Internet of Tings / Mbed OS motor-mining

An embedded device

Dependencies:   Crypto

main.cpp@26:d3e69e507616, 2019-03-21 (annotated)

Committer:
Olaffo
Date:
Thu Mar 21 17:15:02 2019 +0000
Revision:
26:d3e69e507616
Parent:
25:ca5ccbf55b07 
deleted redundant printf's

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
tanyuzhuo 24:7dd4e187dd30 47 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
tanyuzhuo 20:5bd9f9e406d1 58 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 59 DigitalOut L1H(L1Hpin);
tanyuzhuo 20:5bd9f9e406d1 60 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 61 DigitalOut L2H(L2Hpin);
tanyuzhuo 20:5bd9f9e406d1 62 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 63 DigitalOut L3H(L3Hpin);
tanyuzhuo 20:5bd9f9e406d1 64 PwmOut d9 (PWMpin);
estott 0:de4320f74764 65
peterith 13:c51d828531d5 66 int8_t orState = 0;
tanyuzhuo 20:5bd9f9e406d1 67 //int8_t intState = 0;
tanyuzhuo 20:5bd9f9e406d1 68 //int8_t intStateOld = 0;
tanyuzhuo 17:ff5300ba5442 69 int32_t revoCounter = 0; //Counts the number of revolutions
tanyuzhuo 18:e48c0910c71e 70 int32_t motorVelocity;
Olaffo 25:ca5ccbf55b07 71 uint8_t mode = 6;
tanyuzhuo 18:e48c0910c71e 72 //Phase lead to make motor spin
tanyuzhuo 20:5bd9f9e406d1 73 //int8_t lead = -2; //2 for forwards, -2 for backwards
tanyuzhuo 12:899cd6bf9844 74
peterith 14:0481b606d10e 75 typedef struct {
tanyuzhuo 20:5bd9f9e406d1 76 int message;
tanyuzhuo 20:5bd9f9e406d1 77 uint64_t data;
tanyuzhuo 20:5bd9f9e406d1 78 float fdata;
peterith 14:0481b606d10e 79 } mail_t;
tanyuzhuo 20:5bd9f9e406d1 80
peterith 14:0481b606d10e 81 Mail<mail_t, 16> mail_box;
Olaffo 25:ca5ccbf55b07 82 Thread commsIn(osPriorityNormal,1024);
tanyuzhuo 20:5bd9f9e406d1 83 Thread bitcointhread(osPriorityNormal,1024);
tanyuzhuo 20:5bd9f9e406d1 84 Thread motorCtrlT(osPriorityNormal,1024);
tanyuzhuo 20:5bd9f9e406d1 85 Thread commsOut(osPriorityNormal,1024);
tanyuzhuo 20:5bd9f9e406d1 86
peterith 14:0481b606d10e 87 RawSerial pc(SERIAL_TX, SERIAL_RX);
peterith 14:0481b606d10e 88 Queue<void, 8> inCharQ;
peterith 14:0481b606d10e 89 Mutex newKey_mutex;
peterith 14:0481b606d10e 90 uint64_t newKey = 0;
peterith 14:0481b606d10e 91
tanyuzhuo 18:e48c0910c71e 92 volatile float newRev;
tanyuzhuo 23:904721445e7a 93 volatile float maxSpeed = 90;
tanyuzhuo 23:904721445e7a 94 float pulseWidth;
tanyuzhuo 18:e48c0910c71e 95 float motorPosition_command;
tanyuzhuo 18:e48c0910c71e 96 float motorPosition;
tanyuzhuo 23:904721445e7a 97 //float pulseWidth;
tanyuzhuo 18:e48c0910c71e 98
tanyuzhuo 20:5bd9f9e406d1 99 void serialISR() {
tanyuzhuo 20:5bd9f9e406d1 100 uint8_t newChar = pc.getc();
tanyuzhuo 20:5bd9f9e406d1 101 inCharQ.put((void*) newChar);
tanyuzhuo 20:5bd9f9e406d1 102 }
tanyuzhuo 20:5bd9f9e406d1 103 /***************************************************************/
tanyuzhuo 20:5bd9f9e406d1 104 //The following block should be moved to a library, but I don't the time to figure this out atm.
