spi minibot

SPI/MySPI.sv

-module spi_slave(
-	input  logic 		sck,		// From master 
-	input  logic 		mosi,		// From master 
-	output logic 		miso,		// To master 
-	input  logic 		reset,		// System reset 
-	input  logic[31:0] 	d,		// Data to send
-	output logic[31:0] 	q		// Data received
-);
-
-	logic [4:0] cnt; 
-	logic qdelayed;
-
-	// 5-bit counter tracks when full 32-bit word is transmitted
-	always_ff @(negedge sck, posedge reset)
-		if (reset) 	cnt <= 0;
-		else     	cnt <= cnt + 5'b1;
-
-	// Loadable shift register
-	// Loads d at the start, shifts mosi into bottom on each step 
-	always_ff @(posedge sck)
-		q <= (cnt == 0) ? {d[30:0], mosi} : {q[30:0], mosi};
-	
-	// Align miso to falling edge of sck 
-	// Load d at the start
-	always_ff @(negedge sck)
-		qdelayed <= q[31];
-	
-	assign miso = (cnt == 0) ? d[31] : qdelayed;
-
-endmodule

encoder.cpp

-#include <stdlib.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string.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
-const int MISO_PIN_FPGA = 16;   //from RASPI to FPGA
-const int VDD_PIN_FPGA = 29;    //from FPGA to ENCODER  -> ouput data from encoder
-const int ENC_PIN_1A = 38;      //from FPGA to ENCODER  -> ouput data from encoder
-const int ENC_PIN_1B = 36;      //from FPGA to ENCODER  -> ouput data from encoder
-const int ENC_PIN_2A = 35;      //from FPGA to ENCODER  -> ouput data from encoder
-const int ENC_PIN_2B = 34;      //from FPGA to ENCODER  -> ouput data from encoder
-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;
-*/
+using namespace std;
 
-unsigned char rawData[32];
+unsigned char rawData[4];
 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);
+    //memset(rawData,0x33,8);
+    rawData[0]=0x0F;
+    rawData[7]=0x0F;
+    int fd = wiringPiSPISetup(0, 500000);
 
-    for (int i = 0; i<32; i++){ 
-        printf("speed: ", rawData[i], "\n");
-        }
+    //for (int i=0; i<8; i++){
+          // printf("%d", rawData[i]); 
+        //}
+
+    while(1) { 
+        int result = wiringPiSPIDataRW(0, rawData, len);
+        //printf("speed\n");
+        
+        printf("\r%02X %02X %02X %02X", rawData[0], rawData[1], rawData[2], rawData[3]); 
+        fflush(stdout);
+        
+        
+        delay(500);
+    }
+       
     return 0;
+    
+    
+    
+
+    
 /*
     pinMode(ENC_PIN_1A, INPUT);
     pinMode(ENC_PIN_1B, INPUT);
     pinMode(ENC_PIN_2A, INPUT);
     pinMode(ENC_PIN_2B, INPUT);
 */
-}
+}
\ No newline at end of file

led_control.cpp

+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+using namespace std;
+
+unsigned char rawData[4];
+const int len = 32;
+
+int main(int argc, char const *argv[])
+{   
+   
+    if (wiringPiSetup() == -1) {
+        printf("WiringPiSetup failed\n");
+        exit(EXIT_FAILURE);
+    }
+
+    memset(rawData,0x00000007,4);
+    
+    int fd = wiringPiSPISetup(0, 500000);
+    int result = wiringPiSPIDataRW(0, rawData, len);
+
+    printf("speed: %d \n", *rawData);
+
+    return 0;
+}
\ No newline at end of file