plein de choses

.vscode/settings.json

+{
+    "files.associations": {
+        "iostream": "cpp"
+    }
+}
\ No newline at end of file

Makefile

@@ -15,6 +15,9 @@ uart : compile_UART
 spi : compile_spi
 	sudo ./spi
 
+encoder : compile_encoder
+	sudo ./encoder
+
 # compilations
 compile_switch :
 	g++ -o switch switch.cpp -lwiringPi
@@ -31,6 +34,9 @@ compile_UART :
 compile_spi : 
 	g++ -o spi spi.cpp -l wiringPi
 
+compile_encoder : 
+	g++ -o encoder encoder.cpp -l wiringPi
+
 .PHONY : clean
 clean :
-	rm -rf switch motor led i2c uart spi
+	rm -rf switch motor led i2c uart spi encoder

encoder.c → encoder.cpp

-#include <stdio.h>
 #include <stdlib.h>
-
+#include <stdio.h>
 #include <wiringPi.h>
+#include <wiringPiSPI.h>
 
+/*
 const int MOSI_PIN = 12;        //from RASPI to FPGA
 const int MISO_PIN = 13;        //from RASPI to FPGA
 const int MOSI_PIN_FPGA = 14;   //from RASPI to FPGA
@@ -16,19 +17,36 @@ const int SCK_PIN = 14;         //from RASPI to FPGA    -> clock signal
 const int SCK_PIN_FPGA = 13;    //from FPGA to ENCODER  -> clock signal 
 const int SS_PIN_2 = 11;         //CE1 from RASPI to FPGA    -> enable encoder
 const int CE1_PIN_FPGA = 15;
+*/
+
+unsigned char rawData[32];
+const int len = 32;
+const int CHANNEL_DEO = 1;
 
 int main(int argc, char const *argv[])
 {   
+    int result, fd;
+    for (int i = 0; i<32; i++){ 
+        rawData[i] = 0x01;}
+
     if (wiringPiSetup() == -1) {
         printf("WiringPiSetup failed\n");
         exit(EXIT_FAILURE);
     }
+
+    fd = wiringPiSPISetup(CHANNEL_DEO, 500000);
+    result = wiringPiSPIDataRW(CHANNEL_DEO, rawData, len);
     
+    //read(wiringPiSPIGetFd (0), data, len);
 
+    for (int i = 0; i<32; i++){ 
+        printf("speed: ", rawData[i], "\n");
+        }
+    return 0;
+/*
     pinMode(ENC_PIN_1A, INPUT);
     pinMode(ENC_PIN_1B, INPUT);
     pinMode(ENC_PIN_2A, INPUT);
     pinMode(ENC_PIN_2B, INPUT);
-
-    return 0;
-}
\ No newline at end of file
+*/
+}

spi.cpp

@@ -13,14 +13,14 @@ int main(int argc, char const *argv[])
 {
     int result, fd;
     unsigned char buff[30];
-
+    
     fd = wiringPiSPISetup(CHANNEL_CAN, 500000);
     if (fd == -1) {
         printf("Error setup\n");
         exit(EXIT_FAILURE);
     }
-
-    int reg = 0x42;
+    
+    int reg = 0x40;
 
     int GPIO[] = {0b00000001, 0b00000010, 0b00001000, 0b00010000};
     buff[0] = reg;
@@ -32,7 +32,7 @@ int main(int argc, char const *argv[])
         buff[0] = reg;
         delay(1500);
     }
-    
 
     return 0;
+
 }