Skad00sh / Mbed OS ES_CW2_Dev

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

Dependencies:   Crypto

main.cpp@27:ce05fed3c1ea, 2019-03-16 (annotated)

Committer:
adehadd
Date:
Sat Mar 16 18:25:38 2019 +0000
Revision:
27:ce05fed3c1ea
Parent:
26:fb6151e5907d
Child:
42:121148278dae
oh dear

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adehadd 27:ce05fed3c1ea 1 #include "SHA256.h"
estott 0:de4320f74764 2 #include "mbed.h"
adehadd 27:ce05fed3c1ea 3 // #include <iostream>
adehadd 27:ce05fed3c1ea 4 // #include "rtos.h"
CallumAlder 14:4e312fb83330 5
adehadd 27:ce05fed3c1ea 6 /*TODO:
adehadd 27:ce05fed3c1ea 7 Change
adehadd 27:ce05fed3c1ea 8 Indx
adehadd 27:ce05fed3c1ea 9 newCmd
adehadd 27:ce05fed3c1ea 10 MAXCMDLENGTH
adehadd 27:ce05fed3c1ea 11 */
estott 0:de4320f74764 12
adehadd 27:ce05fed3c1ea 13 //Photointerrupter input pins
adehadd 27:ce05fed3c1ea 14 #define I1pin D3
adehadd 27:ce05fed3c1ea 15 #define I2pin D6
adehadd 27:ce05fed3c1ea 16 #define I3pin D5
estott 2:4e88faab6988 17
adehadd 27:ce05fed3c1ea 18 //Incremental encoder input pins
adehadd 27:ce05fed3c1ea 19 #define CHApin D12
adehadd 27:ce05fed3c1ea 20 #define CHBpin D11
estott 0:de4320f74764 21
adehadd 27:ce05fed3c1ea 22 //Motor Drive output pins //Mask in output byte
adehadd 27:ce05fed3c1ea 23 #define L1Lpin D1 //0x01
adehadd 27:ce05fed3c1ea 24 #define L1Hpin A3 //0x02
adehadd 27:ce05fed3c1ea 25 #define L2Lpin D0 //0x04
adehadd 27:ce05fed3c1ea 26 #define L2Hpin A6 //0x08
adehadd 27:ce05fed3c1ea 27 #define L3Lpin D10 //0x10
adehadd 27:ce05fed3c1ea 28 #define L3Hpin D2 //0x20
estott 10:a4b5723b6c9d 29
adehadd 27:ce05fed3c1ea 30 #define PWMpin D9
estott 5:08f338b5e4d9 31
adehadd 27:ce05fed3c1ea 32 //Motor current sense
adehadd 27:ce05fed3c1ea 33 #define MCSPpin A1
adehadd 27:ce05fed3c1ea 34 #define MCSNpin A0
estott 0:de4320f74764 35
estott 0:de4320f74764 36 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 37 /*
estott 0:de4320f74764 38 State L1 L2 L3
estott 0:de4320f74764 39 0 H - L
estott 0:de4320f74764 40 1 - H L
estott 0:de4320f74764 41 2 L H -
estott 0:de4320f74764 42 3 L - H
estott 0:de4320f74764 43 4 - L H
estott 0:de4320f74764 44 5 H L -
estott 0:de4320f74764 45 6 - - -
estott 0:de4320f74764 46 7 - - -
estott 0:de4320f74764 47 */
adehadd 27:ce05fed3c1ea 48 //Drive state to output table
estott 0:de4320f74764 49 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 50
adehadd 27:ce05fed3c1ea 51 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
adehadd 27:ce05fed3c1ea 52 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
adehadd 27:ce05fed3c1ea 53 //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 54
adehadd 27:ce05fed3c1ea 55 //Phase lead to make motor spin
adehadd 27:ce05fed3c1ea 56 const int8_t lead = 2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 57
adehadd 27:ce05fed3c1ea 58 //Status LED
estott 0:de4320f74764 59 DigitalOut led1(LED1);
estott 0:de4320f74764 60
adehadd 27:ce05fed3c1ea 61 //Photointerrupter inputs
iachinweze1 12:41b3112021a3 62 InterruptIn I1(I1pin);
iachinweze1 12:41b3112021a3 63 InterruptIn I2(I2pin);
iachinweze1 12:41b3112021a3 64 InterruptIn I3(I3pin);
estott 0:de4320f74764 65
adehadd 27:ce05fed3c1ea 66 //Motor Drive outputs
adehadd 27:ce05fed3c1ea 67 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 68 DigitalOut L1H(L1Hpin);
adehadd 27:ce05fed3c1ea 69 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 70 DigitalOut L2H(L2Hpin);
adehadd 27:ce05fed3c1ea 71 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 72 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 73
adehadd 27:ce05fed3c1ea 74 PwmOut pwmCtrl(PWMpin);
