Skad00sh / Mbed OS ES_CW2_Dev

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

Dependencies:   Crypto

main.cpp@43:a6d20109b2f2, 2019-03-20 (annotated)

Committer:
CallumAlder
Date:
Wed Mar 20 19:53:12 2019 +0000
Revision:
43:a6d20109b2f2
Parent:
42:121148278dae
Child:
44:990b5aaf5198
Child:
45:402a8a9423b9
y u no print

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adehadd 27:ce05fed3c1ea 1 /*TODO:
CallumAlder 42:121148278dae 2 Change:
CallumAlder 42:121148278dae 3 Indx
CallumAlder 42:121148278dae 4 newCmd
CallumAlder 43:a6d20109b2f2 5 _MAXCMDLENGTH
CallumAlder 42:121148278dae 6 move the global variables to a class because we arent paeasents - Mission Failed
CallumAlder 42:121148278dae 7 use jack's motor motor position
CallumAlder 42:121148278dae 8 fix class variable naming
CallumAlder 42:121148278dae 9 dont make everything public becuase thats fucling dumb and defeats the whole point of a class
adehadd 27:ce05fed3c1ea 10 */
estott 0:de4320f74764 11
estott 0:de4320f74764 12 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 13 /*
estott 0:de4320f74764 14 State L1 L2 L3
estott 0:de4320f74764 15 0 H - L
estott 0:de4320f74764 16 1 - H L
estott 0:de4320f74764 17 2 L H -
estott 0:de4320f74764 18 3 L - H
estott 0:de4320f74764 19 4 - L H
estott 0:de4320f74764 20 5 H L -
estott 0:de4320f74764 21 6 - - -
estott 0:de4320f74764 22 7 - - -
estott 0:de4320f74764 23 */
CallumAlder 42:121148278dae 24
CallumAlder 42:121148278dae 25 //Header Files
CallumAlder 42:121148278dae 26 #include "SHA256.h"
CallumAlder 42:121148278dae 27 #include "mbed.h"
CallumAlder 42:121148278dae 28
CallumAlder 42:121148278dae 29 //Photointerrupter Input Pins
CallumAlder 42:121148278dae 30 #define I1pin D3
CallumAlder 42:121148278dae 31 #define I2pin D6
CallumAlder 42:121148278dae 32 #define I3pin D5
CallumAlder 42:121148278dae 33
CallumAlder 42:121148278dae 34 //Incremental Encoder Input Pins
CallumAlder 42:121148278dae 35 #define CHApin D12
CallumAlder 42:121148278dae 36 #define CHBpin D11
CallumAlder 42:121148278dae 37
CallumAlder 42:121148278dae 38 //Motor Drive High Pins //Mask in output byte
CallumAlder 42:121148278dae 39 #define L1Hpin A3 //0x02
CallumAlder 42:121148278dae 40 #define L2Hpin A6 //0x08
CallumAlder 42:121148278dae 41 #define L3Hpin D2 //0x20
CallumAlder 42:121148278dae 42
CallumAlder 42:121148278dae 43 //Motor Drive Low Pins
CallumAlder 42:121148278dae 44 #define L1Lpin D1 //0x01
CallumAlder 42:121148278dae 45 #define L2Lpin D0 //0x04
CallumAlder 42:121148278dae 46 #define L3Lpin D10 //0x10
CallumAlder 42:121148278dae 47
CallumAlder 42:121148278dae 48 //Motor Pulse Width Modulation (PWM) Pin
CallumAlder 42:121148278dae 49 #define PWMpin D9
CallumAlder 42:121148278dae 50
CallumAlder 42:121148278dae 51 //Motor current sense
CallumAlder 42:121148278dae 52 #define MCSPpin A1
CallumAlder 42:121148278dae 53 #define MCSNpin A0
CallumAlder 42:121148278dae 54
CallumAlder 42:121148278dae 55 // "Lacros" for utility
CallumAlder 42:121148278dae 56 #define sgn(x) ((x)/abs(x))
CallumAlder 42:121148278dae 57 #define max(x,y) ((x)>=(y)?(x):(y))
CallumAlder 42:121148278dae 58 #define min(x,y) ((x)>=(y)?(y):(x))
CallumAlder 42:121148278dae 59
CallumAlder 42:121148278dae 60 //Status LED
CallumAlder 42:121148278dae 61 DigitalOut led1(LED1);
CallumAlder 42:121148278dae 62
CallumAlder 42:121148278dae 63 //Photointerrupter Inputs
CallumAlder 42:121148278dae 64 InterruptIn I1(I1pin);
CallumAlder 42:121148278dae 65 InterruptIn I2(I2pin);
CallumAlder 42:121148278dae 66 InterruptIn I3(I3pin);
CallumAlder 42:121148278dae 67
CallumAlder 42:121148278dae 68 //Motor Drive High Outputs
CallumAlder 42:121148278dae 69 DigitalOut L1H(L1Hpin);
CallumAlder 42:121148278dae 70 DigitalOut L2H(L2Hpin);
CallumAlder 42:121148278dae 71 DigitalOut L3H(L3Hpin);
CallumAlder 42:121148278dae 72
CallumAlder 42:121148278dae 73 //Motor Drive Low Outputs
CallumAlder 42:121148278dae 74 DigitalOut L1L(L1Lpin);
CallumAlder 42:121148278dae 75 DigitalOut L2L(L2Lpin);
CallumAlder 42:121148278dae 76 DigitalOut L3L(L3Lpin);
CallumAlder 42:121148278dae 77
CallumAlder 42:121148278dae 78 PwmOut pwmCtrl(PWMpin);
CallumAlder 42:121148278dae 79
adehadd 27:ce05fed3c1ea 80 //Drive state to output table
estott 0:de4320f74764 81 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 82
adehadd 27:ce05fed3c1ea 83 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
adehadd 27:ce05fed3c1ea 84 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
adehadd 27:ce05fed3c1ea 85 //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 86
CallumAlder 42:121148278dae 87 class Comm{
CallumAlder 42:121148278dae 88
CallumAlder 42:121148278dae 89 public:
estott 0:de4320f74764 90
CallumAlder 43:a6d20109b2f2 91 volatile bool _outMining;
CallumAlder 43:a6d20109b2f2 92 volatile float _targetVel, _targetRot;
estott 0:de4320f74764 93
CallumAlder 43:a6d20109b2f2 94 volatile int8_t _modeBitField; // 0,0,0,... <=> Melody,Torque,Rotation,Velocity
CallumAlder 43:a6d20109b2f2 95 const uint8_t _MAXCMDLENGTH; //
CallumAlder 43:a6d20109b2f2 96 volatile uint8_t _inCharIndex, _cmdIndex; //
CallumAlder 43:a6d20109b2f2 97 volatile uint32_t _motorTorque; // Motor Toque
CallumAlder 43:a6d20109b2f2 98 volatile uint64_t _newKey; // hash key
CallumAlder 43:a6d20109b2f2 99 Mutex _newKeyMutex; // Restrict access to prevent deadlock.
