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 GIT binary patch literal 8504 zcmeHMYiwM_6`s4hNgU!N>%@8B8d$)pf*P;a#!4d^Dm!+ZShXEDF;Gy|n``g2eU*J_ z_b#z{niPo$Q3U}7L;-I_f&if^RU<WOn>Lj~L6wUll~z?1RbHDdNuiQK1u8+=e&5WU z&GiyQk@(RcImz*vZ_b%B@40hk@7>YYV;F|e6cC#P(eaQW+98iM;!j8{X%`W(9J(t+ zBlVe=YlL{Y#*mDpAcs6&3dyqVup~!NfUNaF=!SrYP%rs%U^4Z{mJH#g3~>U^$xFOE z+SIHj2PAJpMhBSnvUC7{!_bGJCoce#sn>1Dz&?Yz$=%2&Yu&d?ZXEDa#PVVA9_an` z{~LK^mS@{q63%c-BHo;EQu&EyE1Mi2jpowP>!Ff1^^hEcodY+Cub&-C1+RJRy^mgc zX7k@}{^(D4TzA=V`e8lvMH>?B*)I~)v>}#lIun?h>S#O4JkG-k@aZ4jd9?ixy{p4_ zK7H4__ci?F^(X!_^UZr6zw7RQ)~${X-1xz7Zhz%*m@OjKrzwKO6&gSiZ?3{=A6|oW zPZhqq3inmvp(;F4g%4KYLsi(S!outw>Nn$d)*f?muALp~?@FXo_K-E4u!U)kCDSQ0 z=UQ3UG?nQ^4dZsgniLr))t`>rBJPYiu9dhY>$tW!;AEZD*r2o5cJmpLIgnJ@_Jre# zOy122YdD>CQ56=zh*wq8a#8|Vm&HmT9N~)CB6jxmZtpVNqTDV%QZpUE3^Qfm-;0o3 z6Qp{_S;^V|nS!D{91!bZSPQux3m{C1#ZXU)O|y{_3#E|~iz7k_`zFfeLTsX3hWVwe z6(UA?8P-xq^Z7O*-maNCc`h{DTnf!jmsZUlo~>E<b?LPgSS`OhJQx1`Lvycv^sACi zpYo+o_|nIG=@)$If-n7~Fa5ADeaM%dV)|HNUd$HeL*ZxMTp1}8LlLx1G?&7src0qy z&81o~U8;>um*&dlw->;hml@*75<|=^HAFq~>m$>pVC?X0AoA#2*v<1-mRpR!mdpPT z=o2SmBg$`toe+DA)P+@A+N~|O6uU7#WKt7so5HY-b<RF_RiW5bci-%9!^b|iTo_}! zv4iE_U_JBUsgoOL(N-gdzQs<LfX}gxzq4Jtn$L%h{a~)<O#fVsSW&7CuPFT-wjx$2 z8X`B3^Pu4z+VLFAi^BX%kQ?A95H3JhD82~X;KN6O*8v-z{>Q-UefSyRr{V8#mEA$l zPI%?+0p1WP%)1<)*rTOjxKIqBzB`fMfc)=P<>!fve$cdtS@$PQrUv%T8yeqgp& z<1t|LRrV!x=38^((8+UWF{l3mcW@r?9SVaNb~c|EnL=^bzUk7g!RgY{eTQe441)Ld z%o<Z@+rx!oFMRb_$BGLNoU9QYSVOTNzPTK0s0M9chPE3W_s?CAISz@NiyxND4X``6 z3BDs>tc4=?1os2KGB;rUZv<njNQqC5lue$*-jSFqg?9XYQLgnQHnGIma#CLF$vRJd z)ssAzS#E<TdBziC>q-eBiTZWm2Jm|DE&k&wGHN*qJC1CgZIP^P#U~?Ii=lBGmyrW@ zWGoFNL}w~alylRW|GWOxd|bYlV{wTtjliW5xHJNnM&Qy2d|4w<!2NIn%<s!nU`pP( z`E71QEX;3p4EGJjsf;_n0?Bxb-`ZMW6($Su{wL-1al??``k8<s<Fk)}c}F-2W^BfL zJipT<#&QC87~T;E!Hf<0{pYuQCTPg?X-LLb{O<GaK>10zoIZm5G9=rIdv5wc;4eyy zk2P&VKmQlj_LSd2@ts{=H$*n=v2vMV$4W(7W6`!~Yx9<`Wiw9ebsmhg#oAh9t*tT9 z8AUP6wuT*H@TRn6i&(m}##nA#7FZKnYt$R-j19q!#^pvspwYPIvwFmL15!