iachinweze1 23:ab1cb51527d1 75
adehadd 27:ce05fed3c1ea 76 uint8_t stateCount[3];
adehadd 27:ce05fed3c1ea 77 uint8_t theStates[3];
adehadd 27:ce05fed3c1ea 78
adehadd 27:ce05fed3c1ea 79 class Comm /*: public T_*/{
adehadd 27:ce05fed3c1ea 80
adehadd 27:ce05fed3c1ea 81 public:
adehadd 27:ce05fed3c1ea 82
adehadd 27:ce05fed3c1ea 83 Thread t_comm_out;
adehadd 27:ce05fed3c1ea 84 Thread t_motor_ctrl;
adehadd 27:ce05fed3c1ea 85 // Thread *p_motor_ctrl;
adehadd 27:ce05fed3c1ea 86
adehadd 27:ce05fed3c1ea 87 bool _RUN;
adehadd 27:ce05fed3c1ea 88
adehadd 27:ce05fed3c1ea 89 RawSerial pc;
adehadd 27:ce05fed3c1ea 90 // Queue<void, 8> inCharQ; // Input Character Queue
iachinweze1 23:ab1cb51527d1 91
iachinweze1 23:ab1cb51527d1 92
adehadd 27:ce05fed3c1ea 93 static const char MsgChar[11];
adehadd 27:ce05fed3c1ea 94
adehadd 27:ce05fed3c1ea 95 uint8_t MAXCMDLENGTH;
iachinweze1 23:ab1cb51527d1 96
adehadd 27:ce05fed3c1ea 97 volatile uint8_t cmdIndx;
adehadd 27:ce05fed3c1ea 98 volatile uint8_t inCharQIdx;
adehadd 27:ce05fed3c1ea 99
adehadd 27:ce05fed3c1ea 100 volatile uint32_t motorPower; // motor toque
adehadd 27:ce05fed3c1ea 101 volatile float targetVel;
adehadd 27:ce05fed3c1ea 102 volatile float targetRot;
adehadd 27:ce05fed3c1ea 103
adehadd 27:ce05fed3c1ea 104 enum msgType {motorState, posIn, velIn, posOut, velOut,
iachinweze1 23:ab1cb51527d1 105
adehadd 27:ce05fed3c1ea 106 hashRate, keyAdded, nonceMatch,
adehadd 27:ce05fed3c1ea 107
adehadd 27:ce05fed3c1ea 108 torque, rotations,
adehadd 27:ce05fed3c1ea 109
adehadd 27:ce05fed3c1ea 110 error};
iachinweze1 23:ab1cb51527d1 111
adehadd 27:ce05fed3c1ea 112 typedef struct {
adehadd 27:ce05fed3c1ea 113 msgType type;
adehadd 27:ce05fed3c1ea 114 uint32_t message;
adehadd 27:ce05fed3c1ea 115 } msg;
adehadd 27:ce05fed3c1ea 116
adehadd 27:ce05fed3c1ea 117 Mail<msg, 32> mailStack;
iachinweze1 23:ab1cb51527d1 118
adehadd 27:ce05fed3c1ea 119 void serialISR(){
adehadd 27:ce05fed3c1ea 120 if (pc.readable()) {
adehadd 27:ce05fed3c1ea 121 char newChar = pc.getc();
adehadd 27:ce05fed3c1ea 122 // inCharQ.put((void*)newChar); // void* = pointer to an unknown type that cannot be dereferenced
CallumAlder 19:805c87360b55 123
adehadd 27:ce05fed3c1ea 124 if (inCharQIdx == (MAXCMDLENGTH)) {
adehadd 27:ce05fed3c1ea 125 inCharQ[MAXCMDLENGTH] = '\0'; // force the string to have an end character
adehadd 27:ce05fed3c1ea 126 putMessage(error, 1);
adehadd 27:ce05fed3c1ea 127 inCharQIdx = 0; // reset buffer index
adehadd 27:ce05fed3c1ea 128 // pc.putc('\r'); // carriage return moves to the start of the line
adehadd 27:ce05fed3c1ea 129 // for (int i = 0; i < MAXCMDLENGTH; ++i)
adehadd 27:ce05fed3c1ea 130 // {
adehadd 27:ce05fed3c1ea 131 // inCharQ[i] = ' ';
adehadd 27:ce05fed3c1ea 132 // pc.putc(' ');
adehadd 27:ce05fed3c1ea 133 // }
iachinweze1 23:ab1cb51527d1 134
adehadd 27:ce05fed3c1ea 135 // pc.putc('\r'); // carriage return moves to the start of the line
adehadd 27:ce05fed3c1ea 136 }
adehadd 27:ce05fed3c1ea 137 else{
adehadd 27:ce05fed3c1ea 138 if(newChar != '\r'){ //While the command is not over,
adehadd 27:ce05fed3c1ea 139 inCharQ[inCharQIdx] = newChar; //save input character and
adehadd 27:ce05fed3c1ea 140 inCharQIdx++; //advance index
adehadd 27:ce05fed3c1ea 141 pc.putc(newChar);
adehadd 27:ce05fed3c1ea 142 }
adehadd 27:ce05fed3c1ea 143 else{
adehadd 27:ce05fed3c1ea 144 inCharQ[inCharQIdx] = '\0'; //When the command is finally over,
adehadd 27:ce05fed3c1ea 145 strncpy(newCmd, inCharQ, MAXCMDLENGTH); // Will copy 18 characters from inCharQ to newCmd
adehadd 27:ce05fed3c1ea 146 cmdParser(); //parse the command for decoding.