CallumAlder 43:a6d20109b2f2 100
CallumAlder 43:a6d20109b2f2 101 RawSerial _pc;
CallumAlder 43:a6d20109b2f2 102 Thread _t_comm_out;
CallumAlder 43:a6d20109b2f2 103 bool _RUN;
CallumAlder 42:121148278dae 104
CallumAlder 43:a6d20109b2f2 105 enum msgType { motorState, posIn, velIn, posOut, velOut,
CallumAlder 42:121148278dae 106 hashRate, keyAdded, nonceMatch,
CallumAlder 43:a6d20109b2f2 107 torque, rotations, melody,
CallumAlder 42:121148278dae 108 error};
adehadd 27:ce05fed3c1ea 109
CallumAlder 42:121148278dae 110 typedef struct {
CallumAlder 42:121148278dae 111 msgType type;
CallumAlder 42:121148278dae 112 uint32_t message;
CallumAlder 42:121148278dae 113 } msg;
adehadd 27:ce05fed3c1ea 114
CallumAlder 42:121148278dae 115 Mail<msg, 32> mailStack;
CallumAlder 42:121148278dae 116
CallumAlder 42:121148278dae 117 //public:
iachinweze1 23:ab1cb51527d1 118
CallumAlder 42:121148278dae 119 //--------- Default Constructor With Inheritance From RawSerial Constructor ---------//
CallumAlder 43:a6d20109b2f2 120 Comm(): _pc(SERIAL_TX, SERIAL_RX), _t_comm_out(osPriorityAboveNormal, 1024), _MAXCMDLENGTH(18){
iachinweze1 23:ab1cb51527d1 121
CallumAlder 43:a6d20109b2f2 122 _pc.printf("\n\r%s\n\r", "Welcome" );
CallumAlder 43:a6d20109b2f2 123 // _MAXCMDLENGTH = 18;
adehadd 27:ce05fed3c1ea 124
CallumAlder 43:a6d20109b2f2 125 _pc.putc('>');
CallumAlder 43:a6d20109b2f2 126 for (int i = 0; i < _MAXCMDLENGTH; ++i) { // reset buffer
CallumAlder 43:a6d20109b2f2 127 inCharQ[i] = (char)'.'; // MbedOS prints 'Embedded Systems are fun and do awesome things!'
CallumAlder 43:a6d20109b2f2 128 _pc.putc('.'); // if you print a null terminator
CallumAlder 42:121148278dae 129 }
CallumAlder 43:a6d20109b2f2 130 _pc.putc('<'); _pc.putc('\r'); _pc.putc('>');
iachinweze1 23:ab1cb51527d1 131
CallumAlder 43:a6d20109b2f2 132 inCharQ[_MAXCMDLENGTH] = (char)'\0';
CallumAlder 43:a6d20109b2f2 133 sprintf(inCharQ, "%s", inCharQ); // sorts out the correct string correctly
CallumAlder 43:a6d20109b2f2 134 strncpy(newCmd, inCharQ, _MAXCMDLENGTH);
adehadd 27:ce05fed3c1ea 135
CallumAlder 43:a6d20109b2f2 136 _cmdIndex = 0;
iachinweze1 23:ab1cb51527d1 137
CallumAlder 43:a6d20109b2f2 138 _inCharIndex = 0;
CallumAlder 43:a6d20109b2f2 139 _outMining = false;
CallumAlder 43:a6d20109b2f2 140 _pc.attach(callback(this, &Comm::serialISR));
CallumAlder 42:121148278dae 141
CallumAlder 43:a6d20109b2f2 142 _motorTorque = 300;
CallumAlder 43:a6d20109b2f2 143 _targetVel = 45.0;
CallumAlder 43:a6d20109b2f2 144 _targetRot = 459.0;
CallumAlder 19:805c87360b55 145
CallumAlder 43:a6d20109b2f2 146 _modeBitField = 0x01; // Default is velocity mode
CallumAlder 42:121148278dae 147 }
iachinweze1 23:ab1cb51527d1 148
CallumAlder 42:121148278dae 149 //--------- Interrupt Service Routine for Serial Port and Character Queue Handling ---------//
CallumAlder 42:121148278dae 150 void serialISR(){
CallumAlder 43:a6d20109b2f2 151 if (_pc.readable()) {
CallumAlder 43:a6d20109b2f2 152 char newChar = _pc.getc();
CallumAlder 42:121148278dae 153
CallumAlder 43:a6d20109b2f2 154 if (_inCharIndex == (_MAXCMDLENGTH)) {
CallumAlder 43:a6d20109b2f2 155 inCharQ[_MAXCMDLENGTH] = '\0'; // force the string to have an end character
CallumAlder 42:121148278dae 156 putMessage(error, 1);
CallumAlder 43:a6d20109b2f2 157 _inCharIndex = 0; // reset buffer index
adehadd 27:ce05fed3c1ea 158 }
adehadd 27:ce05fed3c1ea 159 else{
CallumAlder 42:121148278dae 160 if(newChar != '\r'){ //While the command is not over,
CallumAlder 43:a6d20109b2f2 161 inCharQ[_inCharIndex] = newChar; //save input character and
CallumAlder 43:a6d20109b2f2 162 _inCharIndex++; //advance index
CallumAlder 43:a6d20109b2f2 163 _pc.putc(newChar);
CallumAlder 42:121148278dae 164 }
CallumAlder 42:121148278dae 165 else{
CallumAlder 43:a6d20109b2f2 166 inCharQ[_inCharIndex] = '\0'; //When the command is finally over,
CallumAlder 43:a6d20109b2f2 167 strncpy(newCmd, inCharQ, _MAXCMDLENGTH); // Will copy 18 characters from inCharQ to newCmd
CallumAlder 42:121148278dae 168 cmdParser();
CallumAlder 42:121148278dae 169 //parse the command for decoding.
