int main(int argc, char **argv)
{
if (!bcm2835_init()) {
printf("bcm2835 init failed\n");
return 1;
}
// Set the output pin to Alt Fun 5, to allow PWM channel 0 to be output there
bcm2835_gpio_fsel(PIN0, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(BCM2835_PWM_CLOCK_DIVIDER_2);
bcm2835_pwm_set_mode(PWM0, 1, 1);
bcm2835_pwm_set_range(PWM0, RANGE);
bcm2835_gpio_fsel(PIN1, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(BCM2835_PWM_CLOCK_DIVIDER_4);
bcm2835_pwm_set_mode(PWM1, 1, 1);
bcm2835_pwm_set_range(PWM1, RANGE*2);
bcm2835_pwm_set_data(PWM0, 1);
bcm2835_pwm_set_data(PWM1, 1);
while(1) {
}
bcm2835_close();
return 0;
}
int main(){
bcm2835_init();
// Setup PWM
bcm2835_pwm_set_clock(BCM2835_PWM_CLOCK_DIVIDER_16);
bcm2835_pwm_set_mode(PWM_CHANNEL_0,1,1);
bcm2835_pwm_set_mode(PWM_CHANNEL_1,1,1);
bcm2835_pwm_set_range(PWM_CHANNEL_0, PWM_RANGE);
bcm2835_pwm_set_range(PWM_CHANNEL_1, PWM_RANGE);
setup();
while(1) {
loop();
}
return (0);
}
int main(int argc, char **argv)
{
if (!bcm2835_init()) return 1;
bcm2835_gpio_fsel(PIN0, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(PIN1, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(PIN0, BCM2835_GPIO_PUD_UP);
bcm2835_gpio_set_pud(PIN1, BCM2835_GPIO_PUD_UP);
bcm2835_gpio_fsel(POUT1, BCM2835_GPIO_FSEL_ALT5);
bcm2835_pwm_set_clock(BCM2835_PWM_CLOCK_DIVIDER_256);
bcm2835_pwm_set_mode(0, 1, 1);
bcm2835_pwm_set_range(0, 1024);
int data=0;
while (1)
{
uint8_t in0 = bcm2835_gpio_lev(PIN0);
uint8_t in1 = bcm2835_gpio_lev(PIN1);
if (in1 == 0) break;
data ++;
if(data > 1023) data=0;
bcm2835_pwm_set_data(0, data);
bcm2835_delay(2);
}
bcm2835_pwm_set_data(0, 0);
bcm2835_gpio_fsel(POUT1, BCM2835_GPIO_FSEL_INPT);
bcm2835_close();
return 0;
}
//==============================================================================
// TODO add error messages
void PWM_init()
{
// 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);
}
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;
}
/*
* Function: pwm_test
* Description: be used to test PWM related functions
*/
void pwm_test(void)
{
printf("--------------->Start Test PWM<--------------\n");
bcm2835_gpio_fsel(PWM_PIN, BCM2835_GPIO_FSEL_ALT5); //set Phy12 to pwm function
/*pwm clock = 24M/240*/
bcm2835_pwm_set_clock(BCM2835_PWM_CLOCK_DIVIDER_16);
/*pwm channel mode: cycle mode OR pulse mode*/
bcm2835_pwm_set_mode(PWM_CHANNEL, 1, 1);
/*the pwm cycle = pwm clock * PWM_CYCLE */
bcm2835_pwm_set_range(PWM_CHANNEL, PWM_CYCLE);
//enable pwm
//active state: High level
//enable clock for PWM1
//set the pwm duty
bcm2835_pwm_set_data(PWM_CHANNEL, PWM_DUTY);
printf("--------------->Test Over Of PWM<--------------\n");
}
void setupPins()
{
if (!bcm2835_init())
std::cout<<"initialication error";
bcm2835_gpio_fsel(controlPin, BCM2835_GPIO_FSEL_ALT5);
bcm2835_gpio_fsel(in1, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(in2, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(in3, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(in4, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(turnPin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_pwm_set_clock(BCM2835_PWM_CLOCK_DIVIDER_16);
bcm2835_pwm_set_mode(pwmChannel, 1, 1);
bcm2835_pwm_set_range(pwmChannel, range);
//bcm2835_gpio_write(in3, LOW);
//bcm2835_gpio_write(in4, LOW);
bcm2835_gpio_write(turnPin, LOW);
}