tanyuzhuo 20:5bd9f9e406d1 105
tanyuzhuo 20:5bd9f9e406d1 106 //CommsOut.h
tanyuzhuo 20:5bd9f9e406d1 107
tanyuzhuo 20:5bd9f9e406d1 108 enum message_keys {
Olaffo 25:ca5ccbf55b07 109 KEY_DECLINED = 0,
Olaffo 25:ca5ccbf55b07 110 ROTATION_CMD = 1,
Olaffo 25:ca5ccbf55b07 111 ROTATION_FF_CMD = 2,
Olaffo 25:ca5ccbf55b07 112 MAX_SPEED_CMD = 3,
Olaffo 25:ca5ccbf55b07 113 KEY_ECHO = 4,
Olaffo 25:ca5ccbf55b07 114 TUNE_CMD = 5,
Olaffo 25:ca5ccbf55b07 115 STANDARD = 6,
Olaffo 25:ca5ccbf55b07 116 FOREVER_FORWARD = 7,
Olaffo 25:ca5ccbf55b07 117 LEAD = 9,
tanyuzhuo 20:5bd9f9e406d1 118
tanyuzhuo 20:5bd9f9e406d1 119
Olaffo 25:ca5ccbf55b07 120 INVALID_CMD = 10,
Olaffo 25:ca5ccbf55b07 121 MOTOR_POS = 11,
Olaffo 25:ca5ccbf55b07 122 MOTOR_SPEED = 12,
tanyuzhuo 20:5bd9f9e406d1 123
tanyuzhuo 20:5bd9f9e406d1 124
Olaffo 25:ca5ccbf55b07 125 NONCE_DETECT = 14,
Olaffo 25:ca5ccbf55b07 126 ROTOR_ORG = 15,
tanyuzhuo 20:5bd9f9e406d1 127
Olaffo 25:ca5ccbf55b07 128 WELCOME = 20
Olaffo 25:ca5ccbf55b07 129
Olaffo 25:ca5ccbf55b07 130
tanyuzhuo 20:5bd9f9e406d1 131 };
tanyuzhuo 20:5bd9f9e406d1 132
tanyuzhuo 20:5bd9f9e406d1 133 void putMessage(int message, uint64_t data = 0, float fdata=0){
peterith 14:0481b606d10e 134 mail_t *mail = mail_box.alloc();
tanyuzhuo 20:5bd9f9e406d1 135 mail->message = message;
tanyuzhuo 20:5bd9f9e406d1 136 mail->data = data;
tanyuzhuo 20:5bd9f9e406d1 137 mail->fdata = fdata;
peterith 14:0481b606d10e 138 mail_box.put(mail);
peterith 14:0481b606d10e 139 }
peterith 14:0481b606d10e 140
tanyuzhuo 20:5bd9f9e406d1 141 void commsOutFunc() {
tanyuzhuo 20:5bd9f9e406d1 142 while (true) {
tanyuzhuo 20:5bd9f9e406d1 143 osEvent evt = mail_box.get();
tanyuzhuo 20:5bd9f9e406d1 144 if (evt.status == osEventMail) {
tanyuzhuo 20:5bd9f9e406d1 145 mail_t *mail = (mail_t*)evt.value.p;
tanyuzhuo 20:5bd9f9e406d1 146 switch (mail->message) {
tanyuzhuo 20:5bd9f9e406d1 147 case KEY_DECLINED :
tanyuzhuo 20:5bd9f9e406d1 148 pc.printf("Not a valid key!\n\r");
tanyuzhuo 20:5bd9f9e406d1 149 break;
tanyuzhuo 20:5bd9f9e406d1 150 case ROTATION_CMD :
tanyuzhuo 24:7dd4e187dd30 151 pc.printf("Rotation count: %3.2f\n\r", mail->fdata);
tanyuzhuo 20:5bd9f9e406d1 152 break;
Olaffo 25:ca5ccbf55b07 153 case ROTATION_FF_CMD :
Olaffo 25:ca5ccbf55b07 154 pc.printf("I will rotate forever...");
tanyuzhuo 20:5bd9f9e406d1 155 break;
Olaffo 25:ca5ccbf55b07 156 case MAX_SPEED_CMD :
Olaffo 25:ca5ccbf55b07 157 pc.printf("Max speed: %2.1f\n\r", mail->fdata);
Olaffo 25:ca5ccbf55b07 158 break;
tanyuzhuo 20:5bd9f9e406d1 159 case KEY_ECHO :
tanyuzhuo 20:5bd9f9e406d1 160 pc.printf("Received key: %016llx\n\r", mail->data);
Olaffo 25:ca5ccbf55b07 161 break;
Olaffo 25:ca5ccbf55b07 162 case TUNE_CMD :
Olaffo 25:ca5ccbf55b07 163 pc.printf("Tune command!\n\r");
tanyuzhuo 20:5bd9f9e406d1 164 break;
tanyuzhuo 20:5bd9f9e406d1 165 case INVALID_CMD :
tanyuzhuo 20:5bd9f9e406d1 166 pc.printf("Invalid command!\r\n");
tanyuzhuo 20:5bd9f9e406d1 167 break;
tanyuzhuo 20:5bd9f9e406d1 168 case MOTOR_POS :
tanyuzhuo 20:5bd9f9e406d1 169 pc.printf("Motor position: %f\r\n", mail->fdata);
Olaffo 25:ca5ccbf55b07 170 //pc.printf("{TIMEPLOT|%.2f|Motor Position}", mail->fdata);
tanyuzhuo 20:5bd9f9e406d1 171 break;
tanyuzhuo 20:5bd9f9e406d1 172 case MOTOR_SPEED :
tanyuzhuo 20:5bd9f9e406d1 173 pc.printf("Motor speed: %f\r\n", mail->fdata);
tanyuzhuo 20:5bd9f9e406d1 174 break;
tanyuzhuo 20:5bd9f9e406d1 175 case NONCE_DETECT :
tanyuzhuo 20:5bd9f9e406d1 176 pc.printf("Successful nonce: %016x\n\r", mail->data);
tanyuzhuo 20:5bd9f9e406d1 177 break;
tanyuzhuo 20:5bd9f9e406d1 178 case WELCOME :
Olaffo 25:ca5ccbf55b07 179 pc.printf("Hello Olaf\n\r");
tanyuzhuo 20:5bd9f9e406d1 180 break;
tanyuzhuo 20:5bd9f9e406d1 181 case ROTOR_ORG :
tanyuzhuo 20:5bd9f9e406d1 182 pc.printf("Rotor origin: %x\n\r", orState);
Olaffo 25:ca5ccbf55b07 183 case LEAD :
Olaffo 25:ca5ccbf55b07 184 pc.printf("Lead: %d\n\r\n\r", mail->data);
Olaffo 25:ca5ccbf55b07 185 break;
tanyuzhuo 20:5bd9f9e406d1 186
tanyuzhuo 20:5bd9f9e406d1 187 }
tanyuzhuo 20:5bd9f9e406d1 188 mail_box.free(mail);
tanyuzhuo 20:5bd9f9e406d1 189 }
tanyuzhuo 20:5bd9f9e406d1 190 }
tanyuzhuo 20:5bd9f9e406d1 191 }
tanyuzhuo 20:5bd9f9e406d1 192 //End of that block
tanyuzhuo 20:5bd9f9e406d1 193 /***************************************************************/
tanyuzhuo 20:5bd9f9e406d1 194
tanyuzhuo 20:5bd9f9e406d1 195 /***************************************************************/
tanyuzhuo 20:5bd9f9e406d1 196 //The following block should also be moved to a library, but I still don't the time to figure this out atm.
