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  1. uint8_t data_x_l;
  2. uint8_t data_x_h;
  3. uint8_t data_y_l;
  4. uint8_t data_y_h;
  5. uint8_t data_z_l;
  6. uint8_t data_z_h;
  7. /* USER CODE END 0 */
  8.  
  9. /**
  10.   * @brief  The application entry point.
  11.   *
  12.   * @retval None
  13.   */
  14. int main(void)
  15. {
  16.   /* USER CODE BEGIN 1 */
  17.  
  18.   /* USER CODE END 1 */
  19.  
  20.   /* MCU Configuration----------------------------------------------------------*/
  21.  
  22.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  23.   HAL_Init();
  24.  
  25.   /* USER CODE BEGIN Init */
  26.  
  27.   /* USER CODE END Init */
  28.  
  29.   /* Configure the system clock */
  30.   SystemClock_Config();
  31.  
  32.   /* USER CODE BEGIN SysInit */
  33.  
  34.   /* USER CODE END SysInit */
  35.  
  36.   /* Initialize all configured peripherals */
  37.   MX_GPIO_Init();
  38.   MX_I2C1_Init();
  39.   MX_SPI1_Init();
  40.   MX_USB_DEVICE_Init();
  41.   /* USER CODE BEGIN 2 */
  42.  
  43.     __HAL_I2C_ENABLE(&hi2c1);
  44.     HAL_GPIO_WritePin(GPIOE,GPIO_PIN_3,GPIO_PIN_SET); // CS postavimo na 1
  45.     initPospeskometer();
  46.   /* USER CODE END 2 */
  47.  
  48.   /* Infinite loop */
  49.   /* USER CODE BEGIN WHILE */
  50.   while (1)
  51.   {
  52.         HAL_Delay(1000);
  53.         beriRegistre(0x19, 0x28,(uint8_t*)&meritev, 6);
  54.        
  55.         for(int i = 0; i < (sizeof(meritev)/sizeof(meritev[0])); i++){
  56.             meritev[i] *= -1;
  57.         }
  58.        
  59.         HAL_I2C_Mem_Read(&hi2c1, 0x33, 0x28, 1, &data_x_l, 1, 100);
  60.         HAL_I2C_Mem_Read(&hi2c1, 0x33, 0x29, 1, &data_x_h, 1, 100);
  61.         HAL_I2C_Mem_Read(&hi2c1, 0x33, 0x2A, 1, &data_y_l, 1, 100);
  62.         HAL_I2C_Mem_Read(&hi2c1, 0x33, 0x2B, 1, &data_y_h, 1, 100);
  63.         HAL_I2C_Mem_Read(&hi2c1, 0x33, 0x2C, 1, &data_z_l, 1, 100);
  64.         HAL_I2C_Mem_Read(&hi2c1, 0x33, 0x2D, 1, &data_z_h, 1, 100);
  65.        
  66.         accelerometer[0] = (9.81) * (4.0 / 65536) * (int16_t)((data_x_h << 8) | data_x_l);
  67.         accelerometer[1] = (9.81) * (4.0 / 65536) * (int16_t)((data_y_h << 8) | data_y_l);
  68.         accelerometer[2] = (9.81) * (4.0 / 65536) * (int16_t)((data_z_h << 8) | data_z_l);
  69.        
  70.         CDC_Transmit_FS((uint8_t*)&accelerometer, 12);
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