// including the required functions' header files

#include "declare.h"

#include "timer_thread.h"

#include "encoder_thread.h"

#include "magnet_thread.h"

#include "filters.h"

#include "energy_thread.h"

#include "calculate_I_ref.h"

int comparse(int argc, char *argv[])

{

if (argc < 3)

{ // must have two arguments: kp and kd

fprintf(stderr, "\nInsufficient command line arguments, try again\n");

return EXIT_FAILURE;

}

kp = atof(argv[1]);

kd = atof(argv[2]);

return EXIT_SUCCESS;

}

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;

}