Machine à état SPI non bloquante fonctionnnelle en lecture

CMakeLists.txt

@@ -6,12 +6,13 @@ set(CMAKE_CXX_STANDARD 17)
 pico_sdk_init()
 add_executable(test
 test.c
+spi_nb.c
 gyro.c
 )
 pico_enable_stdio_usb(test 1)
 pico_enable_stdio_uart(test 1)
 pico_add_extra_outputs(test)
-target_link_libraries(test pico_stdlib hardware_spi hardware_i2c)
+target_link_libraries(test pico_stdlib hardware_spi hardware_structs)
 
 add_custom_target(Flash
     DEPENDS test

gyro.c

@@ -2,6 +2,8 @@
 #include "pico/stdlib.h"
 #include "hardware/gpio.h"
 #include "hardware/spi.h"
+#include "hardware/structs/spi.h"
+#include "spi_nb.h"
 
 const uint PIN_CS = 1;
 
@@ -27,6 +29,22 @@ void Gyro_Init(void){
     //Ça doit être les valeurs par défaut, mais ça marche !
     spi_set_format(spi0, 8, SPI_CPHA_1, SPI_CPOL_1, SPI_MSB_FIRST);
 
+    // Pour chaque SPI nous avons les registres suivants :
+
+    // SSPCR0 : Configuré par spi_init()
+    // SSPCR1 : Configuré par spi_init()
+    // SSPDR : Lecture ou écriture des données (avec FIFO)
+    // SSPSR : C'est les status qui permettent de savoir si on a des données à recevoir ou à envoyer.
+    // SSPCPSR : Configuré par spi_init() ou baudrate
+    // SSPIMSC : Activation ou désactivation des interruptions
+    // SSPRIS : Etat des drapeaux des interrutions - sans tenir compte des masquages
+    // SSPMIS : Etat des drapeaux des interrutions - en tenant compte des masquages
+    // SSPICR : Pour effacer les interruptions 
+    // SSPDMACR : DMA
+    // 
+    
+    
+
     // Test de la présence du gyroscope :
     if(gyro_init_check()){
         puts("Gyroscope non trouve");
@@ -66,20 +84,12 @@ void Gyro_Read(void){
     int nb_recu;
     // Lire l'adresse d'identification
     // WHO_AM_I : 0x0F
+    puts("Lecture 0x0F");
     cs_select();
-    puts("Envoi");
-
-    spi_write_blocking(spi0, reg, 1);
-    // Doit répondre : 0b1101 0111
-    puts(reg);
-    puts("Lecture");
-    sleep_ms(10);
-
-    nb_recu = spi_read_blocking(spi0, 0x55, tampon, 1);
-    tampon[nb_recu]='\0'; 
-    puts(tampon);
+    while(spi_nb_read_register_8bits(spi0, 0x0F, tampon, 1) == SPI_IN_PROGRESS);
     cs_deselect();
-    
+    tampon[1]='\0'; 
+    puts(tampon);
     
 
 

