int main(int argc, char **argv) {
printf("Running ... \n");
// parse the command line
if (comparse(argc, argv) == EXIT_FAILURE) return showusage (EXIT_FAILURE);
if (!bcm2835_init())
{
printf("bcm2835_init failed. Are you running as root??\n");
return 1;
}
// I2C begin if specified
if (init == I2C_BEGIN)
{
if (!bcm2835_i2c_begin())
{
printf("bcm2835_i2c_begin failed. Are you running as root??\n");
return 1;
}
}
// If len is 0, no need to continue, but do I2C end if specified
if (len == 0) {
if (init == I2C_END) bcm2835_i2c_end();
printf("... done!\n");
return EXIT_SUCCESS;
}
bcm2835_i2c_setSlaveAddress(slave_address);
bcm2835_i2c_setClockDivider(clk_div);
fprintf(stderr, "Clock divider set to: %d\n", clk_div);
fprintf(stderr, "len set to: %d\n", len);
fprintf(stderr, "Slave address set to: %d\n", slave_address);
if (mode == MODE_READ) {
for (i=0; i<MAX_LEN; i++) buf[i] = 'n';
data = bcm2835_i2c_read(buf, len);
printf("Read Result = %d\n", data);
for (i=0; i<MAX_LEN; i++) {
if(buf[i] != 'n') printf("Read Buf[%d] = %x\n", i, buf[i]);
}
}
if (mode == MODE_WRITE) {
data = bcm2835_i2c_write(wbuf, len);
printf("Write Result = %d\n", data);
}
// This I2C end is done after a transfer if specified
if (init == I2C_END) bcm2835_i2c_end();
bcm2835_close();
printf("... done!\n");
return 0;
}
int main(int argc, char *argv[])
{
bcm2835_init();
if(comparse(argc, argv) == EXIT_FAILURE) return 0;
// setting PWM_PIN as pwm from channel 0 in markspace mode with range = RANGE
bcm2835_gpio_fsel(PWM_PIN, BCM2835_GPIO_FSEL_ALT5); //ALT5 is pwm mode
bcm2835_pwm_set_clock(BCM2835_PWM_CLOCK_DIVIDER_16); // pwm freq = 19.2 / 16 MHz
bcm2835_pwm_set_mode(PWM_CHANNEL, 1, 1); // markspace mode
bcm2835_pwm_set_range(PWM_CHANNEL, RANGE);
bcm2835_gpio_fsel(OE_SHIFTER, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_set_pud(OE_SHIFTER, BCM2835_GPIO_PUD_DOWN); //pull-down for output enable of logic shifters
bcm2835_gpio_fsel(MOTOR_D3, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_set_pud(MOTOR_D3, BCM2835_GPIO_PUD_DOWN); //pull-down for motor enable
bcm2835_gpio_fsel(PA0, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_set_pud(PA0, BCM2835_GPIO_PUD_UP);
bcm2835_gpio_write(PA0, HIGH);
bcm2835_gpio_write(OE_SHIFTER, HIGH);
bcm2835_gpio_write(MOTOR_D3, LOW);
// creating and running threads
pthread_t th1, th2, th3, th4, th5, th6, th7;
pthread_create(&th1, NULL, (void*)encoder_time_thread, NULL);
pthread_create(&th2, NULL, (void*)magnet_time_thread, NULL);
pthread_create(&th3, NULL, (void*)encoder_thread, NULL);
pthread_create(&th4, NULL, (void*)magnet_thread, NULL);
pthread_create(&th5, NULL, (void*)energy_time_thread, NULL);
pthread_create(&th6, NULL, (void*)calculate_energy, NULL);
pthread_create(&th7, NULL, (void*)calculate_I_ref, NULL);
bcm2835_delay(100); // delay to make sure that all threads are initialised and iC-MU is conofigured
printf("\nPress enter to start the motor.");
getchar();
bcm2835_gpio_write(MOTOR_D3, HIGH);
start = 1;
printf("Started.\n");
printf("\nPress enter to stop the motor.\n");
getchar();
bcm2835_gpio_write(MOTOR_D3, LOW);
bcm2835_spi_end();
bcm2835_close();
return 0;
}
