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##Connectivity Motor & Encoder & raspberry pi3

• KIST board --- Raspberry pi3

• J3 - 3 : SPI DI --- pin 21 (BCM 9) : SPI MISO

• J3 - 4 : SPI DO --- pin 19 (BCM 10): SPI MOSI

• J3 - 5 : SPI CLK --- pin 23 (BCM 11): SPI SCLK

• J3 - 6 : SPI ENA1 --- pin 24 (BCM 8) : SPI CS0

• J3 - 7 : SPI ENA2 --- pin 26 (BCM 7) : SPI CS1

• J4 - 4 : DAC_CLK --- pin 23 (BCM 11): SPI SCLK

• J4 - 5 : DAC_CS --- pin 38 (BCM 20): SPI CS2(by overy dtb)

• J4 - 7 : DAC_DAT --- pin 19 (BCM 10): SPI MOSI

##How to enable spi bus on raspeberry pi3 & Execute program

(raspberrypi) $ sudo raspi-config

enter 5.interfacing option

enter 4.spi

enable

(raspberrypi) $ reboot

after reboot,

(raspberrypi) $ lsmod

check spi_dev

(raspberrypi) $ ls /dev/spi*

check spidev0.0 and spidev0.1

(raspberrypi) $ git clone https://github.com/WookCheolShin/raspi-motor.git

(raspberrypi) $ cd raspi-motor

(raspberrypi) $ make

(raspberrypi) $ sudo ./3_motor_example.out