Keuronde/Detection_2023
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
d1b81dbff3
Detection_2023/main.c

624 lines
17 KiB
C
Raw Blame History

#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 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);
void init_sensors_1_et_2(void);
void init_sensors(void);
void test_changement_adresse_1(void);
void test_changement_adresse_2(void);
void test_changement_adresse_3(void);
void display_menu();
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 adresses\n");
initialise_adresses();
printf("Initialisation des capteurs\n");
init_sensors();
break;
case 'j':
case 'J':
init_sensors_1_et_2();
break;
case 'k':
case 'K':
ws2812_arc_en_ciel();
break;
case 'l':
case 'L':
test_changement_adresse_1();
break;
case 'm':
case 'M':
test_changement_adresse_2();
break;
case 'n':
case 'N':
test_changement_adresse_3();
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){
uint8_t VL53L1X_device = 0x29;
for(uint capteur=1; capteur<12; capteur++){
Selection_capteur_select(capteur);
if(change_address(&VL53L1X_device, VL53L1X_device+1)){
printf("Erreur change adresse : %x => %x, capteur : %d\n", VL53L1X_device, VL53L1X_device+1, capteur);
VL53L1X_device++;
}else{
printf("change adresse : %x => %x, sauf capteur : %d\n", VL53L1X_device-1, VL53L1X_device, capteur);
}
}
}
void init_sensors(void){
uint8_t VL53L1X_device = 0x29;
uint8_t adresse;
Selection_capteur_deselect();
for(uint capteur=0; capteur<12; capteur++){
adresse = VL53L1X_device + capteur;
if(VL53L1X_SensorInit(adresse)){
// Bad init
ws2812_set_buffer_rgb(1,0,0, capteur);
printf("Init KO : capteur %d, adresse %x\n", capteur, adresse);
}else{
// Good init
ws2812_set_buffer_rgb(0,1,0, capteur);
printf("Init ok : capteur %d, adresse %x\n", capteur, adresse);
}
}
ws2812_affiche_buffer();
}
void init_sensors_1_et_2(void){
const uint8_t tmp_i2c_adresse = 0x28;
const uint8_t default_i2c_adresse = 0x29;
uint8_t VL53L1X_device_1 = default_i2c_adresse;
uint8_t VL53L1X_device_2 = default_i2c_adresse;
uint8_t VL53L1X_device_3 = default_i2c_adresse;
Selection_capteur_deselect();
sleep_ms(10);
printf("Changement d'adresse (tous) %x => %x\n", VL53L1X_device_1, 0x30);
if(change_address(&VL53L1X_device_1, 0x30)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
/* // réinitialisation du capteur 1.
printf("Capteur #1 par defaut : 0x29\n");
Selection_capteur_select(1);
sleep_ms(1);
Selection_capteur_deselect();
sleep_ms(1);
VL53L1X_device_1 = 0x29;*/
/*printf("Changement d'adresse capteur #1 %x => %x\n", VL53L1X_device_1, 0x30);
if(change_address(&VL53L1X_device_1, 0x30)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}*/
if(VL53L1X_SensorInit(VL53L1X_device_1)){
printf("Init KO : adresse %x\n", VL53L1X_device_1);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_1);
}
Selection_capteur_select(1);
sleep_ms(1);
Selection_capteur_deselect();
sleep_ms(1);
if(VL53L1X_SensorInit(VL53L1X_device_1)){
printf("Init KO : adresse %x\n", VL53L1X_device_1);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_1);
}
if(VL53L1X_SensorInit(default_i2c_adresse)){
printf("Init KO : adresse %x\n", default_i2c_adresse);
}else{
printf("Init OK : adresse %x\n", default_i2c_adresse);
}
/* // réinitialisation du capteur 2.
