From f1221027ccac30dbdd2c88b81770729e111fbc44 Mon Sep 17 00:00:00 2001 From: Samuel Date: Fri, 23 Sep 2022 22:09:40 +0200 Subject: [PATCH] =?UTF-8?q?S=C3=A9paration=20des=20fonctions=20du=20gyrosc?= =?UTF-8?q?ope?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 1 + gyro.c | 97 ++++++++++++++++++++++++++++++++++++++++++++++++++ gyro.h | 2 ++ test.c | 96 +++---------------------------------------------- 4 files changed, 104 insertions(+), 92 deletions(-) create mode 100644 gyro.c create mode 100644 gyro.h diff --git a/CMakeLists.txt b/CMakeLists.txt index de6d037..ad59a31 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,6 +6,7 @@ set(CMAKE_CXX_STANDARD 17) pico_sdk_init() add_executable(test test.c +gyro.c ) pico_enable_stdio_usb(test 1) pico_enable_stdio_uart(test 1) diff --git a/gyro.c b/gyro.c new file mode 100644 index 0000000..96cbd1f --- /dev/null +++ b/gyro.c @@ -0,0 +1,97 @@ +#include +#include "pico/stdlib.h" +#include "hardware/gpio.h" +#include "hardware/spi.h" + +const uint PIN_CS = 1; + +static inline void cs_select(); +static inline void cs_deselect(); +int gyro_init_check(); +int gyro_read_register_blocking(uint8_t registrer, uint8_t *tampon, uint8_t nb_a_lire); + + +void Gyro_Init(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); + + // Test de la présence du gyroscope : + if(gyro_init_check()){ + puts("Gyroscope non trouve"); + }else{ + puts("Gyroscope trouve"); + } +} + +int gyro_init_check(){ + // Renvoi 0 si l'initialisation s'est bien passée + // Renvoi 1 si le gyroscope n'a pas répondu + uint8_t tampon[2]=""; + gyro_read_register_blocking(0x0F, tampon, 1); + if(tampon[0] == 0xd7){ + return 0; + } + return 1; + + +} + + +int gyro_read_register_blocking(uint8_t registrer, uint8_t *tampon, uint8_t nb_a_lire){ + uint8_t reg = registrer | 0xC0 ; + int nb_recu; + cs_select(); + spi_write_blocking(spi0, ®, 1); + sleep_ms(10); + nb_recu = spi_read_blocking(spi0, 0, tampon, nb_a_lire); + cs_deselect(); + +} + +void Gyro_Read(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(); + + + + +} +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"); +} diff --git a/gyro.h b/gyro.h new file mode 100644 index 0000000..2273e41 --- /dev/null +++ b/gyro.h @@ -0,0 +1,2 @@ +void Gyro_Init(void); +void Gyro_Read(void); diff --git a/test.c b/test.c index f5029f8..f62a087 100644 --- a/test.c +++ b/test.c @@ -1,31 +1,13 @@ #include #include "pico/stdlib.h" #include "hardware/gpio.h" -#include "hardware/spi.h" #include "hardware/i2c.h" #include "pico/binary_info.h" +#include "gyro.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")); @@ -36,7 +18,8 @@ int main() { gpio_set_dir(LED_PIN, GPIO_OUT); gpio_put(LED_PIN, 1); - init_gyro(); + + Gyro_Init(); while (1) { /*gpio_put(LED_PIN, 0); @@ -45,77 +28,6 @@ int main() { puts("Bonjour"); sleep_ms(1000);*/ sleep_ms(1000); - read_gyro(); + Gyro_Read(); } } - -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, ®, 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(); - - - - -} \ No newline at end of file