spi_nb.c

@@ -0,0 +1,173 @@
+#include <stdio.h>
+#include "spi_nb.h"
+#include "hardware/gpio.h"
+#include "hardware/structs/spi.h"
+#include "hardware/spi.h"
+#include "hardware/regs/dreq.h"
+
+#define SPI_ERR_TRANSMIT_FIFO_FULL 1
+#define SPI_OK 0
+#define SPI_BUSY 1
+#define SPI_IDLE 0
+
+
+#define PIN_CS 1
+
+
+static inline void cs_select() {
+    asm volatile("nop \n nop \n nop");
+    gpio_put(PIN_CS, 0);  // Active low
+    asm volatile("nop \n nop \n nop");
+}
+
+static inline void cs_deselect() {
+    asm volatile("nop \n nop \n nop");
+    gpio_put(PIN_CS, 1);
+    asm volatile("nop \n nop \n nop");
+}
+
+int spi_nb_read_register_8bits(spi_inst_t * spi, uint16_t spi_slave_register, uint8_t *buffer, uint8_t nb_data_to_read){
+    uint16_t dummy_buffer[8]={0, 0, 0, 0,0, 0, 0, 0};
+    uint8_t nb_data_read;
+    static enum {
+        INIT,
+        WAIT_SPI_IDLE,
+        SEND_REGISTER_ADRESS,
+        WAIT_SENDING_DATA,
+        SEND_DUMMY_DATA,
+        WAIT_RECIEVING_DATA,
+        READ_DATA,
+        
+        SPI_IN_ERROR,
+    }status=INIT;
+
+    switch(status){
+        case INIT:
+            cs_select();
+        case WAIT_SPI_IDLE:
+            if(spi_nb_busy(spi) == SPI_IDLE){
+                status = SEND_REGISTER_ADRESS;
+                puts("SEND_REGISTER_ADRESS");
+            }
+            break;
+        
+        case SEND_REGISTER_ADRESS:
+            spi_slave_register = spi_slave_register | 0x80 | 0X40;
+            if(spi_nb_write_data(spi, &spi_slave_register, 1) == SPI_OK){
+                status = WAIT_SENDING_DATA;
+                puts("WAIT_SENDING_DATA");
+            }else{
+                status = SPI_IN_ERROR;
+            }
+            break;
+        
+        case WAIT_SENDING_DATA:
+            if(!spi_nb_busy(spi)){
+                spi_nb_flush_recieve_fifo(spi);
+                status = SEND_DUMMY_DATA;
+                puts("SEND_DUMMY_DATA");
+            }
+            break;
+
+        case SEND_DUMMY_DATA:
+            if(spi_nb_write_data(spi, dummy_buffer, nb_data_to_read) == SPI_OK){
+                status = WAIT_RECIEVING_DATA;
+                puts("WAIT_RECIEVING_DATA");
+            }else{
+                status = SPI_IN_ERROR;
+            }
+            break;
+
+        case WAIT_RECIEVING_DATA:
+            if(!spi_nb_busy(spi)){
+                status = READ_DATA;
+                puts("READ_DATA");
+            }
+            break;
+
+        case READ_DATA:
+            cs_deselect();
+            nb_data_read = spi_nb_read_data_8bits(spi, buffer);
+            if(nb_data_read == nb_data_to_read){
+                puts("SPI_SUCCESS");
+                status = INIT;
+                return SPI_SUCCESS;
+            }
+            puts("SPI_FAILED");
+            status = SPI_IN_ERROR;
+            return SPI_FAILED;
+            break;
+        
+        case SPI_IN_ERROR:
+            puts("SPI_IN_ERROR");
+            spi_nb_flush_recieve_fifo(spi);
+            cs_deselect();
+            status = INIT;
+            return SPI_FAILED;
+            break;
+    }
+    return SPI_IN_PROGRESS;
+
+}
+
+/// @brief Tell if the SPI is busy
+/// @param spi SPI device to use (spi0 or spi1)
+/// @return SPI_BUSY of SPI_IDLE
+int spi_nb_busy(spi_inst_t * spi){
+    return (spi_get_hw(spi)->sr & SPI_SSPSR_BSY_BITS);
+}
+
+
+/// @brief Empty SPI Recieve FIFO
+/// @param spi SPI device to use (spi0 or spi1)
+void spi_nb_flush_recieve_fifo(spi_inst_t * spi){
+    uint16_t dummy;
+    while(spi_get_hw(spi)->sr & SPI_SSPSR_RNE_BITS){
+        dummy = spi_get_hw(spi)->dr;
+    }
+}
+
+/// @brief read the SPI Recieve FIFO
+/// @param spi SPI device to use (spi0 or spi1)
+/// @param buffer To store data recieved
+/// @return Number of byte read
+uint8_t spi_nb_read_data_8bits(spi_inst_t * spi, uint8_t * buffer){
+    uint8_t index = 0;
+    char debug[2]="x";
+    while(spi_get_hw(spi)->sr & SPI_SSPSR_RNE_BITS){
+        buffer[index] = (uint8_t)spi_get_hw(spi)->dr & SPI_SSPDR_DATA_BITS;
+        debug[0] = buffer[index];
+        puts(debug);
+        index++;
+    }
+    return index;
+
+}
+
+/// @brief Write severals byte to the SPI Transmit FIFO
+/// @param spi SPI device to use (spi0 or spi1)
+/// @param buffer data to transmit
+/// @param size size of the data to transmit
+/// @return SPI_OK or SPI_ERR_TRANSMIT_FIFO_FULL
+inline int spi_nb_write_data(spi_inst_t * spi, uint16_t * buffer, uint8_t size){
+    int statu_spi = SPI_OK;
+    uint8_t index=0;
+    do
+    {
+        statu_spi = spi_nb_write_byte(spi, buffer[index]);
+        index++;
+    } while ( (statu_spi == SPI_OK) && (index < size));
+    return statu_spi;
+}
+
+/// @brief Write one "byte", 4 to 16 bits to the SPI Transmit FIFO.
+/// @param spi 
+/// @param data : Data to send
+/// @return SPI_OK if Ok, SPI_ERR_TRANSMIT_FIFO_FULL if fifo is full
+int spi_nb_write_byte(spi_inst_t * spi, uint16_t data){
+    if(spi_get_hw(spi)->sr & SPI_SSPSR_TNF_BITS){
+        spi_get_hw(spi)->dr = data;
+        return SPI_OK;
+    }
+    return SPI_ERR_TRANSMIT_FIFO_FULL;
+}

spi_nb.h

@@ -0,0 +1,12 @@
+#include "hardware/spi.h"
+
+#define SPI_SUCCESS 0
+#define SPI_IN_PROGRESS 1
+#define SPI_FAILED 2
+
+int spi_nb_busy(spi_inst_t * spi);
+void spi_nb_flush_recieve_fifo(spi_inst_t * spi);
+int spi_nb_write_byte(spi_inst_t * spi, uint16_t data);
+int spi_nb_write_data(spi_inst_t * spi, uint16_t * buffer, uint8_t size);
+uint8_t spi_nb_read_data_8bits(spi_inst_t * spi, uint8_t * buffer);
+int spi_nb_read_register_8bits(spi_inst_t * spi, uint16_t spi_slave_register, uint8_t *buffer, uint8_t nb_data_to_read);

test.c

@@ -1,7 +1,6 @@
 #include <stdio.h>
 #include "pico/stdlib.h"
 #include "hardware/gpio.h"
-#include "hardware/i2c.h"
 #include "pico/binary_info.h"
 
 #include "gyro.h"
@@ -18,6 +17,7 @@ int main() {
     gpio_set_dir(LED_PIN, GPIO_OUT);
     gpio_put(LED_PIN, 1);
 
+    sleep_ms(3000);
 
     Gyro_Init();