![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
An embedded device
Dependencies: Crypto
Diff: main.cpp
- Revision:
- 19:ca08111237ab
- Parent:
- 10:a4b5723b6c9d
diff -r 7286f0c07086 -r ca08111237ab main.cpp --- a/main.cpp Thu Feb 28 10:44:25 2019 +0000 +++ b/main.cpp Tue Mar 19 18:05:37 2019 +0000 @@ -1,28 +1,29 @@ #include "mbed.h" - +#include "Crypto.h" + //Photointerrupter input pins #define I1pin D3 #define I2pin D6 #define I3pin D5 - + //Incremental encoder input pins -#define CHApin D12 -#define CHBpin D11 - +#define CHApin D12 +#define CHBpin D11 + //Motor Drive output pins //Mask in output byte #define L1Lpin D1 //0x01 #define L1Hpin A3 //0x02 #define L2Lpin D0 //0x04 -#define L2Hpin A6 //0x08 -#define L3Lpin D10 //0x10 -#define L3Hpin D2 //0x20 - +#define L2Hpin A6 //0x08 +#define L3Lpin D10 //0x10 +#define L3Hpin D2 //0x20 + #define PWMpin D9 - + //Motor current sense -#define MCSPpin A1 -#define MCSNpin A0 - +#define MCSPpin A1 +#define MCSNpin A0 + //Mapping from sequential drive states to motor phase outputs /* State L1 L2 L3 @@ -37,91 +38,313 @@ */ //Drive state to output table const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; - + //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed - + //Phase lead to make motor spin const int8_t lead = 2; //2 for forwards, -2 for backwards - + //Status LED DigitalOut led1(LED1); - + //Photointerrupter inputs -DigitalIn I1(I1pin); -DigitalIn I2(I2pin); -DigitalIn I3(I3pin); - +InterruptIn I1(I1pin); +InterruptIn I2(I2pin); +InterruptIn I3(I3pin); + //Motor Drive outputs -DigitalOut L1L(L1Lpin); +PwmOut L1L(L1Lpin); DigitalOut L1H(L1Hpin); -DigitalOut L2L(L2Lpin); +PwmOut L2L(L2Lpin); DigitalOut L2H(L2Hpin); -DigitalOut L3L(L3Lpin); +PwmOut L3L(L3Lpin); DigitalOut L3H(L3Hpin); - + + +int8_t orState = 0; +int8_t intState = 0; +int8_t intStateOld = 0; +int32_t revoCounter = 0; //Counts the number of revolutions +int32_t motorVelocity; +//Phase lead to make motor spin +int8_t lead = -2; //2 for forwards, -2 for backwards + +typedef struct { + uint64_t nonce; + float data; +} mail_t; + +Mail<mail_t, 16> mail_box; +Thread commandProcessorthread; +Thread bitcointhread; +RawSerial pc(SERIAL_TX, SERIAL_RX); +Queue<void, 8> inCharQ; +Mutex newKey_mutex; +uint64_t newKey = 0; + +volatile float newRev; +volatile float maxSpeed = 300; +uint32_t pulseWidth; +float motorPosition_command; +float motorPosition; + +// mail to queue messages for serial port +void putMessage(uint64_t *nonce,float data){ + mail_t *mail = mail_box.alloc(); + mail->nonce = *nonce; + mail->data = *data; + mail_box.put(mail); +} + +void serialISR() { + uint8_t newChar = pc.getc(); + inCharQ.put((void*) newChar); +} + +void commandProcessor() { + pc.attach(&serialISR); + char command[19]; + char* number; + //char k; + uint64_t receivedKey; + uint8_t index = 0; + while(1) { + osEvent newEvent = inCharQ.get(); + uint8_t newChar = (uint8_t) newEvent.value.p; + command[index] = newChar; + index++; + if (newChar == '\r') { + command[17] = '\0'; + + if (command[0] == 'R') { + pc.printf("Rotation command\n"); + + pc.printf("%s", command); + } + else if (command[0] == 'V') { + pc.printf("Max speed command\n"); + pc.printf("%s", command); + } + else if (command[0] == 'K') { + if (index == 18){ // when index is 18 means you entered K and 16 digits + number = command +1; //super bad solution, but I don't know how to work with strings in C + receivedKey = strtoull(number, NULL, 16); + //receivedKey = 2147483648; + //sscanf(command, "%d", &receivedKey); + pc.printf("Received key: %016llx\n\r", receivedKey); + newKey_mutex.lock(); + newKey = receivedKey; + newKey_mutex.unlock(); + } else { + pc.printf("Not a valid key!"); + }; + } + else if (command[0] == 'T') { + pc.printf("Melody command\n"); + pc.printf("%s", command); + } + memset(command, 0, sizeof(command)); + index = 0; + } else { + pc.printf("Current command: %s\n\r", command); + } + } +} + +void bitcoin(){ + while(1) { + SHA256 sha; + uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64, + 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73, + 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E, + 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20, + 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20, + 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20, + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; + uint64_t* key = (uint64_t*) ((int) sequence + 48); + uint64_t* nonce = (uint64_t*) ((int) sequence + 56); + uint8_t hash[32]; + + Timer t; + t.start(); + unsigned currentTime = 0; + unsigned currentCount = 0; + + for (unsigned i = 0; i <= UINT_MAX; i++) { + (*nonce)++; + newKey_mutex.lock(); + *key = newKey; + newKey_mutex.unlock(); + sha.computeHash(hash, sequence, 64); + if (hash[0] == 0 && hash[1] == 0) { + //putMessage(nonce); + pc.printf("Successful nonce: %016x\n\r", *nonce); + } + if ((unsigned) t.read() == currentTime) { + //pc.printf("Hash rate: %d\n\r", i - currentCount); + pc.printf("Current key: %016llx\n\r", *key); + currentTime++; + currentCount = i; + } + } + t.stop(); + } + } + + + +void motorCtrlTick(){ + motorCtrlT.signal_set(0x1); + } + + //Set a given drive state -void motorOut(int8_t driveState){ +void motorOut(int8_t driveState,uint32_t motorTorque){ //Lookup the output byte from the drive state. int8_t driveOut = driveTable[driveState & 0x07]; //Turn off first - if (~driveOut & 0x01) L1L = 0; + if (~driveOut & 0x01) L1L.pulsewidth(0); if (~driveOut & 0x02) L1H = 1; - if (~driveOut & 0x04) L2L = 0; + if (~driveOut & 0x04) L2L.pulsewidth(0); if (~driveOut & 0x08) L2H = 1; - if (~driveOut & 0x10) L3L = 0; + if (~driveOut & 0x10) L3L.pulsewidth(0); if (~driveOut & 0x20) L3H = 1; //Then turn on - if (driveOut & 0x01) L1L = 1; + if (driveOut & 0x01) L1L.pulsewidth(motorTorque); if (driveOut & 0x02) L1H = 0; - if (driveOut & 0x04) L2L = 1; + if (driveOut & 0x04) L2L.pulsewidth(motorTorque); if (driveOut & 0x08) L2H = 0; - if (driveOut & 0x10) L3L = 1; + if (driveOut & 0x10) L3L.pulsewidth(motorTorque); if (driveOut & 0x20) L3H = 0; - } - - //Convert photointerrupter inputs to a rotor state -inline int8_t readRotorState(){ - return stateMap[I1 + 2*I2 + 4*I3]; - } - -//Basic synchronisation routine -int8_t motorHome() { - //Put the motor in drive state 0 and wait for it to stabilise - motorOut(0); - wait(2.0); - - //Get the rotor state - return readRotorState(); } -//Main -int main() { - int8_t orState = 0; //Rotot offset at motor state 0 - int8_t intState = 0; - int8_t intStateOld = 0; - - //Initialise the serial port - Serial pc(SERIAL_TX, SERIAL_RX); - pc.printf("Hello\n\r"); - - //Run the motor synchronisation - orState = motorHome(); - pc.printf("Rotor origin: %x\n\r",orState); - //orState is subtracted from future rotor state inputs to align rotor and motor states - - //Poll the rotor state and set the motor outputs accordingly to spin the motor - while (1) { - intState = readRotorState(); - if (intState != intStateOld) { - intStateOld = intState; - motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive - //pc.printf("%d\n\r",intState); +//Convert photointerrupter inputs to a rotor state +inline int8_t readRotorState(){ + return stateMap[I1 + 2*I2 + 4*I3]; +} + +int8_t motorHome() { + //Put the motor in drive state 0 and wait for it to stabilize + L1L.period(2000); + L2L.period(2000); + L3L.period(2000); + motorOut(0,200); + wait(2.0); + return readRotorState(); +} + +//orState is subtracted from future rotor state inputs to align rotor and motor states +int8_t orState = motorHome(); +// ISR to handle the updating of the motor position +void motorISR() { + static int8_t oldRotorState; + int8_t rotorState = readRotorState(); + motorOut((rotorState-orState+lead+6)%6,pulseWidth); //+6 to make sure the remainder is positive + if (rotorState - oldRotorState == 5) motorPosition --; + else if (rotorState - oldRotorState == -5) motorPosition ++; + else motorPosition += (rotorState - oldRotorState); + oldRotorState = rotorState; +} +/*void push() { + intState = readRotorState(); + if (intState != intStateOld) { + intStateOld = intState; + motorOut((intState - orState + lead +6) % 6); //+6 to make sure the remainder is positive + } +}*/ + +void motorCtrlFn(){ + int32_t counter=0; + static int32_t oldmotorPosition; + int32_t error =0; + int32_t PrevError = 0;// diff btw one possition and current position + int32_t errorSum; + int32_t PrevErrorArray[10]; //10 errors for integration + int8_t errorSign = 1; // get rid of the minus sign when motor is turning negative direction + // Timer to count time passed between ticks to calculate velocity + Timer motorTime; + motorTime.start(); + float motorPos; + float windingSpeed; + float windingRev; + float Ms; //proportional motor speed control + float Mp; // diff motor postion control + float ks = 15; //proportional constant for speed + float kd = 11; // 11 values in 100ms, diff constant for position control + float ki = ??; // integration constant, to be tested for friction + int8_t leadMs = -2; + int8_t leadMp = -2; // different leads to know which controller used + Ticker motorCtrlTicker; + + motorCtrlTicker.attach_us(&motorCtrlTick,100000); + while(1){ + motorCtrlT.signal_wait(0x1); + errorSum= 0; + for(uint8_t i=9; i >0 ; i--){ + PrevErrorArray[i] = prevErrorArray[i-1]; + errorSum+= PrevErrorArray[i]; + } + // convert state change into rotations + windingSpeed = maxSpeed*6; + windingRev = newRev*6; + motorPos = motorPosition; + motorVelocity = (motorPos - oldmotorPosition)/motorTime.read(); + + error = windingRev+ motorPosition_command- motorPos; + + if (error < 0) errorSign = -1; + else errorSign =1; + + PrevErrorArray[0] = error * motorTime.read(); + errorSum += PrevErrorArray [0]; + oldmotorPosition = motorPos; + + //equation for controls + Ms = ks*(windingSpeed -abs(motorVelocity))*errorSign; + Mp = ks*error + kd*(error - PrevError) /motorTime.read() + ki*errorSum; + + motorTime.reset(); + // Serial output to monitor speed and position + counter++; + if(counter == 10){ + counter = 0; + //display velocity and motor position + putMessage(3,(float)(motorPos/6.0)); + putMessage(4,(float)(motorVelocity/6.0)); } } +int main() { + //Serial pc(SERIAL_TX, SERIAL_RX); + + //Initialise bincoin mining and communication + bitcointhread.set_priority(osPriorityNormal); + commandProcessorthread.set_priority(osPriorityHigh); + commandProcessorthread.start(commandProcessor); + bitcointhread.start(bitcoin); + + //PWM.period(0.002f); //Set PWM period in seconds + //PWM.write(0.5); //Set PWM duty in % + + pc.printf("Hello Pete\n\r"); + + orState = motorHome(); + pc.printf("Rotor origin: %x\n\r", orState); + + I1.rise(&push); + I2.rise(&push); + I3.rise(&push); + + I1.fall(&push); + I2.fall(&push); + I3.fall(&push); + + } - + + \ No newline at end of file