Selection_capteur_select(2);
sleep_ms(1);
Selection_capteur_deselect();
sleep_ms(1);
VL53L1X_device_2 = 0x29;
printf("Changement d'adresse capteur #2 %x => %x\n", VL53L1X_device_2, 0x31);
if(change_address(&VL53L1X_device_2, 0x31)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}*/
}
void test_changement_adresse_1(void){
const uint8_t tmp_i2c_adresse = 0x28;
const uint8_t default_i2c_adresse = 0x29;
uint8_t VL53L1X_device_1 = default_i2c_adresse;
uint8_t VL53L1X_device_2 = default_i2c_adresse;
uint8_t VL53L1X_device_3 = default_i2c_adresse;
Selection_capteur_deselect();
sleep_ms(10);
printf("Changement d'adresse (tous) %x => %x\n", VL53L1X_device_1, 0x30);
if(change_address(&VL53L1X_device_1, 0x30)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
/*if(VL53L1X_SensorInit(VL53L1X_device_1)){
printf("Init KO : adresse %x\n", VL53L1X_device_1);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_1);
}*/
VL53L1X_device_1 = 0x29;
printf("Changement d'adresse %x => %x\n", VL53L1X_device_1, 0x31);
if(change_address(&VL53L1X_device_1, 0x31)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
if(VL53L1X_SensorInit(0x30)){
printf("Init KO : adresse %x\n", 0x30);
}else{
printf("Init OK : adresse %x\n", 0x30);
}
if(VL53L1X_SensorInit(0x31)){
printf("Init KO : adresse %x\n", 0x31);
}else{
printf("Init OK : adresse %x\n", 0x31);
}
}
void test_changement_adresse_2(void){
const uint8_t tmp_i2c_adresse = 0x30;
const uint8_t default_i2c_adresse = 0x29;
uint8_t VL53L1X_device_1 = default_i2c_adresse;
uint8_t VL53L1X_device_2 = default_i2c_adresse;
uint8_t VL53L1X_device_3 = default_i2c_adresse;
Selection_capteur_deselect();
sleep_ms(10);
printf("Changement d'adresse (tous) %x => %x\n", VL53L1X_device_1, tmp_i2c_adresse);
if(change_address(&VL53L1X_device_1, tmp_i2c_adresse)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
printf("Changement d'adresse (tous) %x => %x\n", VL53L1X_device_2, tmp_i2c_adresse);
if(change_address(&VL53L1X_device_2, tmp_i2c_adresse)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
// Réinitialisation du capteur 1.
printf("Capteur #1 par defaut : 0x29\n");
Selection_capteur_select(1);
sleep_ms(1);
Selection_capteur_deselect();
sleep_ms(1);
VL53L1X_device_1 = 0x29;
printf("Changement d'adresse %x => %x\n", VL53L1X_device_1, 0x31);
if(change_address(&VL53L1X_device_1, 0x31)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
/* // Réinitialisation du capteur 2.
printf("Capteur #2 par defaut : 0x29\n");
Selection_capteur_select(2);
sleep_ms(1);
Selection_capteur_deselect();
sleep_ms(1);
VL53L1X_device_2 = 0x29;
printf("Changement d'adresse %x => %x\n", VL53L1X_device_2, 0x32);
if(change_address(&VL53L1X_device_2, 0x32)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}*/
if(VL53L1X_SensorInit(VL53L1X_device_1)){
printf("Init KO : adresse %x\n", VL53L1X_device_1);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_1);
}
if(VL53L1X_SensorInit(VL53L1X_device_2)){
printf("Init KO : adresse %x\n", VL53L1X_device_2);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_2);
}
if(VL53L1X_SensorInit(tmp_i2c_adresse)){
printf("Init KO : adresse %x\n", tmp_i2c_adresse);
}else{
printf("Init OK : adresse %x\n", tmp_i2c_adresse);
}
}
void test_changement_adresse_3(void){
const uint8_t tmp_i2c_adresse = 0x30;
const uint8_t default_i2c_adresse = 0x29;
uint8_t VL53L1X_device_1 = default_i2c_adresse;
uint8_t VL53L1X_device_2 = default_i2c_adresse;
uint8_t VL53L1X_device_3 = default_i2c_adresse;
Selection_capteur_deselect();
sleep_ms(10);
printf("Changement d'adresse (tous) %x => %x\n", VL53L1X_device_1, tmp_i2c_adresse);
if(change_address(&VL53L1X_device_1, tmp_i2c_adresse)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
printf("Changement d'adresse (tous) %x => %x\n", VL53L1X_device_2, tmp_i2c_adresse);
if(change_address(&VL53L1X_device_2, tmp_i2c_adresse)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
// Réinitialisation du capteur 1.
printf("Capteur #1 par defaut : 0x29\n");
Selection_capteur_select(1);
sleep_ms(1);
Selection_capteur_deselect();
sleep_ms(1);
VL53L1X_device_1 = 0x29;
printf("Changement d'adresse %x => %x\n", VL53L1X_device_1, 0x31);
if(change_address(&VL53L1X_device_1, 0x31)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
// Réinitialisation du capteur 3.