tanyuzhuo 20:5bd9f9e406d1 197
tanyuzhuo 20:5bd9f9e406d1 198 //CommsIn.h
tanyuzhuo 20:5bd9f9e406d1 199
Olaffo 25:ca5ccbf55b07 200 void R_Decoder(char* command) {
tanyuzhuo 20:5bd9f9e406d1 201 int8_t sign =1;
tanyuzhuo 20:5bd9f9e406d1 202 uint8_t index = 1;
tanyuzhuo 20:5bd9f9e406d1 203 int intValue = 0;
tanyuzhuo 20:5bd9f9e406d1 204 float decimalValue = 0;
Olaffo 25:ca5ccbf55b07 205
Olaffo 25:ca5ccbf55b07 206 // Check sign
Olaffo 25:ca5ccbf55b07 207 if (command[1] == '-'){
Olaffo 25:ca5ccbf55b07 208 sign = -1;
Olaffo 25:ca5ccbf55b07 209 index++;
Olaffo 25:ca5ccbf55b07 210 }
Olaffo 25:ca5ccbf55b07 211 // Take first digit
Olaffo 25:ca5ccbf55b07 212 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 213 intValue = command[index] - '0';
Olaffo 25:ca5ccbf55b07 214 index++;
Olaffo 25:ca5ccbf55b07 215 }
Olaffo 25:ca5ccbf55b07 216 else {
Olaffo 25:ca5ccbf55b07 217 putMessage(INVALID_CMD);
Olaffo 25:ca5ccbf55b07 218 return;
Olaffo 25:ca5ccbf55b07 219 }
tanyuzhuo 20:5bd9f9e406d1 220
Olaffo 25:ca5ccbf55b07 221 //Try taking 2 more digits
Olaffo 25:ca5ccbf55b07 222 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 223 intValue = intValue*10 + command[index] - '0';
Olaffo 25:ca5ccbf55b07 224 index++;
Olaffo 25:ca5ccbf55b07 225 }
Olaffo 25:ca5ccbf55b07 226 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 227 intValue = intValue*10 + command[index] - '0';
Olaffo 25:ca5ccbf55b07 228 index++;
Olaffo 25:ca5ccbf55b07 229 }
Olaffo 25:ca5ccbf55b07 230 //Check for '.'
Olaffo 25:ca5ccbf55b07 231 if (command[index] == '.') {
Olaffo 25:ca5ccbf55b07 232 index++;
Olaffo 25:ca5ccbf55b07 233 //Check for decimals
Olaffo 25:ca5ccbf55b07 234 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 235 decimalValue = (command[index] - '0')/10;
Olaffo 25:ca5ccbf55b07 236 index++;
Olaffo 25:ca5ccbf55b07 237 }
Olaffo 25:ca5ccbf55b07 238 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 239 decimalValue = (decimalValue/10 + command[index] - '0')/10;
Olaffo 25:ca5ccbf55b07 240 }
Olaffo 25:ca5ccbf55b07 241 }
Olaffo 25:ca5ccbf55b07 242 decimalValue = (decimalValue + intValue) * sign;
Olaffo 25:ca5ccbf55b07 243 if (decimalValue == 0){
Olaffo 25:ca5ccbf55b07 244 mode = FOREVER_FORWARD;
Olaffo 25:ca5ccbf55b07 245 putMessage(ROTATION_FF_CMD);
Olaffo 25:ca5ccbf55b07 246 }
Olaffo 25:ca5ccbf55b07 247 else {
Olaffo 25:ca5ccbf55b07 248 newRev = decimalValue;
Olaffo 25:ca5ccbf55b07 249 putMessage(ROTATION_CMD,0,decimalValue);
Olaffo 25:ca5ccbf55b07 250 }
Olaffo 25:ca5ccbf55b07 251 }
Olaffo 25:ca5ccbf55b07 252
Olaffo 25:ca5ccbf55b07 253 void V_Decoder(char* command) {
Olaffo 25:ca5ccbf55b07 254 uint8_t index = 1;
Olaffo 25:ca5ccbf55b07 255 int intValue = 0;
Olaffo 25:ca5ccbf55b07 256 float decimalValue = 0;
Olaffo 25:ca5ccbf55b07 257
Olaffo 25:ca5ccbf55b07 258 // Take first digit
Olaffo 25:ca5ccbf55b07 259 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 260 intValue = command[index] - '0';
Olaffo 25:ca5ccbf55b07 261 index++;
Olaffo 25:ca5ccbf55b07 262 }
Olaffo 25:ca5ccbf55b07 263 else {
Olaffo 25:ca5ccbf55b07 264 putMessage(INVALID_CMD);
Olaffo 25:ca5ccbf55b07 265 return;
Olaffo 25:ca5ccbf55b07 266 }
tanyuzhuo 20:5bd9f9e406d1 267
Olaffo 25:ca5ccbf55b07 268 //Try taking 2 more digits
Olaffo 25:ca5ccbf55b07 269 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 270 intValue = intValue*10 + command[index] - '0';
Olaffo 25:ca5ccbf55b07 271 index++;
Olaffo 25:ca5ccbf55b07 272 }
Olaffo 25:ca5ccbf55b07 273 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 274 intValue = intValue*10 + command[index] - '0';
Olaffo 25:ca5ccbf55b07 275 index++;
Olaffo 25:ca5ccbf55b07 276 }
Olaffo 25:ca5ccbf55b07 277 //Check for '.'
