From d7e885244db13d4a0f1c9ff8ce0a824aa44ab749 Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Sat, 24 Sep 2022 20:54:10 +0200
Subject: [PATCH] =?UTF-8?q?Quelques=20essais=20suppl=C3=A9mentaie,=20mais?=
 =?UTF-8?q?=20rien=20de=20concluant?=
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

---
 gyro.c   | 26 +++++++++++++++++++-------
 spi_nb.c |  2 +-
 2 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/gyro.c b/gyro.c
index 5e91c62..5b1f6a7 100644
--- a/gyro.c
+++ b/gyro.c
@@ -32,6 +32,7 @@ void Gyro_Init(void){
     // Test de la présence du gyroscope :
     if(gyro_init_check()){
         puts("Gyroscope non trouve");
+        gyro_config();
     }else{
         puts("Gyroscope trouve");
         gyro_config();
@@ -59,12 +60,23 @@ void gyro_config(){
     // Xen : 1
 
     uint16_t tampon[2] = {0x20, 0b11101111};
+    uint8_t tampon2[10]="\0\0\0\0\0\0\0\0\0";
+    int statu, nb_read;
     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);
     cs_deselect();
 
+    nb_read = spi_nb_read_data_8bits(spi0, tampon2);
+    printf("%d caracteres lus\n", nb_read);
+    
+    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");
@@ -91,18 +103,13 @@ int gyro_read_register_blocking(uint8_t registrer, uint8_t *tampon, uint8_t nb_a
 }
 
 void Gyro_Read(uint16_t step_ms){
-    uint8_t tampon[10]="123456789";
+    uint8_t tampon[10]="\0\0\0\0\0\0\0\0\0";
+    uint8_t tampon2[10]="ABCDEFGHI";
     int16_t rot_x, rot_y, rot_z;
     static double angle_x=0, angle_y=0, angle_z=0;
     int nb_recu;
 
 
-    //cs_select();
-    //while(spi_nb_read_register_8bits(spi0, 0x20, tampon, 1) == SPI_IN_PROGRESS);
-    //cs_deselect();
-    gyro_read_register_blocking(0x20, tampon, 1);
-    //printf ("Gyro CTRL1 : %#4x\n", tampon[0] );
-
 
     spi_read_register(spi0, 0x20, tampon, 1);
     //printf ("Gyro CTRL1 (bis) : %#4x\n", tampon[1] );
@@ -114,6 +121,7 @@ void Gyro_Read(uint16_t step_ms){
     //gyro_read_register_blocking(0x28, tampon, 6);
     spi_read_register(spi0, 0x28, tampon, 6);
 
+
     for(int i=0; i<10; i++){
         printf("%#4x ", tampon[i]);
     }
@@ -128,5 +136,9 @@ void Gyro_Read(uint16_t step_ms){
     
     printf("rx : %f, ry : %f, rz: %f\n", angle_x, angle_y, angle_z);
 
+    //while(spi_nb_busy(spi0));
+    //spi_nb_read_data_8bits(spi0,tampon);
+    //printf("tampon : %s\n", tampon);
+
 
 }
\ No newline at end of file
diff --git a/spi_nb.c b/spi_nb.c
index 37296a3..0b4f5b3 100644
--- a/spi_nb.c
+++ b/spi_nb.c
@@ -146,7 +146,7 @@ void spi_nb_flush_recieve_fifo(spi_inst_t * spi){
 uint8_t spi_nb_read_data_8bits(spi_inst_t * spi, uint8_t * buffer){
     uint8_t index = 0;
     while(spi_get_hw(spi)->sr & SPI_SSPSR_RNE_BITS){
-        buffer[index] = (uint8_t)spi_get_hw(spi)->dr & SPI_SSPDR_DATA_BITS;
+        buffer[index] = (uint8_t)spi_get_hw(spi)->dr ;//& SPI_SSPDR_DATA_BITS;
         index++;
     }
     return index;