Internet of Tings / Mbed OS motor-mining

An embedded device

Dependencies:   Crypto

main.cpp@16:10d53b056b17, 2019-03-12 (annotated)

Committer:
tanyuzhuo
Date:
Tue Mar 12 16:27:30 2019 +0000
Revision:
16:10d53b056b17
Parent:
15:f43d1d4e4260
Child:
17:ff5300ba5442
Bitcoin mining moved to a separate thread; Priority setting (might be working lol)

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;
tanyuzhuo 16:10d53b056b17 75 Thread bitcointhread;
peterith 14:0481b606d10e 76 RawSerial pc(SERIAL_TX, SERIAL_RX);
peterith 14:0481b606d10e 77 Queue<void, 8> inCharQ;
peterith 14:0481b606d10e 78 Mutex newKey_mutex;
peterith 14:0481b606d10e 79 uint64_t newKey = 0;
peterith 14:0481b606d10e 80
peterith 14:0481b606d10e 81 void putMessage(uint64_t *nonce){
peterith 14:0481b606d10e 82 mail_t *mail = mail_box.alloc();
peterith 14:0481b606d10e 83 mail->nonce = *nonce;
peterith 14:0481b606d10e 84 mail_box.put(mail);
peterith 14:0481b606d10e 85 }
peterith 14:0481b606d10e 86
peterith 14:0481b606d10e 87 void serialISR() {
peterith 14:0481b606d10e 88 uint8_t newChar = pc.getc();
peterith 14:0481b606d10e 89 inCharQ.put((void*) newChar);
peterith 14:0481b606d10e 90 }
peterith 14:0481b606d10e 91
peterith 14:0481b606d10e 92 void commandProcessor() {
peterith 14:0481b606d10e 93 pc.attach(&serialISR);
peterith 14:0481b606d10e 94 char command[18];
peterith 14:0481b606d10e 95 //char k;
peterith 14:0481b606d10e 96 uint64_t receivedKey;
peterith 14:0481b606d10e 97 uint8_t index = 0;
peterith 14:0481b606d10e 98 while(1) {
peterith 14:0481b606d10e 99 osEvent newEvent = inCharQ.get();
peterith 14:0481b606d10e 100 uint8_t newChar = (uint8_t) newEvent.value.p;
peterith 14:0481b606d10e 101 command[index] = newChar;
peterith 14:0481b606d10e 102 index++;
peterith 14:0481b606d10e 103 if (newChar == '\r') {
peterith 14:0481b606d10e 104 command[17] = '\0';
peterith 14:0481b606d10e 105 receivedKey = strtoull(command, NULL, 16);
peterith 14:0481b606d10e 106 //receivedKey = 2147483648;
peterith 14:0481b606d10e 107 //sscanf(command, "%d", &receivedKey);
tanyuzhuo 15:f43d1d4e4260 108 pc.printf("Received key: %016llx\n\r", receivedKey);
peterith 14:0481b606d10e 109 memset(command, 0, sizeof(command));
peterith 14:0481b606d10e 110 newKey_mutex.lock();
peterith 14:0481b606d10e 111 newKey = receivedKey;
peterith 14:0481b606d10e 112 newKey_mutex.unlock();
peterith 14:0481b606d10e 113 index = 0;
peterith 14:0481b606d10e 114 } else {
peterith 14:0481b606d10e 115 pc.printf("Current command: %s\n\r", command);
peterith 14:0481b606d10e 116 }
peterith 14:0481b606d10e 117 }
peterith 14:0481b606d10e 118 }
tanyuzhuo 16:10d53b056b17 119 void bitcoin(){
tanyuzhuo 16:10d53b056b17 120 while(1) {
tanyuzhuo 16:10d53b056b17 121 SHA256 sha;
tanyuzhuo 16:10d53b056b17 122 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
tanyuzhuo 16:10d53b056b17 123 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
tanyuzhuo 16:10d53b056b17 124 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
tanyuzhuo 16:10d53b056b17 125 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
tanyuzhuo 16:10d53b056b17 126 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
tanyuzhuo 16:10d53b056b17 127 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
tanyuzhuo 16:10d53b056b17 128 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
tanyuzhuo 16:10d53b056b17 129 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
tanyuzhuo 16:10d53b056b17 130 uint64_t* key = (uint64_t*) ((int) sequence + 48);
tanyuzhuo 16:10d53b056b17 131 uint64_t* nonce = (uint64_t*) ((int) sequence + 56);
tanyuzhuo 16:10d53b056b17 132 uint8_t hash[32];
tanyuzhuo 16:10d53b056b17 133
tanyuzhuo 16:10d53b056b17 134 Timer t;
tanyuzhuo 16:10d53b056b17 135 t.start();
tanyuzhuo 16:10d53b056b17 136 unsigned currentTime = 0;
tanyuzhuo 16:10d53b056b17 137 unsigned currentCount = 0;
tanyuzhuo 16:10d53b056b17 138
tanyuzhuo 16:10d53b056b17 139 for (unsigned i = 0; i <= UINT_MAX; i++) {
tanyuzhuo 16:10d53b056b17 140 (*nonce)++;
tanyuzhuo 16:10d53b056b17 141 newKey_mutex.lock();