Olaffo 25:ca5ccbf55b07 278 if (command[index] == '.') {
Olaffo 25:ca5ccbf55b07 279 index++;
Olaffo 25:ca5ccbf55b07 280 //Check for one decimal
Olaffo 25:ca5ccbf55b07 281 if (command[index] > ('0'-1) && command[index] < (1 + '9')) {
Olaffo 25:ca5ccbf55b07 282 decimalValue = (command[index] - '0')/10;
Olaffo 25:ca5ccbf55b07 283 }
tanyuzhuo 20:5bd9f9e406d1 284 }
Olaffo 25:ca5ccbf55b07 285 decimalValue = (decimalValue + intValue);
Olaffo 25:ca5ccbf55b07 286 maxSpeed = decimalValue;
Olaffo 25:ca5ccbf55b07 287 putMessage(MAX_SPEED_CMD,0,decimalValue);
peterith 14:0481b606d10e 288 }
peterith 14:0481b606d10e 289
peterith 14:0481b606d10e 290 void commandProcessor() {
peterith 14:0481b606d10e 291 pc.attach(&serialISR);
tanyuzhuo 17:ff5300ba5442 292 char command[19];
tanyuzhuo 17:ff5300ba5442 293 char* number;
peterith 14:0481b606d10e 294 //char k;
peterith 14:0481b606d10e 295 uint64_t receivedKey;
peterith 14:0481b606d10e 296 uint8_t index = 0;
peterith 14:0481b606d10e 297 while(1) {
peterith 14:0481b606d10e 298 osEvent newEvent = inCharQ.get();
peterith 14:0481b606d10e 299 uint8_t newChar = (uint8_t) newEvent.value.p;
peterith 14:0481b606d10e 300 command[index] = newChar;
peterith 14:0481b606d10e 301 index++;
tanyuzhuo 17:ff5300ba5442 302 if (newChar == '\r') {
peterith 14:0481b606d10e 303 command[17] = '\0';
tanyuzhuo 17:ff5300ba5442 304
tanyuzhuo 17:ff5300ba5442 305 if (command[0] == 'R') {
Olaffo 25:ca5ccbf55b07 306 R_Decoder(command);
tanyuzhuo 24:7dd4e187dd30 307 motorPosition_command = motorPosition;
tanyuzhuo 17:ff5300ba5442 308 }
tanyuzhuo 17:ff5300ba5442 309 else if (command[0] == 'V') {
Olaffo 25:ca5ccbf55b07 310 V_Decoder(command);
tanyuzhuo 17:ff5300ba5442 311 }
tanyuzhuo 17:ff5300ba5442 312 else if (command[0] == 'K') {
tanyuzhuo 17:ff5300ba5442 313 if (index == 18){ // when index is 18 means you entered K and 16 digits
tanyuzhuo 17:ff5300ba5442 314 number = command +1; //super bad solution, but I don't know how to work with strings in C
tanyuzhuo 17:ff5300ba5442 315 receivedKey = strtoull(number, NULL, 16);
tanyuzhuo 20:5bd9f9e406d1 316 putMessage(KEY_ECHO,receivedKey);
Olaffo 25:ca5ccbf55b07 317
tanyuzhuo 17:ff5300ba5442 318 newKey_mutex.lock();
tanyuzhuo 17:ff5300ba5442 319 newKey = receivedKey;
tanyuzhuo 17:ff5300ba5442 320 newKey_mutex.unlock();
tanyuzhuo 17:ff5300ba5442 321 } else {
tanyuzhuo 20:5bd9f9e406d1 322 putMessage(KEY_DECLINED);
tanyuzhuo 17:ff5300ba5442 323 };
tanyuzhuo 17:ff5300ba5442 324 }
tanyuzhuo 17:ff5300ba5442 325 else if (command[0] == 'T') {
Olaffo 25:ca5ccbf55b07 326 putMessage(TUNE_CMD);
tanyuzhuo 17:ff5300ba5442 327 }
peterith 14:0481b606d10e 328 memset(command, 0, sizeof(command));
peterith 14:0481b606d10e 329 index = 0;
peterith 14:0481b606d10e 330 } else {
tanyuzhuo 20:5bd9f9e406d1 331 pc.printf("Current command: %s\n\r", command); //Not sure how to go around this one cause it requires passing string
peterith 14:0481b606d10e 332 }
peterith 14:0481b606d10e 333 }
peterith 14:0481b606d10e 334 }
tanyuzhuo 17:ff5300ba5442 335
tanyuzhuo 16:10d53b056b17 336 void bitcoin(){
tanyuzhuo 16:10d53b056b17 337 while(1) {
tanyuzhuo 16:10d53b056b17 338 SHA256 sha;
tanyuzhuo 16:10d53b056b17 339 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
tanyuzhuo 16:10d53b056b17 340 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
tanyuzhuo 16:10d53b056b17 341 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
tanyuzhuo 16:10d53b056b17 342 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
