Skad00sh / Mbed OS ES_CW2_Dev

Callum and Adel's changes on 12/02/19

Dependencies:   Crypto

main.cpp@53:89d16b398615, 2019-03-22 (annotated)

Committer:
iachinweze1
Date:
Fri Mar 22 23:42:55 2019 +0000
Revision:
53:89d16b398615
Parent:
51:c03f63c6f930
Child:
54:bd5b586aa2e1
integrated_1;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 2 /*
estott 0:de4320f74764 3 State L1 L2 L3
estott 0:de4320f74764 4 0 H - L
estott 0:de4320f74764 5 1 - H L
estott 0:de4320f74764 6 2 L H -
estott 0:de4320f74764 7 3 L - H
estott 0:de4320f74764 8 4 - L H
estott 0:de4320f74764 9 5 H L -
estott 0:de4320f74764 10 6 - - -
estott 0:de4320f74764 11 7 - - -
estott 0:de4320f74764 12 */
CallumAlder 42:121148278dae 13
CallumAlder 42:121148278dae 14 //Header Files
CallumAlder 42:121148278dae 15 #include "SHA256.h"
CallumAlder 42:121148278dae 16 #include "mbed.h"
CallumAlder 42:121148278dae 17
CallumAlder 42:121148278dae 18 //Photointerrupter Input Pins
CallumAlder 42:121148278dae 19 #define I1pin D3
CallumAlder 42:121148278dae 20 #define I2pin D6
CallumAlder 42:121148278dae 21 #define I3pin D5
CallumAlder 42:121148278dae 22
CallumAlder 42:121148278dae 23 //Incremental Encoder Input Pins
CallumAlder 42:121148278dae 24 #define CHApin D12
CallumAlder 42:121148278dae 25 #define CHBpin D11
CallumAlder 42:121148278dae 26
CallumAlder 42:121148278dae 27 //Motor Drive High Pins //Mask in output byte
CallumAlder 42:121148278dae 28 #define L1Hpin A3 //0x02
CallumAlder 42:121148278dae 29 #define L2Hpin A6 //0x08
CallumAlder 42:121148278dae 30 #define L3Hpin D2 //0x20
CallumAlder 42:121148278dae 31
CallumAlder 42:121148278dae 32 //Motor Drive Low Pins
CallumAlder 42:121148278dae 33 #define L1Lpin D1 //0x01
CallumAlder 42:121148278dae 34 #define L2Lpin D0 //0x04
CallumAlder 42:121148278dae 35 #define L3Lpin D10 //0x10
CallumAlder 42:121148278dae 36
CallumAlder 42:121148278dae 37 //Motor Pulse Width Modulation (PWM) Pin
CallumAlder 42:121148278dae 38 #define PWMpin D9
CallumAlder 42:121148278dae 39
CallumAlder 42:121148278dae 40 //Motor current sense
CallumAlder 42:121148278dae 41 #define MCSPpin A1
CallumAlder 42:121148278dae 42 #define MCSNpin A0
CallumAlder 42:121148278dae 43
CallumAlder 42:121148278dae 44 // "Lacros" for utility
CallumAlder 47:21bf4096faa1 45 #define max(x,y) ( (x)>=(y) ? (x):(y) )
CallumAlder 47:21bf4096faa1 46 #define min(x,y) ( (x)>=(y) ? (y):(x) )
CallumAlder 47:21bf4096faa1 47 #define sgn(x) ( (x)>= 0 ? 1 :-1 )
CallumAlder 42:121148278dae 48
CallumAlder 42:121148278dae 49 //Status LED
CallumAlder 42:121148278dae 50 DigitalOut led1(LED1);
CallumAlder 42:121148278dae 51
CallumAlder 42:121148278dae 52 //Photointerrupter Inputs
CallumAlder 42:121148278dae 53 InterruptIn I1(I1pin);
CallumAlder 42:121148278dae 54 InterruptIn I2(I2pin);
CallumAlder 42:121148278dae 55 InterruptIn I3(I3pin);
CallumAlder 42:121148278dae 56
CallumAlder 42:121148278dae 57 //Motor Drive High Outputs
CallumAlder 42:121148278dae 58 DigitalOut L1H(L1Hpin);
CallumAlder 42:121148278dae 59 DigitalOut L2H(L2Hpin);
CallumAlder 42:121148278dae 60 DigitalOut L3H(L3Hpin);
CallumAlder 42:121148278dae 61
CallumAlder 42:121148278dae 62 //Motor Drive Low Outputs
CallumAlder 42:121148278dae 63 DigitalOut L1L(L1Lpin);
CallumAlder 42:121148278dae 64 DigitalOut L2L(L2Lpin);
CallumAlder 42:121148278dae 65 DigitalOut L3L(L3Lpin);
CallumAlder 42:121148278dae 66
CallumAlder 42:121148278dae 67 PwmOut pwmCtrl(PWMpin);
CallumAlder 42:121148278dae 68
adehadd 51:c03f63c6f930 69
adehadd 51:c03f63c6f930 70 //Encoder inputs
adehadd 51:c03f63c6f930 71 InterruptIn CHA(CHApin);
adehadd 51:c03f63c6f930 72 InterruptIn CHB(CHBpin);
adehadd 51:c03f63c6f930 73
adehadd 51:c03f63c6f930 74
adehadd 27:ce05fed3c1ea 75 //Drive state to output table
estott 0:de4320f74764 76 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 77
adehadd 27:ce05fed3c1ea 78 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
CallumAlder 47:21bf4096faa1 79 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
CallumAlder 47:21bf4096faa1 80 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
CallumAlder 47:21bf4096faa1 81
adehadd 49:ae8dedfe2d0f 82 #ifndef MAXCMDLENGTH
adehadd 49:ae8dedfe2d0f 83 #define MAXCMDLENGTH 18
adehadd 49:ae8dedfe2d0f 84 #endif
adehadd 49:ae8dedfe2d0f 85
adehadd 49:ae8dedfe2d0f 86 #ifndef MAXCMDLENGTH_HALF
adehadd 49:ae8dedfe2d0f 87 #define MAXCMDLENGTH_HALF 9
adehadd 49:ae8dedfe2d0f 88 #endif
adehadd 49:ae8dedfe2d0f 89
CallumAlder 42:121148278dae 90 class Comm{
CallumAlder 42:121148278dae 91
CallumAlder 42:121148278dae 92 public:
estott 0:de4320f74764 93
CallumAlder 43:a6d20109b2f2 94 volatile bool _outMining;
CallumAlder 43:a6d20109b2f2 95 volatile float _targetVel, _targetRot;
adehadd 49:ae8dedfe2d0f 96 volatile char _notes[MAXCMDLENGTH_HALF]; // Array of actual _notes
estott 0:de4320f74764 97
CallumAlder 47:21bf4096faa1 98 volatile int8_t _modeBitField; // 0,0,0,... <=> Melody,Torque,Rotation,Velocity
CallumAlder 47:21bf4096faa1 99 const uint8_t _MAXCMDLENGTH; //
adehadd 50:d1b983a0dd6f 100 volatile uint8_t _inCharIndex, _cmdIndex, _noteRep,
adehadd 49:ae8dedfe2d0f 101 _noteDur[MAXCMDLENGTH_HALF],_noteLen; // Array of note durations
CallumAlder 47:21bf4096faa1 102 volatile uint32_t _motorTorque; // Motor Toque
CallumAlder 47:21bf4096faa1 103 volatile uint64_t _newKey; // hash key
adehadd 49:ae8dedfe2d0f 104
adehadd 51:c03f63c6f930 105 volatile int32_t _motor_pos;
adehadd 51:c03f63c6f930 106
adehadd 49:ae8dedfe2d0f 107 char _inCharQ[MAXCMDLENGTH],
adehadd 49:ae8dedfe2d0f 108 _newCmd[MAXCMDLENGTH];
adehadd 49:ae8dedfe2d0f 109
CallumAlder 47:21bf4096faa1 110 RawSerial _pc;
adehadd 49:ae8dedfe2d0f 111 Thread _tCommOut, _tCommIn;
adehadd 49:ae8dedfe2d0f 112 Mutex _newKeyMutex; // Restrict access to prevent deadlock.