adehadd 27:ce05fed3c1ea 147 for (int i = 0; i < MAXCMDLENGTH; ++i) // reset buffer
adehadd 27:ce05fed3c1ea 148 inCharQ[i] = ' ';
adehadd 27:ce05fed3c1ea 149 inCharQIdx = 0; // reset index
adehadd 27:ce05fed3c1ea 150 }
adehadd 27:ce05fed3c1ea 151 }
adehadd 27:ce05fed3c1ea 152 }
CallumAlder 19:805c87360b55 153
iachinweze1 23:ab1cb51527d1 154
adehadd 27:ce05fed3c1ea 155 }
adehadd 27:ce05fed3c1ea 156
adehadd 27:ce05fed3c1ea 157 /*void commInFn() {
adehadd 27:ce05fed3c1ea 158 // if (_RUN)
iachinweze1 23:ab1cb51527d1 159
adehadd 27:ce05fed3c1ea 160 while (_RUN) {
adehadd 27:ce05fed3c1ea 161 osEvent newEvent = inCharQ.get();
adehadd 27:ce05fed3c1ea 162 uint8_t newChar = (uint8_t)(newEvent.value.p); // size_t to type cast the 64bit pointer properly
adehadd 27:ce05fed3c1ea 163 pc.putc(newChar);
adehadd 27:ce05fed3c1ea 164 if(cmdIndx >= MAXCMDLENGTH){ //Make sure there is no overflow in comand.
adehadd 27:ce05fed3c1ea 165 cmdIndx = 0;
adehadd 27:ce05fed3c1ea 166 putMessage(error, 1);
adehadd 27:ce05fed3c1ea 167 }
adehadd 27:ce05fed3c1ea 168 else{
adehadd 27:ce05fed3c1ea 169 if(newChar != '\r'){ //While the command is not over,
adehadd 27:ce05fed3c1ea 170 newCmd[cmdIndx] = newChar; //save input character and
adehadd 27:ce05fed3c1ea 171 cmdIndx++; //advance index
adehadd 27:ce05fed3c1ea 172 }
adehadd 27:ce05fed3c1ea 173 else{
adehadd 27:ce05fed3c1ea 174 newCmd[cmdIndx] = '\0'; //When the command is finally over,
adehadd 27:ce05fed3c1ea 175 cmdIndx = 0; //reset index and
adehadd 27:ce05fed3c1ea 176 cmdParser(); //parse the command for decoding.
adehadd 27:ce05fed3c1ea 177 }
adehadd 27:ce05fed3c1ea 178 }
adehadd 27:ce05fed3c1ea 179 }
adehadd 27:ce05fed3c1ea 180 }*/
iachinweze1 23:ab1cb51527d1 181
adehadd 27:ce05fed3c1ea 182 void returnCursor() {
adehadd 27:ce05fed3c1ea 183 pc.putc('>');
adehadd 27:ce05fed3c1ea 184 for (int i = 0; i < inCharQIdx; ++i) // reset cursor position
adehadd 27:ce05fed3c1ea 185 pc.putc(inCharQ[i]);
adehadd 27:ce05fed3c1ea 186 // for (int i = inCharQIdx; i < MAXCMDLENGTH; ++i) // fill remaining with blanks
adehadd 27:ce05fed3c1ea 187 // pc.putc(' ');
adehadd 27:ce05fed3c1ea 188 // pc.putc('<');
adehadd 27:ce05fed3c1ea 189 }
iachinweze1 23:ab1cb51527d1 190
adehadd 27:ce05fed3c1ea 191 void cmdParser(){
adehadd 27:ce05fed3c1ea 192 switch(newCmd[0]) {
adehadd 27:ce05fed3c1ea 193 case 'K': //(MsgChar[keyAdded])://
adehadd 27:ce05fed3c1ea 194 newKey_mutex.lock(); //Ensure there is no deadlock
adehadd 27:ce05fed3c1ea 195 sscanf(newCmd, "K%x", &newKey); //Find desired the Key code
adehadd 27:ce05fed3c1ea 196 putMessage(keyAdded, newKey); //Print it out
adehadd 27:ce05fed3c1ea 197 newKey_mutex.unlock();
adehadd 27:ce05fed3c1ea 198 break;
adehadd 27:ce05fed3c1ea 199 case 'V': //(MsgChar[velIn])://
adehadd 27:ce05fed3c1ea 200 sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity
adehadd 27:ce05fed3c1ea 201 putMessage(velIn, targetVel); //Print it out
adehadd 27:ce05fed3c1ea 202 break;
adehadd 27:ce05fed3c1ea 203 case 'R': //(MsgChar[posIn])://
adehadd 27:ce05fed3c1ea 204 sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation
adehadd 27:ce05fed3c1ea 205 putMessage(posIn, targetRot); //Print it out
adehadd 27:ce05fed3c1ea 206 break;
adehadd 27:ce05fed3c1ea 207 case 'T': //(MsgChar[torque])://
adehadd 27:ce05fed3c1ea 208 sscanf(newCmd, "T%d", &motorPower); //Find desired target torque
adehadd 27:ce05fed3c1ea 209 putMessage(torque, motorPower); //Print it out
adehadd 27:ce05fed3c1ea 210 break;
adehadd 27:ce05fed3c1ea 211 default: break;
adehadd 27:ce05fed3c1ea 212 }
adehadd 27:ce05fed3c1ea 213 }
adehadd 27:ce05fed3c1ea 214