tanyuzhuo 16:10d53b056b17 343 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
tanyuzhuo 16:10d53b056b17 344 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
tanyuzhuo 16:10d53b056b17 345 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
tanyuzhuo 16:10d53b056b17 346 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
tanyuzhuo 16:10d53b056b17 347 uint64_t* key = (uint64_t*) ((int) sequence + 48);
tanyuzhuo 16:10d53b056b17 348 uint64_t* nonce = (uint64_t*) ((int) sequence + 56);
tanyuzhuo 16:10d53b056b17 349 uint8_t hash[32];
tanyuzhuo 16:10d53b056b17 350
tanyuzhuo 16:10d53b056b17 351 Timer t;
tanyuzhuo 16:10d53b056b17 352 t.start();
tanyuzhuo 16:10d53b056b17 353 unsigned currentTime = 0;
tanyuzhuo 20:5bd9f9e406d1 354 unsigned currentCount= 0;
tanyuzhuo 16:10d53b056b17 355
tanyuzhuo 16:10d53b056b17 356 for (unsigned i = 0; i <= UINT_MAX; i++) {
tanyuzhuo 16:10d53b056b17 357 (*nonce)++;
tanyuzhuo 16:10d53b056b17 358 newKey_mutex.lock();
tanyuzhuo 16:10d53b056b17 359 *key = newKey;
tanyuzhuo 16:10d53b056b17 360 newKey_mutex.unlock();
tanyuzhuo 16:10d53b056b17 361 sha.computeHash(hash, sequence, 64);
tanyuzhuo 16:10d53b056b17 362 if (hash[0] == 0 && hash[1] == 0) {
tanyuzhuo 16:10d53b056b17 363 //putMessage(nonce);
tanyuzhuo 16:10d53b056b17 364 pc.printf("Successful nonce: %016x\n\r", *nonce);
tanyuzhuo 16:10d53b056b17 365 }
tanyuzhuo 16:10d53b056b17 366 if ((unsigned) t.read() == currentTime) {
tanyuzhuo 16:10d53b056b17 367 //pc.printf("Hash rate: %d\n\r", i - currentCount);
tanyuzhuo 20:5bd9f9e406d1 368 //pc.printf("Current key: %016llx\n\r", *key);
tanyuzhuo 16:10d53b056b17 369 currentTime++;
tanyuzhuo 16:10d53b056b17 370 currentCount = i;
tanyuzhuo 16:10d53b056b17 371 }
tanyuzhuo 16:10d53b056b17 372 }
tanyuzhuo 16:10d53b056b17 373 t.stop();
tanyuzhuo 16:10d53b056b17 374 }
Olaffo 25:ca5ccbf55b07 375 }
tanyuzhuo 20:5bd9f9e406d1 376
tanyuzhuo 18:e48c0910c71e 377
tanyuzhuo 18:e48c0910c71e 378
estott 0:de4320f74764 379 //Set a given drive state
tanyuzhuo 23:904721445e7a 380 void motorOut(int8_t driveState, float pulseWidth){
estott 0:de4320f74764 381
estott 2:4e88faab6988 382 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 383 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 384
estott 2:4e88faab6988 385 //Turn off first
tanyuzhuo 20:5bd9f9e406d1 386 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 387 if (~driveOut & 0x02) L1H = 1;
tanyuzhuo 20:5bd9f9e406d1 388 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 389 if (~driveOut & 0x08) L2H = 1;
tanyuzhuo 20:5bd9f9e406d1 390 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 391 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 392
estott 2:4e88faab6988 393 //Then turn on
tanyuzhuo 20:5bd9f9e406d1 394 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 395 if (driveOut & 0x02) L1H = 0;
tanyuzhuo 20:5bd9f9e406d1 396 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 397 if (driveOut & 0x08) L2H = 0;
tanyuzhuo 20:5bd9f9e406d1 398 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 399 if (driveOut & 0x20) L3H = 0;
tanyuzhuo 20:5bd9f9e406d1 400
tanyuzhuo 20:5bd9f9e406d1 401
tanyuzhuo 23:904721445e7a 402 //d9.write(1);
tanyuzhuo 23:904721445e7a 403 d9.pulsewidth_us(pulseWidth);
peterith 13:c51d828531d5 404 }
estott 0:de4320f74764 405
peterith 13:c51d828531d5 406 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 407 inline int8_t readRotorState(){