CallumAlder 43:a6d20109b2f2 170 for (int i = 0; i < _MAXCMDLENGTH; ++i) // reset buffer
CallumAlder 42:121148278dae 171 inCharQ[i] = ' ';
CallumAlder 42:121148278dae 172
CallumAlder 43:a6d20109b2f2 173 _inCharIndex = 0; // reset index
CallumAlder 42:121148278dae 174 }
adehadd 27:ce05fed3c1ea 175 }
adehadd 27:ce05fed3c1ea 176 }
adehadd 27:ce05fed3c1ea 177 }
CallumAlder 19:805c87360b55 178
CallumAlder 42:121148278dae 179 //--------- Reset Cursor Position ---------//
CallumAlder 42:121148278dae 180 void returnCursor() {
CallumAlder 43:a6d20109b2f2 181 _pc.putc('>');
CallumAlder 43:a6d20109b2f2 182 for (int i = 0; i < _inCharIndex; ++i)
CallumAlder 43:a6d20109b2f2 183 _pc.putc(inCharQ[i]);
CallumAlder 42:121148278dae 184 }
iachinweze1 23:ab1cb51527d1 185
CallumAlder 42:121148278dae 186 //--------- Parse Incomming Data From Serial Port ---------//
CallumAlder 42:121148278dae 187 void cmdParser(){
CallumAlder 42:121148278dae 188 switch(newCmd[0]) {
CallumAlder 43:a6d20109b2f2 189 case 'K': //keyAdded
CallumAlder 43:a6d20109b2f2 190 _newKeyMutex.lock(); //Ensure there is no deadlock
CallumAlder 43:a6d20109b2f2 191 sscanf(newCmd, "K%x", &_newKey); //Find desired the Key code
CallumAlder 43:a6d20109b2f2 192 putMessage(keyAdded, _newKey); //Print it out
CallumAlder 43:a6d20109b2f2 193 _newKeyMutex.unlock();
CallumAlder 43:a6d20109b2f2 194 break;
CallumAlder 43:a6d20109b2f2 195
CallumAlder 43:a6d20109b2f2 196 case 'V': //velIn
CallumAlder 43:a6d20109b2f2 197 sscanf(newCmd, "V%f", &_targetVel); //Find desired the target velocity
CallumAlder 43:a6d20109b2f2 198 _modeBitField = 0x01; //Adjust bitfield pos 1
CallumAlder 43:a6d20109b2f2 199 putMessage(velIn, _targetVel); //Print it out
CallumAlder 42:121148278dae 200 break;
iachinweze1 23:ab1cb51527d1 201
CallumAlder 43:a6d20109b2f2 202 case 'R': //posIn
CallumAlder 43:a6d20109b2f2 203 sscanf(newCmd, "R%f", &_targetRot); //Find desired target rotation
CallumAlder 43:a6d20109b2f2 204 _modeBitField = 0x02; //Adjust bitfield pos 2
CallumAlder 43:a6d20109b2f2 205 putMessage(posIn, _targetRot); //Print it out
CallumAlder 43:a6d20109b2f2 206 break;
CallumAlder 43:a6d20109b2f2 207
CallumAlder 43:a6d20109b2f2 208 case 'x': //torque
CallumAlder 43:a6d20109b2f2 209 sscanf(newCmd, "x%u", &_motorTorque); //Find desired target torque
CallumAlder 43:a6d20109b2f2 210 _modeBitField = 0x04; //Adjust bitfield pos 3
CallumAlder 43:a6d20109b2f2 211 putMessage(torque, _motorTorque); //Print it out
CallumAlder 43:a6d20109b2f2 212 break;
CallumAlder 43:a6d20109b2f2 213
CallumAlder 43:a6d20109b2f2 214 case 'M': //mining display toggle
CallumAlder 43:a6d20109b2f2 215 int8_t miningTest;
CallumAlder 43:a6d20109b2f2 216 sscanf(newCmd, "M%d", &miningTest); //display if input is 1
CallumAlder 43:a6d20109b2f2 217 if (miningTest == 1)
CallumAlder 43:a6d20109b2f2 218 _outMining = true;
CallumAlder 43:a6d20109b2f2 219 else
CallumAlder 43:a6d20109b2f2 220 _outMining = false;
CallumAlder 42:121148278dae 221 break;
iachinweze1 23:ab1cb51527d1 222
CallumAlder 43:a6d20109b2f2 223 // This guy ugly, maybe use a function
CallumAlder 43:a6d20109b2f2 224 case 'T': // Tune/ melody
CallumAlder 43:a6d20109b2f2 225 uint8_t dur[9]; // Note Durations
CallumAlder 43:a6d20109b2f2 226 char notes[9]; // Actual notes
CallumAlder 43:a6d20109b2f2 227 uint8_t len = 0; // Length of notes
CallumAlder 43:a6d20109b2f2 228
CallumAlder 43:a6d20109b2f2 229 for (int i = 1; i < _MAXCMDLENGTH; ++i) { // Find first #
CallumAlder 43:a6d20109b2f2 230 if (newCmd[i] == '#') {
CallumAlder 43:a6d20109b2f2 231 len = i;
CallumAlder 43:a6d20109b2f2 232 break; // stop at first # found
CallumAlder 43:a6d20109b2f2 233 }
CallumAlder 43:a6d20109b2f2 234 }
CallumAlder 43:a6d20109b2f2 235
CallumAlder 43:a6d20109b2f2 236 if (len>0) { // Parse the input only if # found
CallumAlder 43:a6d20109b2f2 237 uint8_t newLen = 2*(len+1)+1;
CallumAlder 43:a6d20109b2f2 238 bool isChar = true;
CallumAlder 43:a6d20109b2f2 239 char formatSpec[newLen];
CallumAlder 43:a6d20109b2f2 240 formatSpec[0]='T';
CallumAlder 43:a6d20109b2f2 241 for (int i = 1; i < newLen; i=i+2) { // Create a format spec based on length of input
CallumAlder 43:a6d20109b2f2 242 formatSpec[i] = '%';
CallumAlder 43:a6d20109b2f2 243 if (isChar) // if character
CallumAlder 43:a6d20109b2f2 244 formatSpec[i+1] = 'c';
CallumAlder 43:a6d20109b2f2 245 else
CallumAlder 43:a6d20109b2f2 246 formatSpec[i+1] = 'u';
CallumAlder 43:a6d20109b2f2 247 isChar = !isChar;
CallumAlder 43:a6d20109b2f2 248 }
adehadd 27:ce05fed3c1ea 249
CallumAlder 43:a6d20109b2f2 250 formatSpec[newLen] = '\0';
CallumAlder 43:a6d20109b2f2 251 sprintf(formatSpec, "%s", formatSpec); // Set string format correctly
CallumAlder 43:a6d20109b2f2 252 _pc.printf("%s\n", formatSpec );
CallumAlder 43:a6d20109b2f2 253 sscanf(newCmd, formatSpec, &notes[0], &dur[0],
CallumAlder 43:a6d20109b2f2 254 &notes[1], &dur[1],
CallumAlder 43:a6d20109b2f2 255 &notes[2], &dur[2],
CallumAlder 43:a6d20109b2f2 256 &notes[3], &dur[3],
CallumAlder 43:a6d20109b2f2 257 &notes[4], &dur[4],
CallumAlder 43:a6d20109b2f2 258 &notes[5], &dur[5],
CallumAlder 43:a6d20109b2f2 259 &notes[6], &dur[6],
CallumAlder 43:a6d20109b2f2 260 &notes[7], &dur[7],
