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Step_ms 5ms, vérification de la bonne init du Gyro

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This commit is contained in:
Samuel 2022-09-28 18:46:45 +02:00
parent d7fbf056cf
commit 8831c3d8a9
2 changed files with 18 additions and 29 deletions
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32
gyro.c
View File

@ -45,8 +45,9 @@ void Gyro_Init(void){
gpio_set_dir(PIN_CS, GPIO_OUT);
cs_deselect();
spi_init(spi0, 100 * 1000); // SPI init @ 100 kHz
//spi_init(spi0, 2 * 1000 * 1000); // SPI init @ 2 MHz
//spi_init(spi0, 100 * 1000); // SPI init @ 100 kHz
uint speed = spi_init(spi0, 2 * 1000 * 1000); // SPI init @ 2 MHz
printf("vitesse SPI : %d ", speed);
//Ça doit être les valeurs par défaut, mais ça marche !
spi_set_format(spi0, 8, SPI_CPHA_1, SPI_CPOL_1, SPI_MSB_FIRST);
@ -81,7 +82,8 @@ void gyro_config(){
// Yen : 1
// Xen : 1
uint16_t tampon[2] = {0x20, 0b11101111};
uint8_t config = 0b11101111;
uint16_t tampon[2] = {0x20, config};
uint8_t tampon2[10]="\0\0\0\0\0\0\0\0\0";
int statu, nb_read;
while(spi_nb_busy(spi0) == SPI_BUSY);
@ -94,19 +96,13 @@ void gyro_config(){
while(spi_nb_busy(spi0) == SPI_BUSY);
cs_deselect();
nb_read = spi_nb_read_data_8bits(spi0, tampon2);
printf("%d caracteres lus\n", nb_read);
spi_read_register(spi0, 0x20, tampon2, 1);
printf("tampon2 : %#4x %#4x %#4x\n", tampon2[0], tampon2[1], tampon2[2]);
if (rep == SPI_ERR_TRANSMIT_FIFO_FULL){
while(1){
printf("gyro_config: SPI_ERR_TRANSMIT_FIFO_FULL\n");
}
}else{
if(tampon2[1] == config){
puts("gyro_config ok !");
}else{
puts("gyro_config FAILED !");
}
// Registre
@ -132,20 +128,22 @@ void Gyro_Read(uint16_t step_ms){
int nb_recu;
spi_read_register(spi0, 0x20, tampon, 1);
//spi_read_register(spi0, 0x20, tampon, 1);
//printf ("Gyro CTRL1 (bis) : %#4x\n", tampon[1] );
//printf ("RPI SSPCPSR : %#4x\n", spi_get_hw(spi0)->cpsr );
//printf ("RPI SSPCR0 : %#4x\n", spi_get_hw(spi0)->cr0 );
//gyro_get_angles(&angle_gyro, &angle_gyro_calibration);
gyro_get_angles(&vitesse_angulaire, NULL);
gyro_get_angles(&vitesse_angulaire, &vitesse_calibration);
//gyro_get_angles(&vitesse_angulaire, NULL);
// Angle en degré
angle_gyro.rot_x = angle_gyro.rot_x + (double)vitesse_angulaire.rot_x * step_ms * 0.001 * 0.00875 * 0.125;
angle_gyro.rot_y = angle_gyro.rot_y + (double)vitesse_angulaire.rot_y * step_ms * 0.001 * 0.00875 * 0.125;
angle_gyro.rot_z = angle_gyro.rot_z + (double)vitesse_angulaire.rot_z * step_ms * 0.001 * 0.00875 * 0.125;
//printf("%d, %#4x, %#4x, %#4x\n", step_ms, vitesse_angulaire.rot_x, vitesse_angulaire.rot_y, vitesse_angulaire.rot_z);
//printf("rx : %f, ry : %f, rz: %f\n", angle_gyro.rot_x, angle_gyro.rot_y, angle_gyro.rot_z);
//while(spi_nb_busy(spi0));
@ -187,7 +185,7 @@ void gyro_affiche(struct t_angle_gyro_double angle_gyro, char * titre){
}
void gyro_calibration(void){
uint32_t nb_ech = 3000;
uint32_t nb_ech = 100;
uint32_t m_temps_ms = Temps_get_temps_ms();
printf("Calibration...\n");

15
test.c
View File

@ -27,25 +27,16 @@ int main() {
Gyro_Init();
temps_ms = Temps_get_temps_ms();
while (1) {
u_int16_t step_ms = 100;
u_int16_t step_ms = 5;
// Tous les pas de step_ms
if(temps_ms == Temps_get_temps_ms()){
temps_ms += step_ms;
/*gpio_put(LED_PIN, 0);
sleep_ms(251);
gpio_put(LED_PIN, 1);
puts("Bonjour");
sleep_ms(1000);*/
//sleep_ms(step_ms);
Gyro_Read(step_ms);
}
// Toutes les 500 ms
if((Temps_get_temps_ms() % 500) == 0){
gyro_affiche(gyro_get_angle(), "Angle :");
}