CallumAlder 47:21bf4096faa1 113 bool _RUN;
CallumAlder 42:121148278dae 114
CallumAlder 48:b2afe48ced0d 115 enum msgType { mot_orState, posIn, velIn, posOut, velOut,
CallumAlder 42:121148278dae 116 hashRate, keyAdded, nonceMatch,
CallumAlder 43:a6d20109b2f2 117 torque, rotations, melody,
CallumAlder 42:121148278dae 118 error};
adehadd 27:ce05fed3c1ea 119
CallumAlder 47:21bf4096faa1 120 typedef struct { msgType type;
adehadd 49:ae8dedfe2d0f 121 uint32_t message;} msg; // TODO: Maybe add a thing that stores the newCmd message as well
adehadd 27:ce05fed3c1ea 122
CallumAlder 47:21bf4096faa1 123 Mail<msg, 32> _msgStack;
adehadd 49:ae8dedfe2d0f 124 Mail<bool,32> _msgReceived;
CallumAlder 47:21bf4096faa1 125
iachinweze1 23:ab1cb51527d1 126
CallumAlder 48:b2afe48ced0d 127 //-- Default Constructor With Inheritance From RawSerial Constructor ------------------------------------------------//
adehadd 49:ae8dedfe2d0f 128 Comm(): _pc(SERIAL_TX, SERIAL_RX), _tCommOut(osPriorityNormal, 1024), _tCommIn(osPriorityAboveNormal, 1024), _MAXCMDLENGTH(MAXCMDLENGTH){
adehadd 27:ce05fed3c1ea 129
CallumAlder 47:21bf4096faa1 130 _cmdIndex = 0;
CallumAlder 47:21bf4096faa1 131 _inCharIndex = 0;
adehadd 45:402a8a9423b9 132
CallumAlder 47:21bf4096faa1 133 _outMining = false;
CallumAlder 47:21bf4096faa1 134 _motorTorque = 300;
CallumAlder 47:21bf4096faa1 135 _targetRot = 459.0;
CallumAlder 47:21bf4096faa1 136 _targetVel = 45.0;
iachinweze1 23:ab1cb51527d1 137
adehadd 51:c03f63c6f930 138 _motor_pos = 0;
adehadd 51:c03f63c6f930 139
adehadd 51:c03f63c6f930 140
CallumAlder 47:21bf4096faa1 141 _modeBitField = 0x01; // Default velocity mode
adehadd 45:402a8a9423b9 142
adehadd 49:ae8dedfe2d0f 143 _pc.printf("\n\r%s %d\n\r>", "Welcome", _MAXCMDLENGTH ); // Welcome
CallumAlder 47:21bf4096faa1 144 for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer
CallumAlder 48:b2afe48ced0d 145 _inCharQ[i] = (char)'.'; // If a null terminator is printed Mbed prints 'Embedded Systems are fun and do awesome things!'
CallumAlder 42:121148278dae 146
CallumAlder 47:21bf4096faa1 147 _inCharQ[_MAXCMDLENGTH] = (char)'\0';
CallumAlder 48:b2afe48ced0d 148 sprintf(_inCharQ, "%s", _inCharQ); // Handling of the correct string
CallumAlder 47:21bf4096faa1 149 strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH);
CallumAlder 19:805c87360b55 150
adehadd 49:ae8dedfe2d0f 151 _pc.printf("%s\n\r<", _inCharQ);
adehadd 49:ae8dedfe2d0f 152
CallumAlder 42:121148278dae 153 }
iachinweze1 23:ab1cb51527d1 154
adehadd 49:ae8dedfe2d0f 155 void commInFn() {
adehadd 49:ae8dedfe2d0f 156 _pc.attach(callback(this, &Comm::serialISR));
adehadd 49:ae8dedfe2d0f 157 char newChar;
CallumAlder 42:121148278dae 158
adehadd 49:ae8dedfe2d0f 159 while (_RUN) {
adehadd 49:ae8dedfe2d0f 160 osEvent newEvent = _msgReceived.get(); // Waits forever until it receives a thing
adehadd 49:ae8dedfe2d0f 161 _msgReceived.free((bool *)newEvent.value.p);
adehadd 49:ae8dedfe2d0f 162
CallumAlder 43:a6d20109b2f2 163 if (_inCharIndex == (_MAXCMDLENGTH)) {
CallumAlder 47:21bf4096faa1 164 _inCharQ[_MAXCMDLENGTH] = '\0'; // Force the string to have an end character
CallumAlder 42:121148278dae 165 putMessage(error, 1);
CallumAlder 47:21bf4096faa1 166 _inCharIndex = 0; // Reset buffer index
adehadd 27:ce05fed3c1ea 167 }
adehadd 27:ce05fed3c1ea 168 else{
adehadd 49:ae8dedfe2d0f 169 newChar = _inCharQ[_inCharIndex];
adehadd 49:ae8dedfe2d0f 170
adehadd 49:ae8dedfe2d0f 171 if(newChar != '\r'){ // While the command is not over,
CallumAlder 47:21bf4096faa1 172 _inCharIndex++; // Advance index
CallumAlder 43:a6d20109b2f2 173 _pc.putc(newChar);
CallumAlder 42:121148278dae 174 }
CallumAlder 42:121148278dae 175 else{
CallumAlder 47:21bf4096faa1 176 _inCharQ[_inCharIndex] = '\0'; // When the command is finally over,
CallumAlder 47:21bf4096faa1 177 strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH); // Will copy 18 characters from _inCharQ to _newCmd
CallumAlder 42:121148278dae 178
CallumAlder 47:21bf4096faa1 179 for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer
CallumAlder 47:21bf4096faa1 180 _inCharQ[i] = ' ';
adehadd 49:ae8dedfe2d0f 181
CallumAlder 47:21bf4096faa1 182 _inCharIndex = 0; // Reset index
adehadd 49:ae8dedfe2d0f 183 cmdParser();
adehadd 49:ae8dedfe2d0f 184
adehadd 49:ae8dedfe2d0f 185 // _tCommIn.signal_wait(0x01);
CallumAlder 42:121148278dae 186 }
adehadd 27:ce05fed3c1ea 187 }
adehadd 27:ce05fed3c1ea 188 }
adehadd 27:ce05fed3c1ea 189 }
CallumAlder 19:805c87360b55 190
adehadd 49:ae8dedfe2d0f 191 //-- Interrupt Service Routine for Serial Port and Character Queue Handling -----------------------------------------//
adehadd 49:ae8dedfe2d0f 192 void serialISR() {
adehadd 49:ae8dedfe2d0f 193 if (_pc.readable()) {
adehadd 49:ae8dedfe2d0f 194 char newChar = _pc.getc();
adehadd 49:ae8dedfe2d0f 195 _inCharQ[_inCharIndex] = newChar; // Save input character
adehadd 49:ae8dedfe2d0f 196
adehadd 49:ae8dedfe2d0f 197 bool *new_msg = _msgReceived.alloc();
adehadd 49:ae8dedfe2d0f 198 *new_msg = true;
adehadd 49:ae8dedfe2d0f 199 _msgReceived.put(new_msg);
adehadd 49:ae8dedfe2d0f 200 }
adehadd 49:ae8dedfe2d0f 201 }
adehadd 49:ae8dedfe2d0f 202
CallumAlder 48:b2afe48ced0d 203 //-- Reset Cursor Position ------------------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 204 void returnCursor() {
CallumAlder 43:a6d20109b2f2 205 _pc.putc('>');
CallumAlder 43:a6d20109b2f2 206 for (int i = 0; i < _inCharIndex; ++i)
CallumAlder 47:21bf4096faa1 207 _pc.putc(_inCharQ[i]);
CallumAlder 42:121148278dae 208 }
CallumAlder 47:21bf4096faa1 209
CallumAlder 48:b2afe48ced0d 210 //-- Parse Incoming Data From Serial Port ---------------------------------------------------------------------------//
CallumAlder 48:b2afe48ced0d 211 void cmdParser() {
CallumAlder 47:21bf4096faa1 212 switch(_newCmd[0]) {
CallumAlder 47:21bf4096faa1 213 case 'K': // keyAdded
CallumAlder 47:21bf4096faa1 214 _newKeyMutex.lock(); // Ensure there is no deadlock
CallumAlder 47:21bf4096faa1 215 sscanf(_newCmd, "K%x", &_newKey); // Find desired the Key code
CallumAlder 47:21bf4096faa1 216 putMessage(keyAdded, _newKey); // Print it out
CallumAlder 43:a6d20109b2f2 217 _newKeyMutex.unlock();
CallumAlder 43:a6d20109b2f2 218 break;
CallumAlder 43:a6d20109b2f2 219
CallumAlder 47:21bf4096faa1 220 case 'V': // velIn
CallumAlder 47:21bf4096faa1 221 sscanf(_newCmd, "V%f", &_targetVel); // Find desired the target velocity
CallumAlder 47:21bf4096faa1 222 _modeBitField = 0x01; // Adjust bitfield pos 1
adehadd 51:c03f63c6f930 223 _motor_pos = 0;
iachinweze1 53:89d16b398615 224 if (&_targetVel < 0) {
iachinweze1 53:89d16b398615 225 _targetRot = -100;
iachinweze1 53:89d16b398615 226 } else {
iachinweze1 53:89d16b398615 227 _targetRot = 100;
iachinweze1 53:89d16b398615 228 }
CallumAlder 47:21bf4096faa1 229 putMessage(velIn, _targetVel); // Print it out
CallumAlder 43:a6d20109b2f2 230 break;
CallumAlder 43:a6d20109b2f2 231
CallumAlder 47:21bf4096faa1 232 case 'R': // posIn
CallumAlder 47:21bf4096faa1 233 sscanf(_newCmd, "R%f", &_targetRot); // Find desired target rotation