adehadd 27:ce05fed3c1ea 215 //~~~~~Decode messages to print on serial port~~~~~
adehadd 27:ce05fed3c1ea 216 void commOutFn() {
adehadd 27:ce05fed3c1ea 217 while (_RUN) {
adehadd 27:ce05fed3c1ea 218 osEvent newEvent = mailStack.get();
adehadd 27:ce05fed3c1ea 219 msg *pMessage = (msg *) newEvent.value.p;
iachinweze1 23:ab1cb51527d1 220
adehadd 27:ce05fed3c1ea 221 //Case switch to choose serial output based on incoming message
adehadd 27:ce05fed3c1ea 222 switch (pMessage->type) {
adehadd 27:ce05fed3c1ea 223 case motorState:
adehadd 27:ce05fed3c1ea 224 pc.printf("The motor is currently in state %x\n\r", pMessage->message);
adehadd 27:ce05fed3c1ea 225 break;
adehadd 27:ce05fed3c1ea 226 case hashRate:
adehadd 27:ce05fed3c1ea 227 pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message);
adehadd 27:ce05fed3c1ea 228 returnCursor();
adehadd 27:ce05fed3c1ea 229 break;
adehadd 27:ce05fed3c1ea 230 case nonceMatch:
adehadd 27:ce05fed3c1ea 231 pc.printf("\r>%s< Nonce found: %x\r", inCharQ, pMessage->message);
adehadd 27:ce05fed3c1ea 232 returnCursor();
adehadd 27:ce05fed3c1ea 233 break;
adehadd 27:ce05fed3c1ea 234 case keyAdded:
adehadd 27:ce05fed3c1ea 235 pc.printf("New Key Added:\t0x%016x\n\r", pMessage->message);
adehadd 27:ce05fed3c1ea 236 break;
adehadd 27:ce05fed3c1ea 237 case torque:
adehadd 27:ce05fed3c1ea 238 pc.printf("Motor Torque set to:\t%d\n\r", pMessage->message);
adehadd 27:ce05fed3c1ea 239 break;
adehadd 27:ce05fed3c1ea 240 case velIn:
adehadd 27:ce05fed3c1ea 241 pc.printf("Target Velocity set to:\t%.2f\n\r", targetVel);
adehadd 27:ce05fed3c1ea 242 break;
adehadd 27:ce05fed3c1ea 243 case velOut:
adehadd 27:ce05fed3c1ea 244 pc.printf("Current Velocity:\t%.2f\n\r", \
adehadd 27:ce05fed3c1ea 245 (float) ((int32_t) pMessage->message / 6));
adehadd 27:ce05fed3c1ea 246 break;
adehadd 27:ce05fed3c1ea 247 case posIn:
adehadd 27:ce05fed3c1ea 248 pc.printf("Target Rotation set to:\t%.2f\n\r", \
adehadd 27:ce05fed3c1ea 249 (float) ((int32_t) pMessage->message / 6));
adehadd 27:ce05fed3c1ea 250 break;
adehadd 27:ce05fed3c1ea 251 case posOut:
adehadd 27:ce05fed3c1ea 252 pc.printf("Current Position:\t%.2f\n\r", \
adehadd 27:ce05fed3c1ea 253 (float) ((int32_t) pMessage->message / 6));
adehadd 27:ce05fed3c1ea 254 break;
adehadd 27:ce05fed3c1ea 255 case error:
adehadd 27:ce05fed3c1ea 256 pc.printf("\r>%s< Debugging position:%x\n\r", inCharQ, pMessage->message);
adehadd 27:ce05fed3c1ea 257 for (int i = 0; i < MAXCMDLENGTH; ++i) // reset buffer
adehadd 27:ce05fed3c1ea 258 inCharQ[i] = ' ';
adehadd 27:ce05fed3c1ea 259 break;
adehadd 27:ce05fed3c1ea 260 default:
adehadd 27:ce05fed3c1ea 261 pc.printf("Unknown Error. Message: %x\n\r", pMessage->message);
adehadd 27:ce05fed3c1ea 262 break;
adehadd 27:ce05fed3c1ea 263 }
adehadd 27:ce05fed3c1ea 264 mailStack.free(pMessage);
adehadd 27:ce05fed3c1ea 265 }
adehadd 27:ce05fed3c1ea 266 }
adehadd 26:fb6151e5907d 267
adehadd 27:ce05fed3c1ea 268 // attach_us -> runs funtion every 100ms
adehadd 27:ce05fed3c1ea 269 void motorCtrlFn() {
adehadd 27:ce05fed3c1ea 270 Ticker motorCtrlTicker;
adehadd 27:ce05fed3c1ea 271 motorCtrlTicker.attach_us(callback(this,&Comm::motorCtrlTick), 1e5);
adehadd 27:ce05fed3c1ea 272 uint8_t cpyStateCount[3];
adehadd 27:ce05fed3c1ea 273 uint8_t cpyCurrentState;
adehadd 27:ce05fed3c1ea 274
adehadd 27:ce05fed3c1ea 275 int16_t ting[2] = {5,1}; // 360,60 (for degrees), 5,1 (for states)
adehadd 27:ce05fed3c1ea 276 uint8_t iterElementMax;
adehadd 27:ce05fed3c1ea 277 int16_t totalDegrees;
adehadd 27:ce05fed3c1ea 278 int16_t stateDiff;
adehadd 27:ce05fed3c1ea 279