CallumAlder 43:a6d20109b2f2 261 &notes[8], &dur[8]
CallumAlder 43:a6d20109b2f2 262 );
CallumAlder 43:a6d20109b2f2 263 _modeBitField = 0x08;
CallumAlder 43:a6d20109b2f2 264 // putMessage(melody, newCmd); //Print it out
CallumAlder 43:a6d20109b2f2 265 _pc.printf(formatSpec, notes[0], dur[0], \
CallumAlder 43:a6d20109b2f2 266 notes[1], dur[1], \
CallumAlder 43:a6d20109b2f2 267 notes[2], dur[2], \
CallumAlder 43:a6d20109b2f2 268 notes[3], dur[3], \
CallumAlder 43:a6d20109b2f2 269 notes[4], dur[4], \
CallumAlder 43:a6d20109b2f2 270 notes[5], dur[5], \
CallumAlder 43:a6d20109b2f2 271 notes[6], dur[6], \
CallumAlder 43:a6d20109b2f2 272 notes[7], dur[7], \
CallumAlder 43:a6d20109b2f2 273 notes[8], dur[8] \
CallumAlder 43:a6d20109b2f2 274 );
CallumAlder 43:a6d20109b2f2 275 }
CallumAlder 42:121148278dae 276 else
CallumAlder 43:a6d20109b2f2 277 putMessage(error, 2); // bad times
CallumAlder 43:a6d20109b2f2 278 break;
CallumAlder 43:a6d20109b2f2 279
adehadd 27:ce05fed3c1ea 280 break;
CallumAlder 42:121148278dae 281
CallumAlder 42:121148278dae 282 default:
adehadd 27:ce05fed3c1ea 283 break;
adehadd 27:ce05fed3c1ea 284 }
adehadd 27:ce05fed3c1ea 285 }
adehadd 27:ce05fed3c1ea 286
CallumAlder 42:121148278dae 287 //--------- Decode Messages to Print on Serial Port ---------//
CallumAlder 42:121148278dae 288 void commOutFn() {
CallumAlder 42:121148278dae 289 while (_RUN) {
CallumAlder 42:121148278dae 290 osEvent newEvent = mailStack.get();
CallumAlder 42:121148278dae 291 msg *pMessage = (msg *) newEvent.value.p;
adehadd 27:ce05fed3c1ea 292
CallumAlder 42:121148278dae 293 //Case Switch to Choose Serial Output Based on Incoming Message Enum
CallumAlder 42:121148278dae 294 switch (pMessage->type) {
CallumAlder 42:121148278dae 295 case motorState:
CallumAlder 43:a6d20109b2f2 296 _pc.printf("\r>%s< The motor is currently in state %x\n\r", inCharQ, pMessage->message);
CallumAlder 42:121148278dae 297 break;
CallumAlder 42:121148278dae 298 case hashRate:
CallumAlder 43:a6d20109b2f2 299 if (_outMining) {
CallumAlder 43:a6d20109b2f2 300 _pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message);
CallumAlder 42:121148278dae 301 returnCursor();
CallumAlder 43:a6d20109b2f2 302 _outMining = false;
CallumAlder 42:121148278dae 303 }
CallumAlder 42:121148278dae 304 break;
CallumAlder 42:121148278dae 305 case nonceMatch:
CallumAlder 43:a6d20109b2f2 306 _pc.printf("\r>%s< Nonce found: %x\n\r", inCharQ, pMessage->message);
CallumAlder 42:121148278dae 307 returnCursor();
CallumAlder 42:121148278dae 308 break;
CallumAlder 42:121148278dae 309 case keyAdded:
CallumAlder 43:a6d20109b2f2 310 _pc.printf("\r>%s< New Key Added:\t0x%016x\n\r", inCharQ, pMessage->message);
CallumAlder 42:121148278dae 311 break;
CallumAlder 42:121148278dae 312 case torque:
CallumAlder 43:a6d20109b2f2 313 _pc.printf("\r>%s< Motor Torque set to:\t%d\n\r", inCharQ, (int32_t) pMessage->message);
CallumAlder 42:121148278dae 314 break;
CallumAlder 42:121148278dae 315 case velIn:
CallumAlder 43:a6d20109b2f2 316 _pc.printf("\r>%s< Target Velocity set to:\t%.2f\n\r", inCharQ, _targetVel);
CallumAlder 42:121148278dae 317 break;
CallumAlder 42:121148278dae 318 case velOut:
CallumAlder 43:a6d20109b2f2 319 _pc.printf("\r>%s< Current Velocity:\t%.2f States/sec\n\r", inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 320 break;
CallumAlder 42:121148278dae 321 case posIn:
CallumAlder 43:a6d20109b2f2 322 _pc.printf("\r>%s< Target # Rotations:\t%.2f\n\r", inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 323 break;
CallumAlder 42:121148278dae 324 case posOut:
CallumAlder 43:a6d20109b2f2 325 _pc.printf("\r>%s< Current Position:\t%.2f\n\r", inCharQ, (float) ((int32_t) pMessage->message /*/ 6*/));
CallumAlder 42:121148278dae 326 break;
CallumAlder 42:121148278dae 327 case error:
CallumAlder 43:a6d20109b2f2 328 _pc.printf("\r>%s< Debugging position:%x\n\r", inCharQ, pMessage->message);
CallumAlder 43:a6d20109b2f2 329 for (int i = 0; i < _MAXCMDLENGTH; ++i) // reset buffer
CallumAlder 42:121148278dae 330 inCharQ[i] = ' ';
CallumAlder 42:121148278dae 331 break;
CallumAlder 42:121148278dae 332 default:
CallumAlder 43:a6d20109b2f2 333 _pc.printf("\r>%s< Unknown Error. Message: %x\n\r", inCharQ, pMessage->message);
CallumAlder 42:121148278dae 334 break;
CallumAlder 42:121148278dae 335 }
CallumAlder 42:121148278dae 336
CallumAlder 42:121148278dae 337 mailStack.free(pMessage);
CallumAlder 42:121148278dae 338 }
CallumAlder 42:121148278dae 339 }
CallumAlder 42:121148278dae 340
CallumAlder 42:121148278dae 341 void putMessage(msgType type, uint32_t message){
CallumAlder 42:121148278dae 342 msg *p_msg = mailStack.alloc();
CallumAlder 42:121148278dae 343 p_msg->type = type;
CallumAlder 42:121148278dae 344 p_msg->message = message;
CallumAlder 42:121148278dae 345 mailStack.put(p_msg);
CallumAlder 42:121148278dae 346 }
CallumAlder 42:121148278dae 347
CallumAlder 42:121148278dae 348 void start_comm(){
CallumAlder 42:121148278dae 349 _RUN = true;
adehadd 20:c60f4785b556 350
CallumAlder 43:a6d20109b2f2 351 for (int i = 0; i < _MAXCMDLENGTH; ++i) { // reset buffer
CallumAlder 43:a6d20109b2f2 352 inCharQ[i] = (char)'.'; // MbedOS prints 'Embedded Systems are fun and do awesome things!'
