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https://github.com/UberGuidoZ/Flipper.git
synced 2024-12-23 23:10:16 +00:00
95 lines
3.2 KiB
C
95 lines
3.2 KiB
C
#include "lsm6ds3tr_c_reg.h"
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#include <furi_hal.h>
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#include "imu.h"
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#define TAG "LSM6DS3TR-C"
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#define LSM6DS3_ADDRESS (0x6A << 1)
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static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
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stmdev_ctx_t lsm6ds3trc_ctx;
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int32_t lsm6ds3trc_write_i2c(void* handle, uint8_t reg_addr, const uint8_t* data, uint16_t len) {
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if(furi_hal_i2c_write_mem(handle, LSM6DS3_ADDRESS, reg_addr, (uint8_t*)data, len, 50))
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return 0;
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return -1;
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}
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int32_t lsm6ds3trc_read_i2c(void* handle, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
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if(furi_hal_i2c_read_mem(handle, LSM6DS3_ADDRESS, reg_addr, read_data, len, 50)) return 0;
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return -1;
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}
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bool lsm6ds3trc_begin() {
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FURI_LOG_I(TAG, "Init LSM6DS3TR-C");
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if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, LSM6DS3_ADDRESS, 50)) {
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FURI_LOG_E(TAG, "Not ready");
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return false;
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}
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lsm6ds3trc_ctx.write_reg = lsm6ds3trc_write_i2c;
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lsm6ds3trc_ctx.read_reg = lsm6ds3trc_read_i2c;
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lsm6ds3trc_ctx.mdelay = furi_delay_ms;
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lsm6ds3trc_ctx.handle = &furi_hal_i2c_handle_external;
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uint8_t whoami;
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lsm6ds3tr_c_device_id_get(&lsm6ds3trc_ctx, &whoami);
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if(whoami != LSM6DS3TR_C_ID) {
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FURI_LOG_I(TAG, "Unknown model: %x", (int)whoami);
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return false;
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}
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lsm6ds3tr_c_reset_set(&lsm6ds3trc_ctx, PROPERTY_ENABLE);
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uint8_t rst = PROPERTY_ENABLE;
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while(rst) lsm6ds3tr_c_reset_get(&lsm6ds3trc_ctx, &rst);
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lsm6ds3tr_c_block_data_update_set(&lsm6ds3trc_ctx, PROPERTY_ENABLE);
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lsm6ds3tr_c_fifo_mode_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_BYPASS_MODE);
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lsm6ds3tr_c_xl_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_ODR_104Hz);
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lsm6ds3tr_c_xl_full_scale_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_4g);
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lsm6ds3tr_c_xl_lp1_bandwidth_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_LP1_ODR_DIV_4);
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lsm6ds3tr_c_gy_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_ODR_104Hz);
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lsm6ds3tr_c_gy_full_scale_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_2000dps);
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lsm6ds3tr_c_gy_power_mode_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_HIGH_PERFORMANCE);
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lsm6ds3tr_c_gy_band_pass_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_LP2_ONLY);
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FURI_LOG_I(TAG, "Init OK");
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return true;
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}
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void lsm6ds3trc_end() {
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lsm6ds3tr_c_xl_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_ODR_OFF);
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lsm6ds3tr_c_gy_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_ODR_OFF);
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}
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int lsm6ds3trc_read(double* vec) {
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int ret = 0;
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int16_t data[3];
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lsm6ds3tr_c_reg_t reg;
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lsm6ds3tr_c_status_reg_get(&lsm6ds3trc_ctx, ®.status_reg);
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if(reg.status_reg.xlda) {
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lsm6ds3tr_c_acceleration_raw_get(&lsm6ds3trc_ctx, data);
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vec[2] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[0]) / 1000;
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vec[0] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[1]) / 1000;
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vec[1] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[2]) / 1000;
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ret |= ACC_DATA_READY;
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}
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if(reg.status_reg.gda) {
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lsm6ds3tr_c_angular_rate_raw_get(&lsm6ds3trc_ctx, data);
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vec[5] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[0]) * DEG_TO_RAD / 1000;
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vec[3] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[1]) * DEG_TO_RAD / 1000;
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vec[4] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[2]) * DEG_TO_RAD / 1000;
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ret |= GYR_DATA_READY;
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}
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return ret;
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}
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