tanyuzhuo 16:10d53b056b17 142 *key = newKey;
tanyuzhuo 16:10d53b056b17 143 newKey_mutex.unlock();
tanyuzhuo 16:10d53b056b17 144 sha.computeHash(hash, sequence, 64);
tanyuzhuo 16:10d53b056b17 145 if (hash[0] == 0 && hash[1] == 0) {
tanyuzhuo 16:10d53b056b17 146 //putMessage(nonce);
tanyuzhuo 16:10d53b056b17 147 pc.printf("Successful nonce: %016x\n\r", *nonce);
tanyuzhuo 16:10d53b056b17 148 }
tanyuzhuo 16:10d53b056b17 149 if ((unsigned) t.read() == currentTime) {
tanyuzhuo 16:10d53b056b17 150 //pc.printf("Hash rate: %d\n\r", i - currentCount);
tanyuzhuo 16:10d53b056b17 151 pc.printf("Current key: %016llx\n\r", *key);
tanyuzhuo 16:10d53b056b17 152 currentTime++;
tanyuzhuo 16:10d53b056b17 153 currentCount = i;
tanyuzhuo 16:10d53b056b17 154 }
tanyuzhuo 16:10d53b056b17 155 }
tanyuzhuo 16:10d53b056b17 156 t.stop();
tanyuzhuo 16:10d53b056b17 157 }
tanyuzhuo 16:10d53b056b17 158 }
estott 0:de4320f74764 159 //Set a given drive state
estott 0:de4320f74764 160 void motorOut(int8_t driveState){
estott 0:de4320f74764 161
estott 2:4e88faab6988 162 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 163 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 164
estott 2:4e88faab6988 165 //Turn off first
estott 2:4e88faab6988 166 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 167 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 168 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 169 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 170 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 171 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 172
estott 2:4e88faab6988 173 //Then turn on
estott 2:4e88faab6988 174 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 175 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 176 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 177 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 178 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 179 if (driveOut & 0x20) L3H = 0;
peterith 13:c51d828531d5 180 }
estott 0:de4320f74764 181
peterith 13:c51d828531d5 182 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 183 inline int8_t readRotorState(){
estott 2:4e88faab6988 184 return stateMap[I1 + 2*I2 + 4*I3];
peterith 13:c51d828531d5 185 }
estott 0:de4320f74764 186
estott 2:4e88faab6988 187 int8_t motorHome() {
estott 0:de4320f74764 188 motorOut(0);
estott 3:569b35e2a602 189 wait(2.0);
estott 2:4e88faab6988 190 return readRotorState();
estott 0:de4320f74764 191 }
peterith 13:c51d828531d5 192
peterith 13:c51d828531d5 193 void push() {
peterith 13:c51d828531d5 194 intState = readRotorState();
peterith 13:c51d828531d5 195 if (intState != intStateOld) {
peterith 13:c51d828531d5 196 intStateOld = intState;
peterith 13:c51d828531d5 197 motorOut((intState - orState + lead +6) % 6); //+6 to make sure the remainder is positive
peterith 13:c51d828531d5 198 }
peterith 13:c51d828531d5 199 }
peterith 13:c51d828531d5 200
peterith 13:c51d828531d5 201 int main() {
peterith 14:0481b606d10e 202 //Serial pc(SERIAL_TX, SERIAL_RX);
peterith 14:0481b606d10e 203
tanyuzhuo 16:10d53b056b17 204 bitcointhread.set_priority(osPriorityNormal);
tanyuzhuo 16:10d53b056b17 205 commandProcessorthread.set_priority(osPriorityHigh);
tanyuzhuo 16:10d53b056b17 206
peterith 14:0481b606d10e 207 commandProcessorthread.start(commandProcessor);
tanyuzhuo 16:10d53b056b17 208 bitcointhread.start(bitcoin);
peterith 14:0481b606d10e 209
peterith 13:c51d828531d5 210 pc.printf("Hello Pete\n\r");
peterith 14:0481b606d10e 211
estott 2:4e88faab6988 212 orState = motorHome();
peterith 13:c51d828531d5 213 pc.printf("Rotor origin: %x\n\r", orState);
estott 0:de4320f74764 214
tanyuzhuo 12:899cd6bf9844 215 I1.rise(&push);
tanyuzhuo 12:899cd6bf9844 216 I2.rise(&push);
tanyuzhuo 12:899cd6bf9844 217 I3.rise(&push);
peterith 13:c51d828531d5 218
peterith 13:c51d828531d5 219 I1.fall(&push);
peterith 13:c51d828531d5 220 I2.fall(&push);
peterith 13:c51d828531d5 221 I3.fall(&push);
peterith 13:c51d828531d5 222
tanyuzhuo 16:10d53b056b17 223
estott 0:de4320f74764 224 }