CallumAlder 42:121148278dae 353 }
adehadd 20:c60f4785b556 354
CallumAlder 43:a6d20109b2f2 355 inCharQ[_MAXCMDLENGTH] = (char)'\0';
CallumAlder 43:a6d20109b2f2 356 sprintf(inCharQ, "%s", inCharQ); // sorts out the correct string correctly
CallumAlder 43:a6d20109b2f2 357 strncpy(newCmd, inCharQ, _MAXCMDLENGTH);
iachinweze1 23:ab1cb51527d1 358
CallumAlder 43:a6d20109b2f2 359 _t_comm_out.start(callback(this, &Comm::commOutFn));
iachinweze1 23:ab1cb51527d1 360
CallumAlder 42:121148278dae 361 }
iachinweze1 23:ab1cb51527d1 362
CallumAlder 42:121148278dae 363 char newCmd[]; // because unallocated must be defined at the bottom of the class
CallumAlder 42:121148278dae 364 char inCharQ[];
CallumAlder 42:121148278dae 365 };
iachinweze1 23:ab1cb51527d1 366
CallumAlder 42:121148278dae 367
CallumAlder 42:121148278dae 368 class Motor {
adehadd 27:ce05fed3c1ea 369
adehadd 27:ce05fed3c1ea 370
CallumAlder 42:121148278dae 371 protected:
CallumAlder 42:121148278dae 372 int8_t orState; //Rotor offset at motor state 0, motor specific
CallumAlder 42:121148278dae 373 volatile int8_t currentState; //Current Rotor State
CallumAlder 42:121148278dae 374 volatile int8_t stateList[6]; //All possible rotor states stored
adehadd 27:ce05fed3c1ea 375
CallumAlder 42:121148278dae 376 //Phase lead to make motor spin
CallumAlder 42:121148278dae 377 volatile int8_t lead;
CallumAlder 42:121148278dae 378
CallumAlder 42:121148278dae 379 Comm* p_comm;
CallumAlder 42:121148278dae 380 bool _RUN;
CallumAlder 42:121148278dae 381
CallumAlder 42:121148278dae 382 //Run the motor synchronisation
adehadd 27:ce05fed3c1ea 383
CallumAlder 42:121148278dae 384 float dutyC; // 1 = 100%
CallumAlder 42:121148278dae 385 uint32_t mtrPeriod; // motor period
CallumAlder 42:121148278dae 386 uint8_t stateCount[3]; // State Counter
CallumAlder 42:121148278dae 387 uint8_t theStates[3]; // The Key states
CallumAlder 42:121148278dae 388
CallumAlder 42:121148278dae 389 Thread t_motor_ctrl; // Thread for motor Control
CallumAlder 42:121148278dae 390
CallumAlder 42:121148278dae 391 uint32_t MAXPWM_PRD;
CallumAlder 42:121148278dae 392
CallumAlder 42:121148278dae 393 public:
iachinweze1 23:ab1cb51527d1 394
CallumAlder 42:121148278dae 395 Motor() : t_motor_ctrl(osPriorityAboveNormal2, 1024)
CallumAlder 42:121148278dae 396 {
CallumAlder 42:121148278dae 397 // Set Power to maximum to drive motorHome()
CallumAlder 42:121148278dae 398 dutyC = 1.0f;
CallumAlder 42:121148278dae 399 mtrPeriod = 2e3; // motor period
CallumAlder 42:121148278dae 400 pwmCtrl.period_us(mtrPeriod);
CallumAlder 42:121148278dae 401 pwmCtrl.pulsewidth_us(mtrPeriod);
CallumAlder 42:121148278dae 402
CallumAlder 42:121148278dae 403 orState = motorHome(); //Rotot offset at motor state 0
CallumAlder 42:121148278dae 404 currentState = readRotorState(); //Current Rotor State
CallumAlder 42:121148278dae 405 // stateList[6] = {0,0,0, 0,0,0}; //All possible rotor states stored
CallumAlder 42:121148278dae 406 lead = 2; //2 for forwards, -2 for backwards
adehadd 27:ce05fed3c1ea 407
CallumAlder 42:121148278dae 408 // It skips the origin state and it's 'lead' increments?
CallumAlder 42:121148278dae 409 theStates[0] = orState +1;
CallumAlder 42:121148278dae 410 theStates[1] = (orState + lead) % 6 +1;
CallumAlder 42:121148278dae 411 theStates[2] = (orState + (lead*2)) % 6 +1;
CallumAlder 42:121148278dae 412
CallumAlder 42:121148278dae 413 stateCount[0] = 0; stateCount[1] = 0; stateCount[2] = 0;
CallumAlder 42:121148278dae 414
CallumAlder 42:121148278dae 415 p_comm = NULL; // null pointer for now
CallumAlder 42:121148278dae 416 _RUN = false;
CallumAlder 42:121148278dae 417
CallumAlder 42:121148278dae 418 MAXPWM_PRD = 2e3;
CallumAlder 42:121148278dae 419
CallumAlder 42:121148278dae 420 }
adehadd 27:ce05fed3c1ea 421
iachinweze1 23:ab1cb51527d1 422
CallumAlder 42:121148278dae 423 void motorStart(Comm *comm) {
CallumAlder 42:121148278dae 424
CallumAlder 42:121148278dae 425 // Establish Photointerrupter Service Routines (auto choose next state)
CallumAlder 42:121148278dae 426 I1.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 427 I2.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 428 I3.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 429 I1.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 430 I2.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 431 I3.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 432
CallumAlder 42:121148278dae 433 // push digitally so if motor is static it will start moving
CallumAlder 42:121148278dae 434 motorOut((currentState-orState+lead+6)%6); // We push it digitally
CallumAlder 42:121148278dae 435
CallumAlder 42:121148278dae 436 // Default a lower duty cylce
CallumAlder 42:121148278dae 437 dutyC = 0.8;
CallumAlder 42:121148278dae 438 pwmCtrl.period_us((uint32_t)mtrPeriod);
CallumAlder 42:121148278dae 439 pwmCtrl.pulsewidth_us((uint32_t)mtrPeriod*dutyC);
CallumAlder 42:121148278dae 440
CallumAlder 42:121148278dae 441 p_comm = comm;
CallumAlder 42:121148278dae 442 _RUN = true;
CallumAlder 42:121148278dae 443
CallumAlder 42:121148278dae 444 // Start motor control thread
CallumAlder 42:121148278dae 445 t_motor_ctrl.start(callback(this, &Motor::motorCtrlFn));
CallumAlder 42:121148278dae 446
CallumAlder 43:a6d20109b2f2 447 p_comm->_pc.printf("origin=%i, theStates=[%i,%i,%i]\n\r", orState, theStates[0], theStates[1], theStates[2]);
CallumAlder 42:121148278dae 448
CallumAlder 42:121148278dae 449 }
CallumAlder 42:121148278dae 450
CallumAlder 42:121148278dae 451 //Set a given drive state
CallumAlder 42:121148278dae 452 void motorOut(int8_t driveState) {
iachinweze1 23:ab1cb51527d1 453
CallumAlder 42:121148278dae 454 //Lookup the output byte from the drive state.
