340 lines
8.9 KiB
C
340 lines
8.9 KiB
C
#include <stdio.h>
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#include "pico/stdlib.h"
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#include "hardware/i2c.h"
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#include "VL53L1X_api.h"
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#include "VL53L1X_calibration.h"
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#include "SelectionCapteur.h"
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#include "hardware/pio.h"
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#include "ws2812.h"
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#include "ws2812.pio.h"
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#define I2C_SDA_PIN 0
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#define I2C_SCL_PIN 1
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#define TEST_TIMEOUT_US 10000000
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void i2c_master_init(void);
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int continuous_reading(uint8_t device);
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int calibration(uint8_t device);
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int change_address(uint8_t * device, uint8_t new_i2c_7bits_address);
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void initialise_adresses(void);
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int continuous_multiple_reading(void);
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void init_sensors(void);
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void display_menu();
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uint8_t statu_capteurs[13];
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void main(void)
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{
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int status;
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int answer_at_least_once=0;
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uint8_t VL53L1X_device = 0x29;
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stdio_init_all();
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i2c_master_init();
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Selection_capteur_init();
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//Selection_capteur_select(1);
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ws2812_init();
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printf("End waiting\n");
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while(1){
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int keycode;
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display_menu();
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do{
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keycode = getchar_timeout_us(TEST_TIMEOUT_US);
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if(!answer_at_least_once){
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display_menu();
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}
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}while(keycode == PICO_ERROR_TIMEOUT || keycode == 0);
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answer_at_least_once = 1;
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switch (keycode)
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{
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case 'a':
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case 'A':
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printf("Changement d'adresse\n");
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change_address(&VL53L1X_device, VL53L1X_device + 3);
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printf("New address: %d\n", VL53L1X_device);
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break;
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case 'i':
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case 'I':
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printf("Initialisation des capteurs\n");
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initialise_adresses();
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break;
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case 'j':
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case 'J':
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while(continuous_multiple_reading());
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break;
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case 'k':
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case 'K':
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ws2812_arc_en_ciel();
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break;
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case 'l':
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case 'L':
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while(continuous_reading(0x31));
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break;
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case 'o':
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case 'O':
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while(calibration(VL53L1X_device));
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break;
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case 'r':
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case 'R':
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while(continuous_reading(VL53L1X_device));
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break;
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default :
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break;
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}
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}
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}
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void initialise_adresses(void){
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const uint8_t tmp_i2c_adresse = 0x28;
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const uint8_t default_i2c_adresse = 0x29;
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uint8_t adresse = default_i2c_adresse;
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// On change l'adresse de tous les capteurs
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Selection_capteur_deselect();
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change_address(&adresse, tmp_i2c_adresse);
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// Pour chaque capteur
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for(uint capteur=1; capteur<=12; capteur++){
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// reset du capteur
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Selection_capteur_select(capteur);
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sleep_ms(1);
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Selection_capteur_deselect();
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sleep_ms(1);
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uint8_t VL53L1X_device = 0x29;
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if(change_address(&VL53L1X_device, 0x30 + capteur)){
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printf("Erreur change adresse : %x => %x, capteur : %d\n", VL53L1X_device, 0x30 + capteur, capteur);
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ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
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statu_capteurs[capteur]=0;
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}else{
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if(VL53L1X_SensorInit(VL53L1X_device)){
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// bad init
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ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
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statu_capteurs[capteur]=0;
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}else{
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// good init
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statu_capteurs[capteur]=1;
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int status;
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status = VL53L1X_SetDistanceMode (VL53L1X_device, 1); // Short mode
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status |= VL53L1X_SetInterMeasurementInMs(VL53L1X_device, 200);
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status |= VL53L1X_SetTimingBudgetInMs(VL53L1X_device, 200);
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if(status){
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printf("Custom config KO, error %d\n", status);
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ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
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}else{
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printf("Custom config OK\n");
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}
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status=VL53L1X_StartRanging(VL53L1X_device);
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if(!status){
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ws2812_set_buffer_rgb(0, 0x4, 0, capteur-1);
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}else{
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ws2812_set_buffer_rgb(0x2, 0x2, 0, capteur-1);
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}
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}
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}
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}
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ws2812_affiche_buffer();
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ws2812_affiche_buffer();
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}
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int continuous_multiple_reading(){
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for(uint8_t device=0x31; device<0x31+12; device++){
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if(statu_capteurs[device-0x31+1]==0){
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continue;
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}
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int status;
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uint8_t data_ready = 0;
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uint16_t distance;
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while(!data_ready){
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status=VL53L1X_CheckForDataReady(device, &data_ready);
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if(status){
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printf("CheckForDataReady KO, error %d, capteur:%x\n", status, device);
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}
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}
