From 99b3496b4e4082c39acf43737f59584b6b86bb4c Mon Sep 17 00:00:00 2001
From: ddebernardde <diego.debernard@student.uclouvain.be>
Date: Wed, 16 Nov 2022 19:11:50 +0100
Subject: [PATCH] plein de choses

---
 .vscode/settings.json    |   5 +++++
 Makefile                 |   8 +++++++-
 encoder.c => encoder.cpp |  28 +++++++++++++++++++++++-----
 motor                    | Bin 0 -> 8504 bytes
 spi                      | Bin 0 -> 8936 bytes
 spi.cpp                  |   8 ++++----
 6 files changed, 39 insertions(+), 10 deletions(-)
 create mode 100644 .vscode/settings.json
 rename encoder.c => encoder.cpp (74%)
 create mode 100755 motor
 create mode 100755 spi

diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..0cba2e6
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "iostream": "cpp"
+    }
+}
\ No newline at end of file
diff --git a/Makefile b/Makefile
index f00e7fa..6f9c00d 100644
--- a/Makefile
+++ b/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
diff --git a/encoder.c b/encoder.cpp
similarity index 74%
rename from encoder.c
rename to encoder.cpp
index 2f64d28..4415f02 100644
--- a/encoder.c
+++ b/encoder.cpp
@@ -1,8 +1,9 @@
-#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
+*/
+}
diff --git a/motor b/motor
new file mode 100755
index 0000000000000000000000000000000000000000..3362d38843b55f93301e17d0e1e0810d601aeb94
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diff --git a/spi b/spi
new file mode 100755
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zFrL?-lYE<GOin$<kGoJw2x(m}^NDu?8N)NpxYB`M9%<IgdgvSBF5o;M^%!rShJewh
zwnshkUj|Zd3y^W>IS2-jrXHg?t@i-Z^p*ASyby;%J<=MeN4OuT_0*k!sEL7;&4)aC
zJdaGXLN>q!ZSN>}ZI9=mX*jK-Xr-w2zU%6-z4Cm9M)7T5gVy^2GMG(0p34Vt8-B5N
zJgM~Z_kpVaS70<DaKcca?L7-t+vB<R5bS9gHFf$0q#2#Fi9EmZ{{U*+LEYa1`G!C}
zo_nXEr)?lhrpdns)MKvxUjZ3#gn0z&&^{j6q<^w&dG5rdj3G}0^@!(yYzOsto{K@R
z)<1~EUxCc09?ywgAE3uLfc7Fl0`<ZwDSs&=@&~r^G7~?0px3M!C6*j@Ic6Gu2)zg#
pVce4dvJJ?Rb6K_(X~OR?XuTA=AnQb$Hy>WTHCLm&7DA?z{|1d2U1tCQ

literal 0
HcmV?d00001

diff --git a/spi.cpp b/spi.cpp
index 36d0168..8f4114b 100644
--- a/spi.cpp
+++ b/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;
+
 }
-- 
GitLab