAW ADC value
                              float resistor                   //!< The sense resistor value
                             );

//! Calculate the LTC2943 temperature
//! @return Returns the temperature in Kelvin
float LTC2943_code_to_kelvin_temperature(uint16_t adc_code           //!< The RAW ADC value
                                        );

//! Calculate the LTC2943 temperature
//! @return Returns the temperature in Celcius
float LTC2943_code_to_celcius_temperature(uint16_t adc_code          //!< The RAW ADC value
                                         );

#endif  // LTC2943_H

ws_drive_ltc2943.c
驱动程序

#include "ws_drive_ltc2943.h"
#include "i2c.h"

//! @defgroup LTC2943 LTC2943: Multicell Battery Gas Gauge with Temperature, Voltage and Current Measurement

/*! @file
   @ingroup LTC2943
   Library for LTC2943 Multicell Battery Gas Gauge with Temperature, Voltage and Current Measurement
*/

const float LTC2943_CHARGE_lsb = 0.34E-3;
const float LTC2943_VOLTAGE_lsb = 1.44E-3;
const float LTC2943_CURRENT_lsb = 29.3E-6;
const float LTC2943_TEMPERATURE_lsb = 0.25;
const float LTC2943_FULLSCALE_VOLTAGE = 23.6;
const float LTC2943_FULLSCALE_CURRENT = 60E-3;
const float LTC2943_FULLSCALE_TEMPERATURE = 510;

// Write an 8-bit code to the LTC2943.
int8_t LTC2943_write(uint8_t i2c_address, uint8_t adc_command, uint8_t code)
// The function returns the state of the acknowledge bit after the I2C address write. 0=acknowledge, 1=no acknowledge.
{
	HAL_I2C_Mem_Write(&hi2c1, i2c_address, adc_command, I2C_MEMADD_SIZE_8BIT, (uint8_t *)&code, 1, 0x100);
  return 0;
}

// Write a 16-bit code to the LTC2943.
int8_t LTC2943_write_16_bits(uint8_t i2c_address, uint8_t adc_command, uint16_t code)
// The function returns the state of the acknowledge bit after the I2C address write. 0=acknowledge, 1=no acknowledge.
{
	HAL_I2C_Mem_Write(&hi2c1, i2c_address, adc_command, I2C_MEMADD_SIZE_8BIT, (uint8_t *)&code, 2, 0x100);
  return 0;
}

// Reads an 8-bit adc_code from LTC2943
int8_t LTC2943_read(uint8_t i2c_address, uint8_t adc_command, uint8_t *adc_code)
// The function returns the state of the acknowledge bit after the I2C address write. 0=acknowledge, 1=no acknowledge.
{
	HAL_I2C_Mem_Read(&hi2c1, i2c_address, adc_command, I2C_MEMADD_SIZE_8BIT, adc_code, 1, 0x100);
  return 0;
}

// Reads a 16-bit adc_code from LTC2943
int8_t LTC2943_read_16_bits(uint8_t i2c_address, uint8_t adc_command, uint16_t *adc_code) 
// The function returns the state of the acknowledge bit after the I2C address write. 0=acknowledge, 1=no acknowledge.
{
	HAL_I2C_Mem_Read(&hi2c1, i2c_address, adc_command, I2C_MEMADD_SIZE_8BIT, (uint8_t *)adc_code, 2, 0x100);
  return 0;
}

float LTC2943_code_to_coulombs(uint16_t adc_code, float resistor, uint16_t prescalar)
// The function converts the 16-bit RAW adc_code to Coulombs
{
  float coulomb_charge;
  coulomb_charge =  1000*(float)(adc_code*LTC2943_CHARGE_lsb*prescalar*50E-3)/(resistor*4096);
  coulomb_charge = coulomb_charge*3.6f;
  return(coulomb_charge);
}

float LTC2943_code_to_mAh(uint16_t adc_code, float resistor, uint16_t prescalar )
// The function converts the 16-bit RAW adc_code to mAh
{
  float mAh_charge;
  mAh_charge = 100*(float)(adc_code*LTC2943_CHARGE_lsb*prescalar*50E-3)/(resistor*4096);
  return(mAh_charge);
}

float LTC2943_code_to_voltage(uint16_t adc_code)
// The function converts the 16-bit RAW adc_code to Volts
{
  float voltage;
  voltage = ((float)adc_code/(65535))*LTC2943_FULLSCALE_VOLTAGE;
  return(voltage);
}

float LTC2943_code_to_current(uint16_t adc_code, float resistor)
// The function converts the 16-bit RAW adc_code to Amperes
{
  float current;
  current = (((float)adc_code-32767)/(32767))*((float)(LTC2943_FULLSCALE_CURRENT)/resistor);
  return(current);
}