printf("Capteur #2 par defaut : 0x29\n");
Selection_capteur_select(3);
sleep_ms(1);
Selection_capteur_deselect();
sleep_ms(1);
VL53L1X_device_3 = 0x29;
printf("Changement d'adresse %x => %x\n", VL53L1X_device_3, 0x33);
if(change_address(&VL53L1X_device_3, 0x33)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
if(VL53L1X_SensorInit(default_i2c_adresse)){
printf("Init KO : adresse %x\n", default_i2c_adresse);
}else{
printf("Init OK : adresse %x\n", default_i2c_adresse);
}
if(VL53L1X_SensorInit(VL53L1X_device_1)){
printf("Init KO : adresse %x\n", VL53L1X_device_1);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_1);
}
if(VL53L1X_SensorInit(VL53L1X_device_2)){
printf("Init KO : adresse %x\n", VL53L1X_device_2);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_2);
}
if(VL53L1X_SensorInit(VL53L1X_device_3)){
printf("Init KO : adresse %x\n", VL53L1X_device_3);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_3);
}
if(VL53L1X_SensorInit(tmp_i2c_adresse)){
printf("Init KO : adresse %x\n", tmp_i2c_adresse);
}else{
printf("Init OK : adresse %x\n", tmp_i2c_adresse);
}
// Réinitialisation du capteur 2.
printf("Capteur #2 par defaut : 0x29\n");
Selection_capteur_select(2);
sleep_ms(1);
if(VL53L1X_SensorInit(default_i2c_adresse)){
printf("Init KO : adresse %x\n", default_i2c_adresse);
}else{
printf("Init OK : adresse %x\n", default_i2c_adresse);
}
if(VL53L1X_SensorInit(VL53L1X_device_1)){
printf("Init KO : adresse %x\n", VL53L1X_device_1);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_1);
}
if(VL53L1X_SensorInit(VL53L1X_device_2)){
printf("Init KO : adresse %x\n", VL53L1X_device_2);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_2);
}
if(VL53L1X_SensorInit(VL53L1X_device_3)){
printf("Init KO : adresse %x\n", VL53L1X_device_3);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_3);
}
if(VL53L1X_SensorInit(tmp_i2c_adresse)){
printf("Init KO : adresse %x\n", tmp_i2c_adresse);
}else{
printf("Init OK : adresse %x\n", tmp_i2c_adresse);
}
Selection_capteur_deselect();
sleep_ms(1);
VL53L1X_device_2 = 0x29;
printf("Changement d'adresse %x => %x\n", VL53L1X_device_2, 0x32);
if(change_address(&VL53L1X_device_2, 0x32)){
printf("-> KO\n");
}else{
printf("-> ok;\n");
}
if(VL53L1X_SensorInit(default_i2c_adresse)){
printf("Init KO : adresse %x\n", default_i2c_adresse);
}else{
printf("Init OK : adresse %x\n", default_i2c_adresse);
}
if(VL53L1X_SensorInit(VL53L1X_device_1)){
printf("Init KO : adresse %x\n", VL53L1X_device_1);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_1);
}
if(VL53L1X_SensorInit(VL53L1X_device_2)){
printf("Init KO : adresse %x\n", VL53L1X_device_2);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_2);
}
if(VL53L1X_SensorInit(VL53L1X_device_3)){
printf("Init KO : adresse %x\n", VL53L1X_device_3);
}else{
printf("Init OK : adresse %x\n", VL53L1X_device_3);
}
if(VL53L1X_SensorInit(tmp_i2c_adresse)){
printf("Init KO : adresse %x\n", tmp_i2c_adresse);
}else{
printf("Init OK : adresse %x\n", tmp_i2c_adresse);
}
}
void display_menu(){
printf("Select action :\n");
printf("A - Change I2C address\n");
printf("I - Init I2C address\n");
printf("J - Init catpeur 1 et 2\n");
printf("K - Arc en ciel\n");
printf("L - Test changement d'adresse, 1 capteur\n");
printf("M - Test changement d'adresse, 2 capteurs\n");
printf("N - Test changement d'adresse, 3 capteurs\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);
}
Reference in New Issue View Git Blame Copy Permalink