CallumAlder 42:121148278dae 455 int8_t driveOut = driveTable[driveState & 0x07];
CallumAlder 42:121148278dae 456
CallumAlder 42:121148278dae 457 //Turn off first
CallumAlder 42:121148278dae 458 if (~driveOut & 0x01) L1L = 0;
CallumAlder 42:121148278dae 459 if (~driveOut & 0x02) L1H = 1;
CallumAlder 42:121148278dae 460 if (~driveOut & 0x04) L2L = 0;
CallumAlder 42:121148278dae 461 if (~driveOut & 0x08) L2H = 1;
CallumAlder 42:121148278dae 462 if (~driveOut & 0x10) L3L = 0;
CallumAlder 42:121148278dae 463 if (~driveOut & 0x20) L3H = 1;
CallumAlder 42:121148278dae 464
CallumAlder 42:121148278dae 465 //Then turn on
CallumAlder 42:121148278dae 466 if (driveOut & 0x01) L1L = 1;
CallumAlder 42:121148278dae 467 if (driveOut & 0x02) L1H = 0;
CallumAlder 42:121148278dae 468 if (driveOut & 0x04) L2L = 1;
CallumAlder 42:121148278dae 469 if (driveOut & 0x08) L2H = 0;
CallumAlder 42:121148278dae 470 if (driveOut & 0x10) L3L = 1;
CallumAlder 42:121148278dae 471 if (driveOut & 0x20) L3H = 0;
CallumAlder 42:121148278dae 472 }
CallumAlder 42:121148278dae 473
CallumAlder 42:121148278dae 474 //Convert photointerrupter inputs to a rotor state
CallumAlder 42:121148278dae 475 inline int8_t readRotorState() {
CallumAlder 42:121148278dae 476 return stateMap[I1 + 2*I2 + 4*I3];
CallumAlder 42:121148278dae 477 }
CallumAlder 42:121148278dae 478
CallumAlder 42:121148278dae 479 //Basic synchronisation routine
CallumAlder 42:121148278dae 480 int8_t motorHome() {
CallumAlder 42:121148278dae 481 //Put the motor in drive state 0 and wait for it to stabilise
CallumAlder 42:121148278dae 482 motorOut(0);
CallumAlder 42:121148278dae 483 wait(3.0);
CallumAlder 42:121148278dae 484
CallumAlder 42:121148278dae 485 //Get the rotor state
CallumAlder 42:121148278dae 486 return readRotorState();
CallumAlder 42:121148278dae 487 }
iachinweze1 23:ab1cb51527d1 488
adehadd 20:c60f4785b556 489
CallumAlder 42:121148278dae 490 void stateUpdate() { // () { // **params
CallumAlder 42:121148278dae 491 currentState = readRotorState();
adehadd 27:ce05fed3c1ea 492
CallumAlder 42:121148278dae 493 // Store into state counter
CallumAlder 42:121148278dae 494 if (currentState == theStates[0])
CallumAlder 42:121148278dae 495 stateCount[0]++;
CallumAlder 42:121148278dae 496 else if (currentState == theStates[1])
CallumAlder 42:121148278dae 497 stateCount[1]++;
CallumAlder 42:121148278dae 498 else if (currentState == theStates[2])
CallumAlder 42:121148278dae 499 stateCount[2]++;
adehadd 27:ce05fed3c1ea 500
adehadd 27:ce05fed3c1ea 501
CallumAlder 42:121148278dae 502 // (Current - Offset + lead + 6) %6
CallumAlder 42:121148278dae 503 motorOut((currentState - orState + lead + 6) % 6);
iachinweze1 23:ab1cb51527d1 504
CallumAlder 42:121148278dae 505 }
CallumAlder 19:805c87360b55 506
adehadd 27:ce05fed3c1ea 507
adehadd 20:c60f4785b556 508
CallumAlder 42:121148278dae 509 // attach_us -> runs funtion every 100ms
CallumAlder 42:121148278dae 510 void motorCtrlFn() {
CallumAlder 42:121148278dae 511 Ticker motorCtrlTicker;
CallumAlder 42:121148278dae 512 Timer m_timer;
CallumAlder 42:121148278dae 513 motorCtrlTicker.attach_us(callback(this,&Motor::motorCtrlTick), 1e5);
iachinweze1 23:ab1cb51527d1 514
CallumAlder 42:121148278dae 515 // Init some things
CallumAlder 42:121148278dae 516 uint8_t cpyStateCount[3];
CallumAlder 42:121148278dae 517 uint8_t cpyCurrentState;
CallumAlder 42:121148278dae 518 int8_t cpyModeBitfield;
CallumAlder 42:121148278dae 519
CallumAlder 42:121148278dae 520 int32_t ting[2] = {6,1}; // 360,60 (for degrees), 5,1 (for states)
CallumAlder 42:121148278dae 521 uint8_t iterElementMax;
CallumAlder 42:121148278dae 522 int32_t totalDegrees;
CallumAlder 42:121148278dae 523 int32_t stateDiff;
adehadd 27:ce05fed3c1ea 524
CallumAlder 42:121148278dae 525 int32_t cur_speed; //Variable for local velocity calculation
CallumAlder 42:121148278dae 526 int32_t locMotorPos; //Local copy of motor position
CallumAlder 42:121148278dae 527 // static int32_t oldMotorPos = 0; //Old motor position used for calculations
CallumAlder 42:121148278dae 528 // static uint8_t motorCtrlCounter = 0; //Counter to be reset every 10 iterations to get velocity calculation in seconds
CallumAlder 42:121148278dae 529 volatile int32_t torque; //Local variable to set motor torque
CallumAlder 42:121148278dae 530 static int32_t oldTorque =0;
CallumAlder 42:121148278dae 531 float sError; //Velocity error between target and reality
CallumAlder 42:121148278dae 532 float rError; //Rotation error between target and reality
CallumAlder 42:121148278dae 533 static float rErrorOld; //Old rotation error used for calculation
CallumAlder 42:121148278dae 534
CallumAlder 42:121148278dae 535 //~~~Controller constants~~~~
CallumAlder 42:121148278dae 536 int32_t Kp1=22; //Proportional controller constants
CallumAlder 42:121148278dae 537 int32_t Kp2=22; //Calculated by trial and error to give optimal accuracy
CallumAlder 42:121148278dae 538 int32_t Ki = 12;
CallumAlder 42:121148278dae 539 float Kd=15.5;
CallumAlder 42:121148278dae 540
CallumAlder 42:121148278dae 541
CallumAlder 42:121148278dae 542 int32_t Ys; //Initialise controller output Ys (s=speed)
CallumAlder 42:121148278dae 543 int32_t Yr; //Initialise controller output Yr (r=rotations)
CallumAlder 42:121148278dae 544
CallumAlder 42:121148278dae 545 int32_t old_pos = 0;
adehadd 27:ce05fed3c1ea 546
CallumAlder 42:121148278dae 547 uint32_t cur_time = 0,
CallumAlder 42:121148278dae 548 old_time = 0,
