Internet of Tings / Mbed OS motor-mining

An embedded device

Dependencies:   Crypto

main.cpp@13:c51d828531d5, 2019-03-06 (annotated)

Committer:
peterith
Date:
Wed Mar 06 17:34:06 2019 +0000
Revision:
13:c51d828531d5
Parent:
12:899cd6bf9844
Child:
14:0481b606d10e
complete lab 1

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
estott 0:de4320f74764 69 //Set a given drive state
estott 0:de4320f74764 70 void motorOut(int8_t driveState){
estott 0:de4320f74764 71
estott 2:4e88faab6988 72 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 73 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 74
estott 2:4e88faab6988 75 //Turn off first
estott 2:4e88faab6988 76 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 77 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 78 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 79 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 80 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 81 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 82
estott 2:4e88faab6988 83 //Then turn on
estott 2:4e88faab6988 84 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 85 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 86 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 87 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 88 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 89 if (driveOut & 0x20) L3H = 0;
peterith 13:c51d828531d5 90 }
estott 0:de4320f74764 91
peterith 13:c51d828531d5 92 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 93 inline int8_t readRotorState(){
estott 2:4e88faab6988 94 return stateMap[I1 + 2*I2 + 4*I3];
peterith 13:c51d828531d5 95 }
estott 0:de4320f74764 96
estott 2:4e88faab6988 97 int8_t motorHome() {
estott 0:de4320f74764 98 motorOut(0);
estott 3:569b35e2a602 99 wait(2.0);
estott 0:de4320f74764 100
estott 2:4e88faab6988 101 return readRotorState();
estott 0:de4320f74764 102 }
peterith 13:c51d828531d5 103
peterith 13:c51d828531d5 104 void push() {
peterith 13:c51d828531d5 105 intState = readRotorState();
peterith 13:c51d828531d5 106 if (intState != intStateOld) {
peterith 13:c51d828531d5 107 intStateOld = intState;
peterith 13:c51d828531d5 108 motorOut((intState - orState + lead +6) % 6); //+6 to make sure the remainder is positive
peterith 13:c51d828531d5 109 }
peterith 13:c51d828531d5 110 }
peterith 13:c51d828531d5 111
peterith 13:c51d828531d5 112 int main() {
estott 0:de4320f74764 113 Serial pc(SERIAL_TX, SERIAL_RX);
peterith 13:c51d828531d5 114 pc.printf("Hello Pete\n\r");
estott 0:de4320f74764 115
estott 2:4e88faab6988 116 orState = motorHome();
peterith 13:c51d828531d5 117 pc.printf("Rotor origin: %x\n\r", orState);
estott 0:de4320f74764 118
tanyuzhuo 12:899cd6bf9844 119 I1.rise(&push);
tanyuzhuo 12:899cd6bf9844 120 I2.rise(&push);
tanyuzhuo 12:899cd6bf9844 121 I3.rise(&push);
peterith 13:c51d828531d5 122
peterith 13:c51d828531d5 123 I1.fall(&push);
peterith 13:c51d828531d5 124 I2.fall(&push);
peterith 13:c51d828531d5 125 I3.fall(&push);
peterith 13:c51d828531d5 126
peterith 13:c51d828531d5 127 while(1) {
peterith 13:c51d828531d5 128 SHA256 sha;
peterith 13:c51d828531d5 129 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
peterith 13:c51d828531d5 130 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
peterith 13:c51d828531d5 131 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
peterith 13:c51d828531d5 132 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
peterith 13:c51d828531d5 133 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
peterith 13:c51d828531d5 134 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
peterith 13:c51d828531d5 135 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
peterith 13:c51d828531d5 136 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
peterith 13:c51d828531d5 137 uint64_t* key = (uint64_t*) ((int) sequence + 48);
peterith 13:c51d828531d5 138 uint64_t* nonce = (uint64_t*) ((int) sequence + 56);
peterith 13:c51d828531d5 139 uint8_t hash[32];
peterith 13:c51d828531d5 140
peterith 13:c51d828531d5 141 Timer t;
peterith 13:c51d828531d5 142
peterith 13:c51d828531d5 143 t.start();
peterith 13:c51d828531d5 144 unsigned curr = 1;
peterith 13:c51d828531d5 145 unsigned hashRate = 0;
peterith 13:c51d828531d5 146 for (uint64_t i = 0; i <= 0b1111111111111111111111111111111111111111111111111111111111111111; i++) {
peterith 13:c51d828531d5 147 hashRate++;
peterith 13:c51d828531d5 148 (*nonce)++;
peterith 13:c51d828531d5 149 sha.computeHash(&hash[0], &sequence[0], 64);
peterith 13:c51d828531d5 150 if (hash[0] == 0 && hash[1] == 0) {
peterith 13:c51d828531d5 151 pc.printf("Successful nonce: %016x\n\r", *nonce);
peterith 13:c51d828531d5 152 }
peterith 13:c51d828531d5 153 if ((unsigned) t.read() == curr) {
peterith 13:c51d828531d5 154 curr++;
peterith 13:c51d828531d5 155 pc.printf("Hash rate: %d\n\r", hashRate);
peterith 13:c51d828531d5 156 hashRate = 0;
peterith 13:c51d828531d5 157 }
peterith 13:c51d828531d5 158 }
peterith 13:c51d828531d5 159 }
estott 0:de4320f74764 160 }