mirror of
https://github.com/peter-tanner/neptunium-firmware.git
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229 lines
8.0 KiB
C
229 lines
8.0 KiB
C
/*
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******************************************************************************
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* @file read_data_drdy.c
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* @author Sensors Software Solution Team
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* @brief This file shows how to get data from sensor.
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*
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2020 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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/*
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* This example was developed using the following STMicroelectronics
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* evaluation boards:
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*
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* - STEVAL_MKI109V3 + STEVAL-MKI197V1
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* - NUCLEO_F411RE + STEVAL-MKI197V1
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* - DISCOVERY_SPC584B + STEVAL-MKI197V1
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*
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* Used interfaces:
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*
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* STEVAL_MKI109V3 - Host side: USB (Virtual COM)
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* - Sensor side: SPI(Default) / I2C(supported)
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*
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* NUCLEO_STM32F411RE - Host side: UART(COM) to USB bridge
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* - Sensor side: I2C(Default) / SPI(supported)
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*
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* DISCOVERY_SPC584B - Host side: UART(COM) to USB bridge
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* - Sensor side: I2C(Default) / SPI(supported)
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*
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* If you need to run this example on a different hardware platform a
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* modification of the functions: `platform_write`, `platform_read`,
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* `tx_com` and 'platform_init' is required.
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*
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*/
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/* STMicroelectronics evaluation boards definition
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*
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* Please uncomment ONLY the evaluation boards in use.
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* If a different hardware is used please comment all
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* following target board and redefine yours.
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*/
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// #define STEVAL_MKI109V3 /* little endian */
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// #define NUCLEO_F411RE /* little endian */
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// #define SPC584B_DIS /* big endian */
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/* ATTENTION: By default the driver is little endian. If you need switch
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* to big endian please see "Endianness definitions" in the
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* header file of the driver (_reg.h).
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "lsm6dso.h"
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/* Private macro -------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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static int16_t data_raw_acceleration[3];
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static int16_t data_raw_angular_rate[3];
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static int16_t data_raw_temperature;
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static float acceleration_mg[3];
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static float angular_rate_mdps[3];
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static float temperature_degC;
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static uint8_t whoamI, rst;
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/* Extern variables ----------------------------------------------------------*/
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/* Private functions ---------------------------------------------------------*/
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/*
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* WARNING:
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* Functions declare in this section are defined at the end of this file
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* and are strictly related to the hardware platform used.
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*
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*/
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static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
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uint16_t len);
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static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
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uint16_t len);
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static stmdev_ctx_t dev_ctx;
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void lsm6dsox_read_data_drdy_handler(void)
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{
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uint8_t reg;
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/* Read output only if new xl value is available */
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lsm6dsox_xl_flag_data_ready_get(&dev_ctx, ®);
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if (reg)
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{
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/* Read acceleration field data */
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memset(data_raw_acceleration, 0x00, 3 * sizeof(int16_t));
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lsm6dsox_acceleration_raw_get(&dev_ctx, data_raw_acceleration);
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acceleration_mg[0] =
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lsm6dsox_from_fs16_to_mg(data_raw_acceleration[0]);
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acceleration_mg[1] =
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lsm6dsox_from_fs16_to_mg(data_raw_acceleration[1]);
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acceleration_mg[2] =
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lsm6dsox_from_fs16_to_mg(data_raw_acceleration[2]);
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}
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lsm6dsox_gy_flag_data_ready_get(&dev_ctx, ®);
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if (reg)
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{
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/* Read angular rate field data */
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memset(data_raw_angular_rate, 0x00, 3 * sizeof(int16_t));
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lsm6dsox_angular_rate_raw_get(&dev_ctx, data_raw_angular_rate);
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angular_rate_mdps[0] =
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lsm6dsox_from_fs2000_to_mdps(data_raw_angular_rate[0]);
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angular_rate_mdps[1] =