adehadd 27:ce05fed3c1ea 280 int32_t velocity; //Variable for local velocity calculation
adehadd 27:ce05fed3c1ea 281 int32_t locMotorPos; //Local copy of motor position
adehadd 27:ce05fed3c1ea 282 static int32_t oldMotorPos = 0; //Old motor position used for calculations
adehadd 27:ce05fed3c1ea 283 static uint8_t motorCtrlCounter = 0; //Counter to be reset every 10 iterations to get velocity calculation in seconds
adehadd 27:ce05fed3c1ea 284 int32_t torque; //Local variable to set motor torque
adehadd 27:ce05fed3c1ea 285 float sError; //Velocity error between target and reality
adehadd 27:ce05fed3c1ea 286 float rError; //Rotation error between target and reality
adehadd 27:ce05fed3c1ea 287 static float rErrorOld; //Old rotation error used for calculation
adehadd 20:c60f4785b556 288
adehadd 27:ce05fed3c1ea 289 //~~~Controller constants~~~~
adehadd 27:ce05fed3c1ea 290 int32_t Kp1=22; //Proportional controller constants
adehadd 27:ce05fed3c1ea 291 int32_t Kp2=22; //Calculated by trial and error to give optimal accuracy
adehadd 27:ce05fed3c1ea 292 float Kd=15.5;
adehadd 27:ce05fed3c1ea 293
adehadd 27:ce05fed3c1ea 294
adehadd 27:ce05fed3c1ea 295 while (_RUN) {
adehadd 27:ce05fed3c1ea 296 t_motor_ctrl.signal_wait((int32_t)0x1);
adehadd 27:ce05fed3c1ea 297 core_util_critical_section_enter();
adehadd 27:ce05fed3c1ea 298 //Access shared variables here
adehadd 27:ce05fed3c1ea 299 std::copy(stateCount, stateCount+3, cpyStateCount);
adehadd 27:ce05fed3c1ea 300 // TODO: A thing yes
adehadd 27:ce05fed3c1ea 301 cpyCurrentState = 0;
adehadd 27:ce05fed3c1ea 302 for (int i = 0; i < 3; ++i) {
adehadd 27:ce05fed3c1ea 303 stateCount[i] = 0;
adehadd 27:ce05fed3c1ea 304 }
adehadd 27:ce05fed3c1ea 305 core_util_critical_section_exit();
adehadd 27:ce05fed3c1ea 306
adehadd 27:ce05fed3c1ea 307 iterElementMax = std::max_element(cpyStateCount, cpyStateCount+3) - cpyStateCount;
adehadd 27:ce05fed3c1ea 308
adehadd 27:ce05fed3c1ea 309
adehadd 27:ce05fed3c1ea 310 totalDegrees = ting[0] * cpyStateCount[iterElementMax];
adehadd 27:ce05fed3c1ea 311 stateDiff = theStates[iterElementMax]-cpyCurrentState;
adehadd 27:ce05fed3c1ea 312 if (stateDiff >= 0) {
adehadd 27:ce05fed3c1ea 313 totalDegrees = totalDegrees + (ting[1]* stateDiff);
adehadd 27:ce05fed3c1ea 314 } else {
adehadd 27:ce05fed3c1ea 315 totalDegrees = totalDegrees + (ting[1]*stateDiff*-1);
adehadd 27:ce05fed3c1ea 316 }
adehadd 27:ce05fed3c1ea 317 pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
adehadd 27:ce05fed3c1ea 318
adehadd 27:ce05fed3c1ea 319 /*
adehadd 27:ce05fed3c1ea 320 //~~~~~Speed controller~~~~~~
adehadd 27:ce05fed3c1ea 321 velocity = totalDegrees*10;
adehadd 27:ce05fed3c1ea 322 sError = (targetVel * 6) - abs(velocity); //Read global variable targetVel updated by interrupt and calculate error between target and reality
adehadd 27:ce05fed3c1ea 323 int32_t Ys; //Initialise controller output Ys (s=speed)
adehadd 27:ce05fed3c1ea 324 if (sError == -abs(velocity)) { //Check if user entered V0,
adehadd 27:ce05fed3c1ea 325 Ys = MAXPWM; //and set the output to maximum as specified
adehadd 27:ce05fed3c1ea 326 } else {
adehadd 27:ce05fed3c1ea 327 Ys = (int)(Kp1 * sError); //If the user didn't enter V0 implement controller transfer function: Ys = Kp * (s -|v|) where,
adehadd 27:ce05fed3c1ea 328 } //Ys = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity
adehadd 27:ce05fed3c1ea 329
adehadd 27:ce05fed3c1ea 330 //~~~~~Rotation control~~~~~~
adehadd 27:ce05fed3c1ea 331 rError = targetRot - (locMotorPos/6); //Read global variable targetRot updated by interrupt and calculate the rotation error.