float LTC2943_code_to_kelvin_temperature(uint16_t adc_code)
// The function converts the 16-bit RAW adc_code to Kelvin
{
  float temperature;
  temperature = adc_code*((float)(LTC2943_FULLSCALE_TEMPERATURE)/65535);
  return(temperature);
}

float LTC2943_code_to_celcius_temperature(uint16_t adc_code)
// The function converts the 16-bit RAW adc_code to Celcius
{
  float temperature;
  temperature = adc_code*((float)(LTC2943_FULLSCALE_TEMPERATURE)/65535) - 273.15;
  return(temperature);
}

ws_app_power.c
调用驱动程序，读写转换参数

#include "ws_drive_ltc2943.h"

const float resistor = .050;
int8_t ack = 0;                               //! I2C acknowledge indicator
static uint8_t mAh_or_Coulombs = 0;
static uint8_t celcius_or_kelvin = 0;
static uint16_t prescalar_mode = LTC2943_PRESCALAR_M_4096;
static uint16_t prescalarValue = 4096;
static uint16_t alcc_mode = LTC2943_ALERT_MODE;
float charge = 0, current = 0, voltage = 0, temperature = 0;

void read_power_data(void)
{
	menu_1_automatic_mode(mAh_or_Coulombs, celcius_or_kelvin, prescalar_mode, prescalarValue, alcc_mode);
}


int8_t menu_1_automatic_mode(int8_t mAh_or_Coulombs, int8_t celcius_or_kelvin, uint16_t prescalar_mode, uint16_t prescalarValue, uint16_t alcc_modes)
{
    int8_t LTC2943_mode, ii;
    int8_t ack = 0;
    LTC2943_mode = LTC2943_AUTOMATIC_MODE | prescalar_mode | alcc_modes ;
    ack |= LTC2943_write(LTC2943_I2C_ADDRESS, LTC2943_CONTROL_REG, LTC2943_mode); //! Writes the set mode to the LTC2943 control register

    uint8_t status_code = 0;
    uint16_t charge_code = 0, current_code = 0, voltage_code = 0, temperature_code = 0;
	uint16_t charge_l2b = 0, current_l2b = 0, voltage_l2b = 0, temperature_l2b = 0;

    ack |= LTC2943_read_16_bits(LTC2943_I2C_ADDRESS, LTC2943_ACCUM_CHARGE_MSB_REG, &charge_code);    //! Read MSB and LSB Accumulated Charge Registers for 16 bit charge code
    ack |= LTC2943_read_16_bits(LTC2943_I2C_ADDRESS, LTC2943_VOLTAGE_MSB_REG, &voltage_code);        //! Read MSB and LSB Voltage Registers for 16 bit voltage code
    ack |= LTC2943_read_16_bits(LTC2943_I2C_ADDRESS, LTC2943_CURRENT_MSB_REG, &current_code);        //! Read MSB and LSB Current Registers for 16 bit current code
    ack |= LTC2943_read(LTC2943_I2C_ADDRESS, LTC2943_STATUS_REG, &status_code);
	ack |= LTC2943_read_16_bits(LTC2943_I2C_ADDRESS, LTC2943_TEMPERATURE_MSB_REG, &temperature_code);

	charge_l2b = (((charge_code & 0x00ff) << 8) | ((charge_code & 0xff00) >> 8));
	current_l2b = (((current_code & 0x00ff) << 8) | ((current_code & 0xff00) >> 8));
	voltage_l2b = (((voltage_code & 0x00ff) << 8) | ((voltage_code & 0xff00) >> 8));
	temperature_l2b = (((temperature_code & 0x00ff) << 8) | ((temperature_code & 0xff00) >> 8));
		
    charge = LTC2943_code_to_mAh(charge_l2b, resistor, prescalarValue);      //! Convert charge code to mAh if mAh units are desired.
    current = LTC2943_code_to_current(current_l2b, resistor);                //! Convert current code to Amperes
    voltage = LTC2943_code_to_voltage(voltage_l2b);                          //! Convert voltage code to Volts
	temperature = LTC2943_code_to_celcius_temperature(temperature_l2b);
		