CallumAlder 42:121148278dae 549 time_diff;
CallumAlder 42:121148278dae 550
CallumAlder 42:121148278dae 551 float cur_err = 0.0f,
CallumAlder 42:121148278dae 552 old_err = 0.0f,
CallumAlder 42:121148278dae 553 err_diff;
CallumAlder 42:121148278dae 554
CallumAlder 42:121148278dae 555 m_timer.start();
CallumAlder 42:121148278dae 556
CallumAlder 42:121148278dae 557 while (_RUN) {
CallumAlder 42:121148278dae 558 t_motor_ctrl.signal_wait((int32_t)0x1);
iachinweze1 23:ab1cb51527d1 559
CallumAlder 42:121148278dae 560 core_util_critical_section_enter();
CallumAlder 43:a6d20109b2f2 561 cpyModeBitfield = p_comm->_modeBitField;
CallumAlder 43:a6d20109b2f2 562 // p_comm->_modeBitField = 0; // nah
CallumAlder 42:121148278dae 563 //Access shared variables here
CallumAlder 42:121148278dae 564 std::copy(stateCount, stateCount+3, cpyStateCount);
CallumAlder 42:121148278dae 565 cpyCurrentState = currentState;
CallumAlder 42:121148278dae 566 for (int i = 0; i < 3; ++i) {
CallumAlder 42:121148278dae 567 stateCount[i] = 0;
CallumAlder 42:121148278dae 568 }
CallumAlder 42:121148278dae 569 core_util_critical_section_exit();
adehadd 20:c60f4785b556 570
CallumAlder 42:121148278dae 571 // read state & timestamp
CallumAlder 42:121148278dae 572 cur_time = m_timer.read();
CallumAlder 42:121148278dae 573
CallumAlder 42:121148278dae 574 // compute speed
CallumAlder 42:121148278dae 575 time_diff = cur_time - old_time;
CallumAlder 42:121148278dae 576 // cur_speed = (cur_pos - old_pos) / time_diff;
adehadd 27:ce05fed3c1ea 577
CallumAlder 42:121148278dae 578 // prep values for next time through loop
CallumAlder 42:121148278dae 579 old_time = cur_time;
CallumAlder 42:121148278dae 580 old_pos = cpyCurrentState;
CallumAlder 42:121148278dae 581
CallumAlder 42:121148278dae 582
CallumAlder 42:121148278dae 583 iterElementMax = std::max_element(cpyStateCount, cpyStateCount+3) - cpyStateCount;
adehadd 20:c60f4785b556 584
adehadd 20:c60f4785b556 585
CallumAlder 42:121148278dae 586 totalDegrees = ting[0] * cpyStateCount[iterElementMax];
CallumAlder 42:121148278dae 587 stateDiff = theStates[iterElementMax]-cpyCurrentState;
CallumAlder 42:121148278dae 588 if (stateDiff >= 0) {
CallumAlder 42:121148278dae 589 totalDegrees = totalDegrees + (ting[1]* stateDiff);
CallumAlder 42:121148278dae 590 }
CallumAlder 42:121148278dae 591
CallumAlder 42:121148278dae 592 else {
CallumAlder 42:121148278dae 593 totalDegrees = totalDegrees + (ting[1]*stateDiff*-1);
CallumAlder 42:121148278dae 594 }
CallumAlder 43:a6d20109b2f2 595 //p_comm->_pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
CallumAlder 42:121148278dae 596
CallumAlder 42:121148278dae 597 if ((cpyModeBitfield & 0x01) | (cpyModeBitfield & 0x02)) {
CallumAlder 42:121148278dae 598 //~~~~~Speed controller~~~~~~
CallumAlder 42:121148278dae 599 cur_speed = totalDegrees / time_diff;
CallumAlder 43:a6d20109b2f2 600 sError = (p_comm->_targetVel * 6) - abs(cur_speed); //Read global variable _targetVel updated by interrupt and calculate error between target and reality
CallumAlder 42:121148278dae 601
CallumAlder 42:121148278dae 602 if (sError == -abs(cur_speed)) { //Check if user entered V0,
CallumAlder 42:121148278dae 603 Ys = MAXPWM_PRD; //and set the output to maximum as specified
CallumAlder 42:121148278dae 604 }
CallumAlder 42:121148278dae 605
CallumAlder 42:121148278dae 606 else {
CallumAlder 42:121148278dae 607 Ys = (int32_t)(Kp1 * sError); //If the user didn't enter V0 implement controller transfer function: Ys = Kp * (s -|v|) where,
CallumAlder 42:121148278dae 608 } //Ys = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity
CallumAlder 42:121148278dae 609
CallumAlder 42:121148278dae 610 // } else if (cpyModeBitfield & 0x02) {
CallumAlder 42:121148278dae 611 //~~~~~Rotation control~~~~~~
CallumAlder 43:a6d20109b2f2 612 rError = (p_comm->_targetRot)*6 - totalDegrees; //Read global variable _targetRot updated by interrupt and calculate the rotation error.
CallumAlder 42:121148278dae 613 Yr = Kp2*rError + Kd*(rError - rErrorOld); //Implement controller transfer function Ys= Kp*Er + Kd* (dEr/dt)
CallumAlder 42:121148278dae 614 rErrorOld = rError; //Update rotation error
CallumAlder 42:121148278dae 615 // if(rError < 0) //Use the sign of the error to set controller wrt direction of rotation
CallumAlder 42:121148278dae 616 // Ys = -Ys;
CallumAlder 42:121148278dae 617
CallumAlder 42:121148278dae 618 Ys = Ys * sgn(rError);
CallumAlder 42:121148278dae 619 // select minimum absolute value torque
CallumAlder 42:121148278dae 620 if (cur_speed < 0){
CallumAlder 42:121148278dae 621 torque = max(Ys, Yr);
CallumAlder 42:121148278dae 622 }
CallumAlder 42:121148278dae 623 else{
CallumAlder 42:121148278dae 624 torque = min(Ys, Yr);
CallumAlder 42:121148278dae 625 }
adehadd 27:ce05fed3c1ea 626
CallumAlder 42:121148278dae 627 if (torque < 0){ //Variable torque cannot be negative since it sets the PWM
CallumAlder 42:121148278dae 628 torque = -torque; lead = -2;
CallumAlder 42:121148278dae 629 } //Hence we make the value positive,
CallumAlder 42:121148278dae 630 else{ //and instead set the direction to the opposite one
CallumAlder 42:121148278dae 631 lead = 2;
CallumAlder 42:121148278dae 632 }
CallumAlder 42:121148278dae 633
CallumAlder 42:121148278dae 634 if(torque > MAXPWM_PRD){ //In case the calculated PWM is higher than our maximum 50% allowance,
CallumAlder 42:121148278dae 635 torque = MAXPWM_PRD; //Set it to our max.