CallumAlder 47:21bf4096faa1 234 _modeBitField = 0x02; // Adjust bitfield pos 2
adehadd 51:c03f63c6f930 235 _targetVel = 2e3;
adehadd 51:c03f63c6f930 236 _motor_pos = 0;
CallumAlder 47:21bf4096faa1 237 putMessage(posIn, _targetRot); // Print it out
CallumAlder 42:121148278dae 238 break;
iachinweze1 23:ab1cb51527d1 239
CallumAlder 47:21bf4096faa1 240 case 'x': // Torque
CallumAlder 47:21bf4096faa1 241 sscanf(_newCmd, "x%u", &_motorTorque); // Find desired target torque
CallumAlder 47:21bf4096faa1 242 _modeBitField = 0x04; // Adjust bitfield pos 3
CallumAlder 47:21bf4096faa1 243 putMessage(torque, _motorTorque); // Print it out
adehadd 27:ce05fed3c1ea 244 break;
CallumAlder 42:121148278dae 245
CallumAlder 47:21bf4096faa1 246 case 'M': // Mining display toggle
CallumAlder 47:21bf4096faa1 247 int8_t miningTest;
CallumAlder 47:21bf4096faa1 248 sscanf(_newCmd, "M%d", &miningTest); // Display if input is 1
CallumAlder 47:21bf4096faa1 249 miningTest == 1 ? _outMining = true : _outMining = false;
CallumAlder 47:21bf4096faa1 250 break;
CallumAlder 47:21bf4096faa1 251
CallumAlder 47:21bf4096faa1 252 case 'T': // Play tune
CallumAlder 47:21bf4096faa1 253 regexTune() ? putMessage(melody, 1) : putMessage(error, 2);
CallumAlder 47:21bf4096faa1 254 break; // Break from case 'T'
CallumAlder 47:21bf4096faa1 255
CallumAlder 47:21bf4096faa1 256 default: // Break from switch
adehadd 27:ce05fed3c1ea 257 break;
adehadd 27:ce05fed3c1ea 258 }
adehadd 27:ce05fed3c1ea 259 }
adehadd 27:ce05fed3c1ea 260
CallumAlder 48:b2afe48ced0d 261 //-- Read In Note Data From Serial Port and Parse Into Class Variables ----------------------------------------------//
CallumAlder 47:21bf4096faa1 262 bool regexTune() {
CallumAlder 47:21bf4096faa1 263
CallumAlder 47:21bf4096faa1 264 uint8_t len = 0;
CallumAlder 47:21bf4096faa1 265
CallumAlder 47:21bf4096faa1 266 for (int i = 1; i < _MAXCMDLENGTH; ++i) // Find first #
CallumAlder 47:21bf4096faa1 267 if (_newCmd[i] == '#') {
CallumAlder 47:21bf4096faa1 268 len = i;
CallumAlder 47:21bf4096faa1 269 break; // Stop at first # found
CallumAlder 47:21bf4096faa1 270 }
CallumAlder 47:21bf4096faa1 271
CallumAlder 47:21bf4096faa1 272 if (len>0) { // Parse the input only if # found
adehadd 50:d1b983a0dd6f 273 uint8_t specLen = 2*(len+1) +1; // Add extra character for number of repeats, and +1 for the letter T
adehadd 50:d1b983a0dd6f 274 bool isChar = true; // After 'T' first is character note
adehadd 50:d1b983a0dd6f 275 char formatSpec[specLen];
CallumAlder 47:21bf4096faa1 276 formatSpec[0]='T';
adehadd 50:d1b983a0dd6f 277 for (int i = 1; i < specLen; i=i+2) { // Create a format spec based on length of input
CallumAlder 47:21bf4096faa1 278 formatSpec[i] = '%';
CallumAlder 47:21bf4096faa1 279 isChar ? formatSpec[i+1] = 'c' : \
CallumAlder 47:21bf4096faa1 280 formatSpec[i+1] = 'u' ;
CallumAlder 47:21bf4096faa1 281 isChar = !isChar;
CallumAlder 47:21bf4096faa1 282 }
CallumAlder 47:21bf4096faa1 283
adehadd 50:d1b983a0dd6f 284 formatSpec[specLen] = '\0';
CallumAlder 47:21bf4096faa1 285 sprintf(formatSpec, "%s", formatSpec); // Set string format correctly
CallumAlder 47:21bf4096faa1 286 // _pc.printf("%s\n", formatSpec );
CallumAlder 47:21bf4096faa1 287 sscanf(_newCmd, formatSpec, &_notes[0], &_noteDur[0],
adehadd 50:d1b983a0dd6f 288 &_notes[1], &_noteDur[1],
adehadd 50:d1b983a0dd6f 289 &_notes[2], &_noteDur[2],
adehadd 50:d1b983a0dd6f 290 &_notes[3], &_noteDur[3],
adehadd 50:d1b983a0dd6f 291 &_notes[4], &_noteDur[4],
adehadd 50:d1b983a0dd6f 292 &_notes[5], &_noteDur[5],
adehadd 50:d1b983a0dd6f 293 &_notes[6], &_noteDur[6],
adehadd 50:d1b983a0dd6f 294 &_notes[7], &_noteDur[7],
adehadd 50:d1b983a0dd6f 295 &_notes[8], &_noteDur[8]);
CallumAlder 47:21bf4096faa1 296
CallumAlder 47:21bf4096faa1 297
CallumAlder 47:21bf4096faa1 298 // Update _newCmd for putMessage print
CallumAlder 48:b2afe48ced0d 299 sprintf(_newCmd,formatSpec, _notes[0], _noteDur[0],\
CallumAlder 47:21bf4096faa1 300 _notes[1], _noteDur[1],\
CallumAlder 47:21bf4096faa1 301 _notes[2], _noteDur[2],\
CallumAlder 47:21bf4096faa1 302 _notes[3], _noteDur[3],\
CallumAlder 47:21bf4096faa1 303 _notes[4], _noteDur[4],\
CallumAlder 47:21bf4096faa1 304 _notes[5], _noteDur[5],\
CallumAlder 47:21bf4096faa1 305 _notes[6], _noteDur[6],\
CallumAlder 47:21bf4096faa1 306 _notes[7], _noteDur[7],\
CallumAlder 47:21bf4096faa1 307 _notes[8], _noteDur[8]);
adehadd 50:d1b983a0dd6f 308 _noteLen = (len-1)/2;
adehadd 50:d1b983a0dd6f 309 _modeBitField = 0x08;
adehadd 50:d1b983a0dd6f 310 _noteRep = _noteDur[(len-1)/2];
CallumAlder 47:21bf4096faa1 311 return true;
CallumAlder 47:21bf4096faa1 312 }
CallumAlder 47:21bf4096faa1 313 else {
CallumAlder 47:21bf4096faa1 314 return false;
CallumAlder 47:21bf4096faa1 315 }
CallumAlder 47:21bf4096faa1 316 }
CallumAlder 47:21bf4096faa1 317
CallumAlder 48:b2afe48ced0d 318 //-- Decode Messages to Print on Serial Port ------------------------------------------------------------------------//
CallumAlder 42:121148278dae 319 void commOutFn() {
CallumAlder 42:121148278dae 320 while (_RUN) {
CallumAlder 48:b2afe48ced0d 321
CallumAlder 47:21bf4096faa1 322 osEvent newEvent = _msgStack.get();
CallumAlder 42:121148278dae 323 msg *pMessage = (msg *) newEvent.value.p;
adehadd 27:ce05fed3c1ea 324
CallumAlder 47:21bf4096faa1 325 //Case switch to choose serial output based on incoming message enum
CallumAlder 42:121148278dae 326 switch (pMessage->type) {
CallumAlder 48:b2afe48ced0d 327 case mot_orState:
CallumAlder 47:21bf4096faa1 328 _pc.printf("\r>%s< The motor is currently in state %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 329 break;
CallumAlder 42:121148278dae 330 case hashRate:
CallumAlder 43:a6d20109b2f2 331 if (_outMining) {
CallumAlder 47:21bf4096faa1 332 _pc.printf("\r>%s< Mining: %.4u Hash/s\r", _inCharQ, (uint32_t) pMessage->message);
CallumAlder 42:121148278dae 333 returnCursor();
CallumAlder 43:a6d20109b2f2 334 _outMining = false;
CallumAlder 42:121148278dae 335 }
CallumAlder 42:121148278dae 336 break;
CallumAlder 42:121148278dae 337 case nonceMatch:
CallumAlder 47:21bf4096faa1 338 _pc.printf("\r>%s< Nonce found: %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 339 returnCursor();
CallumAlder 42:121148278dae 340 break;
CallumAlder 42:121148278dae 341 case keyAdded:
CallumAlder 47:21bf4096faa1 342 _pc.printf("\r>%s< New Key Added:\t0x%016x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 343 break;
CallumAlder 42:121148278dae 344 case torque:
CallumAlder 47:21bf4096faa1 345 _pc.printf("\r>%s< Motor Torque set to:\t%d\n\r", _inCharQ, (int32_t) pMessage->message);
CallumAlder 42:121148278dae 346 break;
CallumAlder 42:121148278dae 347 case velIn:
CallumAlder 47:21bf4096faa1 348 _pc.printf("\r>%s< Target Velocity set to:\t%.2f\n\r", _inCharQ, _targetVel);
CallumAlder 42:121148278dae 349 break;
CallumAlder 42:121148278dae 350 case velOut:
CallumAlder 47:21bf4096faa1 351 _pc.printf("\r>%s< Current Velocity:\t%.2f States/sec\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 352 break;
CallumAlder 42:121148278dae 353 case posIn:
