Séparation des fonctions du gyroscope

CMakeLists.txt

@@ -6,6 +6,7 @@ set(CMAKE_CXX_STANDARD 17)
 pico_sdk_init()
 add_executable(test
 test.c
+gyro.c
 )
 pico_enable_stdio_usb(test 1)
 pico_enable_stdio_uart(test 1)

gyro.c

@@ -0,0 +1,97 @@
+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "hardware/gpio.h"
+#include "hardware/spi.h"
+
+const uint PIN_CS = 1;
+
+static inline void cs_select();
+static inline void cs_deselect();
+int gyro_init_check();
+int gyro_read_register_blocking(uint8_t registrer, uint8_t *tampon, uint8_t nb_a_lire);
+
+
+void Gyro_Init(void){
+    // 
+    gpio_set_function(16, GPIO_FUNC_SPI); // SDI
+    gpio_set_function(18, GPIO_FUNC_SPI); // SCK
+    gpio_set_function(19, GPIO_FUNC_SPI); // SDO
+    gpio_set_function(PIN_CS, GPIO_OUT); // CSn
+
+    gpio_init(PIN_CS);
+    gpio_set_dir(PIN_CS, GPIO_OUT);
+    cs_deselect();
+
+    spi_init(spi0, 100 * 1000); // SPI init @ 100 kHZ
+
+    //Ça doit être les valeurs par défaut, mais ça marche !
+    spi_set_format(spi0, 8, SPI_CPHA_1, SPI_CPOL_1, SPI_MSB_FIRST);
+
+    // Test de la présence du gyroscope :
+    if(gyro_init_check()){
+        puts("Gyroscope non trouve");
+    }else{
+        puts("Gyroscope trouve");
+    }
+}
+
+int gyro_init_check(){
+    // Renvoi 0 si l'initialisation s'est bien passée
+    // Renvoi 1 si le gyroscope n'a pas répondu
+    uint8_t tampon[2]="";
+    gyro_read_register_blocking(0x0F, tampon, 1);
+    if(tampon[0] == 0xd7){
+        return 0;
+    }
+    return 1;
+
+
+}
+
+
+int gyro_read_register_blocking(uint8_t registrer, uint8_t *tampon, uint8_t nb_a_lire){
+    uint8_t reg = registrer | 0xC0 ;
+    int nb_recu;
+    cs_select();
+    spi_write_blocking(spi0, &reg, 1);
+    sleep_ms(10);
+    nb_recu = spi_read_blocking(spi0, 0, tampon, nb_a_lire);
+    cs_deselect();
+    
+}
+
+void Gyro_Read(void){
+    uint8_t tampon[10]="";
+    uint8_t reg[2] = {0x0F | 0x80 | 0x40, '\0'};
+    int nb_recu;
+    // Lire l'adresse d'identification
+    // WHO_AM_I : 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);
+    cs_deselect();
+    
+    
+
+
+}
+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");
+}

gyro.h

@@ -0,0 +1,2 @@
+void Gyro_Init(void);
+void Gyro_Read(void);

test.c

@@ -1,31 +1,13 @@
 #include <stdio.h>
 #include "pico/stdlib.h"
 #include "hardware/gpio.h"
-#include "hardware/spi.h"
 #include "hardware/i2c.h"
 #include "pico/binary_info.h"
 
+#include "gyro.h"
 
-const uint PIN_CS = 1;
 const uint LED_PIN = 25;
 
-void init_gyro(void);
-void read_gyro(void);
-void read_gyro_i2c();
-void init_gyro_i2c();
-
-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 main() {
     bi_decl(bi_program_description("This is a test binary."));
     bi_decl(bi_1pin_with_name(LED_PIN, "On-board LED"));
@@ -36,7 +18,8 @@ int main() {
     gpio_set_dir(LED_PIN, GPIO_OUT);
     gpio_put(LED_PIN, 1);
 
-    init_gyro();
+
+    Gyro_Init();
 
     while (1) { 
         /*gpio_put(LED_PIN, 0);
@@ -45,77 +28,6 @@ int main() {
         puts("Bonjour");
         sleep_ms(1000);*/
         sleep_ms(1000);
-        read_gyro();
+        Gyro_Read();
     }
 }
-
-void init_gyro_i2c(){
-    gpio_set_function(0, GPIO_FUNC_I2C); // SDA
-    gpio_set_function(1, GPIO_FUNC_I2C); // SCL
-    i2c_init(i2c0, 40 * 1000);
-}
-
-void read_gyro_i2c(){
-    uint8_t tampon[10]="";
-    uint8_t reg = 0x0F;
-    int rep;
-    uint8_t adresse_7bits = 0b1101011;
-
-    // Envoi adresse registre à lire
-    rep = i2c_write_blocking(i2c0, adresse_7bits, &reg, 1, true );
-    if(rep == PICO_ERROR_GENERIC){
-        puts("Erreur I2C");
-    }else{
-        puts("envoi OK");
-    }
-
-    // Lecture identification 
-    rep = i2c_read_blocking(i2c0, adresse_7bits, tampon, 1, false );
-    if(rep == PICO_ERROR_GENERIC){
-        puts("Erreur I2C");
-    }else{
-        puts("Reception OK");
-        puts(tampon);
-    }
-}
-
-void init_gyro(void){
-    // 
-    gpio_set_function(16, GPIO_FUNC_SPI); // SDI
-    gpio_set_function(18, GPIO_FUNC_SPI); // SCK
-    gpio_set_function(19, GPIO_FUNC_SPI); // SDO
-    gpio_set_function(PIN_CS, GPIO_OUT); // CSn
-
-    gpio_init(PIN_CS);
-    gpio_set_dir(PIN_CS, GPIO_OUT);
-    cs_deselect();
-
-    spi_init(spi0, 100 * 1000); // SPI init @ 100 kHZ
-
-    //Ça doit être les valeurs par défaut, mais ça marche !
-    spi_set_format(spi0, 8, SPI_CPHA_1, SPI_CPOL_1, SPI_MSB_FIRST);
-}
-void read_gyro(void){
-    uint8_t tampon[10]="";
-    uint8_t reg[2] = {0x0F | 0x80 | 0x40, '\0'};
-    int nb_recu;
-    // Lire l'adresse d'identification
-    // WHO_AM_I : 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);
-    cs_deselect();
-    
-    
-
-
-}