98 lines
2.3 KiB
C
98 lines
2.3 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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const uint PIN_CS = 1;
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static inline void cs_select();
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static inline void cs_deselect();
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int gyro_init_check();
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int gyro_read_register_blocking(uint8_t registrer, uint8_t *tampon, uint8_t nb_a_lire);
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void Gyro_Init(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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// Test de la présence du gyroscope :
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if(gyro_init_check()){
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puts("Gyroscope non trouve");
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}else{
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puts("Gyroscope trouve");
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}
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}
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int gyro_init_check(){
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// Renvoi 0 si l'initialisation s'est bien passée
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// Renvoi 1 si le gyroscope n'a pas répondu
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uint8_t tampon[2]="";
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gyro_read_register_blocking(0x0F, tampon, 1);
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if(tampon[0] == 0xd7){
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return 0;
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}
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return 1;
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}
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int gyro_read_register_blocking(uint8_t registrer, uint8_t *tampon, uint8_t nb_a_lire){
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uint8_t reg = registrer | 0xC0 ;
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int nb_recu;
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cs_select();
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spi_write_blocking(spi0, ®, 1);
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sleep_ms(10);
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nb_recu = spi_read_blocking(spi0, 0, tampon, nb_a_lire);
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cs_deselect();
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}
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void Gyro_Read(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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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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