CallumAlder 47:21bf4096faa1 354 _pc.printf("\r>%s< Target # Rotations:\t%.2f\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 355 break;
CallumAlder 42:121148278dae 356 case posOut:
CallumAlder 47:21bf4096faa1 357 _pc.printf("\r>%s< Current Position:\t%.2f\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 358 break;
CallumAlder 47:21bf4096faa1 359 case melody:
CallumAlder 47:21bf4096faa1 360 _pc.printf("\r>%s< New Tune:\t%s\n\r", _inCharQ, _newCmd);
CallumAlder 47:21bf4096faa1 361 break;
CallumAlder 42:121148278dae 362 case error:
CallumAlder 47:21bf4096faa1 363 switch (pMessage->message) {
CallumAlder 47:21bf4096faa1 364 case 1:
CallumAlder 47:21bf4096faa1 365 _pc.printf("\r>%s< Error:%s\n\r", _inCharQ, "Overfull Buffer Reset" );
CallumAlder 47:21bf4096faa1 366 break;
CallumAlder 47:21bf4096faa1 367 case 2:
CallumAlder 47:21bf4096faa1 368 _pc.printf("\r>%s< Error:%s\n\r", _inCharQ, "Invalid Melody" );
CallumAlder 47:21bf4096faa1 369 default:
CallumAlder 47:21bf4096faa1 370 break;
CallumAlder 47:21bf4096faa1 371 }
CallumAlder 47:21bf4096faa1 372 for (int i = 0; i < _MAXCMDLENGTH; ++i) // reset buffer
CallumAlder 47:21bf4096faa1 373 _inCharQ[i] = ' ';
CallumAlder 47:21bf4096faa1 374
CallumAlder 47:21bf4096faa1 375 _inCharIndex = 0;
CallumAlder 42:121148278dae 376 break;
CallumAlder 42:121148278dae 377 default:
CallumAlder 47:21bf4096faa1 378 _pc.printf("\r>%s< Unknown Error. Message: %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 379 break;
CallumAlder 42:121148278dae 380 }
CallumAlder 42:121148278dae 381
CallumAlder 47:21bf4096faa1 382 _msgStack.free(pMessage);
CallumAlder 42:121148278dae 383 }
CallumAlder 42:121148278dae 384 }
CallumAlder 42:121148278dae 385
CallumAlder 48:b2afe48ced0d 386 //-- Put a Message On the Outgoing Message Stack --------------------------------------------------------------------//
CallumAlder 42:121148278dae 387 void putMessage(msgType type, uint32_t message){
CallumAlder 47:21bf4096faa1 388 msg *p_msg = _msgStack.alloc();
CallumAlder 42:121148278dae 389 p_msg->type = type;
CallumAlder 42:121148278dae 390 p_msg->message = message;
CallumAlder 47:21bf4096faa1 391 _msgStack.put(p_msg);
CallumAlder 42:121148278dae 392 }
CallumAlder 42:121148278dae 393
CallumAlder 48:b2afe48ced0d 394 //-- Attach CommOut Thread to the Outgoing Communication Function ---------------------------------------------------//
CallumAlder 42:121148278dae 395 void start_comm(){
CallumAlder 42:121148278dae 396 _RUN = true;
CallumAlder 47:21bf4096faa1 397 _tCommOut.start(callback(this, &Comm::commOutFn));
adehadd 49:ae8dedfe2d0f 398 _tCommIn.start(callback(this, &Comm::commInFn));
CallumAlder 42:121148278dae 399 }
iachinweze1 23:ab1cb51527d1 400
adehadd 49:ae8dedfe2d0f 401
CallumAlder 42:121148278dae 402 };
adehadd 49:ae8dedfe2d0f 403 // char Comm::_inCharQ[] = {'.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','\0'}; // Static member must be defined outside class
CallumAlder 48:b2afe48ced0d 404 //Mutex Comm::_newKeyMutex;
adehadd 46:b9081aa50bda 405
CallumAlder 42:121148278dae 406 class Motor {
adehadd 27:ce05fed3c1ea 407
CallumAlder 42:121148278dae 408 protected:
CallumAlder 48:b2afe48ced0d 409 volatile int8_t _orState, // Rotor offset at motor state 0, motor specific
CallumAlder 48:b2afe48ced0d 410 _currentState, // Current Rotor State
CallumAlder 48:b2afe48ced0d 411 _stateList[6], // All possible rotor states stored
CallumAlder 48:b2afe48ced0d 412 _lead; // Phase _lead to make motor spin
CallumAlder 42:121148278dae 413
CallumAlder 48:b2afe48ced0d 414 uint8_t _theStates[3], // The Key states
CallumAlder 48:b2afe48ced0d 415 _stateCount[3]; // State Counter
adehadd 51:c03f63c6f930 416 uint32_t _mtrPeriod, // Motor period
CallumAlder 47:21bf4096faa1 417 _MAXPWM_PRD;
CallumAlder 48:b2afe48ced0d 418 float _dutyC; // 1 = 100%
CallumAlder 47:21bf4096faa1 419 bool _RUN;
adehadd 27:ce05fed3c1ea 420
CallumAlder 48:b2afe48ced0d 421 Comm* _pComm;
CallumAlder 48:b2afe48ced0d 422 Thread _tMotorCtrl; // Thread for motor Control
CallumAlder 42:121148278dae 423
adehadd 51:c03f63c6f930 424 int8_t old_rotor_state;
adehadd 51:c03f63c6f930 425 uint8_t encState;
adehadd 51:c03f63c6f930 426 uint32_t quadratureStates;
adehadd 51:c03f63c6f930 427 uint32_t MINPWM_PRD;
adehadd 51:c03f63c6f930 428 uint32_t maxEncCount;
adehadd 51:c03f63c6f930 429 uint32_t encCount;
adehadd 51:c03f63c6f930 430 uint32_t encTotal;
adehadd 51:c03f63c6f930 431 uint32_t badEdges;
adehadd 51:c03f63c6f930 432
CallumAlder 42:121148278dae 433 public:
CallumAlder 48:b2afe48ced0d 434 //-- Default Constructor With Thread Object Constructor -------------------------------------------------------------//
adehadd 51:c03f63c6f930 435 Motor() : _tMotorCtrl(osPriorityAboveNormal2, 2048){
CallumAlder 47:21bf4096faa1 436
CallumAlder 48:b2afe48ced0d 437 _dutyC = 1.0f; // Set Power to maximum to drive motorHome()
adehadd 51:c03f63c6f930 438 _mtrPeriod = 2e3; // Motor period
adehadd 51:c03f63c6f930 439 pwmCtrl.period_us(_mtrPeriod); // Initialise PWM
adehadd 51:c03f63c6f930 440 pwmCtrl.pulsewidth_us(_mtrPeriod);
CallumAlder 42:121148278dae 441
CallumAlder 48:b2afe48ced0d 442 _orState = motorHome(); // Rotor offset at motor state 0
adehadd 49:ae8dedfe2d0f 443 _currentState = readRotorState(); // Current Rotor State
CallumAlder 48:b2afe48ced0d 444 _lead = 2; // 2 for forwards, -2 for backwards
adehadd 51:c03f63c6f930 445 old_rotor_state = _orState; // Set old_rotor_state to the origin to begin with
adehadd 27:ce05fed3c1ea 446
CallumAlder 48:b2afe48ced0d 447 _theStates[0] = _orState +1; // Initialise repeatable states, for us this is state 1
CallumAlder 48:b2afe48ced0d 448 _theStates[1] = (_orState + _lead) % 6 +1; // state 3
CallumAlder 48:b2afe48ced0d 449 _theStates[2] = (_orState + (_lead*2)) % 6 +1; // state 5
CallumAlder 42:121148278dae 450
CallumAlder 48:b2afe48ced0d 451 _stateCount[0] = 0; // Initialise
CallumAlder 48:b2afe48ced0d 452 _stateCount[1] = 0;
CallumAlder 48:b2afe48ced0d 453 _stateCount[2] = 0;
CallumAlder 42:121148278dae 454
CallumAlder 48:b2afe48ced0d 455 _pComm = NULL; // Initialise as NULL
CallumAlder 48:b2afe48ced0d 456 _RUN = false;
CallumAlder 42:121148278dae 457
CallumAlder 47:21bf4096faa1 458 _MAXPWM_PRD = 2e3;
CallumAlder 42:121148278dae 459
adehadd 51:c03f63c6f930 460 maxEncCount = 0;
adehadd 51:c03f63c6f930 461 encCount = 0;
adehadd 51:c03f63c6f930 462 encTotal = 0;
adehadd 51:c03f63c6f930 463 badEdges = 0;
adehadd 51:c03f63c6f930 464
adehadd 51:c03f63c6f930 465 quadratureStates = 1112;
adehadd 51:c03f63c6f930 466
CallumAlder 42:121148278dae 467 }
adehadd 27:ce05fed3c1ea 468
adehadd 51:c03f63c6f930 469 int findMinTorque() {
adehadd 51:c03f63c6f930 470 int8_t prevState = readRotorState();
adehadd 51:c03f63c6f930 471 uint32_t _mtPeriod = 700;
adehadd 51:c03f63c6f930 472 Timer testTimer;
adehadd 51:c03f63c6f930 473 testTimer.start();
adehadd 51:c03f63c6f930 474
adehadd 51:c03f63c6f930 475 _pComm->_pc.printf("PState:%i, CState:%i\n", prevState, readRotorState());
adehadd 51:c03f63c6f930 476
adehadd 51:c03f63c6f930 477 // stateUpdate();
adehadd 51:c03f63c6f930 478
