Keuronde/RPiPico-Holonome2023
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Quelques essais supplémentaie, mais rien de concluant

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This commit is contained in:
Samuel 2022-09-24 20:54:10 +02:00
parent 16ee1109b4
commit d7e885244d
2 changed files with 20 additions and 8 deletions
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26
gyro.c
View File

@ -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);
}

2
spi_nb.c
View File

@ -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;