• Hardware
  • Hardware Requierments
  • HArdware Setup
  • Software setup

Hardware

Hardware Requierments

• Any 96Boards CE Board
• Shiratech fpga Mezzanine
• I2C Shield or Sensor
  • For the Purpose of this guide I will be using:
    • L298n Motor Controller Module
    • 2x 12v 300rpm Motors

HArdware Setup

• Connect the Shiratech Mezzanine to the 96Boards CE Development Board
• Wire the L298n Modukle to the Arduino Header in the following manner:

Software setup

• Install MRAA on 96Boards CE
• Download fpga Mezzanine Library
• Paste the following code into a file named l298n.c ```C /* // Title: l298n.c // Author: Sahaj Sarup // Copyright (c) 2019 Linaro Limited */

#include #include

/* mraa header */ #include “mraa/i2c.h”

#include “fpga_mezz.h”

/Turn Both Motors Clockwise/ int front(mraa_i2c_context i2c) { digitalWrite(7, HIGH, i2c); digitalWrite(6, LOW, i2c); digitalWrite(5, HIGH, i2c); digitalWrite(4, LOW, i2c); }

/Stop Both Motors/ int stop(mraa_i2c_context i2c) { digitalWrite(7,LOW,i2c); digitalWrite(4,LOW,i2c); digitalWrite(6,LOW,i2c); digitalWrite(5,LOW,i2c); }

/Turn Both Motors Anticlockwise/ int back(mraa_i2c_context i2c) { digitalWrite(7, LOW, i2c); digitalWrite(6, HIGH, i2c); digitalWrite(5, LOW, i2c); digitalWrite(4, HIGH, i2c); }

/Turn Both Motors in Opposite Directions/ int rot_l(mraa_i2c_context i2c) { digitalWrite(7, LOW, i2c); digitalWrite(6, HIGH, i2c); digitalWrite(5, HIGH, i2c); digitalWrite(4, LOW, i2c); }

/Turn Both Motors in Opposite Directions/ int rot_r(mraa_i2c_context i2c) { digitalWrite(7, HIGH, i2c); digitalWrite(6, LOW, i2c); digitalWrite(5, LOW, i2c); digitalWrite(4, HIGH, i2c); }

int main() { /Initialise MRAA I2C/ mraa_result_t status = MRAA_SUCCESS; mraa_i2c_context i2c; mraa_init();

/*Use I2C Bus0 for fpga Mezzzanine*/
i2c = mraa_i2c_init(I2C_BUS);

int ver;

if (i2c == NULL) {
    fprintf(stderr, "Failed to initialize I2C\n");
    mraa_deinit();
    return EXIT_FAILURE;
}

/* set slave address */
status = mraa_i2c_address(i2c, fpga_MEZZI_ADDR);
if (status != MRAA_SUCCESS) {
}

/* Simple Test function to test the I2C Communication */
if(test(i2c)==0)
{
    printf("Test Passed\n");
}
else
{
  printf("Test Failed\n");
  return 1;
}

/* Check Firmware Revision of the fpga Mezzanine */
ver = check_version(i2c);
if(ver == -1)
{
  printf("Version Check Error\n");
  return 1;
}
else
{
  printf("Version %d\n",&ver);
}

/* Set Pins 7,6,5 and 4 as output */
pinMode(7,OUTPUT,i2c);
pinMode(6,OUTPUT,i2c);
pinMode(5,OUTPUT,i2c);
pinMode(4,OUTPUT,i2c);


while(1)
{
    /* Turn the motors in a set pattern */
    front(i2c);
    sleep(2);
    back(i2c);
    sleep(2);
    rot_l(i2c);
    sleep(2);
    rot_r(i2c);
    sleep(2);
    stop(i2c);
    sleep(5);
} }

```

• Compile using: gcc l298n.c <path-to-fpga_mezz_lib>/src/fpga_mezz.c -o l298n -I<path-to-fpga_mezz_lib>/include/
• Run using: sudo ./l298n
  • Both the motors should turn in one direction, and the opposite directions and repeat the motion.