121 lines
2.7 KiB
C
121 lines
2.7 KiB
C
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include "hardware/gpio.h"
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#include "hardware/spi.h"
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#include "hardware/i2c.h"
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#include "pico/binary_info.h"
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const uint PIN_CS = 1;
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const uint LED_PIN = 25;
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void init_gyro(void);
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void read_gyro(void);
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void read_gyro_i2c();
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void init_gyro_i2c();
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static inline void cs_select() {
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asm volatile("nop \n nop \n nop");
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gpio_put(PIN_CS, 0); // Active low
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asm volatile("nop \n nop \n nop");
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}
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static inline void cs_deselect() {
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asm volatile("nop \n nop \n nop");
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gpio_put(PIN_CS, 1);
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asm volatile("nop \n nop \n nop");
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}
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int main() {
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bi_decl(bi_program_description("This is a test binary."));
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bi_decl(bi_1pin_with_name(LED_PIN, "On-board LED"));
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stdio_init_all();
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gpio_init(LED_PIN);
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gpio_set_dir(LED_PIN, GPIO_OUT);
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gpio_put(LED_PIN, 1);
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init_gyro();
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while (1) {
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/*gpio_put(LED_PIN, 0);
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sleep_ms(251);
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gpio_put(LED_PIN, 1);
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puts("Bonjour");
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sleep_ms(1000);*/
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sleep_ms(1000);
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read_gyro();
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}
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}
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void init_gyro_i2c(){
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gpio_set_function(0, GPIO_FUNC_I2C); // SDA
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gpio_set_function(1, GPIO_FUNC_I2C); // SCL
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i2c_init(i2c0, 40 * 1000);
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}
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void read_gyro_i2c(){
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uint8_t tampon[10]="";
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uint8_t reg = 0x0F;
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int rep;
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uint8_t adresse_7bits = 0b1101011;
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// Envoi adresse registre à lire
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rep = i2c_write_blocking(i2c0, adresse_7bits, ®, 1, true );
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if(rep == PICO_ERROR_GENERIC){
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puts("Erreur I2C");
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}else{
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puts("envoi OK");
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}
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// Lecture identification
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rep = i2c_read_blocking(i2c0, adresse_7bits, tampon, 1, false );
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if(rep == PICO_ERROR_GENERIC){
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puts("Erreur I2C");
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}else{
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puts("Reception OK");
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puts(tampon);
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}
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}
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void init_gyro(void){
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//
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gpio_set_function(16, GPIO_FUNC_SPI); // SDI
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gpio_set_function(18, GPIO_FUNC_SPI); // SCK
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gpio_set_function(19, GPIO_FUNC_SPI); // SDO
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gpio_set_function(PIN_CS, GPIO_OUT); // CSn
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gpio_init(PIN_CS);
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gpio_set_dir(PIN_CS, GPIO_OUT);
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cs_deselect();
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spi_init(spi0, 100 * 1000); // SPI init @ 100 kHZ
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//Ça doit être les valeurs par défaut, mais ça marche !
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spi_set_format(spi0, 8, SPI_CPHA_1, SPI_CPOL_1, SPI_MSB_FIRST);
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}
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void read_gyro(void){
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uint8_t tampon[10]="";
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uint8_t reg[2] = {0x0F | 0x80 | 0x40, '\0'};
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int nb_recu;
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// Lire l'adresse d'identification
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// WHO_AM_I : 0x0F
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cs_select();
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puts("Envoi");
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spi_write_blocking(spi0, reg, 1);
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// Doit répondre : 0b1101 0111
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puts(reg);
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puts("Lecture");
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sleep_ms(10);
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nb_recu = spi_read_blocking(spi0, 0x55, tampon, 1);
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tampon[nb_recu]='\0';
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puts(tampon);
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cs_deselect();
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}
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