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lsm6dsox_from_fs2000_to_mdps(data_raw_angular_rate[1]);
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angular_rate_mdps[2] =
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lsm6dsox_from_fs2000_to_mdps(data_raw_angular_rate[2]);
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}
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lsm6dsox_temp_flag_data_ready_get(&dev_ctx, ®);
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if (reg)
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{
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/* Read temperature data */
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memset(&data_raw_temperature, 0x00, sizeof(int16_t));
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lsm6dsox_temperature_raw_get(&dev_ctx, &data_raw_temperature);
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temperature_degC = lsm6dsox_from_lsb_to_celsius(
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data_raw_temperature);
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}
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}
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/* Main Example --------------------------------------------------------------*/
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void lsm6dsox_read_data_drdy_init(void)
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{
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lsm6dsox_pin_int2_route_t int2_route;
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/* Initialize mems driver interface */
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dev_ctx.write_reg = platform_write;
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dev_ctx.read_reg = platform_read;
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dev_ctx.handle = &hspi2;
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/* Wait sensor boot time */
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/* Check device ID */
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lsm6dsox_device_id_get(&dev_ctx, &whoamI);
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if (whoamI != LSM6DSOX_ID)
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while (1)
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;
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/* Restore default configuration */
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lsm6dsox_reset_set(&dev_ctx, PROPERTY_ENABLE);
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do
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{
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lsm6dsox_reset_get(&dev_ctx, &rst);
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} while (rst);
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/* Disable I3C interface */
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lsm6dsox_i3c_disable_set(&dev_ctx, LSM6DSOX_I3C_DISABLE);
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/* Enable Block Data Update */
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lsm6dsox_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
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lsm6dsox_pin_int2_route_get(&dev_ctx, NULL, &int2_route);
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int2_route.drdy_xl = PROPERTY_ENABLE;
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lsm6dsox_pin_int2_route_set(&dev_ctx, NULL, int2_route);
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/* Set Output Data Rate */
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lsm6dsox_xl_data_rate_set(&dev_ctx, LSM6DSOX_XL_ODR_12Hz5);
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lsm6dsox_gy_data_rate_set(&dev_ctx, LSM6DSOX_GY_ODR_12Hz5);
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/* Set full scale */
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lsm6dsox_xl_full_scale_set(&dev_ctx, LSM6DSOX_16g);
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lsm6dsox_gy_full_scale_set(&dev_ctx, LSM6DSOX_2000dps);
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/* Configure filtering chain(No aux interface)
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* Accelerometer - LPF1 + LPF2 path
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*/
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// lsm6dsox_xl_hp_path_on_out_set(&dev_ctx, LSM6DSOX_LP_ODR_DIV_100);
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// lsm6dsox_xl_filter_lp2_set(&dev_ctx, PROPERTY_ENABLE);
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}
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/*
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* @brief Write generic device register (platform dependent)
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*
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* @param handle customizable argument. In this examples is used in
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* order to select the correct sensor bus handler.
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* @param reg register to write
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* @param bufp pointer to data to write in register reg
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* @param len number of consecutive register to write
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*
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*/
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static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
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uint16_t len)
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{
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HAL_GPIO_WritePin(ACCEL1_CS_GPIO_Port, ACCEL1_CS_Pin, GPIO_PIN_RESET);
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HAL_StatusTypeDef ok = HAL_OK;
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ok |= HAL_SPI_Transmit(handle, ®, 1, 1000);
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ok |= HAL_SPI_Transmit(handle, (uint8_t *)bufp, len, 1000);
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HAL_GPIO_WritePin(ACCEL1_CS_GPIO_Port, ACCEL1_CS_Pin, GPIO_PIN_SET);
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return ok;
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}
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/*
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* @brief Read generic device register (platform dependent)
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*
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* @param handle customizable argument. In this examples is used in
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* order to select the correct sensor bus handler.
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* @param reg register to read
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* @param bufp pointer to buffer that store the data read
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* @param len number of consecutive register to read
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*
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*/
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static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
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uint16_t len)
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{
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reg |= 0x80;
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HAL_GPIO_WritePin(ACCEL1_CS_GPIO_Port, ACCEL1_CS_Pin, GPIO_PIN_RESET);
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HAL_StatusTypeDef ok = HAL_OK;
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ok |= HAL_SPI_Transmit(handle, ®, 1, 1000);
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ok |= HAL_SPI_Receive(handle, bufp, len, 1000);
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HAL_GPIO_WritePin(ACCEL1_CS_GPIO_Port, ACCEL1_CS_Pin, GPIO_PIN_SET);
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return ok;
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}
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