adehadd 51:c03f63c6f930 479 while (readRotorState() == prevState) {
adehadd 51:c03f63c6f930 480 testTimer.reset();
adehadd 51:c03f63c6f930 481 // pwmCtrl.period_us(2e3);
adehadd 51:c03f63c6f930 482 pwmCtrl.pulsewidth_us(_mtPeriod);
adehadd 51:c03f63c6f930 483 stateUpdate();
adehadd 51:c03f63c6f930 484
adehadd 51:c03f63c6f930 485 while (testTimer.read_ms() < 500) {}
adehadd 51:c03f63c6f930 486 // prevState = readRotorState();
adehadd 51:c03f63c6f930 487 _mtPeriod += 10;
adehadd 51:c03f63c6f930 488 _mtPeriod = _mtPeriod >= 1000 ? 700 : _mtPeriod;
adehadd 51:c03f63c6f930 489 }
adehadd 51:c03f63c6f930 490
adehadd 51:c03f63c6f930 491 _pComm->_pc.printf("Min Torque:%i\n", _mtPeriod);
adehadd 51:c03f63c6f930 492 return _mtPeriod;
adehadd 51:c03f63c6f930 493 }
adehadd 51:c03f63c6f930 494
adehadd 51:c03f63c6f930 495
CallumAlder 48:b2afe48ced0d 496 //-- Start Motor and Attach State Update Function to Rise/Fall Interrupts -------------------------------------------//
CallumAlder 42:121148278dae 497 void motorStart(Comm *comm) {
CallumAlder 42:121148278dae 498
CallumAlder 48:b2afe48ced0d 499 I1.fall(callback(this, &Motor::stateUpdate)); // Establish Photo Interrupter Service Routines (auto choose next state)
CallumAlder 42:121148278dae 500 I2.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 501 I3.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 502 I1.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 503 I2.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 504 I3.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 505
CallumAlder 48:b2afe48ced0d 506 motorOut((_currentState-_orState+_lead+6)%6); // Push digitally so static motor will start moving
CallumAlder 42:121148278dae 507
CallumAlder 48:b2afe48ced0d 508
CallumAlder 48:b2afe48ced0d 509 _dutyC = 0.8; // Default a lower duty cycle
adehadd 51:c03f63c6f930 510 pwmCtrl.period_us((uint32_t)_mtrPeriod);
adehadd 51:c03f63c6f930 511 pwmCtrl.pulsewidth_us((uint32_t)(_mtrPeriod*_dutyC));
CallumAlder 42:121148278dae 512
CallumAlder 48:b2afe48ced0d 513 _pComm = comm;
CallumAlder 42:121148278dae 514 _RUN = true;
iachinweze1 53:89d16b398615 515 MINPWM_PRD = 920;
adehadd 51:c03f63c6f930 516
CallumAlder 42:121148278dae 517
CallumAlder 48:b2afe48ced0d 518 _tMotorCtrl.start(callback(this, &Motor::motorCtrlFn)); // Start motor control thread
CallumAlder 48:b2afe48ced0d 519 _pComm->_pc.printf("origin=%i, _theStates=[%i,%i,%i]\n\r", _orState, _theStates[0], _theStates[1], _theStates[2]); // Print information to terminal
CallumAlder 42:121148278dae 520
CallumAlder 42:121148278dae 521 }
CallumAlder 42:121148278dae 522
CallumAlder 48:b2afe48ced0d 523 //-- Set a Predetermined Drive State -------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 524 void motorOut(int8_t driveState) {
iachinweze1 23:ab1cb51527d1 525
CallumAlder 48:b2afe48ced0d 526 int8_t driveOut = driveTable[driveState & 0x07]; //Lookup the output byte from the drive state
CallumAlder 42:121148278dae 527
CallumAlder 48:b2afe48ced0d 528 if (~driveOut & 0x01) L1L = 0; //Turn off first
CallumAlder 42:121148278dae 529 if (~driveOut & 0x02) L1H = 1;
CallumAlder 42:121148278dae 530 if (~driveOut & 0x04) L2L = 0;
CallumAlder 42:121148278dae 531 if (~driveOut & 0x08) L2H = 1;
CallumAlder 42:121148278dae 532 if (~driveOut & 0x10) L3L = 0;
CallumAlder 42:121148278dae 533 if (~driveOut & 0x20) L3H = 1;
CallumAlder 42:121148278dae 534
CallumAlder 48:b2afe48ced0d 535 if (driveOut & 0x01) L1L = 1; //Then turn on
CallumAlder 48:b2afe48ced0d 536 if (driveOut & 0x02) L1H = 0;
CallumAlder 48:b2afe48ced0d 537 if (driveOut & 0x04) L2L = 1;
CallumAlder 48:b2afe48ced0d 538 if (driveOut & 0x08) L2H = 0;
CallumAlder 48:b2afe48ced0d 539 if (driveOut & 0x10) L3L = 1;
CallumAlder 48:b2afe48ced0d 540 if (driveOut & 0x20) L3H = 0;
CallumAlder 42:121148278dae 541 }
CallumAlder 42:121148278dae 542
CallumAlder 48:b2afe48ced0d 543 //-- Inline Conversion of Photointerrupts to a Rotor State ----------------------------------------------------------//
adehadd 49:ae8dedfe2d0f 544 inline int8_t readRotorState() {
CallumAlder 42:121148278dae 545 return stateMap[I1 + 2*I2 + 4*I3];
CallumAlder 42:121148278dae 546 }
CallumAlder 42:121148278dae 547
CallumAlder 48:b2afe48ced0d 548 //-- Basic Motor Stabilisation and Synchronisation ------------------------------------------------------------------//
CallumAlder 42:121148278dae 549 int8_t motorHome() {
CallumAlder 48:b2afe48ced0d 550
CallumAlder 48:b2afe48ced0d 551 motorOut(0); //Put the motor in drive state 0 and wait for it to stabilise
CallumAlder 42:121148278dae 552 wait(3.0);
CallumAlder 42:121148278dae 553
adehadd 49:ae8dedfe2d0f 554 return readRotorState(); //Get the rotor state
CallumAlder 42:121148278dae 555 }
iachinweze1 23:ab1cb51527d1 556
CallumAlder 48:b2afe48ced0d 557 //-- Motor State Log, Circumvents Issues From Occasionally Skipping Certain States ----------------------------------//
CallumAlder 42:121148278dae 558 void stateUpdate() { // () { // **params
adehadd 49:ae8dedfe2d0f 559 _currentState = readRotorState(); // Get current state
adehadd 27:ce05fed3c1ea 560
CallumAlder 48:b2afe48ced0d 561 motorOut((_currentState - _orState + _lead + 6) % 6); // Send the next state to the motor
iachinweze1 23:ab1cb51527d1 562
adehadd 51:c03f63c6f930 563 if (_currentState == 1) {
adehadd 51:c03f63c6f930 564 //if (encCount > maxEncCount) maxEncCount = encCount;
adehadd 51:c03f63c6f930 565 //if (encCount < minEncCount) minEncCount = encCount;
adehadd 51:c03f63c6f930 566 //if (badEdges > maxBadEdges) maxBadEdges = badEdges;
adehadd 51:c03f63c6f930 567
adehadd 51:c03f63c6f930 568 //revCount++;
adehadd 51:c03f63c6f930 569 encTotal += encCount;
adehadd 51:c03f63c6f930 570 encCount = 0;
adehadd 51:c03f63c6f930 571 badEdges = 0;
adehadd 51:c03f63c6f930 572 }
adehadd 51:c03f63c6f930 573
adehadd 51:c03f63c6f930 574 if (_currentState - old_rotor_state == 5) {
adehadd 51:c03f63c6f930 575 _pComm->_motor_pos--;
adehadd 51:c03f63c6f930 576 } else if (_currentState - old_rotor_state == -5) {
adehadd 51:c03f63c6f930 577 _pComm->_motor_pos++;
adehadd 51:c03f63c6f930 578 } else {
adehadd 51:c03f63c6f930 579 _pComm->_motor_pos += (_currentState - old_rotor_state);
adehadd 51:c03f63c6f930 580 }
adehadd 51:c03f63c6f930 581
adehadd 51:c03f63c6f930 582 old_rotor_state = _currentState;
adehadd 51:c03f63c6f930 583 }
adehadd 51:c03f63c6f930 584
adehadd 51:c03f63c6f930 585 // A Rise
adehadd 51:c03f63c6f930 586 void encISR0() {
adehadd 51:c03f63c6f930 587 if (encState == 3) {encCount++;}
adehadd 51:c03f63c6f930 588 else badEdges++;
adehadd 51:c03f63c6f930 589 encState = 0;
adehadd 51:c03f63c6f930 590 }
adehadd 51:c03f63c6f930 591
adehadd 51:c03f63c6f930 592 // B Rise
adehadd 51:c03f63c6f930 593 void encISR1() {
adehadd 51:c03f63c6f930 594 if (encState == 0) {encCount++;}
adehadd 51:c03f63c6f930 595 else badEdges++;
adehadd 51:c03f63c6f930 596 encState = 1;
adehadd 51:c03f63c6f930 597 }
adehadd 51:c03f63c6f930 598
adehadd 51:c03f63c6f930 599 // A Fall
adehadd 51:c03f63c6f930 600 void encISR2() {
adehadd 51:c03f63c6f930 601 if (encState == 1) {encCount++;}
