RPiPico-Holonome2023/gyro.c

#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
#include "hardware/spi.h"
#include "hardware/structs/spi.h"
#include "spi_nb.h"
#include "Temps.h"

const uint PIN_CS = 1;

/// @brief structure d'échange des angles du gyrocope
struct t_angle_gyro{
    int32_t rot_x, rot_y, rot_z;
} angle_gyro, angle_gyro_moy;

int gyro_init_check();
void gyro_config();
int gyro_read_register_blocking(uint8_t registrer, uint8_t *tampon, uint8_t nb_a_lire);
void gyro_get_angles(struct t_angle_gyro* angle_gyro);
void gyro_calibration(void);

uint32_t rot_x_zero, rot_y_zero, rot_z_zero;





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
    //spi_init(spi0, 2 * 1000 * 1000); // SPI init @ 2 MHz

    //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");
        gyro_config();
    }
    //gyro_calibration();
}

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;
}

void gyro_config(){
    // Registre CTRL1
    // DR : 11
    // BW : 10
    // PD : 1
    // Zen : 1
    // Yen : 1
    // 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");
        }
    }else{
        puts("gyro_config ok !");
    }

    // Registre 


}


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, &reg, 1);
    sleep_ms(10);
    nb_recu = spi_read_blocking(spi0, 0, tampon, nb_a_lire);
    cs_deselect();
    
}

void Gyro_Read(uint16_t step_ms){
    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;


    spi_read_register(spi0, 0x20, tampon, 1);
    //printf ("Gyro CTRL1 (bis) : %#4x\n", tampon[1] );

    //printf ("RPI SSPCPSR : %#4x\n", spi_get_hw(spi0)->cpsr );
    //printf ("RPI SSPCR0 : %#4x\n", spi_get_hw(spi0)->cr0 );

    gyro_get_angles(&angle_gyro);

    angle_x = angle_x + (double)angle_gyro.rot_x * step_ms * 0.001 * 0.00875 * 0.125;
    angle_y = angle_y + (double)angle_gyro.rot_y * step_ms * 0.001 * 0.00875 * 0.125;
    angle_z = angle_z + (double)angle_gyro.rot_z * step_ms * 0.001 * 0.00875 * 0.125;
    
    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);
}

void gyro_get_angles(struct t_angle_gyro* angle_gyro){
    uint8_t tampon[10]="\0\0\0\0\0\0\0\0\0";
    int16_t rot_x, rot_y, rot_z;
    spi_read_register(spi0, 0x28, tampon, 6);
    
    rot_x = -(tampon[1] + (tampon[2] << 8));
    rot_y = -(tampon[3] + (tampon[4] << 8));
    rot_z = -(tampon[5] + (tampon[6] << 8));

    angle_gyro->rot_x = (int32_t) rot_x * 8;
    angle_gyro->rot_y = (int32_t) rot_y * 8;
    angle_gyro->rot_z = (int32_t) rot_z * 8;

    

}

void gyro_calibration(void){
    uint16_t nb_ech = 3000;
    uint32_t m_temps_ms = Temps_get_temps_ms();

    printf("Calibration...\n");

    angle_gyro_moy.rot_x = 0;
    angle_gyro_moy.rot_y = 0;
    angle_gyro_moy.rot_z = 0;
    
    for(uint16_t i=0; i<nb_ech; i++){
        while(m_temps_ms == Temps_get_temps_ms());
        gyro_get_angles(&angle_gyro);
        angle_gyro_moy.rot_x += angle_gyro.rot_x;
        angle_gyro_moy.rot_y += angle_gyro.rot_y;
        angle_gyro_moy.rot_z += angle_gyro.rot_z;
    }
    angle_gyro_moy.rot_x = angle_gyro_moy.rot_x / nb_ech;
    angle_gyro_moy.rot_y = angle_gyro_moy.rot_y / nb_ech;
    angle_gyro_moy.rot_z = angle_gyro_moy.rot_z / nb_ech;

    printf("Calibration : rx : %f, ry : %f, rz: %f\n", angle_gyro_moy.rot_x, 
    angle_gyro_moy.rot_y, angle_gyro_moy.rot_z);

}