260 lines
7.8 KiB
C
260 lines
7.8 KiB
C
#include "gyro_ADXRS453.h"
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#include "Monitoring.h"
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#include "Robot_config.h"
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#include "spi_nb.h"
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#include <stdio.h>
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#ifdef GYRO_ADXRS453
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#define NB_MAX_CHAR_GYRO 4
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struct {
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unsigned short SQ:3;
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unsigned short ST:2;
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unsigned short P0:1;
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unsigned short P1:1;
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unsigned short PLL:1;
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unsigned short Q:1;
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unsigned short NVM:1;
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unsigned short POR:1;
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unsigned short PWR:1;
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unsigned short CST:1;
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unsigned short CHK:1;
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int16_t rateData;
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} Gyro_SensorData;
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void Gyro_traitementDonnees(unsigned char * tamponRecu);
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unsigned char pariteOctet(unsigned char octet);
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int gyro_spi_wr_32bits(uint16_t *transmit_buffer, uint8_t *recieve_buffer){
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int nb_recu;
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cs_select();
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if(spi_nb_write_data(spi0, (uint16_t*) transmit_buffer, 4) == SPI_ERR_TRANSMIT_FIFO_FULL){
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//puts("gyro_spi_wr_32bits: SPI_ERR_TRANSMIT_FIFO_FULL");
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}else{
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while(spi_nb_busy(spi0));
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nb_recu = spi_nb_read_data_8bits(spi0, recieve_buffer);
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}
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if(nb_recu != 4){
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//puts("gyro_spi_wr_32bits: nb_recu incohérent");
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}
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cs_deselect();
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}
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void affiche_tampon_32bits(uint8_t *tampon){
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uint32_t valeur;
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valeur = (tampon[0] << 24) + (tampon[1] << 16) + (tampon[2]<<8) + tampon[3];
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printf("Tampon: %#010x\n", valeur);
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}
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int gyro_get_sensor_data(uint16_t tampon_envoi[], uint8_t tampon_reception[]){
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tampon_envoi[0] = 0x30;
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tampon_envoi[1] = 0x00;
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tampon_envoi[2] = 0x00;
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tampon_envoi[3] = 0x01;
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gyro_spi_wr_32bits(tampon_envoi, tampon_reception);
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Gyro_traitementDonnees(tampon_reception);
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if(Gyro_SensorData.SQ != 0x4){
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Monitoring_Error("Gyro Failed - SQ bits != 0x4\n");
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if(tampon_reception[1] & 0x04){
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//printf("SPI ERROR\n");
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return 1;
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}else{
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/*while(1){
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affiche_tampon_32bits(tampon_reception);
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printf("Gyro Failed - SQ bits (%#3x)!= 0x4\n", Gyro_SensorData.SQ);
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}*/
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//set_position_avec_gyroscope(0);
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}
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}
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if(Gyro_SensorData.ST != 0x1){
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Monitoring_Error("Gyro Failed - Status != 0x1\n");
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/*while(1){
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printf("Gyro Failed - Status (%#3x)!= 0x1\n", Gyro_SensorData.ST);
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affiche_tampon_32bits(tampon_reception);
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}*/
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//set_position_avec_gyroscope(0);
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return 1;
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}
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return 0;
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}
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int gyro_init_check(){
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// Renvoi 0 si l'initialisation s'est bien passée
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// Renvoi 1 si le gyroscope n'a pas répondu
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uint16_t tampon_envoi[5]={0, 0, 0, 0, 0};
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uint8_t tampon_reception[5]="\0\0\0\0\0";
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// On suit les instructions de la page 20 de la fiche technique
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sleep_ms(100); // init du gyro - On ignore la réponse
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//printf("T=100ms\n");
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tampon_envoi[0] = 0x30;
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tampon_envoi[1] = 0x00;
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tampon_envoi[2] = 0x00;
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tampon_envoi[3] = 0x02;
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gyro_spi_wr_32bits(tampon_envoi, tampon_reception);
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Gyro_traitementDonnees(tampon_reception);
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affiche_tampon_32bits(tampon_reception);
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sleep_ms(50); // t=150ms - On ignore, les données ne sont pas actualisées
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//printf("T=150ms\n");
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tampon_envoi[0] = 0x30;
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tampon_envoi[1] = 0x00;
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tampon_envoi[2] = 0x00;
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tampon_envoi[3] = 0x01;
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gyro_spi_wr_32bits(tampon_envoi, tampon_reception);
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Gyro_traitementDonnees(tampon_reception);
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if(Gyro_SensorData.SQ != 0b100){
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printf("Gyro_Init - SQ bits (%#01x)!= 0x4", Gyro_SensorData.SQ);
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return 1;
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}
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affiche_tampon_32bits(tampon_reception);
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sleep_ms(50); // t=200ms - En cours d'autotest
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//printf("T=200ms\n");
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tampon_envoi[0] = 0x30;
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tampon_envoi[1] = 0x00;
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tampon_envoi[2] = 0x00;
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tampon_envoi[3] = 0x01;
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gyro_spi_wr_32bits(tampon_envoi, tampon_reception);
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Gyro_traitementDonnees(tampon_reception);
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if(Gyro_SensorData.SQ != 0b100){
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printf("Gyro_Init - SQ bits (%#01x)!= 0x4", Gyro_SensorData.SQ);
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return 1;
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}
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affiche_tampon_32bits(tampon_reception);
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sleep_us(1); // t=200ms + TD - résultats de 200ms + TD, en cours d'autotest.