estott 2:4e88faab6988 408 return stateMap[I1 + 2*I2 + 4*I3];
peterith 13:c51d828531d5 409 }
estott 0:de4320f74764 410
estott 2:4e88faab6988 411 int8_t motorHome() {
tanyuzhuo 18:e48c0910c71e 412 //Put the motor in drive state 0 and wait for it to stabilize
tanyuzhuo 23:904721445e7a 413 motorOut(0,pulseWidth);
estott 3:569b35e2a602 414 wait(2.0);
estott 2:4e88faab6988 415 return readRotorState();
estott 0:de4320f74764 416 }
peterith 13:c51d828531d5 417
tanyuzhuo 20:5bd9f9e406d1 418
tanyuzhuo 18:e48c0910c71e 419 // ISR to handle the updating of the motor position
tanyuzhuo 18:e48c0910c71e 420 void motorISR() {
tanyuzhuo 18:e48c0910c71e 421 static int8_t oldRotorState;
tanyuzhuo 20:5bd9f9e406d1 422 //orState is subtracted from future rotor state inputs to align rotor and motor states
tanyuzhuo 20:5bd9f9e406d1 423
tanyuzhuo 18:e48c0910c71e 424 int8_t rotorState = readRotorState();
tanyuzhuo 23:904721445e7a 425 motorOut((rotorState-orState+lead+6)%6,pulseWidth); //+6 to make sure the remainder is positive
tanyuzhuo 18:e48c0910c71e 426 if (rotorState - oldRotorState == 5) motorPosition --;
tanyuzhuo 18:e48c0910c71e 427 else if (rotorState - oldRotorState == -5) motorPosition ++;
tanyuzhuo 18:e48c0910c71e 428 else motorPosition += (rotorState - oldRotorState);
tanyuzhuo 20:5bd9f9e406d1 429 //pc.printf ("motorpPosition %f\n\r", motorPosition);
tanyuzhuo 18:e48c0910c71e 430 oldRotorState = rotorState;
tanyuzhuo 18:e48c0910c71e 431 }
tanyuzhuo 18:e48c0910c71e 432 /*void push() {
peterith 13:c51d828531d5 433 intState = readRotorState();
peterith 13:c51d828531d5 434 if (intState != intStateOld) {
peterith 13:c51d828531d5 435 intStateOld = intState;
peterith 13:c51d828531d5 436 motorOut((intState - orState + lead +6) % 6); //+6 to make sure the remainder is positive
peterith 13:c51d828531d5 437 }
tanyuzhuo 18:e48c0910c71e 438 }*/
tanyuzhuo 20:5bd9f9e406d1 439 void motorCtrlTick(){
tanyuzhuo 20:5bd9f9e406d1 440 motorCtrlT.signal_set(0x1);
tanyuzhuo 20:5bd9f9e406d1 441 }
tanyuzhuo 18:e48c0910c71e 442 void motorCtrlFn(){
tanyuzhuo 18:e48c0910c71e 443 int32_t counter=0;
tanyuzhuo 18:e48c0910c71e 444 static int32_t oldmotorPosition;
tanyuzhuo 24:7dd4e187dd30 445 float Ts;
tanyuzhuo 24:7dd4e187dd30 446 float sError; //speed error
tanyuzhuo 24:7dd4e187dd30 447 float intError = 0; //integral of velError
tanyuzhuo 24:7dd4e187dd30 448 float Tr;
tanyuzhuo 24:7dd4e187dd30 449 float error;
tanyuzhuo 24:7dd4e187dd30 450 float olderror = 0;
tanyuzhuo 21:34f440ae0227 451 float Speed;
tanyuzhuo 24:7dd4e187dd30 452 float Rev;
tanyuzhuo 24:7dd4e187dd30 453 int8_t leads = -2;
tanyuzhuo 24:7dd4e187dd30 454 int8_t leadr = -2;
Olaffo 25:ca5ccbf55b07 455 float kps = 25;
tanyuzhuo 24:7dd4e187dd30 456 float kis = 0.07;
tanyuzhuo 24:7dd4e187dd30 457 float kpr = 35;
tanyuzhuo 24:7dd4e187dd30 458 float kdr = 14.75; //proportional constant for speed
tanyuzhuo 18:e48c0910c71e 459 // Timer to count time passed between ticks to calculate velocity
tanyuzhuo 18:e48c0910c71e 460 Timer motorTime;
tanyuzhuo 18:e48c0910c71e 461 motorTime.start();
tanyuzhuo 18:e48c0910c71e 462 float motorPos;
tanyuzhuo 24:7dd4e187dd30 463 float myTime;
tanyuzhuo 24:7dd4e187dd30 464
tanyuzhuo 18:e48c0910c71e 465 Ticker motorCtrlTicker;
tanyuzhuo 18:e48c0910c71e 466 motorCtrlTicker.attach_us(&motorCtrlTick,100000);
tanyuzhuo 18:e48c0910c71e 467 while(1){
tanyuzhuo 18:e48c0910c71e 468 motorCtrlT.signal_wait(0x1);
tanyuzhuo 24:7dd4e187dd30 469