CallumAlder 42:121148278dae 636 }
CallumAlder 42:121148278dae 637
CallumAlder 43:a6d20109b2f2 638 p_comm->_motorTorque = torque;
CallumAlder 43:a6d20109b2f2 639 pwmCtrl.pulsewidth_us(p_comm->_motorTorque);
CallumAlder 42:121148278dae 640 }
adehadd 27:ce05fed3c1ea 641
CallumAlder 42:121148278dae 642 if (cpyModeBitfield & 0x04) { // if it is in torque mode, do no math, just set pulsewidth
CallumAlder 43:a6d20109b2f2 643 torque = (int32_t)p_comm->_motorTorque;
CallumAlder 42:121148278dae 644 if (oldTorque != torque) {
CallumAlder 42:121148278dae 645 if(torque < 0){ //Variable torque cannot be negative since it sets the PWM
CallumAlder 42:121148278dae 646 torque = -torque; //Hence we make the value positive,
CallumAlder 42:121148278dae 647 lead = -2; //and instead set the direction to the opposite one
CallumAlder 42:121148278dae 648 } else {
CallumAlder 42:121148278dae 649 lead = 2;
CallumAlder 42:121148278dae 650 }
CallumAlder 42:121148278dae 651 if(torque > MAXPWM_PRD){ //In case the calculated PWM is higher than our maximum 50% allowance,
CallumAlder 42:121148278dae 652 torque = MAXPWM_PRD; //Set it to our max.
adehadd 26:fb6151e5907d 653
CallumAlder 42:121148278dae 654 }
CallumAlder 42:121148278dae 655 p_comm->putMessage((Comm::msgType)8, torque);
CallumAlder 43:a6d20109b2f2 656 p_comm->_motorTorque = torque;
CallumAlder 42:121148278dae 657 pwmCtrl.pulsewidth_us(torque);
CallumAlder 42:121148278dae 658 oldTorque = torque;
CallumAlder 42:121148278dae 659 }
CallumAlder 42:121148278dae 660 }
CallumAlder 42:121148278dae 661 //else { // if not Torque mode
CallumAlder 42:121148278dae 662 //balls
CallumAlder 42:121148278dae 663 //}
CallumAlder 43:a6d20109b2f2 664 // pwmCtrl.write((float)(p_comm->_motorTorque/MAXPWM_PRD));
CallumAlder 43:a6d20109b2f2 665 // p_comm->_motorTorque = torque; //Lastly, update global variable _motorTorque which is updated by interrupt
CallumAlder 43:a6d20109b2f2 666 // p_comm->_pc.printf("\t\t\t\t\t\t %i, %i, %i \r", torque, Ys, Yr);
CallumAlder 43:a6d20109b2f2 667 //p_comm->_pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
CallumAlder 42:121148278dae 668 }
CallumAlder 42:121148278dae 669 }
CallumAlder 42:121148278dae 670
CallumAlder 42:121148278dae 671 void motorCtrlTick(){
CallumAlder 42:121148278dae 672 t_motor_ctrl.signal_set(0x1);
CallumAlder 42:121148278dae 673 }
CallumAlder 42:121148278dae 674 };
CallumAlder 42:121148278dae 675
CallumAlder 42:121148278dae 676
adehadd 27:ce05fed3c1ea 677 int main() {
adehadd 26:fb6151e5907d 678
CallumAlder 42:121148278dae 679 // Declare Objects
CallumAlder 42:121148278dae 680 Comm comm_port;
CallumAlder 42:121148278dae 681 SHA256 miner;
CallumAlder 42:121148278dae 682 Motor motor;
adehadd 27:ce05fed3c1ea 683
CallumAlder 42:121148278dae 684 // Start Motor and Comm Port
CallumAlder 42:121148278dae 685 motor.motorStart(&comm_port);
CallumAlder 42:121148278dae 686 comm_port.start_comm();
adehadd 27:ce05fed3c1ea 687
CallumAlder 42:121148278dae 688 // Declare Hash Variables
adehadd 27:ce05fed3c1ea 689 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
adehadd 27:ce05fed3c1ea 690 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
adehadd 27:ce05fed3c1ea 691 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
adehadd 27:ce05fed3c1ea 692 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
adehadd 27:ce05fed3c1ea 693 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
adehadd 27:ce05fed3c1ea 694 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
adehadd 27:ce05fed3c1ea 695 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
adehadd 27:ce05fed3c1ea 696 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
adehadd 27:ce05fed3c1ea 697 uint64_t* key = (uint64_t*)((int)sequence + 48);
adehadd 27:ce05fed3c1ea 698 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
adehadd 27:ce05fed3c1ea 699 uint8_t hash[32];
adehadd 27:ce05fed3c1ea 700 uint32_t length64 = 64;
adehadd 27:ce05fed3c1ea 701 uint32_t hashCounter = 0;
iachinweze1 23:ab1cb51527d1 702
CallumAlder 42:121148278dae 703 // Begin Main Timer
CallumAlder 42:121148278dae 704 Timer timer;
CallumAlder 42:121148278dae 705 timer.start();
adehadd 27:ce05fed3c1ea 706
CallumAlder 42:121148278dae 707 // Loop Program
CallumAlder 42:121148278dae 708 while (1) {
adehadd 26:fb6151e5907d 709
CallumAlder 42:121148278dae 710 // Mutex For Access Control
CallumAlder 43:a6d20109b2f2 711 comm_port._newKeyMutex.lock();
CallumAlder 43:a6d20109b2f2 712 *key = comm_port._newKey;
CallumAlder 43:a6d20109b2f2 713 comm_port._newKeyMutex.unlock();
adehadd 20:c60f4785b556 714
CallumAlder 42:121148278dae 715 // Compute Hash and Counter
CallumAlder 42:121148278dae 716 miner.computeHash(hash, sequence, length64);
CallumAlder 42:121148278dae 717 hashCounter++;
adehadd 20:c60f4785b556 718
CallumAlder 42:121148278dae 719 // Enum Casting and Condition
adehadd 27:ce05fed3c1ea 720 if ((hash[0]==0) && (hash[1]==0)){
CallumAlder 42:121148278dae 721 comm_port.putMessage((Comm::msgType)7, *nonce);
adehadd 26:fb6151e5907d 722 }
adehadd 26:fb6151e5907d 723
CallumAlder 42:121148278dae 724 // Try Nonce
adehadd 27:ce05fed3c1ea 725 (*nonce)++;
adehadd 26:fb6151e5907d 726
CallumAlder 42:121148278dae 727 // Display via Comm Port
adehadd 27:ce05fed3c1ea 728 if (timer.read() >= 1){
CallumAlder 42:121148278dae 729 comm_port.putMessage((Comm::msgType)5, hashCounter);
adehadd 27:ce05fed3c1ea 730 hashCounter=0;
adehadd 27:ce05fed3c1ea 731 timer.reset();
adehadd 18:7ee632098fd4 732 }
CallumAlder 15:2f95f2fb68e3 733 }
CallumAlder 42:121148278dae 734
CallumAlder 42:121148278dae 735 return 0;
CallumAlder 42:121148278dae 736
adehadd 27:ce05fed3c1ea 737 }