Keuronde/Detection_2023
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Detection_2023/main.c

377 lines
10 KiB
C
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#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/i2c.h"
#include "VL53L1X_api.h"
#include "VL53L1X_calibration.h"
#include "SelectionCapteur.h"
#include "hardware/pio.h"
#include "ws2812.h"
#include "ws2812.pio.h"
#define I2C_SDA_PIN 0
#define I2C_SCL_PIN 1
#define DISTANCE_TRES_LOIN_CM 120
#define DISTANCE_LOIN_CM 80
#define DISTANCE_PROCHE_CM 14
// Couleur quand la distance est trop loin pour s'en servir avec fiabilité
#define COULEUR_TRES_LOIN 0x00, 0x00, 0x01
// Couleur quand la distance fiable mais loin
#define COULEUR_LOIN 0x00, 0x01, 0x00
// Couleur quand la distance fiable et que le robot doit ralentir
#define COULEUR_PROCHE 0x01, 0x01, 0x00
// Couleur trop proche : rien ne devrait être si près
#define COULEUR_TROP_PROCHE 0x01, 0x00, 0x01
#define TEST_TIMEOUT_US 10000000
void i2c_master_init(void);
int continuous_reading(uint8_t device);
int calibration(uint8_t device);
int change_address(uint8_t * device, uint8_t new_i2c_7bits_address);
void initialise_adresses(void);
int continuous_multiple_reading(void);
void affiche_distance_sur_led();
void init_sensors(void);
void display_menu();
// Stock les valeurs lues des capteurs
uint8_t distance_capteur_cm[12];
uint8_t statu_capteurs[13];
void main(void)
{
int status;
int answer_at_least_once=0;
uint8_t VL53L1X_device = 0x29;
stdio_init_all();
i2c_master_init();
Selection_capteur_init();
//Selection_capteur_select(1);
ws2812_init();
printf("End waiting\n");
while(1){
int keycode;
display_menu();
do{
keycode = getchar_timeout_us(TEST_TIMEOUT_US);
if(!answer_at_least_once){
display_menu();
}
}while(keycode == PICO_ERROR_TIMEOUT || keycode == 0);
answer_at_least_once = 1;
switch (keycode)
{
case 'a':
case 'A':
printf("Changement d'adresse\n");
change_address(&VL53L1X_device, VL53L1X_device + 3);
printf("New address: %d\n", VL53L1X_device);
break;
case 'i':
case 'I':
printf("Initialisation des capteurs\n");
initialise_adresses();
break;
case 'j':
case 'J':
while(continuous_multiple_reading());
break;
case 'k':
case 'K':
ws2812_arc_en_ciel();
break;
case 'l':
case 'L':
while(continuous_reading(0x31));
break;
case 'o':
case 'O':
while(calibration(VL53L1X_device));
break;
case 'r':
case 'R':
while(continuous_reading(VL53L1X_device));
break;
default :
break;
}
}
}
void initialise_adresses(void){
const uint8_t tmp_i2c_adresse = 0x28;
const uint8_t default_i2c_adresse = 0x29;
uint8_t adresse = default_i2c_adresse;
// On change l'adresse de tous les capteurs
Selection_capteur_deselect();
change_address(&adresse, tmp_i2c_adresse);
// Pour chaque capteur
for(uint capteur=1; capteur<=12; capteur++){
// reset du capteur
Selection_capteur_select(capteur);
sleep_ms(1);
Selection_capteur_deselect();
sleep_ms(1);
uint8_t VL53L1X_device = 0x29;
if(change_address(&VL53L1X_device, 0x30 + capteur)){
printf("Erreur change adresse : %x => %x, capteur : %d\n", VL53L1X_device, 0x30 + capteur, capteur);
ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
statu_capteurs[capteur]=0;
}else{
if(VL53L1X_SensorInit(VL53L1X_device)){
// bad init
ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
statu_capteurs[capteur]=0;
}else{
// good init
statu_capteurs[capteur]=1;
int status;
status = VL53L1X_SetDistanceMode (VL53L1X_device, 1); // Short mode
status |= VL53L1X_SetInterMeasurementInMs(VL53L1X_device, 200);
status |= VL53L1X_SetTimingBudgetInMs(VL53L1X_device, 200);
if(status){
printf("Custom config KO, error %d\n", status);
ws2812_set_buffer_rgb(0x4, 0, 0, capteur-1);
}else{
printf("Custom config OK\n");
}
status=VL53L1X_StartRanging(VL53L1X_device);
if(!status){
ws2812_set_buffer_rgb(0, 0x4, 0, capteur-1);
}else{
ws2812_set_buffer_rgb(0x2, 0x2, 0, capteur-1);
}
}
}
}
ws2812_affiche_buffer();
ws2812_affiche_buffer();
}
int continuous_multiple_reading(){
for(uint8_t device=0x31; device<0x31+12; device++){
if(statu_capteurs[device-0x31+1]==0){
continue;
}
int status;
uint8_t data_ready = 0;
uint16_t distance_mm;
while(!data_ready){
status=VL53L1X_CheckForDataReady(device, &data_ready);
if(status){
printf("CheckForDataReady KO, error %d, capteur:%x\n", status, device);