adehadd 27:ce05fed3c1ea 332 int32_t Yr; //Initialise controller output Yr (r=rotations)
adehadd 27:ce05fed3c1ea 333 Yr = Kp2*rError + Kd*(rError - rErrorOld); //Implement controller transfer function Ys= Kp*Er + Kd* (dEr/dt)
adehadd 27:ce05fed3c1ea 334 rErrorOld = rError; //Update rotation error
adehadd 27:ce05fed3c1ea 335 if(rError < 0){ //Use the sign of the error to set controller wrt direction of rotation
adehadd 27:ce05fed3c1ea 336 Ys = -Ys;
adehadd 27:ce05fed3c1ea 337 }
adehadd 27:ce05fed3c1ea 338
adehadd 27:ce05fed3c1ea 339 if((velocity>=0 && Ys<Yr) || (velocity<0 && Ys>Yr)){ //Choose Ys or Yr based on distance from target value so that it takes
adehadd 27:ce05fed3c1ea 340 torque = Ys; //appropriate steps in the right direction to reach target value
adehadd 27:ce05fed3c1ea 341 } else {
adehadd 27:ce05fed3c1ea 342 torque = Yr;
adehadd 27:ce05fed3c1ea 343 }
adehadd 27:ce05fed3c1ea 344 if(torque < 0){ //Variable torque cannot be negative since it sets the PWM
adehadd 27:ce05fed3c1ea 345 torque = -torque; //Hence we make the value positive,
adehadd 27:ce05fed3c1ea 346 lead = -2; //and instead set the direction to the opposite one
adehadd 27:ce05fed3c1ea 347 } else {
adehadd 27:ce05fed3c1ea 348 lead = 2;
adehadd 27:ce05fed3c1ea 349 }
adehadd 27:ce05fed3c1ea 350 if(torque > MAXPWM){ //In case the calculated PWM is higher than our maximum 50% allowance,
adehadd 27:ce05fed3c1ea 351 torque = MAXPWM; //Set it to our max.
adehadd 27:ce05fed3c1ea 352 }
adehadd 27:ce05fed3c1ea 353
adehadd 27:ce05fed3c1ea 354 motorPower = torque; //Lastly, update global variable motorPower which is updated by interrupt
adehadd 27:ce05fed3c1ea 355 */
adehadd 27:ce05fed3c1ea 356 }
adehadd 27:ce05fed3c1ea 357
adehadd 27:ce05fed3c1ea 358 }
adehadd 27:ce05fed3c1ea 359
adehadd 27:ce05fed3c1ea 360 void motorCtrlTick(){
adehadd 27:ce05fed3c1ea 361 t_motor_ctrl.signal_set(0x1);
adehadd 27:ce05fed3c1ea 362 }
adehadd 20:c60f4785b556 363
adehadd 20:c60f4785b556 364
adehadd 27:ce05fed3c1ea 365 //TODO: stop function, maybe use parent de-constructor
adehadd 27:ce05fed3c1ea 366 //void stop_comm{}
iachinweze1 23:ab1cb51527d1 367
adehadd 27:ce05fed3c1ea 368 // public:
adehadd 27:ce05fed3c1ea 369
adehadd 27:ce05fed3c1ea 370 volatile uint64_t newKey; // hash key
adehadd 27:ce05fed3c1ea 371 Mutex newKey_mutex; // Restrict access to prevent deadlock.
adehadd 20:c60f4785b556 372
adehadd 27:ce05fed3c1ea 373 Comm() : pc(SERIAL_TX, SERIAL_RX),
adehadd 27:ce05fed3c1ea 374 t_comm_out(osPriorityAboveNormal, 1024),
adehadd 27:ce05fed3c1ea 375 t_motor_ctrl(osPriorityAboveNormal2, 1024)
adehadd 27:ce05fed3c1ea 376 { // inherit from the RawSerial constructor
adehadd 27:ce05fed3c1ea 377
adehadd 27:ce05fed3c1ea 378 pc.printf("%s\n\r", "Welcome" );
adehadd 27:ce05fed3c1ea 379 MAXCMDLENGTH = 18;
adehadd 20:c60f4785b556 380
adehadd 27:ce05fed3c1ea 381 // reset buffer
adehadd 27:ce05fed3c1ea 382 // MbedOS prints 'Embedded Systems are fun and do awesome things!'
