Internet of Tings / Mbed OS motor-mining

An embedded device

Dependencies:   Crypto

main.cpp@14:0481b606d10e, 2019-03-07 (annotated)

Committer:
peterith
Date:
Thu Mar 07 00:57:37 2019 +0000
Revision:
14:0481b606d10e
Parent:
13:c51d828531d5
Child:
15:f43d1d4e4260
Most of lab 2 done, but please fix truncation issue, type in more than 8 hex digits and you will see

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 #include "mbed.h"
peterith 13:c51d828531d5 2 #include "Crypto.h"
estott 0:de4320f74764 3
estott 0:de4320f74764 4 //Photointerrupter input pins
estott 10:a4b5723b6c9d 5 #define I1pin D3
estott 10:a4b5723b6c9d 6 #define I2pin D6
estott 10:a4b5723b6c9d 7 #define I3pin D5
estott 2:4e88faab6988 8
estott 2:4e88faab6988 9 //Incremental encoder input pins
peterith 13:c51d828531d5 10 #define CHApin D12
peterith 13:c51d828531d5 11 #define CHBpin D11
estott 0:de4320f74764 12
estott 0:de4320f74764 13 //Motor Drive output pins //Mask in output byte
estott 10:a4b5723b6c9d 14 #define L1Lpin D1 //0x01
estott 10:a4b5723b6c9d 15 #define L1Hpin A3 //0x02
estott 10:a4b5723b6c9d 16 #define L2Lpin D0 //0x04
peterith 13:c51d828531d5 17 #define L2Hpin A6 //0x08
peterith 13:c51d828531d5 18 #define L3Lpin D10 //0x10
peterith 13:c51d828531d5 19 #define L3Hpin D2 //0x20
estott 10:a4b5723b6c9d 20
estott 10:a4b5723b6c9d 21 #define PWMpin D9
estott 5:08f338b5e4d9 22
estott 5:08f338b5e4d9 23 //Motor current sense
peterith 13:c51d828531d5 24 #define MCSPpin A1
peterith 13:c51d828531d5 25 #define MCSNpin A0
estott 0:de4320f74764 26
estott 0:de4320f74764 27 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 28 /*
estott 0:de4320f74764 29 State L1 L2 L3
estott 0:de4320f74764 30 0 H - L
estott 0:de4320f74764 31 1 - H L
estott 0:de4320f74764 32 2 L H -
estott 0:de4320f74764 33 3 L - H
estott 0:de4320f74764 34 4 - L H
estott 0:de4320f74764 35 5 H L -
estott 0:de4320f74764 36 6 - - -
estott 0:de4320f74764 37 7 - - -
estott 0:de4320f74764 38 */
estott 0:de4320f74764 39 //Drive state to output table
estott 0:de4320f74764 40 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 41
estott 0:de4320f74764 42 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
estott 2:4e88faab6988 43 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 44 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
estott 2:4e88faab6988 45
estott 2:4e88faab6988 46 //Phase lead to make motor spin
estott 3:569b35e2a602 47 const int8_t lead = 2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 48
estott 0:de4320f74764 49 //Status LED
estott 0:de4320f74764 50 DigitalOut led1(LED1);
estott 0:de4320f74764 51
estott 0:de4320f74764 52 //Photointerrupter inputs
tanyuzhuo 12:899cd6bf9844 53 InterruptIn I1(I1pin);
tanyuzhuo 12:899cd6bf9844 54 InterruptIn I2(I2pin);
tanyuzhuo 12:899cd6bf9844 55 InterruptIn I3(I3pin);
tanyuzhuo 12:899cd6bf9844 56
estott 0:de4320f74764 57 //Motor Drive outputs
estott 0:de4320f74764 58 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 59 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 60 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 61 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 62 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 63 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 64
peterith 13:c51d828531d5 65 int8_t orState = 0;
tanyuzhuo 12:899cd6bf9844 66 int8_t intState = 0;
tanyuzhuo 12:899cd6bf9844 67 int8_t intStateOld = 0;
tanyuzhuo 12:899cd6bf9844 68
peterith 14:0481b606d10e 69 typedef struct {
peterith 14:0481b606d10e 70 uint64_t nonce;
peterith 14:0481b606d10e 71 } mail_t;
peterith 14:0481b606d10e 72
peterith 14:0481b606d10e 73 Mail<mail_t, 16> mail_box;
