commit 8433c1b6c752c4232c13215a6ee68313ab179e82
Author: Samuel <samuel.kay@poivron-robotique.fr>
Date:   Fri Sep 23 19:43:45 2022 +0200

    Initialisation de la communication avec le Gyroscope

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..de6d037
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.13)
+include(pico_sdk_import.cmake)
+project(test_project C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+pico_sdk_init()
+add_executable(test
+test.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)
+
+add_custom_target(Flash
+    DEPENDS test
+    COMMAND sudo picotool load ${PROJECT_BINARY_DIR}/test.uf2
+)
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diff --git a/test.c b/test.c
new file mode 100644
index 0000000..f5029f8
--- /dev/null
+++ b/test.c
@@ -0,0 +1,121 @@
+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "hardware/gpio.h"
+#include "hardware/spi.h"
+#include "hardware/i2c.h"
+#include "pico/binary_info.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"));
+
+    stdio_init_all();
+
+    gpio_init(LED_PIN);
+    gpio_set_dir(LED_PIN, GPIO_OUT);
+    gpio_put(LED_PIN, 1);
+
+    init_gyro();
+
+    while (1) { 
+        /*gpio_put(LED_PIN, 0);
+        sleep_ms(251);
+        gpio_put(LED_PIN, 1);
+        puts("Bonjour");
+        sleep_ms(1000);*/
+        sleep_ms(1000);
+        read_gyro();
+    }
+}
+
+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();
+    
+    
+
+
+}
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