adehadd 27:ce05fed3c1ea 383 // if you print a null terminator
adehadd 27:ce05fed3c1ea 384 pc.putc('>');
adehadd 27:ce05fed3c1ea 385 for (int i = 0; i < MAXCMDLENGTH; ++i) {
adehadd 27:ce05fed3c1ea 386 inCharQ[i] = '.';
adehadd 27:ce05fed3c1ea 387 pc.putc('.');
adehadd 27:ce05fed3c1ea 388 }
adehadd 27:ce05fed3c1ea 389 pc.putc('<');
adehadd 27:ce05fed3c1ea 390 pc.putc('\r');
iachinweze1 23:ab1cb51527d1 391
adehadd 27:ce05fed3c1ea 392 inCharQ[MAXCMDLENGTH] = '\0';
adehadd 27:ce05fed3c1ea 393 strncpy(newCmd, inCharQ, MAXCMDLENGTH);
adehadd 27:ce05fed3c1ea 394
adehadd 27:ce05fed3c1ea 395 cmdIndx = 0;
adehadd 27:ce05fed3c1ea 396
adehadd 27:ce05fed3c1ea 397 inCharQIdx = 0;
adehadd 27:ce05fed3c1ea 398 // inCharQIdx = MAXCMDLENGTH-1;
iachinweze1 23:ab1cb51527d1 399
iachinweze1 23:ab1cb51527d1 400
iachinweze1 23:ab1cb51527d1 401
adehadd 27:ce05fed3c1ea 402 pc.attach(callback(this, &Comm::serialISR));
iachinweze1 23:ab1cb51527d1 403
adehadd 27:ce05fed3c1ea 404 // Thread t_comm_in(osPriorityAboveNormal, 1024);
adehadd 27:ce05fed3c1ea 405 // Thread t_comm_out(osPriorityAboveNormal, 1024);
adehadd 27:ce05fed3c1ea 406 // Thread t_motor_ctrl(osPriorityAboveNormal, 1024);
iachinweze1 23:ab1cb51527d1 407
adehadd 27:ce05fed3c1ea 408 motorPower = 300;
adehadd 27:ce05fed3c1ea 409 targetVel = 45.0;
adehadd 27:ce05fed3c1ea 410 targetRot = 459.0;
adehadd 27:ce05fed3c1ea 411
adehadd 27:ce05fed3c1ea 412
adehadd 27:ce05fed3c1ea 413
adehadd 27:ce05fed3c1ea 414 /*MsgChar = {'m', 'R', 'V', 'r', 'v',
adehadd 27:ce05fed3c1ea 415
adehadd 27:ce05fed3c1ea 416 'h', 'K', 'n',
iachinweze1 23:ab1cb51527d1 417
adehadd 27:ce05fed3c1ea 418 'T', 'r',
adehadd 27:ce05fed3c1ea 419
adehadd 27:ce05fed3c1ea 420 'e'};*/
adehadd 27:ce05fed3c1ea 421 }
adehadd 27:ce05fed3c1ea 422
iachinweze1 23:ab1cb51527d1 423
adehadd 27:ce05fed3c1ea 424 void putMessage(msgType type, uint32_t message){
adehadd 27:ce05fed3c1ea 425 msg *p_msg = mailStack.alloc();
adehadd 27:ce05fed3c1ea 426 p_msg->type = type;
adehadd 27:ce05fed3c1ea 427 p_msg->message = message;
adehadd 27:ce05fed3c1ea 428 mailStack.put(p_msg);
adehadd 27:ce05fed3c1ea 429 }
iachinweze1 23:ab1cb51527d1 430
adehadd 27:ce05fed3c1ea 431 void start_comm(){
adehadd 27:ce05fed3c1ea 432 _RUN = true;
iachinweze1 23:ab1cb51527d1 433
adehadd 20:c60f4785b556 434
adehadd 27:ce05fed3c1ea 435 // reset buffer
adehadd 27:ce05fed3c1ea 436 // MbedOS prints 'Embedded Systems are fun and do awesome things!'