Olaffo 25:ca5ccbf55b07 470 // Convert variabls to int
tanyuzhuo 21:34f440ae0227 471 Speed = maxSpeed*6;
tanyuzhuo 24:7dd4e187dd30 472 Rev = newRev *6;
tanyuzhuo 18:e48c0910c71e 473 motorPos = motorPosition;
tanyuzhuo 24:7dd4e187dd30 474
tanyuzhuo 24:7dd4e187dd30 475 myTime = motorTime.read();
tanyuzhuo 24:7dd4e187dd30 476 motorVelocity = (motorPos - oldmotorPosition)/myTime;
tanyuzhuo 24:7dd4e187dd30 477 error = Rev + motorPosition_command - motorPos;
tanyuzhuo 18:e48c0910c71e 478 oldmotorPosition = motorPos;
tanyuzhuo 20:5bd9f9e406d1 479
tanyuzhuo 20:5bd9f9e406d1 480 //equation for controls
tanyuzhuo 24:7dd4e187dd30 481 sError = Speed -abs(motorVelocity);
Olaffo 25:ca5ccbf55b07 482 if (motorVelocity != 0){
Olaffo 25:ca5ccbf55b07 483 intError = intError + sError;
tanyuzhuo 24:7dd4e187dd30 484 }
Olaffo 25:ca5ccbf55b07 485 Ts = (kps * sError + kis * intError)*(error/abs(error));
Olaffo 25:ca5ccbf55b07 486 Tr = kpr*error+kdr*(error-olderror)/ myTime;
Olaffo 25:ca5ccbf55b07 487
Olaffo 25:ca5ccbf55b07 488 // Speed AND rotation control (aka standard mode)
Olaffo 25:ca5ccbf55b07 489 if (mode = STANDARD)
Olaffo 25:ca5ccbf55b07 490 {
Olaffo 25:ca5ccbf55b07 491 // Case for reverse rotation
Olaffo 25:ca5ccbf55b07 492 if (error < 0){
Olaffo 25:ca5ccbf55b07 493
Olaffo 25:ca5ccbf55b07 494 // Case for choosing rotational control
Olaffo 25:ca5ccbf55b07 495 if (Ts <=Tr ){
Olaffo 25:ca5ccbf55b07 496
Olaffo 25:ca5ccbf55b07 497 // Flip lead
Olaffo 25:ca5ccbf55b07 498 if ( Tr >= 0) { lead = -2; }
Olaffo 25:ca5ccbf55b07 499 else if ( Tr < 0) { lead = 2; }
Olaffo 25:ca5ccbf55b07 500
Olaffo 25:ca5ccbf55b07 501 // Assure torque is in bounds
Olaffo 25:ca5ccbf55b07 502 if (Tr > 2000){ Tr = 2000; }
Olaffo 25:ca5ccbf55b07 503 else if (Tr < 0){ Tr = -Tr; }
Olaffo 25:ca5ccbf55b07 504 else if (Tr < -2000){ Tr = 2000; }
Olaffo 25:ca5ccbf55b07 505
Olaffo 25:ca5ccbf55b07 506 // Pass torque
Olaffo 25:ca5ccbf55b07 507 pulseWidth = Tr;
Olaffo 25:ca5ccbf55b07 508 }
Olaffo 25:ca5ccbf55b07 509
Olaffo 25:ca5ccbf55b07 510 // Case for choosing speed control
Olaffo 25:ca5ccbf55b07 511 else {
Olaffo 25:ca5ccbf55b07 512 // Flip lead
Olaffo 25:ca5ccbf55b07 513 if ( Ts >= 0) { lead = -2; }
Olaffo 25:ca5ccbf55b07 514 else if ( Ts < 0) { lead = 2; }
Olaffo 25:ca5ccbf55b07 515
Olaffo 25:ca5ccbf55b07 516 // Assure torque is in bounds
Olaffo 25:ca5ccbf55b07 517 if (Ts > 2000){ Ts = 2000; }
Olaffo 25:ca5ccbf55b07 518 else if (Ts < 0){ Ts = -Ts; }
Olaffo 25:ca5ccbf55b07 519 else if (Ts < -2000){ Ts = 2000; }
Olaffo 25:ca5ccbf55b07 520
Olaffo 25:ca5ccbf55b07 521 // Pass torque
Olaffo 25:ca5ccbf55b07 522 pulseWidth = Ts;
Olaffo 25:ca5ccbf55b07 523 }
Olaffo 25:ca5ccbf55b07 524 }
Olaffo 25:ca5ccbf55b07 525
Olaffo 25:ca5ccbf55b07 526 // Case for forward rotation
Olaffo 25:ca5ccbf55b07 527 else if (error >= 0){
Olaffo 25:ca5ccbf55b07 528
Olaffo 25:ca5ccbf55b07 529 // Case for choosing speed control
Olaffo 25:ca5ccbf55b07 530 if (Ts <=Tr ){
Olaffo 25:ca5ccbf55b07 531 // Flip lead
Olaffo 25:ca5ccbf55b07 532 if ( Ts >= 0) { lead = -2; }
Olaffo 25:ca5ccbf55b07 533 else if ( Ts < 0) { lead = 2; }
Olaffo 25:ca5ccbf55b07 534
Olaffo 25:ca5ccbf55b07 535 // Assure torque is in bounds
Olaffo 25:ca5ccbf55b07 536 if (Ts > 2000){ Ts = 2000; }
Olaffo 25:ca5ccbf55b07 537 else if (Ts < 0){ Ts = -Ts; }
Olaffo 25:ca5ccbf55b07 538 else if (Ts < -2000){ Ts = 2000; }
Olaffo 25:ca5ccbf55b07 539
Olaffo 25:ca5ccbf55b07 540 // Pass torque
Olaffo 25:ca5ccbf55b07 541 pulseWidth = Ts;