peterith 14:0481b606d10e 74 Thread commandProcessorthread;
peterith 14:0481b606d10e 75 RawSerial pc(SERIAL_TX, SERIAL_RX);
peterith 14:0481b606d10e 76 Queue<void, 8> inCharQ;
peterith 14:0481b606d10e 77 Mutex newKey_mutex;
peterith 14:0481b606d10e 78 uint64_t newKey = 0;
peterith 14:0481b606d10e 79
peterith 14:0481b606d10e 80 void putMessage(uint64_t *nonce){
peterith 14:0481b606d10e 81 mail_t *mail = mail_box.alloc();
peterith 14:0481b606d10e 82 mail->nonce = *nonce;
peterith 14:0481b606d10e 83 mail_box.put(mail);
peterith 14:0481b606d10e 84 }
peterith 14:0481b606d10e 85
peterith 14:0481b606d10e 86 void serialISR() {
peterith 14:0481b606d10e 87 uint8_t newChar = pc.getc();
peterith 14:0481b606d10e 88 inCharQ.put((void*) newChar);
peterith 14:0481b606d10e 89 }
peterith 14:0481b606d10e 90
peterith 14:0481b606d10e 91 void commandProcessor() {
peterith 14:0481b606d10e 92 pc.attach(&serialISR);
peterith 14:0481b606d10e 93 char command[18];
peterith 14:0481b606d10e 94 //char k;
peterith 14:0481b606d10e 95 uint64_t receivedKey;
peterith 14:0481b606d10e 96 uint8_t index = 0;
peterith 14:0481b606d10e 97 while(1) {
peterith 14:0481b606d10e 98 osEvent newEvent = inCharQ.get();
peterith 14:0481b606d10e 99 uint8_t newChar = (uint8_t) newEvent.value.p;
peterith 14:0481b606d10e 100 command[index] = newChar;
peterith 14:0481b606d10e 101 index++;
peterith 14:0481b606d10e 102 if (newChar == '\r') {
peterith 14:0481b606d10e 103 command[17] = '\0';
peterith 14:0481b606d10e 104 receivedKey = strtoull(command, NULL, 16);
peterith 14:0481b606d10e 105 //receivedKey = 2147483648;
peterith 14:0481b606d10e 106 //sscanf(command, "%d", &receivedKey);
peterith 14:0481b606d10e 107 pc.printf("Received key: %d\n\r", receivedKey);
peterith 14:0481b606d10e 108 memset(command, 0, sizeof(command));
peterith 14:0481b606d10e 109 newKey_mutex.lock();
peterith 14:0481b606d10e 110 newKey = receivedKey;
peterith 14:0481b606d10e 111 newKey_mutex.unlock();
peterith 14:0481b606d10e 112 index = 0;
peterith 14:0481b606d10e 113 } else {
peterith 14:0481b606d10e 114 pc.printf("Current command: %s\n\r", command);
peterith 14:0481b606d10e 115 }
peterith 14:0481b606d10e 116 }
peterith 14:0481b606d10e 117 }
peterith 14:0481b606d10e 118
estott 0:de4320f74764 119 //Set a given drive state
estott 0:de4320f74764 120 void motorOut(int8_t driveState){
estott 0:de4320f74764 121
estott 2:4e88faab6988 122 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 123 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 124
estott 2:4e88faab6988 125 //Turn off first
estott 2:4e88faab6988 126 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 127 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 128 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 129 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 130 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 131 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 132
estott 2:4e88faab6988 133 //Then turn on
estott 2:4e88faab6988 134 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 135 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 136 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 137 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 138 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 139 if (driveOut & 0x20) L3H = 0;
peterith 13:c51d828531d5 140 }
estott 0:de4320f74764 141
peterith 13:c51d828531d5 142 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 143 inline int8_t readRotorState(){
estott 2:4e88faab6988 144 return stateMap[I1 + 2*I2 + 4*I3];
peterith 13:c51d828531d5 145 }
estott 0:de4320f74764 146
estott 2:4e88faab6988 147 int8_t motorHome() {