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status=VL53L1X_GetDistance(device, &distance);
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if(status){
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printf("GetDistance KO, error %d, capteur:%x\n", status, device);
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return 0;
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}else{
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printf(">distance%x:%d\n", device, distance);
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}
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status=VL53L1X_ClearInterrupt(device);
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if(status){
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printf("ClearInterrupt KO, error %d, capteur:%x\n", status, device);
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return 0;
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}
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int lettre = getchar_timeout_us(0);
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if(lettre != PICO_ERROR_TIMEOUT && lettre != 0){
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//return 0;
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}
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}
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return 1;
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}
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void display_menu(){
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printf("Select action :\n");
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printf("A - Change I2C address\n");
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printf("I - Init I2C address\n");
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printf("J - Lecture distance multiple\n");
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printf("K - Arc en ciel\n");
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printf("L - Lecture distance capteur 1\n");
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printf("O - Offset Calibration\n");
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printf("R - Read distance\n");
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}
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int change_address(uint8_t *device, uint8_t new_i2c_7bits_address){
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int status;
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status = VL53L1X_SetI2CAddress(*device, new_i2c_7bits_address << 1);
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if(status){
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//printf("VL53L1X_SetI2CAddress, Error :%d\n", status);
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}else{
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*device=new_i2c_7bits_address;
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}
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return status;
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}
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int calibration(uint8_t device){
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uint16_t offset;
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int status;
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uint8_t boot_state=0;
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printf("Calibration...\n");
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while(!boot_state){
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VL53L1X_BootState(device, &boot_state);
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}
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printf("Sensor boot ok\n");
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status=VL53L1X_SensorInit(device);
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if(status){
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printf("Sensor Init KO, error %d\n", status);
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}else{
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printf("Sensor Init OK\n");
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}
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status = VL53L1X_CalibrateOffset(device, 140, &offset);
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if(status != 0){
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printf("Error while calibrating : %d\n",status);
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}else{
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printf("Offset : %d\n", offset);
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}
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return 0;
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}
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int continuous_reading(uint8_t device){
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int status;
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uint8_t data_ready, boot_state=0;
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uint16_t distance;
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printf("Reading distance...\nSend any character to quit.");
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while(!boot_state){
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VL53L1X_BootState(device, &boot_state);
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}
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printf("Sensor boot ok\n");
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status=VL53L1X_SensorInit(device);
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if(status){
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printf("Sensor Init KO, error %d\n", status);
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return 0;
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}else{
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printf("Sensor Init OK\n");
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}
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// Custom configuration
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status = VL53L1X_SetDistanceMode (device, 1); // Short mode
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status |= VL53L1X_SetInterMeasurementInMs(device, 200);
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status |= VL53L1X_SetTimingBudgetInMs(device, 200);
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if(status){
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printf("Custom config KO, error %d\n", status);
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return 0;
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}else{
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printf("Custom config OK\n");
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}
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status=VL53L1X_StartRanging(device);
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if(status){
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printf("Start ranging KO, error %d\n", status);
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return 0;
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}else{
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printf("Start ranging OK\n");
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}
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while(1){
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// Reading data
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data_ready = 0;
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while(!data_ready){
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status=VL53L1X_CheckForDataReady(device, &data_ready);
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if(status){
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printf("CheckForDataReady KO, error %d\n", status);
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return 0;
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}else{
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//printf("CheckForDataReady OK\n");
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}
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}
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status=VL53L1X_GetDistance(device, &distance);
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if(status){
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printf("GetDistance KO, error %d\n", status);
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return 0;
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}else{
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//printf("GetDistance OK, distance %u mm\n", distance);
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printf(">distance:%d\n", distance);
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}
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status=VL53L1X_ClearInterrupt(device);
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if(status){
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printf("ClearInterrupt KO, error %d\n", status);
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return 0;
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}else{
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//printf("ClearInterrupt OK\n");
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}
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int lettre = getchar_timeout_us(0);
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if(lettre != PICO_ERROR_TIMEOUT && lettre != 0){
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return 0;
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}
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}
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return 0;
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}
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void i2c_master_init(void){
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//stdio_init_all();
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i2c_init(i2c0, 100 * 1000);
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printf("Initialisation des broches\n");
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for(int i=0; i++; i<=28){
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if(gpio_get_function(i) == GPIO_FUNC_I2C){
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printf("Pin I2C : %d\n", i);
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gpio_set_function(i, GPIO_FUNC_NULL);
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}
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}
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printf("%d and %d for I2C\n", I2C_SDA_PIN, I2C_SCL_PIN);
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gpio_set_function(I2C_SDA_PIN, GPIO_FUNC_I2C);
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gpio_set_function(I2C_SCL_PIN, GPIO_FUNC_I2C);
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}
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