121 lines
2.7 KiB
C
121 lines
2.7 KiB
C
#include <stdio.h>
|
|
#include "pico/stdlib.h"
|
|
#include "hardware/gpio.h"
|
|
#include "hardware/spi.h"
|
|
#include "hardware/i2c.h"
|
|
#include "pico/binary_info.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"));
|
|
|
|
stdio_init_all();
|
|
|
|
gpio_init(LED_PIN);
|
|
gpio_set_dir(LED_PIN, GPIO_OUT);
|
|
gpio_put(LED_PIN, 1);
|
|
|
|
init_gyro();
|
|
|
|
while (1) {
|
|
/*gpio_put(LED_PIN, 0);
|
|
sleep_ms(251);
|
|
gpio_put(LED_PIN, 1);
|
|
puts("Bonjour");
|
|
sleep_ms(1000);*/
|
|
sleep_ms(1000);
|
|
read_gyro();
|
|
}
|
|
}
|
|
|
|
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();
|
|
|
|
|
|
|
|
|
|
} |