Merge branch 'guilhem'

implementation/accelerometer.c

@@ -3,28 +3,22 @@
 #include "MySPI.h"
 #include "gpio.h"
 
-void accelerometre()
+void Init_accelerometre()
 {
-	int dataX ;
-	float GX ;
-	int dataY ;
-	float GY;
-	int dataZ ;
-	float GZ;
+	//char testReg;
 	
-	char testReg;
 	MySPI_Init(SPI1);
 	
 	MySPI_Clear_NSS(); //CS LOW
 	MySPI_Send(0x2D);//Registre Auto_sleep + Write + measure a 1
 	MySPI_Send(0x08);// désactive 
 	MySPI_Set_NSS();//CS HIGH
-	
+	/*	
 	MySPI_Clear_NSS(); //CS LOW
 	MySPI_Send(0xAD);// regisstre 0x2D en lecture 
 	testReg = MySPI_Read(); // lecture de la valeur du registre
 	MySPI_Set_NSS();//CS HIGH
-	
+	*/
 	
 	MySPI_Clear_NSS(); //CS LOW
 	MySPI_Send(0X2C);//Registre power consuption + Write
@@ -35,23 +29,43 @@ void accelerometre()
 	MySPI_Send(0x31);//registre Data format + write
 	MySPI_Send(0x17);//
 	MySPI_Set_NSS();//CS HIGH
+}
+
+void Lecture_accelerometre(float* GX, float* GY, float* GZ)
+{
+	int16_t dataX ;
+	int16_t dataY ;
+	int16_t		dataZ ;
 	
 	MySPI_Clear_NSS(); //CS LOW
-	MySPI_Send(0xF2);
-	dataX = MySPI_Read()<<8;
-	dataX |= MySPI_Read();
-	dataX &= 0xE;
-	GX = dataX*0.004;
+	
+	MySPI_Send(0xF2);//lecture 1er registre accéléromètre + lecture multibytes
+	dataX = MySPI_Read()<<8; // données sur 13 (12 data + sign) bits passage 8 bit en PF
+	dataX |= MySPI_Read(); //lecture SPI
+	dataX &= 0x1FFF; //masquage au dessus du bit 13
+	if (dataX > 511)
+	{
+	dataX -= 1024;
+	}
+	*GX = dataX*0.004;//valeur du registre x pas accelerometre
+		
 	dataY = MySPI_Read()<<8;
 	dataY |= MySPI_Read();
-	dataY &= 0xE;
-	GY = dataY*0.004;
-	dataZ = MySPI_Read()<<8;
-	dataZ |= MySPI_Read();
-	dataZ &= 0xE;
-	GZ = dataZ*0.004;
+	dataY &= 0x1FFF;
+	if (dataY > 511)
+	{
+	dataY -= 1024;
+	}
+	*GY = dataY*0.004;//valeur du registre x pas accelerometre
+	
+	dataZ = ((MySPI_Read()<<8)|MySPI_Read());
+	dataZ &= 0x1FFF;
+/*	if (dataZ > 511)
+	{
+	dataZ -= 1024;
+	}
+*/
+	*GZ = dataZ*0.004;//valeur du registre x pas accelerometre		
+	
 	MySPI_Set_NSS();//CS HIGH
-	
-	
-	
 }

implementation/accelerometer.h

@@ -2,7 +2,7 @@
 #define INC_ACCELEROMETER_H_
 
 #include "../driver/MySPI.h"
-void accelerometre();
-
+void Init_accelerometre();
+void Lecture_accelerometre(float *GX, float* GY, float* GZ);
 
 #endif

keilproject/Source/Principale.c

@@ -4,16 +4,21 @@
 #include "motoreducteur.h"
 #include "rtc.h"
 #include "remote.h"
+#include "accelerometer.h"
 
 void initImplementation(void);
 
+float GX, GY, GZ;
 int main (void)
 {
+
 	//MyGPIO_Struct_TypeDef led = {GPIOA,5,Out_PullUp};	//led
-	//MyGPIO_Init(&led);																//test des leds pour ignorer les contraintes liées aux différents ports
+	//MyGPIO_Init(&led);																//test des leds pour ignorer les contraintes li<EFBFBD>es aux diff<66>rents ports
 	initImplementation();
 	//MyRTC_GetTime(&sec, &min, &hour, &day, &date, &month, &year);
- 	while(1){};
+ 	while(1){
+	Lecture_accelerometre(&GX,&GY,&GZ);
+	};	
 }
 
 void initImplementation(void)
@@ -21,6 +26,7 @@ void initImplementation(void)
 	MyServo_Init();
 	MyServo_ChangeAngle(179);
 	initRemote();
+	Init_accelerometre();
 	testRemote();
 	MyMotor_Init();
 	MyMotor_ChangeSpeed(0);