FreeRTOS + atmega328p + LSM6DS3 via i2c

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Hello, complete newbie here.

 

I am using an Arduino UNO to learn some FreeRTOS. Up until now I have been running tasks that read simple sensors and blink leds. I was thinking that the next step would be reading a sensor via I2C. In particular and accelerometer with gyro the LSM6DS3 (https://learn.sparkfun.com/tutor...).

 

My question is, must I write I2C code or there is a library for that?. Also, is there a repository with libraries for configuring the chips? I see that this particular one has an Arduino library, it is in C++, I was hoping to stick to C.

 

Thank you!

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Peter Fleury has twimaster.c - Download Link

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That is nice, thank you!