    return ack;
}

注意：LTC2943地址为0xC8
在这里插入图片描述

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LTC2990:线性四通道I2C电压、电流和温度监视器驱动器资源文件 去发现同类优质开源项目:https://gitcode.com/ 介绍 本项目提供了一个用于与线性（现为Analog Devices）LTC 2990 Quad I2C电压、电流和温度监控器通信的驱动器。该资源文件详细描述了如何从LTC2990 IC访问和获取寄存器数据。 功能特点 支持四通道电压、电流和温度监控 预先配置为模...
STM32DS3231硬件I2C读写，基于HAL库
12-22
本资源为基于STM32单片机与DS3231实时时钟模块的完整项目代码，适合初学者学习如何使用I²C接口与外设模块进行通讯。项目通过STM32主控实现对DS3231的时间读取和设置功能，电脑屏幕上串口助手实时显示日期、时间。...
基于STM32F03　HAL库的硬件SPI读写ADC－LTC1867.rar
11-12
在本项目中，我们主要探讨的是如何利用STM32F103微控制器的HAL库进行硬件SPI通信，与LTC1867这款16位ADC（模拟数字转换器）进行数据交互。STM32F103是STMicroelectronics公司生产的一款基于ARM Cortex-M3内核的微...
STM32F103单片机HAL库例程-I2C接口读写AT24C02外部EEPROM存储芯片.rar
03-22
2、代码使用KEIL HAL库开发，当前在STM32F103运行，如果是STM32F103其他型号芯片，依然适用，请自行更改KEIL芯片型号以及FLASH容量即可。 3、软件下载时，请注意keil选择项是jlink还是stlink。 4、技术v：349014857;...
STM32 HAL库 硬件I2C对MPU6050的使用
11-02
在这个主题中，我们将深入探讨如何使用STM32 HAL库来操作硬件I2C接口，以与MPU6050六轴陀螺仪和加速度计通信，并实现DMP（数字运动处理器）功能。 MPU6050是一款集成的惯性测量单元，包含三轴陀螺仪和三轴加速度计...
STM32F1读写LTC2944工程 并通过串口MODBUD协议上传
04-22
STM32F1读写LTC2944工程， 并通过串口 采用MODBUD协议上传
LTC2944.rar
09-03
基于STM32F103RCT6的LTC2944库仑计程序，程序简单简介，串口打印出电压，电流以及电量，本人是用来制作100W快充充电宝的数显，经测试电压电流显示准确。库仑计需要具体微调。
STM32F103单片机HAL库例程-内置FLASH的读写保护与解除.rar
03-22
2、代码使用KEIL HAL库开发，当前在STM32F103运行，如果是STM32F103其他型号芯片，依然适用，请自行更改KEIL芯片型号以及FLASH容量即可。 3、软件下载时，请注意keil选择项是jlink还是stlink。 4、技术v：349014857;...
STM32F1 硬件I2C驱动DAC(LTC2605)
m0_37827405的博客
12-19 1374
#include "i2c_drive_mcp.h" #define I2C_Speed     100000 #define Master_Address 0x0A  //全部通道 static void I2C_GPIO_Config(void) {     GPIO_InitTypeDef  GPIO_InitStructure;          /*Enable the Clock...
LTC2990线性四通道I2C电压电流和温度监视器驱动器资源文件：精准监控，轻松集成
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gitblog_06713的博客
05-10 340
LTC2990线性四通道I2C电压电流和温度监视器驱动器资源文件：精准监控，轻松集成 去发现同类优质开源项目:https://gitcode.com/ 项目介绍 在当今电子系统中，对电压、电流以及温度的实时监控是确保系统稳定运行的关键环节。LTC2990线性四通道I2C电压、电流和温度监视器驱动器资源文件提供了一个高效、可靠的解决方案。本项目旨在帮助开发者轻松地与Analog Devices（原L...
STM32F1 模拟I2C驱动DAC(LTC2605)程序
m0_37827405的博客
12-20 2309
由于在电路设计上将SCL、SDA线拉太长导致硬件I2C时常出问题，所以考虑用模拟I2C解决，这里参考别人的代码然后自己应用到24位DAC(LTC2605)上，已移植成功。 (1).simulate_i2c.c #include "stm32f10x.h" #include "simulate_i2c.h"   #define HIGH 1 #define LOW 0   #define TRU...
IIC读写
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IIC通信中读的过程比较复杂，在从slave读出数据前，你必须先要告诉它哪个内部寄存器是你想要读取的，因此必须先对其进行写入(dummy write)： 发送起始位； 发送slave地址+write bit set； 发送内部寄存器地址； 重新发送起始位，即restart； 重新发送slave地址+read bit set； 读取数据 主机接收器在接收到最后一个字节后，也不会发出ACK信号。于是，...
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1. I2C体系结构组成 在linux中i2c驱动由三部分组成：i2c-core(i2c核心)、i2c总线驱动、i2c设备驱动 结合上图描述可知 应用态访问内核态可以使用特定的I2C driver，也可以使用通用的i2c_dev i2c_dev.c文件内部实现的是基本的通用的i2c驱动程序。它对外只提供基本的i2c操作，相当于把部分驱动操作放到了应用层去实现 i2c设备驱动通过i2c...
STM32F4 HAL库硬件I2C通信实例详解
### STM32F4硬件I2C通信（使用HAL库）知识点详细解读 #### 1. STM32F4系列微控制器简介 STM32F4系列微控制器属于STMicroelectronics（意法半导体）公司生产的高性能ARM Cortex-M4核心微控制器。该系列芯片以高速和...
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