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acceleromètre avec valeurs en +-12G sur l'axe Z

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guilhem 2023-04-11 13:47:22 +02:00
parent 51aa50f505
commit c2a78c3a95
1 changed files with 25 additions and 13 deletions
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34
implementation/accelerometer.c
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@ -33,27 +33,39 @@ void Init_accelerometre()
void Lecture_accelerometre(float* GX, float* GY, float* GZ)
{
int dataX ;
int dataY ;
int dataZ ;
int16_t dataX ;
int16_t dataY ;
int16_t dataZ ;
MySPI_Clear_NSS(); //CS LOW
MySPI_Send(0xF2);//lecture 1er registre accéléromètre + lecture multibytes
dataX = MySPI_Read()<<8; // données sur 13 bits passage 8 bit en PF
dataX = MySPI_Read()<<8; // données sur 13 (12 data + sign) bits passage 8 bit en PF
dataX |= MySPI_Read(); //lecture SPI
dataX &= 0xE; //masquage au dessus du bit 13
dataX &= 0x1FFF; //masquage au dessus du bit 13
if (dataX > 511)
{
dataX -= 1024;
}
*GX = dataX*0.004;//valeur du registre x pas accelerometre
dataY = MySPI_Read()<<8;
dataY |= MySPI_Read();
dataY &= 0xE;
*GY = dataY*0.004;
dataY &= 0x1FFF;
if (dataY > 511)
{
dataY -= 1024;
}
*GY = dataY*0.004;//valeur du registre x pas accelerometre
dataZ = MySPI_Read()<<8;
dataZ |= MySPI_Read();
dataZ &= 0xE;
*GZ = dataZ*0.004;
dataZ = ((MySPI_Read()<<8)|MySPI_Read());
dataZ &= 0x1FFF;
/* if (dataZ > 511)
{
dataZ -= 1024;
}
*/
*GZ = dataZ*0.004;//valeur du registre x pas accelerometre
MySPI_Set_NSS();//CS HIGH
}