adehadd 51:c03f63c6f930 602 else badEdges++;
adehadd 51:c03f63c6f930 603 encState = 2;
adehadd 51:c03f63c6f930 604 }
adehadd 51:c03f63c6f930 605
adehadd 51:c03f63c6f930 606 // B Fall
adehadd 51:c03f63c6f930 607 void encISR3() {
adehadd 51:c03f63c6f930 608 if (encState == 2) {encCount++;}
adehadd 51:c03f63c6f930 609 else badEdges++;
adehadd 51:c03f63c6f930 610 encState = 3;
CallumAlder 42:121148278dae 611 }
CallumAlder 19:805c87360b55 612
CallumAlder 48:b2afe48ced0d 613 //-- Motor PID Control ---------------------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 614 void motorCtrlFn() {
CallumAlder 42:121148278dae 615 Ticker motorCtrlTicker;
CallumAlder 42:121148278dae 616 Timer m_timer;
CallumAlder 42:121148278dae 617 motorCtrlTicker.attach_us(callback(this,&Motor::motorCtrlTick), 1e5);
iachinweze1 23:ab1cb51527d1 618
CallumAlder 42:121148278dae 619 // Init some things
CallumAlder 48:b2afe48ced0d 620 uint8_t cpyStateCount[3];
CallumAlder 48:b2afe48ced0d 621 uint8_t cpyCurrentState;
CallumAlder 48:b2afe48ced0d 622 int8_t cpyModeBitfield;
CallumAlder 42:121148278dae 623
CallumAlder 48:b2afe48ced0d 624 int32_t ting[2] = {6,1}; // 360,60 (for degrees), 5,1 (for states)
CallumAlder 48:b2afe48ced0d 625 uint8_t iterElementMax;
CallumAlder 48:b2afe48ced0d 626 int32_t totalDegrees;
CallumAlder 48:b2afe48ced0d 627 int32_t stateDiff;
adehadd 27:ce05fed3c1ea 628
adehadd 51:c03f63c6f930 629 // int32_t cur_speed; // Variable for local velocity calculation
adehadd 51:c03f63c6f930 630 // int32_t locMotorPos; // Local copy of motor position
CallumAlder 47:21bf4096faa1 631 volatile int32_t torque; // Local variable to set motor torque
CallumAlder 48:b2afe48ced0d 632 static int32_t oldTorque =0;
CallumAlder 48:b2afe48ced0d 633 float sError, // Velocity error between target and reality
adehadd 51:c03f63c6f930 634 rError,
adehadd 51:c03f63c6f930 635 eError = 0; // Rotation error between target and reality
CallumAlder 48:b2afe48ced0d 636 static float rErrorOld; // Old rotation error used for calculation
adehadd 51:c03f63c6f930 637 float encRemain = 0;
adehadd 51:c03f63c6f930 638 bool attached = true;
adehadd 51:c03f63c6f930 639 bool declared = false;
CallumAlder 42:121148278dae 640
CallumAlder 42:121148278dae 641 //~~~Controller constants~~~~
iachinweze1 53:89d16b398615 642 int32_t Kp1=88; //22, 27 //Proportional controller constants
iachinweze1 53:89d16b398615 643 int32_t Kp2=26; //12 //Calculated by trial and error to give optimal accuracy
iachinweze1 53:89d16b398615 644 float Kd =34.5; // 40, 14.75
adehadd 51:c03f63c6f930 645 float Kis = 10.0f; // 50
adehadd 51:c03f63c6f930 646 int32_t Kir = 0.0f;
adehadd 51:c03f63c6f930 647 float sIntegral = 0.0f;
adehadd 51:c03f63c6f930 648 float rIntegral = 0.0f;
CallumAlder 42:121148278dae 649
CallumAlder 48:b2afe48ced0d 650 int32_t Ts; // Initialise controller output Ts (s=speed)
CallumAlder 48:b2afe48ced0d 651 int32_t Tr; // Initialise controller output Tr (r=rotations)
CallumAlder 42:121148278dae 652
adehadd 51:c03f63c6f930 653 int32_t old_pos = 0,
iachinweze1 53:89d16b398615 654 cur_pos = 0,
iachinweze1 53:89d16b398615 655 sign = 1;
adehadd 27:ce05fed3c1ea 656
adehadd 51:c03f63c6f930 657 float cur_err = 0.0f,
adehadd 51:c03f63c6f930 658 old_err = 0.0f,
adehadd 51:c03f63c6f930 659 err_diff,
adehadd 51:c03f63c6f930 660 time_diff,
adehadd 51:c03f63c6f930 661 hold_pos = 0,
adehadd 51:c03f63c6f930 662 cur_time = 0.0f,
adehadd 51:c03f63c6f930 663 old_time = 0.0f,
adehadd 51:c03f63c6f930 664 cur_speed = 0.0f;
CallumAlder 42:121148278dae 665
CallumAlder 42:121148278dae 666
adehadd 50:d1b983a0dd6f 667
adehadd 50:d1b983a0dd6f 668 enum { // To nearest Hz
adehadd 50:d1b983a0dd6f 669 NOTE_C = 261, // C4
adehadd 50:d1b983a0dd6f 670 NOTE_D = 293, // D4
adehadd 50:d1b983a0dd6f 671 NOTE_E = 330, // E4
adehadd 50:d1b983a0dd6f 672 NOTE_F = 349, // F4
adehadd 50:d1b983a0dd6f 673 NOTE_G = 392, // G4
adehadd 50:d1b983a0dd6f 674 NOTE_A = 440, // A4
adehadd 50:d1b983a0dd6f 675 NOTE_B = 494 // B4
adehadd 50:d1b983a0dd6f 676 };
adehadd 50:d1b983a0dd6f 677
CallumAlder 42:121148278dae 678 m_timer.start();
CallumAlder 42:121148278dae 679
CallumAlder 42:121148278dae 680 while (_RUN) {
CallumAlder 48:b2afe48ced0d 681 _tMotorCtrl.signal_wait((int32_t)0x1);
iachinweze1 23:ab1cb51527d1 682
CallumAlder 48:b2afe48ced0d 683 core_util_critical_section_enter(); // Access shared variables here
iachinweze1 53:89d16b398615 684 cpyModeBitfield = _pComm->_modeBitField;
CallumAlder 42:121148278dae 685 core_util_critical_section_exit();
adehadd 20:c60f4785b556 686
iachinweze1 53:89d16b398615 687 if ((cpyModeBitfield & 0x01) | (cpyModeBitfield & 0x02)) {// Speed, torque control and PID
adehadd 51:c03f63c6f930 688 if (abs(cur_speed) <= 120 && (!attached)) {
adehadd 51:c03f63c6f930 689 eError = 1.0f;
adehadd 51:c03f63c6f930 690 attached = true;
adehadd 51:c03f63c6f930 691
adehadd 51:c03f63c6f930 692 CHA.rise(callback(this, &Motor::encISR0));
adehadd 51:c03f63c6f930 693 CHB.fall(callback(this, &Motor::encISR3));
adehadd 51:c03f63c6f930 694 CHB.rise(callback(this, &Motor::encISR1));
adehadd 51:c03f63c6f930 695 CHA.fall(callback(this, &Motor::encISR2));
adehadd 51:c03f63c6f930 696
adehadd 51:c03f63c6f930 697 encCount = 0;
adehadd 51:c03f63c6f930 698 encTotal = 0;
adehadd 51:c03f63c6f930 699 encRemain = old_err * quadratureStates; // Number of encs remaining
adehadd 51:c03f63c6f930 700 }
adehadd 51:c03f63c6f930 701
adehadd 51:c03f63c6f930 702 else if (abs(cur_speed) > 120 && (attached)) {
adehadd 51:c03f63c6f930 703 eError = 0.0f;
adehadd 51:c03f63c6f930 704 attached = false;
adehadd 51:c03f63c6f930 705
adehadd 51:c03f63c6f930 706 CHA.rise(NULL);
adehadd 51:c03f63c6f930 707 CHB.fall(NULL);
adehadd 51:c03f63c6f930 708 CHB.rise(NULL);
adehadd 51:c03f63c6f930 709 CHA.fall(NULL);
adehadd 51:c03f63c6f930 710
adehadd 51:c03f63c6f930 711 encCount = 0;
adehadd 51:c03f63c6f930 712 encTotal = 0;
adehadd 51:c03f63c6f930 713 eError = 0;
adehadd 51:c03f63c6f930 714
adehadd 51:c03f63c6f930 715 // Store the number of rotations that have been done up to the point where the channels are activated
adehadd 51:c03f63c6f930 716 hold_pos = (cur_pos / 6.0f);
adehadd 51:c03f63c6f930 717 _pComm->_pc.printf("HPos:%f\n", hold_pos);
adehadd 51:c03f63c6f930 718
adehadd 51:c03f63c6f930 719 }
CallumAlder 42:121148278dae 720
adehadd 51:c03f63c6f930 721 // read state & timestamp
adehadd 51:c03f63c6f930 722 if (cur_pos < 2) {
adehadd 51:c03f63c6f930 723 rIntegral = 0.0f;
iachinweze1 53:89d16b398615 724 sIntegral = 0.0f;
iachinweze1 53:89d16b398615 725 sign = sgn(_pComm->_targetRot);
adehadd 51:c03f63c6f930 726 }
iachinweze1 53:89d16b398615 727 cur_pos = (_pComm->_motor_pos)*sign; // USE
adehadd 51:c03f63c6f930 728 cur_time = m_timer.read();
adehadd 51:c03f63c6f930 729
adehadd 51:c03f63c6f930 730 // compute speed
adehadd 51:c03f63c6f930 731 time_diff = cur_time - old_time;
adehadd 51:c03f63c6f930 732 cur_speed = (cur_pos - old_pos) / time_diff;
adehadd 51:c03f63c6f930 733
adehadd 51:c03f63c6f930 734 // prep values for next time through loop
