From b4521b36533435de41e7b3361c512ad9c4ff7793 Mon Sep 17 00:00:00 2001
From: Damien Wiame <damien.wiame@student.uclouvain.be>
Date: Mon, 21 Nov 2022 17:36:00 +0100
Subject: [PATCH] spi minibot
---
SPI/MySPI.sv | 30 -----------------------
encoder.cpp | 63 ++++++++++++++++++++++++++-----------------------
led_control.cpp | 31 ++++++++++++++++++++++++
3 files changed, 64 insertions(+), 60 deletions(-)
delete mode 100644 SPI/MySPI.sv
create mode 100644 led_control.cpp
diff --git a/SPI/MySPI.sv b/SPI/MySPI.sv
deleted file mode 100644
index 89e6546..0000000
--- a/SPI/MySPI.sv
+++ /dev/null
@@ -1,30 +0,0 @@
-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
diff --git a/encoder.cpp b/encoder.cpp
index 4415f02..6be99d0 100644
--- a/encoder.cpp
+++ b/encoder.cpp
@@ -1,52 +1,55 @@
-#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
diff --git a/led_control.cpp b/led_control.cpp
new file mode 100644
index 0000000..44d5ab7
--- /dev/null
+++ b/led_control.cpp
@@ -0,0 +1,31 @@
+#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
--
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