}
}
status=VL53L1X_GetDistance(device, &distance_mm);
if(status){
printf("GetDistance KO, error %d, capteur:%x\n", status, device);
return 0;
}else{
printf(">distance%x:%d\n", device, distance_mm);
distance_capteur_cm[device-0x31] = distance_mm / 10;
}
status=VL53L1X_ClearInterrupt(device);
if(status){
printf("ClearInterrupt KO, error %d, capteur:%x\n", status, device);
return 0;
}
int lettre = getchar_timeout_us(0);
if(lettre != PICO_ERROR_TIMEOUT && lettre != 0){
//return 0;
}
}
affiche_distance_sur_led();
return 1;
}
void affiche_distance_sur_led(){
uint8_t distance_cm;
uint32_t couleur;
for(uint8_t capteur=0; capteur<12; capteur++){
distance_cm = distance_capteur_cm[capteur];
if(distance_cm == 0 ||distance_cm > DISTANCE_TRES_LOIN_CM){
ws2812_set_buffer_rgb(COULEUR_TRES_LOIN, capteur);
}else if(distance_cm > DISTANCE_LOIN_CM){
ws2812_set_buffer_rgb(COULEUR_LOIN, capteur);
}else if(distance_cm > DISTANCE_PROCHE_CM){
ws2812_set_buffer_rgb(COULEUR_PROCHE, capteur);
}else{
ws2812_set_buffer_rgb(COULEUR_TROP_PROCHE, capteur);
}
}
ws2812_affiche_buffer();
}
void display_menu(){
printf("Select action :\n");
printf("A - Change I2C address\n");
printf("I - Init I2C address\n");
printf("J - Lecture distance multiple\n");
printf("K - Arc en ciel\n");
printf("L - Lecture distance capteur 1\n");
printf("O - Offset Calibration\n");
printf("R - Read distance\n");
}
int change_address(uint8_t *device, uint8_t new_i2c_7bits_address){
int status;
status = VL53L1X_SetI2CAddress(*device, new_i2c_7bits_address << 1);
if(status){
//printf("VL53L1X_SetI2CAddress, Error :%d\n", status);
}else{
*device=new_i2c_7bits_address;
}
return status;
}
int calibration(uint8_t device){
uint16_t offset;
int status;
uint8_t boot_state=0;
printf("Calibration...\n");
while(!boot_state){
VL53L1X_BootState(device, &boot_state);
}
printf("Sensor boot ok\n");
status=VL53L1X_SensorInit(device);
if(status){
printf("Sensor Init KO, error %d\n", status);
}else{
printf("Sensor Init OK\n");
}
status = VL53L1X_CalibrateOffset(device, 140, &offset);
if(status != 0){
printf("Error while calibrating : %d\n",status);
}else{
printf("Offset : %d\n", offset);
}
return 0;
}
int continuous_reading(uint8_t device){
int status;
uint8_t data_ready, boot_state=0;
uint16_t distance;
printf("Reading distance...\nSend any character to quit.");
while(!boot_state){
VL53L1X_BootState(device, &boot_state);
}
printf("Sensor boot ok\n");
status=VL53L1X_SensorInit(device);
if(status){
printf("Sensor Init KO, error %d\n", status);
return 0;
}else{
printf("Sensor Init OK\n");
}
// Custom configuration
status = VL53L1X_SetDistanceMode (device, 1); // Short mode
status |= VL53L1X_SetInterMeasurementInMs(device, 200);
status |= VL53L1X_SetTimingBudgetInMs(device, 200);
if(status){
printf("Custom config KO, error %d\n", status);
return 0;
}else{
printf("Custom config OK\n");
}
status=VL53L1X_StartRanging(device);
if(status){
printf("Start ranging KO, error %d\n", status);
return 0;
}else{
printf("Start ranging OK\n");
}
while(1){
// Reading data
data_ready = 0;
while(!data_ready){
status=VL53L1X_CheckForDataReady(device, &data_ready);
if(status){
printf("CheckForDataReady KO, error %d\n", status);
return 0;
}else{
//printf("CheckForDataReady OK\n");
}
}
status=VL53L1X_GetDistance(device, &distance);
if(status){
printf("GetDistance KO, error %d\n", status);
return 0;
}else{
//printf("GetDistance OK, distance %u mm\n", distance);
printf(">distance:%d\n", distance);
}
status=VL53L1X_ClearInterrupt(device);
if(status){
printf("ClearInterrupt KO, error %d\n", status);
return 0;
}else{
//printf("ClearInterrupt OK\n");
}
int lettre = getchar_timeout_us(0);
if(lettre != PICO_ERROR_TIMEOUT && lettre != 0){
return 0;
}
}
return 0;
}
void i2c_master_init(void){
//stdio_init_all();
i2c_init(i2c0, 100 * 1000);
printf("Initialisation des broches\n");
for(int i=0; i++; i<=28){
if(gpio_get_function(i) == GPIO_FUNC_I2C){
printf("Pin I2C : %d\n", i);
gpio_set_function(i, GPIO_FUNC_NULL);
}
}
printf("%d and %d for I2C\n", I2C_SDA_PIN, I2C_SCL_PIN);
gpio_set_function(I2C_SDA_PIN, GPIO_FUNC_I2C);
gpio_set_function(I2C_SCL_PIN, GPIO_FUNC_I2C);
}
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