diff --git a/CMakeLists.txt b/CMakeLists.txt index f5e9a02..cc30642 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -9,11 +9,12 @@ test.c spi_nb.c gyro.c Temps.c +Servomoteur.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_structs) +target_link_libraries(test pico_stdlib hardware_spi hardware_pwm hardware_structs) add_custom_target(Flash DEPENDS test diff --git a/Servomoteur.c b/Servomoteur.c new file mode 100644 index 0000000..7d22543 --- /dev/null +++ b/Servomoteur.c @@ -0,0 +1,20 @@ +#include "pico/stdlib.h" +#include "hardware/pwm.h" +#include "Servomoteur.h" + +#define SERVO1 0 + +void Servomoteur_Init(void){ + gpio_set_function(SERVO1, GPIO_FUNC_PWM); + uint slice_num = pwm_gpio_to_slice_num(SERVO1); + pwm_config pwm_servo = pwm_get_default_config(); + pwm_config_set_clkdiv_int(&pwm_servo, 254); + pwm_config_set_phase_correct(&pwm_servo, false); + pwm_config_set_wrap(&pwm_servo, 9842); + + + pwm_init(slice_num, &pwm_servo, true); + pwm_set_chan_level(slice_num, 0, 984 ); + + +} \ No newline at end of file diff --git a/Servomoteur.h b/Servomoteur.h new file mode 100644 index 0000000..c4306e7 --- /dev/null +++ b/Servomoteur.h @@ -0,0 +1 @@ +void Servomoteur_Init(void); \ No newline at end of file diff --git a/acq_5ms_env_50ms.csv b/acq_5ms_env_50ms.csv new file mode 100644 index 0000000..5779904 --- /dev/null +++ b/acq_5ms_env_50ms.csv @@ -0,0 +1,1001 @@ +Temps(ms), 0.200000,Vitesse (°/s), angle, -0.245000, 0.568750, 0.945000 +Temps(ms), 0.250000,Vitesse (°/s), angle, -0.411250, 0.577500, 0.673750 +Temps(ms), 0.300000,Vitesse (°/s), angle, 0.087500, 0.621250, 0.945000 +Temps(ms), 0.350000,Vitesse (°/s), angle, 0.035000, 0.323750, 1.198750 +Temps(ms), 0.400000,Vitesse (°/s), angle, 0.087500, 0.350000, 1.041250 +Temps(ms), 0.450000,Vitesse (°/s), angle, -0.393750, 0.481250, 1.137500 +Temps(ms), 0.500000,Vitesse (°/s), angle, 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"Observation des 3 axes\nT_{acq} : 5 ms" + +set xlabel "Temps (s)" +set ylabel "Vitesse (°/s)" + + +plot "./acq_5ms_env_50ms.csv" using 2:5 w l title "Vitesse X" +pause -1 +plot "./acq_5ms_env_50ms.csv" using 2:6 w l title "Vitesse Y" +pause -1 +plot "./acq_5ms_env_50ms.csv" using 2:7 w l title "Vitesse Z" +pause -1 + + + diff --git a/graph/APDS9960_Vitesse_X_filtre.png b/graph/APDS9960_Vitesse_X_filtre.png new file mode 100644 index 0000000..9f06c80 Binary files /dev/null and b/graph/APDS9960_Vitesse_X_filtre.png differ diff --git a/graph/APDS9960_Vitesse_Y_filtre.png b/graph/APDS9960_Vitesse_Y_filtre.png new file mode 100644 index 0000000..2810dd4 Binary files /dev/null and b/graph/APDS9960_Vitesse_Y_filtre.png differ diff --git a/graph/APDS9960_Vitesse_Z_filtre.png b/graph/APDS9960_Vitesse_Z_filtre.png new file mode 100644 index 0000000..2ad7eea Binary files /dev/null and b/graph/APDS9960_Vitesse_Z_filtre.png differ diff --git a/graph/APDS9960_Vitesse_debut_X_filtre.png b/graph/APDS9960_Vitesse_debut_X_filtre.png new file mode 100644 index 0000000..0372bcb Binary files /dev/null and b/graph/APDS9960_Vitesse_debut_X_filtre.png differ diff --git a/graph/APDS9960_Vitesse_debut_Y_filtre.png