estott 0:de4320f74764 148 motorOut(0);
estott 3:569b35e2a602 149 wait(2.0);
estott 2:4e88faab6988 150 return readRotorState();
estott 0:de4320f74764 151 }
peterith 13:c51d828531d5 152
peterith 13:c51d828531d5 153 void push() {
peterith 13:c51d828531d5 154 intState = readRotorState();
peterith 13:c51d828531d5 155 if (intState != intStateOld) {
peterith 13:c51d828531d5 156 intStateOld = intState;
peterith 13:c51d828531d5 157 motorOut((intState - orState + lead +6) % 6); //+6 to make sure the remainder is positive
peterith 13:c51d828531d5 158 }
peterith 13:c51d828531d5 159 }
peterith 13:c51d828531d5 160
peterith 13:c51d828531d5 161 int main() {
peterith 14:0481b606d10e 162 //Serial pc(SERIAL_TX, SERIAL_RX);
peterith 14:0481b606d10e 163
peterith 14:0481b606d10e 164 commandProcessorthread.start(commandProcessor);
peterith 14:0481b606d10e 165
peterith 13:c51d828531d5 166 pc.printf("Hello Pete\n\r");
peterith 14:0481b606d10e 167
estott 2:4e88faab6988 168 orState = motorHome();
peterith 13:c51d828531d5 169 pc.printf("Rotor origin: %x\n\r", orState);
estott 0:de4320f74764 170
tanyuzhuo 12:899cd6bf9844 171 I1.rise(&push);
tanyuzhuo 12:899cd6bf9844 172 I2.rise(&push);
tanyuzhuo 12:899cd6bf9844 173 I3.rise(&push);
peterith 13:c51d828531d5 174
peterith 13:c51d828531d5 175 I1.fall(&push);
peterith 13:c51d828531d5 176 I2.fall(&push);
peterith 13:c51d828531d5 177 I3.fall(&push);
peterith 13:c51d828531d5 178
peterith 13:c51d828531d5 179 while(1) {
peterith 13:c51d828531d5 180 SHA256 sha;
peterith 13:c51d828531d5 181 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
peterith 13:c51d828531d5 182 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
peterith 13:c51d828531d5 183 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
peterith 13:c51d828531d5 184 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
peterith 13:c51d828531d5 185 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
peterith 13:c51d828531d5 186 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
peterith 13:c51d828531d5 187 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
peterith 13:c51d828531d5 188 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
peterith 13:c51d828531d5 189 uint64_t* key = (uint64_t*) ((int) sequence + 48);
peterith 13:c51d828531d5 190 uint64_t* nonce = (uint64_t*) ((int) sequence + 56);
peterith 13:c51d828531d5 191 uint8_t hash[32];
peterith 13:c51d828531d5 192
peterith 13:c51d828531d5 193 Timer t;
peterith 13:c51d828531d5 194 t.start();
peterith 14:0481b606d10e 195 unsigned currentTime = 0;
peterith 14:0481b606d10e 196 unsigned currentCount = 0;
peterith 14:0481b606d10e 197
peterith 14:0481b606d10e 198 for (unsigned i = 0; i <= UINT_MAX; i++) {
peterith 13:c51d828531d5 199 (*nonce)++;
peterith 14:0481b606d10e 200 newKey_mutex.lock();
peterith 14:0481b606d10e 201 *key = newKey;
peterith 14:0481b606d10e 202 newKey_mutex.unlock();
peterith 14:0481b606d10e 203 sha.computeHash(hash, sequence, 64);
peterith 13:c51d828531d5 204 if (hash[0] == 0 && hash[1] == 0) {
peterith 14:0481b606d10e 205 //putMessage(nonce);
peterith 13:c51d828531d5 206 pc.printf("Successful nonce: %016x\n\r", *nonce);
peterith 13:c51d828531d5 207 }
peterith 14:0481b606d10e 208 if ((unsigned) t.read() == currentTime) {
peterith 14:0481b606d10e 209 //pc.printf("Hash rate: %d\n\r", i - currentCount);
peterith 14:0481b606d10e 210 pc.printf("Current key: %016x\n\r", *key);
peterith 14:0481b606d10e 211 currentTime++;
peterith 14:0481b606d10e 212 currentCount = i;
peterith 13:c51d828531d5 213 }
peterith 13:c51d828531d5 214 }
peterith 14:0481b606d10e 215 t.stop();
peterith 13:c51d828531d5 216 }
estott 0:de4320f74764 217 }