Revision 19:ca08111237ab, committed 2019-03-19

Comitter:

cz3015

Date:

Tue Mar 19 18:05:37 2019 +0000

Parent:

11:7286f0c07086

Commit message:

direction + speed control needed; integration constant needed to be tested; start engine mechanism needed

Changed in this revision

--- 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

--- a/motor-mining.lib	Thu Feb 28 10:44:25 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/teams/Internet-of-Tings/code/motor-mining/#000000000000