b/graph/APDS9960_Vitesse_debut_Y_filtre.png new file mode 100644 index 0000000..000c02e Binary files /dev/null and b/graph/APDS9960_Vitesse_debut_Y_filtre.png differ diff --git a/graph/APDS9960_Vitesse_debut_Z_filtre.png b/graph/APDS9960_Vitesse_debut_Z_filtre.png new file mode 100644 index 0000000..a2ea3ab Binary files /dev/null and b/graph/APDS9960_Vitesse_debut_Z_filtre.png differ diff --git a/graph_enr01.gp b/graph_enr01.gp new file mode 100644 index 0000000..f6d4ecd --- /dev/null +++ b/graph_enr01.gp @@ -0,0 +1,15 @@ +set title "Observation des 3 axes\nT_{acq} : 5 ms" + +set xlabel "Temps (s)" +set ylabel "Vitesse (°/s)" + + +plot "./acq_5ms_env_50ms_enr_01.csv" using 1:2 w l title "Vitesse X" +pause -1 +plot "./acq_5ms_env_50ms_enr_01.csv" using 1:3 w l title "Vitesse Y" +pause -1 +plot "./acq_5ms_env_50ms_enr_01.csv" using 1:4 w l title "Vitesse Z" +pause -1 + + + diff --git a/graph_enr02.gp b/graph_enr02.gp new file mode 100644 index 0000000..b37447b --- /dev/null +++ b/graph_enr02.gp @@ -0,0 +1,10 @@ +set title "Observation des 3 axes\nT_{acq} : 5 ms" + +set xlabel "Temps (s)" +set ylabel "Vitesse (°/s)" +set grid ytics + +set term png size 1200,600 + +plot "./acq_5ms_env_50ms_enr_02.csv" using 1:2 w l title "Vitesse X" + diff --git a/gyro.c b/gyro.c index 42a4c03..17cb7e1 100644 --- a/gyro.c +++ b/gyro.c @@ -7,10 +7,8 @@ #include "Temps.h" #include "gyro.h" -const uint PIN_CS = 1; - struct t_angle_gyro{ - int32_t rot_x, rot_y, rot_z; + int32_t rot_x, rot_y, rot_z, temp; }; /// @brief structure d'échange des angles du gyrocope @@ -26,13 +24,15 @@ uint32_t rot_x_zero, rot_y_zero, rot_z_zero; -struct t_angle_gyro_double angle_gyro; +struct t_angle_gyro_double angle_gyro, vitesse_gyro; struct t_angle_gyro_double gyro_get_angle(void){ return angle_gyro; } - +struct t_angle_gyro_double gyro_get_vitesse(void){ + return vitesse_gyro; +} void Gyro_Init(void){ // @@ -45,9 +45,14 @@ void Gyro_Init(void){ gpio_set_dir(PIN_CS, GPIO_OUT); cs_deselect(); + vitesse_calibration.rot_x = 0; + vitesse_calibration.rot_y = 0; + vitesse_calibration.rot_z = 0; + vitesse_calibration.temp = 0; + //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); + printf("vitesse SPI : %d\n", 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); @@ -57,9 +62,12 @@ void Gyro_Init(void){ puts("Gyroscope non trouve"); }else{ puts("Gyroscope trouve"); - gyro_config(); + gyro_config(); } - gyro_calibration(); + sleep_ms(150); // Temps d'init du gyroscope + /*while(1){ + gyro_calibration(); + }*/ } int gyro_init_check(){ @@ -86,22 +94,27 @@ void gyro_config(){ 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); + + //while(spi_nb_busy(spi0) == SPI_BUSY); cs_select(); int rep = spi_nb_write_data(spi0, tampon, 2); if(rep == SPI_ERR_TRANSMIT_FIFO_FULL){ printf("Erreur: spi_read_register: SPI_ERR_TRANSMIT_FIFO_FULL\n"); //return statu; } - while(spi_nb_busy(spi0) == SPI_BUSY); + while(spi_nb_busy(spi0)); cs_deselect(); - spi_read_register(spi0, 0x20, tampon2, 1); + int nb_lu = spi_read_register(spi0, 0x20, tampon2, 1); + + + + printf("Nb lu: %d\n", nb_lu); if(tampon2[1] == config){ puts("gyro_config ok !"); }else{ - puts("gyro_config FAILED !"); + printf("gyro_config FAILED ! :%#4x\n", tampon2[1]); } // Registre @@ -138,9 +151,13 @@ void Gyro_Read(uint16_t step_ms){ //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; + vitesse_gyro.rot_x = (double)vitesse_angulaire.rot_x * 0.00875 / 32.0; + vitesse_gyro.rot_y = (double)vitesse_angulaire.rot_y * 0.00875 / 32.0; + vitesse_gyro.rot_z = (double)vitesse_angulaire.rot_z * 0.00875 / 32.0; + + angle_gyro.rot_x = angle_gyro.rot_x + vitesse_gyro.rot_x * step_ms * 0.001; + angle_gyro.rot_y = angle_gyro.rot_y + vitesse_gyro.rot_y * step_ms * 0.001; + angle_gyro.rot_z = angle_gyro.rot_z + vitesse_gyro.rot_z * step_ms * 0.001; //printf("%d, %#4x, %#4x, %#4x\n", step_ms, vitesse_angulaire.rot_x, vitesse_angulaire.rot_y, vitesse_angulaire.rot_z); @@ -151,6 +168,15 @@ void Gyro_Read(uint16_t step_ms){ //printf("tampon : %s\n", tampon); } +int16_t gyro_get_temp(void){ + int8_t tampon[3]="\0\0"; + int16_t temperature; + spi_read_register(spi0, 0x26, tampon, 6); + temperature = -tampon[1]; + printf("temperature %d\n",temperature); + +} + void gyro_get_angles(struct t_angle_gyro* angle_gyro, struct t_angle_gyro* angle_gyro_moy){ uint8_t tampon[10]="\0\0\0\0\0\0\0\0\0"; int16_t rot_x, rot_y, rot_z; @@ -161,32 +187,31 @@ void gyro_get_angles(struct t_angle_gyro* angle_gyro, struct t_angle_gyro* angle rot_z = -(tampon[5] + (tampon[6] << 8)); if(angle_gyro_moy == NULL){ - angle_gyro->rot_x = (int32_t) rot_x * 8; - angle_gyro->rot_y = (int32_t) rot_y * 8; - angle_gyro->rot_z = (int32_t) rot_z * 8; + angle_gyro->rot_x = (int32_t) rot_x * 32; + angle_gyro->rot_y = (int32_t) rot_y * 32; + angle_gyro->rot_z = (int32_t) rot_z * 32; }else{ - angle_gyro->rot_x = (int32_t) rot_x * 8 - angle_gyro_moy->rot_x; - angle_gyro->rot_y = (int32_t) rot_y * 8 - angle_gyro_moy->rot_y; - angle_gyro->rot_z = (int32_t) rot_z * 8 - angle_gyro_moy->rot_z; + angle_gyro->rot_x = (int32_t) rot_x * 32 - angle_gyro_moy->rot_x; + angle_gyro->rot_y = (int32_t) rot_y * 32 - angle_gyro_moy->rot_y; + angle_gyro->rot_z = (int32_t) rot_z * 32 - angle_gyro_moy->rot_z; } - - - - - } + + void gyro_affiche(struct t_angle_gyro_double angle_gyro, char * titre){ if(titre != NULL){ printf("%s ",titre); } - printf("rx : %f, ry : %f, rz: %f\n", angle_gyro.rot_x, - angle_gyro.rot_y, angle_gyro.rot_z); + printf("angle, %f, %f, %f\n", angle_gyro.rot_x, angle_gyro.rot_y, angle_gyro.rot_z); } void gyro_calibration(void){ - uint32_t nb_ech = 100; + uint32_t t_calibration_ms = 40000; + uint32_t nb_ech = t_calibration_ms/5; uint32_t m_temps_ms = Temps_get_temps_ms(); + uint32_t temps_500ms = m_temps_ms; + int16_t temperature; printf("Calibration...