monorepo

P5_SETR1/Core/Src/LSM6DSL.c

@@ -0,0 +1,39 @@
+/*
+ * LSM6DSL.c
+ *
+ *  Created on: Feb 7, 2025
+ *      Author: Angel Jimenez
+ */
+
+#include "stm32l4xx_hal.h"
+#include "LSM6DSL.h"
+
+extern I2C_HandleTypeDef hi2c2;
+
+void LSM6DSL_Init(){
+
+	uint8_t buffer[1];
+	buffer[0] = ODR_XL_104Hz;
+	HAL_I2C_Mem_Write(&hi2c2, LSM6DSL_ADDR, REG_CTRL1_XL, I2C_MEMADD_SIZE_8BIT, buffer, 1, 1000);
+
+}
+
+uint8_t LSM6DSL_DataReady(){
+
+	uint8_t buffer[1];
+    HAL_I2C_Mem_Read(&hi2c2, LSM6DSL_ADDR, REG_STATUS, I2C_MEMADD_SIZE_8BIT, buffer, 1, 1000);
+    return ((buffer[0] & 0x01) != 0);
+
+}
+
+void LSM6DSL_ReadAccel(float accel[]){
+
+	uint8_t buffer[6];
+
+	HAL_I2C_Mem_Read(&hi2c2, LSM6DSL_ADDR, REG_OUTX_L_XL, I2C_MEMADD_SIZE_8BIT, buffer, 6, 1000);
+
+	for(uint8_t i = 0; i < 3; i++){
+		accel[i] = ((int16_t)(buffer[2*i+1]<<8) | buffer[2*i])*0.061f;
+	}
+
+}