Olaffo 25:ca5ccbf55b07 542 }
Olaffo 25:ca5ccbf55b07 543
Olaffo 25:ca5ccbf55b07 544 // Case for rotational speed control
Olaffo 25:ca5ccbf55b07 545 else {
Olaffo 25:ca5ccbf55b07 546
Olaffo 25:ca5ccbf55b07 547 // Flip lead
Olaffo 25:ca5ccbf55b07 548 if ( Tr >= 0) { lead = -2; }
Olaffo 25:ca5ccbf55b07 549 else if ( Tr < 0) { lead = 2; }
Olaffo 25:ca5ccbf55b07 550
Olaffo 25:ca5ccbf55b07 551 // Assure torque is in bounds
Olaffo 25:ca5ccbf55b07 552 if (Tr > 2000){ Tr = 2000; }
Olaffo 25:ca5ccbf55b07 553 else if (Tr < 0){ Tr = -Tr; }
Olaffo 25:ca5ccbf55b07 554 else if (Tr < -2000){ Tr = 2000; }
Olaffo 25:ca5ccbf55b07 555
Olaffo 25:ca5ccbf55b07 556 // Pass torque
Olaffo 25:ca5ccbf55b07 557 pulseWidth = Tr;
Olaffo 25:ca5ccbf55b07 558 }
Olaffo 25:ca5ccbf55b07 559 }
tanyuzhuo 24:7dd4e187dd30 560 }
tanyuzhuo 24:7dd4e187dd30 561
Olaffo 25:ca5ccbf55b07 562
Olaffo 25:ca5ccbf55b07 563 // ONLY speed control (aka forever forward mode)
Olaffo 25:ca5ccbf55b07 564 else if (mode = FOREVER_FORWARD){
Olaffo 25:ca5ccbf55b07 565
Olaffo 25:ca5ccbf55b07 566 if ( Ts >= 0) { lead = -2; }
Olaffo 25:ca5ccbf55b07 567 else if ( Ts < 0) { lead = 2; }
Olaffo 25:ca5ccbf55b07 568
Olaffo 25:ca5ccbf55b07 569 // Assure torque is in bounds
Olaffo 25:ca5ccbf55b07 570 if (Ts > 2000){ Ts = 2000; }
Olaffo 25:ca5ccbf55b07 571 else if (Ts < 0){ Ts = -Ts; }
Olaffo 25:ca5ccbf55b07 572 else if (Ts < -2000){ Ts = 2000; }
Olaffo 25:ca5ccbf55b07 573
tanyuzhuo 24:7dd4e187dd30 574 pulseWidth = Ts;
tanyuzhuo 24:7dd4e187dd30 575 }
tanyuzhuo 24:7dd4e187dd30 576
Olaffo 25:ca5ccbf55b07 577 counter++;
tanyuzhuo 18:e48c0910c71e 578 motorTime.reset();
tanyuzhuo 18:e48c0910c71e 579 // Serial output to monitor speed and position
tanyuzhuo 18:e48c0910c71e 580 if(counter == 10){
tanyuzhuo 18:e48c0910c71e 581 counter = 0;
tanyuzhuo 18:e48c0910c71e 582 //display velocity and motor position
tanyuzhuo 21:34f440ae0227 583 putMessage(MOTOR_POS,0,(float)(motorPosition/6.0));
tanyuzhuo 20:5bd9f9e406d1 584 putMessage(MOTOR_SPEED,0,(float)(motorVelocity/6.0));
Olaffo 25:ca5ccbf55b07 585 putMessage(LEAD,lead);
tanyuzhuo 18:e48c0910c71e 586 }
tanyuzhuo 24:7dd4e187dd30 587 olderror=error;
tanyuzhuo 18:e48c0910c71e 588 }
tanyuzhuo 21:34f440ae0227 589 }
peterith 13:c51d828531d5 590 int main() {
tanyuzhuo 17:ff5300ba5442 591 //Initialise bincoin mining and communication
tanyuzhuo 20:5bd9f9e406d1 592
Olaffo 25:ca5ccbf55b07 593 // Start up checkup
tanyuzhuo 23:904721445e7a 594 d9.period(0.002f); //Set PWM period in seconds
Olaffo 25:ca5ccbf55b07 595 int8_t orState = motorHome();
Olaffo 25:ca5ccbf55b07 596 putMessage(WELCOME);
Olaffo 25:ca5ccbf55b07 597 putMessage(ROTOR_ORG);
peterith 14:0481b606d10e 598
Olaffo 25:ca5ccbf55b07 599 // Start all threads
Olaffo 25:ca5ccbf55b07 600 commsIn.start(commandProcessor);
tanyuzhuo 20:5bd9f9e406d1 601 commsOut.start(commsOutFunc);
tanyuzhuo 20:5bd9f9e406d1 602 motorCtrlT.start(motorCtrlFn);
tanyuzhuo 20:5bd9f9e406d1 603 bitcointhread.start(bitcoin);
estott 0:de4320f74764 604
Olaffo 25:ca5ccbf55b07 605 // Define motor ISRs
tanyuzhuo 20:5bd9f9e406d1 606 I1.rise(&motorISR);
tanyuzhuo 20:5bd9f9e406d1 607 I2.rise(&motorISR);
tanyuzhuo 20:5bd9f9e406d1 608 I3.rise(&motorISR);
peterith 13:c51d828531d5 609
tanyuzhuo 20:5bd9f9e406d1 610 I1.fall(&motorISR);
tanyuzhuo 20:5bd9f9e406d1 611 I2.fall(&motorISR);
tanyuzhuo 20:5bd9f9e406d1 612 I3.fall(&motorISR);
tanyuzhuo 20:5bd9f9e406d1 613
tanyuzhuo 16:10d53b056b17 614
estott 0:de4320f74764 615 }