adehadd 51:c03f63c6f930 735 old_time = cur_time;
adehadd 51:c03f63c6f930 736 old_pos = cur_pos;
adehadd 51:c03f63c6f930 737
adehadd 51:c03f63c6f930 738 // Position error
adehadd 51:c03f63c6f930 739 // if (!attached) {
adehadd 51:c03f63c6f930 740 rError = (_pComm->_targetRot) - (cur_pos/6.0f);
adehadd 51:c03f63c6f930 741 // }
adehadd 51:c03f63c6f930 742 // else{
adehadd 51:c03f63c6f930 743 // rErrorOld = RError;
adehadd 51:c03f63c6f930 744 // rError = (_pComm->_targetRot) - (hold_pos + ((encRemain - encTotal)/quadratureStates));
adehadd 51:c03f63c6f930 745 // }
adehadd 51:c03f63c6f930 746
adehadd 51:c03f63c6f930 747
adehadd 51:c03f63c6f930 748 if ((cur_speed != 0)) {
adehadd 51:c03f63c6f930 749 rIntegral += rError * time_diff;
adehadd 51:c03f63c6f930 750 }
adehadd 51:c03f63c6f930 751 err_diff = rError - old_err;
adehadd 51:c03f63c6f930 752 old_err = rError;
adehadd 51:c03f63c6f930 753
adehadd 51:c03f63c6f930 754 // Speed error - Convert curr_speed from states per time to rotations per time
adehadd 51:c03f63c6f930 755 // TODO: Check the direction that CPos goes in when _targetVel < 0
adehadd 51:c03f63c6f930 756 sError = (_pComm->_targetVel) - (abs(cur_speed/6.0f)); //Read global variable _targetVel updated by interrupt and calculate error between target and reality
adehadd 51:c03f63c6f930 757 if ((cur_speed != 0) && (torque != _MAXPWM_PRD)) {
adehadd 51:c03f63c6f930 758 sIntegral += sError * time_diff;
adehadd 51:c03f63c6f930 759 if (abs(sIntegral * Kis) >= 2000) {
adehadd 51:c03f63c6f930 760 sIntegral -= sError * time_diff;
adehadd 51:c03f63c6f930 761 }
adehadd 51:c03f63c6f930 762 }
adehadd 51:c03f63c6f930 763
iachinweze1 53:89d16b398615 764 Ts = (int32_t)(((Kp1 * sError * sign) + (Kis * sIntegral * sign))); // * sgn(cur_pos));
iachinweze1 53:89d16b398615 765 Tr = (int32_t)((Kp2*rError*sign) + (Kd/time_diff) * err_diff * sign);
CallumAlder 42:121148278dae 766
adehadd 51:c03f63c6f930 767 if (cpyModeBitfield & 0x01) {
adehadd 51:c03f63c6f930 768 // Speed control
adehadd 51:c03f63c6f930 769 if (_pComm->_targetVel == 0) { //Check if user entered V0,
adehadd 51:c03f63c6f930 770 torque = _MAXPWM_PRD; //and set the output to maximum as specified
adehadd 51:c03f63c6f930 771 }
adehadd 51:c03f63c6f930 772
adehadd 51:c03f63c6f930 773 else {
adehadd 51:c03f63c6f930 774 // select minimum absolute value torque
iachinweze1 53:89d16b398615 775 // if (cur_speed < 0) {
iachinweze1 53:89d16b398615 776 // torque = max(Ts, Tr);
iachinweze1 53:89d16b398615 777 // }
adehadd 51:c03f63c6f930 778
iachinweze1 53:89d16b398615 779 // else {
iachinweze1 53:89d16b398615 780 // torque = min(Ts, Tr);
iachinweze1 53:89d16b398615 781 // }
adehadd 51:c03f63c6f930 782
adehadd 51:c03f63c6f930 783 torque = Ts;
adehadd 51:c03f63c6f930 784 if (abs(sError) > 0.6) {
adehadd 51:c03f63c6f930 785 // torque = abs(Tr) < 1000 ? 1000*sgn(Tr) : Tr;
adehadd 51:c03f63c6f930 786 torque = abs(torque) < MINPWM_PRD ? MINPWM_PRD*sgn(torque) : torque;
iachinweze1 53:89d16b398615 787 // _pComm->_pc.printf("Speed:%f\r\n", (cur_speed/6.0f));
adehadd 51:c03f63c6f930 788 } else {
adehadd 51:c03f63c6f930 789 torque = 0;
adehadd 51:c03f63c6f930 790 }
adehadd 51:c03f63c6f930 791
iachinweze1 53:89d16b398615 792 torque = abs(torque) < MINPWM_PRD ? MINPWM_PRD*sgn(torque) : torque;
adehadd 51:c03f63c6f930 793 }
adehadd 51:c03f63c6f930 794 }
adehadd 51:c03f63c6f930 795
adehadd 51:c03f63c6f930 796 else if (cpyModeBitfield & 0x02) {
adehadd 51:c03f63c6f930 797 // select minimum absolute value torque
adehadd 51:c03f63c6f930 798 if (_pComm->_targetRot == 0) {
adehadd 51:c03f63c6f930 799 // Not spinning at max speed
adehadd 51:c03f63c6f930 800 torque = 0.7 * _MAXPWM_PRD;
adehadd 51:c03f63c6f930 801 }
CallumAlder 42:121148278dae 802
adehadd 51:c03f63c6f930 803 else {
iachinweze1 53:89d16b398615 804 // select minimum absolute value torque
iachinweze1 53:89d16b398615 805 // if (cur_speed < 0) {
iachinweze1 53:89d16b398615 806 // torque = max(Ts, Tr);
iachinweze1 53:89d16b398615 807 // } else {
iachinweze1 53:89d16b398615 808 // torque = min(Ts, Tr);
iachinweze1 53:89d16b398615 809 // }
adehadd 51:c03f63c6f930 810
iachinweze1 53:89d16b398615 811 torque = Tr;
iachinweze1 53:89d16b398615 812 if (abs(rError) > 0.3) {
adehadd 51:c03f63c6f930 813 torque = abs(torque) < MINPWM_PRD ? MINPWM_PRD*sgn(torque) : torque;
adehadd 51:c03f63c6f930 814 } else {
adehadd 51:c03f63c6f930 815 torque = 0;
adehadd 51:c03f63c6f930 816 if (!declared) {
adehadd 51:c03f63c6f930 817 _pComm->_pc.printf("Remaining Turns:%f\n", rError);
adehadd 51:c03f63c6f930 818 declared = true;
adehadd 51:c03f63c6f930 819 }
adehadd 51:c03f63c6f930 820 //attached = false;
adehadd 51:c03f63c6f930 821 }
adehadd 51:c03f63c6f930 822
adehadd 51:c03f63c6f930 823 }
adehadd 51:c03f63c6f930 824 }
adehadd 51:c03f63c6f930 825
adehadd 51:c03f63c6f930 826 if (torque < 0) {
adehadd 51:c03f63c6f930 827 torque = -torque;
adehadd 51:c03f63c6f930 828 _lead = -2;
adehadd 51:c03f63c6f930 829 } else {
adehadd 51:c03f63c6f930 830 _lead = 2;
adehadd 51:c03f63c6f930 831 }
adehadd 51:c03f63c6f930 832
adehadd 51:c03f63c6f930 833 torque = torque > _MAXPWM_PRD ? _MAXPWM_PRD : torque; // Set a cap on torque
adehadd 51:c03f63c6f930 834 _pComm->_motorTorque = torque;
adehadd 51:c03f63c6f930 835 pwmCtrl.pulsewidth_us(torque);
adehadd 51:c03f63c6f930 836 // _pComm->_pc.printf("EError:%.4f, tot:%d, encRemain:%.4f || RError:%.4f || SError:%.4f, CSpeed:%f, Torque:%i\r\n", eError, encTotal, encRemain, rError, sError, (cur_speed/6.0f), torque);
adehadd 51:c03f63c6f930 837 //_pComm->_pc.printf("EError:%.4f, remain:%.4f, tot%d || RError:%.4f || Torque:%i \r\n", eError, encRemain, encTotal, rError, torque);
iachinweze1 53:89d16b398615 838 _pComm->_pc.printf("RError:%.4f\r\n", rError);
adehadd 51:c03f63c6f930 839
adehadd 51:c03f63c6f930 840
adehadd 51:c03f63c6f930 841 // Give the motor a kick
adehadd 51:c03f63c6f930 842 stateUpdate();
CallumAlder 47:21bf4096faa1 843
CallumAlder 47:21bf4096faa1 844 }
CallumAlder 47:21bf4096faa1 845 else if (cpyModeBitfield & 0x04) { // If it is in torque mode, do no PID math, just set pulsewidth
CallumAlder 48:b2afe48ced0d 846 torque = (int32_t)_pComm->_motorTorque;
CallumAlder 47:21bf4096faa1 847 if (oldTorque != torque) {
CallumAlder 48:b2afe48ced0d 848 _pComm->putMessage((Comm::msgType)8, torque);
CallumAlder 47:21bf4096faa1 849 oldTorque = torque;
CallumAlder 42:121148278dae 850 }
CallumAlder 47:21bf4096faa1 851 }
adehadd 50:d1b983a0dd6f 852 else if (cpyModeBitfield & 0x08) { // If it is in Melody mode
adehadd 51:c03f63c6f930 853 uint32_t oldMtrPeriod = _mtrPeriod; // Backup of current motor period
adehadd 50:d1b983a0dd6f 854 float oldDutyC = _dutyC; // Backup of current duty cycle
adehadd 50:d1b983a0dd6f 855 uint32_t noteFreq, newDur, newPeriod =0,
adehadd 51:c03f63c6f930 856 oldPeriod = _mtrPeriod;
adehadd 50:d1b983a0dd6f 857
adehadd 50:d1b983a0dd6f 858 Timer testTimer;
adehadd 50:d1b983a0dd6f 859 testTimer.start();
adehadd 50:d1b983a0dd6f 860 _pComm->_pc.printf("rep:%i, len:%i \n\r", _pComm->_noteRep, _pComm->_noteLen);
