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