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//printf("T=200ms+TD\n");
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tampon_envoi[0] = 0x30;
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tampon_envoi[1] = 0x00;
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tampon_envoi[2] = 0x00;
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tampon_envoi[3] = 0x01;
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gyro_spi_wr_32bits(tampon_envoi, tampon_reception);
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Gyro_traitementDonnees(tampon_reception);
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if(Gyro_SensorData.SQ != 0b100){
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printf("Gyro_Init - SQ bits (%#01x)!= 0x4", Gyro_SensorData.SQ);
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return 1;
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}
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//affiche_tampon_32bits(tampon_reception);
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sleep_us(1); // t=200ms + 2TD - doit être nominal
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//printf("T=200ms+2TD\n");
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tampon_envoi[0] = 0x00;
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tampon_envoi[1] = 0x00;
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tampon_envoi[2] = 0x00;
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tampon_envoi[3] = 0x00;
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if(gyro_get_sensor_data(tampon_envoi, tampon_reception)){
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return 1;
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}
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return 0;
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}
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int gyro_config(){
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return 0;
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}
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void gyro_get_vitesse_brute(struct t_angle_gyro* angle_gyro, struct t_angle_gyro* angle_gyro_moy){
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uint16_t tampon_envoi[5]={0, 0, 0, 0, 0};
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uint8_t tampon_reception[5]="\0\0\0\0\0";
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int16_t rot_z;
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sleep_us(1); // A supprimer plus tard
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if(gyro_get_sensor_data(tampon_envoi, tampon_reception)){
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return;
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}
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rot_z = -Gyro_SensorData.rateData;
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if(angle_gyro_moy == NULL){
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angle_gyro->rot_x = 0;
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angle_gyro->rot_y = 0;
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angle_gyro->rot_z = rot_z * 32;
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}else{
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angle_gyro->rot_x = 0;
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angle_gyro->rot_y = 0;
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angle_gyro->rot_z = (int32_t) rot_z * 32 - angle_gyro_moy->rot_z;
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}
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}
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void gyro_get_vitesse_normalisee(struct t_angle_gyro* _vitesse_angulaire,
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struct t_angle_gyro_float * _vitesse_gyro){
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_vitesse_gyro->rot_x = (float)_vitesse_angulaire->rot_x * 0.0125 / 32.0;
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_vitesse_gyro->rot_y = (float)_vitesse_angulaire->rot_y * 0.0125 / 32.0;
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_vitesse_gyro->rot_z = (float)_vitesse_angulaire->rot_z * 0.0125 / 32.0 * 360. / 357.; // Gain mesuré
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}
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inline unsigned char Gyro_commande_SensorData(unsigned char autotest){
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// On met SQ2 à 1 afin de différencier facilement une erreur et des données
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uint8_t tamponGyroscopeEnvoi[4];
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tamponGyroscopeEnvoi[0] = 0x30;
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tamponGyroscopeEnvoi[1] = 0x00;
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tamponGyroscopeEnvoi[2] = 0x00;
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if (autotest){
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tamponGyroscopeEnvoi[3] = 0x03;
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}else{
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tamponGyroscopeEnvoi[3] = 0x01;
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}
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// La parité, dans ce cas est triviale, autant prévoir tous les cas
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//Gyro_commande_PariteData(tamponGyroscopeEnvoi);
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//return SPI_envData(tamponGyroscopeEnvoi);
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}
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void Gyro_commande_PariteData(unsigned char* tampon){
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unsigned char parite=0,i;
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// Obtention de la parité actuelle
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for(i=0 ; i< NB_MAX_CHAR_GYRO ; i++){
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parite ^= pariteOctet(tampon[i]);
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}
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// On veut une parité impaire
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parite ^= 0x01;
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// On insere ce bit dans le message, au bon endroit
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tampon[NB_MAX_CHAR_GYRO-1] = tampon[NB_MAX_CHAR_GYRO-1] | parite;
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}
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unsigned char pariteOctet(unsigned char octet){
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unsigned char parite=0,i;
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for (i=0 ; i<8 ; i++){
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parite ^= octet & 0x01;
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octet = octet >> 1;
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}
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return parite;
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}
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void Gyro_traitementDonnees(uint8_t * tamponRecu){
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Gyro_SensorData.SQ = (tamponRecu[0]>>5) & 0x07;
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Gyro_SensorData.P0 = (tamponRecu[0]>>4) & 0x01;
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Gyro_SensorData.ST = (tamponRecu[0]>>2) & 0x03;
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Gyro_SensorData.rateData = (int)
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( (0xC000 &((unsigned int) (tamponRecu[0] & 0x03)<<14)) |
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( 0x3FC0 & ((unsigned int) tamponRecu[1] << 6)) |
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( 0x003F & (unsigned int) ( tamponRecu[2] >> 2)));
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Gyro_SensorData.PLL = (tamponRecu[3] & 0x80) >> 7;
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Gyro_SensorData.Q = (tamponRecu[3] & 0x40) >> 6;
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Gyro_SensorData.NVM = (tamponRecu[3] & 0x20) >> 5;
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Gyro_SensorData.POR = (tamponRecu[3] & 0x10) >> 4;
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Gyro_SensorData.PWR = (tamponRecu[3] & 0x08) >> 3;
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Gyro_SensorData.CST = (tamponRecu[3] & 0x04) >> 2;
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Gyro_SensorData.CHK = (tamponRecu[3] & 0x02) >> 1;
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Gyro_SensorData.P1 = (tamponRecu[3] & 0x01);
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}
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#endif
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