\n"); @@ -194,7 +219,7 @@ void gyro_calibration(void){ vitesse_calibration.rot_y = 0; vitesse_calibration.rot_z = 0; - // Acquisition des échantillons, 1 par milliseconde + // Acquisition des échantillons, 1 par milliseconde (1 ms, c'est trop court on dirait !) for(uint32_t i=0; i temps_500ms){ + printf("."); + gyro_get_temp(); + temps_500ms += 500; + } + sleep_ms(5); } - vitesse_calibration.rot_x = vitesse_calibration.rot_x / nb_ech; - vitesse_calibration.rot_y = vitesse_calibration.rot_y / nb_ech; - vitesse_calibration.rot_z = vitesse_calibration.rot_z / nb_ech; + vitesse_calibration.rot_x = vitesse_calibration.rot_x / (int32_t)nb_ech; + vitesse_calibration.rot_y = vitesse_calibration.rot_y / (int32_t)nb_ech; + vitesse_calibration.rot_z = vitesse_calibration.rot_z / (int32_t)nb_ech; + temperature = gyro_get_temp(); - printf("fin calibration\n"); + printf("fin calibration, %d, %d, %d, %d\n", vitesse_calibration.rot_x, vitesse_calibration.rot_y ,vitesse_calibration.rot_z, temperature); } diff --git a/gyro.h b/gyro.h index c4a7a21..38d8751 100644 --- a/gyro.h +++ b/gyro.h @@ -5,4 +5,6 @@ struct t_angle_gyro_double{ void Gyro_Init(void); void Gyro_Read(u_int16_t); void gyro_affiche(struct t_angle_gyro_double angle_gyro, char * titre); -struct t_angle_gyro_double gyro_get_angle(void); \ No newline at end of file +struct t_angle_gyro_double gyro_get_angle(void); +struct t_angle_gyro_double gyro_get_vitesse(void); +int16_t gyro_get_temp(void); \ No newline at end of file diff --git a/spi_nb.c b/spi_nb.c index 8552f1d..ac0c43c 100644 --- a/spi_nb.c +++ b/spi_nb.c @@ -14,7 +14,7 @@ uint16_t spi0_slave_register; uint8_t* spi0_buffer; uint8_t spi0_nb_data_to_read; -#define PIN_CS 1 + void cs_select(void) { asm volatile("nop \n nop \n nop"); @@ -158,7 +158,7 @@ uint8_t spi_nb_read_data_8bits(spi_inst_t * spi, uint8_t * buffer){ /// @param size size of the data to transmit /// @return SPI_OK or SPI_ERR_TRANSMIT_FIFO_FULL inline int spi_nb_write_data(spi_inst_t * spi, uint16_t * buffer, uint8_t size){ - int status_spi = SPI_OK; + int status_spi; uint8_t index=0; do { @@ -168,7 +168,7 @@ inline int spi_nb_write_data(spi_inst_t * spi, uint16_t * buffer, uint8_t size){ }else{ status_spi = SPI_ERR_TRANSMIT_FIFO_FULL; } - while (spi_nb_busy(spi)); + //while (spi_nb_busy(spi));// <== ça, c'est bizarre ! //statu_spi = spi_nb_write_byte(spi, buffer[index]); //printf("envoi : %x\n", buffer[index]); //sleep_ms(1); @@ -209,5 +209,65 @@ int spi_read_register(spi_inst_t * spi, uint16_t spi_slave_register, uint8_t *bu if(nb_read != nb_to_read+1){ printf("Erreur: spi_read_register, nb de valeurs lues incoherentes"); } + return nb_read; +} + +void spi_test(){ + // Gyro_Init + + uint16_t tampon_ecriture[] = {'a','b','c','d','e','f','g','h','i','j',0}; + uint8_t tampon_lecture[10] = {0,0,0,0,0,0,0,0,0,0}; + uint8_t nb_lu, statu; + + uint8_t config = 0b11101111; + uint16_t config_gyro[2] = {0x20, config}; + + + 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 + uint speed = spi_init(spi0, 2 * 1000 * 1000); // SPI init @ 2 MHz + printf("vitesse SPI : %d\n", 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); + + // Gyro_Init + + // gyro_config + + + cs_select(); + statu = spi_nb_write_data(spi0, config_gyro, 2); + if(statu == SPI_ERR_TRANSMIT_FIFO_FULL){ + printf("Erreur: spi_read_register: SPI_ERR_TRANSMIT_FIFO_FULL\n"); + } + + while(spi_nb_busy(spi0)); + cs_deselect(); + + nb_lu = spi_read_register(spi0, 0x20, tampon_lecture, 1); + + + printf("Nb lu: %d\n", nb_lu); + //puts(tampon_lecture); + + if(tampon_lecture[1] == config){ + puts("gyro_config ok !"); + }else{ + puts("gyro_config FAILED !"); + printf("gyro_config FAILED ! :%#4x\n", tampon_lecture[1]); + } + + + + } \ No newline at end of file diff --git a/spi_nb.h b/spi_nb.h index c06f0f9..0d0dba9 100644 --- a/spi_nb.h +++ b/spi_nb.h @@ -7,9 +7,11 @@ #define SPI_IN_PROGRESS 1 #define SPI_FAILED 2 -#define SPI_ERR_TRANSMIT_FIFO_FULL 1 +#define SPI_ERR_TRANSMIT_FIFO_FULL -1 #define SPI_OK 0 +#define PIN_CS 1 + int spi_nb_busy(spi_inst_t * spi); void spi_nb_flush_recieve_fifo(spi_inst_t * spi); int spi_nb_write_byte(spi_inst_t * spi, uint16_t data); @@ -19,4 +21,5 @@ int spi_nb_read_register_8bits(spi_inst_t * spi, uint16_t spi_slave_register, ui int spi_read_register(spi_inst_t * spi, uint16_t spi_slave_register, uint8_t *buffer, uint8_t nb_to_read); void cs_select(void); -void cs_deselect(void); \ No newline at end of file +void cs_deselect(void); +void spi_test(); \ No newline at end of file diff --git a/test.c b/test.c index 9f57338..3525235 100644 --- a/test.c +++ b/test.c @@ -5,14 +5,20 @@ #include "gyro.h" #include "Temps.h" +#include "spi_nb.h" +#include "Servomoteur.h" const uint LED_PIN = 25; +#define V_INIT -999.0 + int main() { bi_decl(bi_program_description("This is a test binary.")); bi_decl(bi_1pin_with_name(LED_PIN, "On-board LED")); + double vitesse_filtre_x=V_INIT, vitesse_filtre_y=V_INIT, vitesse_filtre_z=V_INIT; + struct t_angle_gyro_double angle_gyro; - uint32_t temps_ms = 0; + uint32_t temps_ms = 0, temps_ms_old; stdio_init_all(); @@ -21,24 +27,54 @@ int main() { gpio_put(LED_PIN, 1); sleep_ms(3000); + Servomoteur_Init(); + //puts("Debut"); + //spi_test(); - + //while(1); Temps_init(); Gyro_Init(); temps_ms = Temps_get_temps_ms(); + temps_ms_old = temps_ms; while (1) { u_int16_t step_ms = 5; + float coef_filtre = 0.001; + + while(temps_ms_old == Temps_get_temps_ms()); + temps_ms_old = Temps_get_temps_ms(); // Tous les pas de step_ms - if(temps_ms == Temps_get_temps_ms()){ - temps_ms += step_ms; + if(Temps_get_temps_ms() % step_ms){ Gyro_Read(step_ms); + //gyro_affiche(gyro_get_vitesse(), "Angle :"); + // Filtre + angle_gyro = gyro_get_vitesse(); + if(vitesse_filtre_x == V_INIT){ + vitesse_filtre_x = angle_gyro.rot_x; + vitesse_filtre_y = angle_gyro.rot_y; + vitesse_filtre_z = angle_gyro.rot_z; + }else{ + vitesse_filtre_x = vitesse_filtre_x * (1-coef_filtre) + angle_gyro.rot_x * coef_filtre; + vitesse_filtre_y = vitesse_filtre_y * (1-coef_filtre) + angle_gyro.rot_y * coef_filtre; + vitesse_filtre_z = vitesse_filtre_z * (1-coef_filtre) + angle_gyro.rot_z * coef_filtre; + } + + printf("%f, %f, %f, %f\n", (double)temps_ms_old / 1000, vitesse_filtre_x, vitesse_filtre_y, vitesse_filtre_z); + //gyro_affiche(angle_gyro, "Vitesse (°/s),"); + } + + // Toutes les 50 ms + if((Temps_get_temps_ms() % 50) == 0){ } // Toutes les 500 ms if((Temps_get_temps_ms() % 500) == 0){ - gyro_affiche(gyro_get_angle(), "Angle :"); + //gyro_affiche(gyro_get_angle(), "Angle :"); + } + // Toutes les secondes + if((Temps_get_temps_ms() % 500) == 0){ + //gyro_get_temp(); } } }