on progresse dans en can

Makefile

@@ -32,7 +32,7 @@ compile_UART :
 	g++ -o uart uart.cpp -lwiringPi
 
 compile_spi : 
-	g++ -o spi spi.cpp -l wiringPi
+	g++ -o spi spi.cpp 
 
 compile_encoder : 
 	g++ -o encoder encoder.cpp -l wiringPi

motor.c

+
 #include <stdio.h>
 #include <stdlib.h>
 

spi.cpp

 #include <stdlib.h>
 #include <stdio.h>
-#include <wiringPi.h>
-#include <wiringPiSPI.h>
+#include <string.h>
+#include <unistd.h>
 
-#include <iostream>
+#include <net/if.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
 
-using namespace std;
 
-const int CHANNEL_CAN = 1;
 
 int main(int argc, char const *argv[])
 {
-    int result, fd;
-    unsigned char buff[30];
+    int fd;
+    struct sockaddr_can addr;
+    struct ifreq ifr;
+    struct can_frame frame;
+    
+    printf("CAN TRY\n");
     
-    fd = wiringPiSPISetup(CHANNEL_CAN, 500000);
-    if (fd == -1) {
-        printf("Error setup\n");
+    fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+    if (fd < 0) {
+        perror("error socket");
         exit(EXIT_FAILURE);
     }
-    
-    int reg = 0x40;
-
-    int GPIO[] = {0b00000001, 0b00000010, 0b00001000, 0b00010000};
-    buff[0] = reg;
-    for (int i = 0; i < 4; i++) {
-        buff[1] = GPIO[i];
-        printf("buff %i : %x %x\n",i, buff[0], buff[1]);
-        result = wiringPiSPIDataRW(CHANNEL_CAN, buff, 2);
-        printf("buff %i : %x %x\n",i, buff[0], buff[1]);
-        buff[0] = reg;
-        delay(1500);
+
+    strcpy(ifr.ifr_name, "can0");
+    ioctl(fd, SIOCGIFINDEX, &ifr);
+
+    memset(&addr, 0, sizeof(addr));
+    addr.can_family = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+
+    if (bind(fd, (struct sockaddr *) &addr, sizeof(addr)) < 0) {
+        perror("error bind");
+        exit(EXIT_FAILURE);
+    }
+
+    frame.can_id = 0x02;
+    frame.can_dlc = 1;
+    frame.data[0] = 0b011111111;
+
+
+    if (write(fd, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
+        perror("error write");
+        exit(EXIT_FAILURE);
     }
 
+    // int nbytes;
+    // struct can_frame readframe;
+
+
+    // nbytes = read(fd, &readframe, sizeof(struct can_frame));
+
+    // if (nbytes < 0) {
+    //     perror("reading");
+    //     exit(EXIT_FAILURE);
+    // }
+
+    // printf("0x%x [%d]\n", readframe.can_id, readframe.can_dlc);
+    // for (int i = 0; i < frame.can_dlc; i++)
+    // {
+    //     printf("0x\n", readframe.data[i]);
+    // }
+    
+    // printf("\r");
+
     return 0;
 
 }