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 connector
void 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);
}