monorepo

P6_SETR1/Core/Src/LSM6DSL.c

@@ -0,0 +1,28 @@
+/*
+ * LSM6DSL.c
+ *
+ *  Created on: Mar 3, 2025
+ *      Author: jomaa
+ */
+
+#include "stm32l4xx_hal.h"
+#include "LSM6DSL.h"
+
+extern I2C_HandleTypeDef hi2c2;
+
+void LSM6DSL_Init(void)
+{
+	uint8_t buffer[1];
+	buffer[0] = 0x40;
+
+	HAL_I2C_Mem_Write(&hi2c2, 0xD4, 0x10,
+			I2C_MEMADD_SIZE_8BIT, buffer, 1, 1000);
+}
+
+int16_t LSM6DSL_ReadAccel(uint8_t axis)
+{
+	uint8_t buffer[2];
+	HAL_I2C_Mem_Read(&hi2c2, 0xD4, 0x28+2*axis,
+			I2C_MEMADD_SIZE_8BIT, buffer, 2, 1000);
+	return ((int16_t)(buffer[1]<<8) | buffer[0]) * 0.061f;
+}