adehadd 50:d1b983a0dd6f 861 for (int k = 0; k < _pComm->_noteRep; ++k) {
adehadd 50:d1b983a0dd6f 862
adehadd 50:d1b983a0dd6f 863 for (int i = 0; i < _pComm->_noteLen; ++i) {
adehadd 50:d1b983a0dd6f 864
adehadd 50:d1b983a0dd6f 865 noteFreq = 0;
adehadd 50:d1b983a0dd6f 866 newDur = (uint32_t)_pComm->_noteDur[i]*1e3; // ms
adehadd 50:d1b983a0dd6f 867
adehadd 50:d1b983a0dd6f 868 switch (_pComm->_notes[i]) {
adehadd 50:d1b983a0dd6f 869 case 'C':
adehadd 50:d1b983a0dd6f 870 noteFreq = NOTE_C;
adehadd 50:d1b983a0dd6f 871 break;
adehadd 50:d1b983a0dd6f 872 case 'D':
adehadd 50:d1b983a0dd6f 873 noteFreq = NOTE_D;
adehadd 50:d1b983a0dd6f 874 break;
adehadd 50:d1b983a0dd6f 875 case 'E':
adehadd 50:d1b983a0dd6f 876 noteFreq = NOTE_E;
adehadd 50:d1b983a0dd6f 877 break;
adehadd 50:d1b983a0dd6f 878 case 'F':
adehadd 50:d1b983a0dd6f 879 noteFreq = NOTE_F;
adehadd 50:d1b983a0dd6f 880 break;
adehadd 50:d1b983a0dd6f 881 case 'G':
adehadd 50:d1b983a0dd6f 882 noteFreq = NOTE_G;
adehadd 50:d1b983a0dd6f 883 break;
adehadd 50:d1b983a0dd6f 884 case 'A':
adehadd 50:d1b983a0dd6f 885 noteFreq = NOTE_A;
adehadd 50:d1b983a0dd6f 886 break;
adehadd 50:d1b983a0dd6f 887 case 'B':
adehadd 50:d1b983a0dd6f 888 noteFreq = NOTE_B;
adehadd 50:d1b983a0dd6f 889 break;
adehadd 50:d1b983a0dd6f 890 default:
adehadd 50:d1b983a0dd6f 891 break;
adehadd 50:d1b983a0dd6f 892 }
adehadd 50:d1b983a0dd6f 893
adehadd 51:c03f63c6f930 894 if (noteFreq == 0) {break;} // leave the loop if we get a wrong character
adehadd 51:c03f63c6f930 895
adehadd 50:d1b983a0dd6f 896 newPeriod = (uint32_t)(1e6/(uint32_t)noteFreq); // us
adehadd 50:d1b983a0dd6f 897
adehadd 50:d1b983a0dd6f 898 if (newPeriod>oldPeriod) { // Change Period First
adehadd 50:d1b983a0dd6f 899 _pComm->_pc.printf("Period:changed \n" );
adehadd 50:d1b983a0dd6f 900 pwmCtrl.period_us(newPeriod); //set frequency of PWM
adehadd 50:d1b983a0dd6f 901 pwmCtrl.pulsewidth_us((uint32_t)(newPeriod*0.8));
adehadd 50:d1b983a0dd6f 902 } else { // Change Pulse WidthFirst
adehadd 50:d1b983a0dd6f 903 pwmCtrl.pulsewidth_us((uint32_t)(newPeriod*0.8));
adehadd 50:d1b983a0dd6f 904 pwmCtrl.period_us(newPeriod); //set frequency of PWM
adehadd 50:d1b983a0dd6f 905 }
adehadd 50:d1b983a0dd6f 906 // stateUpdate();
adehadd 50:d1b983a0dd6f 907 oldPeriod = newPeriod;
adehadd 50:d1b983a0dd6f 908 testTimer.reset();
adehadd 50:d1b983a0dd6f 909 while (testTimer.read_ms() < newDur ) {} // Do nothing
adehadd 50:d1b983a0dd6f 910 _pComm->_pc.printf("Period:%d Dur:%d \n",newPeriod, newDur );
adehadd 50:d1b983a0dd6f 911 }
adehadd 50:d1b983a0dd6f 912
adehadd 50:d1b983a0dd6f 913 _pComm->_modeBitField = 0x04; // stop melody mode
adehadd 50:d1b983a0dd6f 914
adehadd 50:d1b983a0dd6f 915 }
adehadd 50:d1b983a0dd6f 916 // After playing notes, go back to the old speed
adehadd 50:d1b983a0dd6f 917 torque = (int32_t)_pComm->_motorTorque;
adehadd 50:d1b983a0dd6f 918 pwmCtrl.pulsewidth_us((uint32_t)(torque*0.8));
adehadd 50:d1b983a0dd6f 919 // And reset the motor period and duty cycle
adehadd 50:d1b983a0dd6f 920
adehadd 50:d1b983a0dd6f 921 }
CallumAlder 47:21bf4096faa1 922 else{
CallumAlder 47:21bf4096faa1 923 torque = _MAXPWM_PRD * 0.5; // Run at 50% duty cycle if argument not properly defined
adehadd 27:ce05fed3c1ea 924
CallumAlder 42:121148278dae 925 }
CallumAlder 42:121148278dae 926 }
CallumAlder 42:121148278dae 927 }
CallumAlder 42:121148278dae 928
CallumAlder 42:121148278dae 929 void motorCtrlTick(){
CallumAlder 48:b2afe48ced0d 930 _tMotorCtrl.signal_set(0x1);
CallumAlder 42:121148278dae 931 }
CallumAlder 42:121148278dae 932 };
CallumAlder 42:121148278dae 933
CallumAlder 42:121148278dae 934
adehadd 27:ce05fed3c1ea 935 int main() {
adehadd 26:fb6151e5907d 936
CallumAlder 42:121148278dae 937 // Declare Objects
CallumAlder 42:121148278dae 938 Comm comm_port;
CallumAlder 42:121148278dae 939 SHA256 miner;
CallumAlder 42:121148278dae 940 Motor motor;
adehadd 27:ce05fed3c1ea 941
CallumAlder 42:121148278dae 942 // Start Motor and Comm Port
CallumAlder 42:121148278dae 943 motor.motorStart(&comm_port);
CallumAlder 42:121148278dae 944 comm_port.start_comm();
adehadd 27:ce05fed3c1ea 945
CallumAlder 42:121148278dae 946 // Declare Hash Variables
CallumAlder 47:21bf4096faa1 947 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
CallumAlder 47:21bf4096faa1 948 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
CallumAlder 47:21bf4096faa1 949 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
CallumAlder 47:21bf4096faa1 950 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
CallumAlder 47:21bf4096faa1 951 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
CallumAlder 47:21bf4096faa1 952 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
CallumAlder 47:21bf4096faa1 953 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
CallumAlder 47:21bf4096faa1 954 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
CallumAlder 47:21bf4096faa1 955 uint8_t hash[32];
CallumAlder 47:21bf4096faa1 956 uint32_t length64 = 64;
CallumAlder 47:21bf4096faa1 957 uint32_t hashCounter = 0;
CallumAlder 47:21bf4096faa1 958 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
adehadd 27:ce05fed3c1ea 959 uint64_t* key = (uint64_t*)((int)sequence + 48);
iachinweze1 23:ab1cb51527d1 960
CallumAlder 42:121148278dae 961 // Begin Main Timer
CallumAlder 42:121148278dae 962 Timer timer;
CallumAlder 42:121148278dae 963 timer.start();
adehadd 27:ce05fed3c1ea 964
CallumAlder 47:21bf4096faa1 965 // Loop Program
CallumAlder 42:121148278dae 966 while (1) {
adehadd 26:fb6151e5907d 967
CallumAlder 47:21bf4096faa1 968 //try{
CallumAlder 47:21bf4096faa1 969
CallumAlder 47:21bf4096faa1 970 // Mutex For Access Control
adehadd 49:ae8dedfe2d0f 971 comm_port._newKeyMutex.lock();
CallumAlder 47:21bf4096faa1 972 *key = comm_port._newKey;
adehadd 49:ae8dedfe2d0f 973 comm_port._newKeyMutex.unlock();
adehadd 20:c60f4785b556 974
CallumAlder 47:21bf4096faa1 975 // Compute Hash and Counter
CallumAlder 47:21bf4096faa1 976 miner.computeHash(hash, sequence, length64);
CallumAlder 47:21bf4096faa1 977 hashCounter++;
CallumAlder 47:21bf4096faa1 978
CallumAlder 47:21bf4096faa1 979 // Enum Casting and Condition
CallumAlder 47:21bf4096faa1 980 if (hash[0]==0 && hash[1]==0)
CallumAlder 47:21bf4096faa1 981 comm_port.putMessage((Comm::msgType)7, *nonce);
adehadd 20:c60f4785b556 982
CallumAlder 47:21bf4096faa1 983 // Try Nonce
CallumAlder 47:21bf4096faa1 984 (*nonce)++;
adehadd 26:fb6151e5907d 985
CallumAlder 47:21bf4096faa1 986 // Display via Comm Port
CallumAlder 47:21bf4096faa1 987 if (timer.read() >= 1){
CallumAlder 47:21bf4096faa1 988 comm_port.putMessage((Comm::msgType)5, hashCounter);
CallumAlder 47:21bf4096faa1 989 hashCounter=0;
CallumAlder 47:21bf4096faa1 990 timer.reset();
CallumAlder 47:21bf4096faa1 991 }
CallumAlder 47:21bf4096faa1 992 //}
adehadd 26:fb6151e5907d 993
CallumAlder 47:21bf4096faa1 994 //catch(...){
CallumAlder 47:21bf4096faa1 995 // break;
CallumAlder 47:21bf4096faa1 996 //}
CallumAlder 47:21bf4096faa1 997
CallumAlder 15:2f95f2fb68e3 998 }
CallumAlder 42:121148278dae 999
CallumAlder 42:121148278dae 1000 return 0;
adehadd 27:ce05fed3c1ea 1001 }