}Vl#1mQ zR{eRbqL(8qI44TaSrdYDLJE4X3Y;s28Bq(N$1*4o7=bv}q@Wyq#Mc$fTbP<F%AlNS zwPqCNj3dUv*ph;BMXC1{g}JiS+ERFx#9Oh}6y~i`y|pN;qQK+0k1EX7qSmCsTq$Zz zD$EswCFad@P_8g$sBsE<D{*TD^X7>6kP7BXyg)%jM}7)oN2r#l+>m&;+>4|hfA*Mh zKi`uStrXPr?MP8r;y0`Gy8l9~mU`Vj-fVY!B`H`R{V({+KjFgx>|EAYi@mLArECxP zw4xOfb8jnJC60J03hlqC%D&xa|4x-X>)Te*uNEKruz~)tz4gBKEJxKE>-M($^tA8r zVTRrsYx{&xFYEW_kK@JiJlhnl6jvgtu`d6#Pu~tb=bt4EoJ4Z`D(A#n`PRlWk7VFP zqJN&BidKp-BsJFld1fkFBXZDd%#)4&^?KvU_lS0de7&A#eB()b8TUzts(*~{6{-0? zfmmPTr*sk-dOrCUp!M|ERPnFY2j2{|{v9txq1)3~S-)z2HRk-%pWdH5&7X%Wjn#>M z!6E$}hhC4Tz<9g@toJKkEX3=;dc3GF0_**2VE=Ob_4xu%vi_}=^;#?S+kE&#lxP2V z60X7iSf-~2I0C*OSnsz8*3Y%TdVa!~pH|?%c;)NR-`jw9dFze(ZHw&Ji!NYIJe>xs zumP<1-<rTGaVxOjpAF3UW_#<<o(%9AU;TFhYoh;yz`Ffm*dMOaKU;-=0sMx~->W`- z1pfXEyv^%hU0}VK_vu;Rd%!%eRQpy71D_nOuYJ&Qd{1G#{rx!vdwm{KU#C7%u%<oU z!h!wvS6As<fc^9F4PdVSO{j<dI)J%fbbAJT_H6%cz?vdRxIWDKR{-ntaZLc<ua<l+ zD<8GTMn+ojp6$JCkEQbbjE|4Dw8mPZQSbl7^dnifHJTPpanWRbDc&4-8?h1z^MGyb zH%C)niqjOGX5E~dA03U32)cKYnS^7<&Cy{8&$}0%mQ6Qlj_`3ghu7YC+8j%yhpmJe zchlLNY2_!xNE#(=*N#VH7q>7+os?r**{n5b+9@|XDMqta(l+DyWO5Qke8_~QyT~+| zMn!0%ofvJVGMe6tB0YOL`*)Z-2D<say|_?ZnBBJyboTdlE!N2AaAEH3+r7QB&)nV9 zvv<dkIn=qmZwFn-XY7$&UbgjfUe||nxys{ue_MC&9<y&p&yX<fxaC@lpV2E1=cdV0 zb}Ehr9~igo#NLdJC#wEd7T?pmbJq}toUid1V|Y>i<x6|Vg@^M`y|(*wgSYgXgS`V@ zQ>uOeFypzjIc}xm_;r9!_`Y&x?`~8UcT#3PhX(mZf}>sealq7V_dm43x-u3*zW(c0 zs2-UnewWa*#2+j!`YVL|CBfGs5zS2|U27Q9%_=#rQ%(v$c4R~}m3HkYHf3};@8IVr zC+=l+Ztrb&tuY~W<5q55MB|ew_*2r&D$VV7Hs_>Mi+~AT)=tn~B{B(DMCBkvU3&s) zE@P<Da+;%^d-|go%lL$d+T&^sD|5AcmAOvCsg-m_P+=O5lmiT%h+^|3u_uIdXSr_H z8P2=dYF~gDpW!$ZJgONh@b^Z>ZknhgT?^(7pLXi^K)&f;AfBP5EnscOyX|9e5TU{& zZPyL_0b()wW6Z&C`!1yU_DiB2c>v7FfOd>UK8D>Hq#1o6DQ$SuzZuNqnRbj(W{_YU zsfo6v?|~T$(vGpqgDAw<RM*RV@_sO5N2VFm9D!W~X@9+d;tud~Fzp!YoQ56aPVJ9< zApSm>cH6;>S7%_yIF@#dakbq;NVBc1hu@Y)C~A?`L_5+0U~Q*jQ6X4X6Ya>4fVCaJ zrTo#<e-F_9p7h!AjuFEovfY}r-LuG`KlYd3@~yCQnc<PPdmb3snS+q(_iyD-MRBTa zEb>!jC;jp6cN~>!AJpsgFOg=%hhdX<JpQh%b;y!w;#a|p1Zl^+V(n+x{SkVOG3|JV z<nQ1MULJ(>$NrxMvwO6YcS$U^txS8wI>|+_w&R^@E9@>dZ*Rele(8^QlWy4g`#~S1 zcfd@?2tc&sgMcRL$nS&UE2HzXuxrr(Qv0LioM}1&yD7{a_y0{`wgFjkjmo|vO=?0I Xd%rJ3`(rfi%N8%dQ6;p1PTTz#CQOV; 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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