adehadd 27:ce05fed3c1ea 437 // if you print a null terminator
adehadd 27:ce05fed3c1ea 438 pc.putc('>');
adehadd 27:ce05fed3c1ea 439 for (int i = 0; i < MAXCMDLENGTH; ++i) {
adehadd 27:ce05fed3c1ea 440 inCharQ[i] = '.';
adehadd 27:ce05fed3c1ea 441 pc.putc('.');
iachinweze1 23:ab1cb51527d1 442 }
adehadd 27:ce05fed3c1ea 443 pc.putc('<');
adehadd 27:ce05fed3c1ea 444 pc.putc('\r');
adehadd 27:ce05fed3c1ea 445
adehadd 27:ce05fed3c1ea 446 inCharQ[MAXCMDLENGTH] = '\0';
adehadd 27:ce05fed3c1ea 447 strncpy(newCmd, inCharQ, MAXCMDLENGTH);
adehadd 27:ce05fed3c1ea 448
adehadd 27:ce05fed3c1ea 449 // returnCursor();
adehadd 20:c60f4785b556 450
adehadd 27:ce05fed3c1ea 451 // t_comm_in.start(callback(this, &Comm::commInFn));
adehadd 27:ce05fed3c1ea 452 // this::thread::wait()
adehadd 27:ce05fed3c1ea 453 // wait(1.0);
adehadd 27:ce05fed3c1ea 454 t_comm_out.start(callback(this, &Comm::commOutFn));
adehadd 27:ce05fed3c1ea 455 t_motor_ctrl.start(callback(this, &Comm::motorCtrlFn));
adehadd 27:ce05fed3c1ea 456
adehadd 27:ce05fed3c1ea 457
adehadd 27:ce05fed3c1ea 458 }
iachinweze1 23:ab1cb51527d1 459
adehadd 27:ce05fed3c1ea 460 char newCmd[]; // because unallocated must be defined at the bottom of the class
adehadd 27:ce05fed3c1ea 461 char inCharQ[];
adehadd 27:ce05fed3c1ea 462 };
CallumAlder 19:805c87360b55 463
adehadd 27:ce05fed3c1ea 464
adehadd 20:c60f4785b556 465
adehadd 27:ce05fed3c1ea 466 //Set a given drive state
adehadd 27:ce05fed3c1ea 467 void motorOut(int8_t driveState){
iachinweze1 23:ab1cb51527d1 468
adehadd 20:c60f4785b556 469 //Lookup the output byte from the drive state.
adehadd 20:c60f4785b556 470 int8_t driveOut = driveTable[driveState & 0x07];
adehadd 27:ce05fed3c1ea 471
adehadd 20:c60f4785b556 472 //Turn off first
adehadd 27:ce05fed3c1ea 473 if (~driveOut & 0x01) L1L = 0;
adehadd 20:c60f4785b556 474 if (~driveOut & 0x02) L1H = 1;
adehadd 27:ce05fed3c1ea 475 if (~driveOut & 0x04) L2L = 0;
adehadd 20:c60f4785b556 476 if (~driveOut & 0x08) L2H = 1;
adehadd 27:ce05fed3c1ea 477 if (~driveOut & 0x10) L3L = 0;
adehadd 20:c60f4785b556 478 if (~driveOut & 0x20) L3H = 1;
adehadd 27:ce05fed3c1ea 479
adehadd 20:c60f4785b556 480 //Then turn on
adehadd 27:ce05fed3c1ea 481 if (driveOut & 0x01) L1L = 1;
adehadd 20:c60f4785b556 482 if (driveOut & 0x02) L1H = 0;
adehadd 27:ce05fed3c1ea 483 if (driveOut & 0x04) L2L = 1;
adehadd 20:c60f4785b556 484 if (driveOut & 0x08) L2H = 0;
adehadd 27:ce05fed3c1ea 485 if (driveOut & 0x10) L3L = 1;
adehadd 20:c60f4785b556 486 if (driveOut & 0x20) L3H = 0;
iachinweze1 23:ab1cb51527d1 487 }
iachinweze1 23:ab1cb51527d1 488
adehadd 27:ce05fed3c1ea 489 //Convert photointerrupter inputs to a rotor state
adehadd 20:c60f4785b556 490 inline int8_t readRotorState(){
adehadd 20:c60f4785b556 491 return stateMap[I1 + 2*I2 + 4*I3];
iachinweze1 23:ab1cb51527d1 492 }
adehadd 20:c60f4785b556 493
adehadd 27:ce05fed3c1ea 494 //Basic synchronisation routine
adehadd 20:c60f4785b556 495 int8_t motorHome() {
adehadd 20:c60f4785b556 496 //Put the motor in drive state 0 and wait for it to stabilise
adehadd 27:ce05fed3c1ea 497 motorOut(0);
adehadd 20:c60f4785b556 498 wait(2.0);
adehadd 27:ce05fed3c1ea 499
adehadd 20:c60f4785b556 500 //Get the rotor state
adehadd 20:c60f4785b556 501 return readRotorState();
adehadd 20:c60f4785b556 502 }
adehadd 20:c60f4785b556 503
adehadd 20:c60f4785b556 504
adehadd 27:ce05fed3c1ea 505 void stateUpdate(int8_t *params[]) { // () { // **params
adehadd 27:ce05fed3c1ea 506 *params[0] = readRotorState();
adehadd 27:ce05fed3c1ea 507 int8_t currentState = *params[0];
adehadd 27:ce05fed3c1ea 508 int8_t offset = *params[1];
adehadd 27:ce05fed3c1ea 509
adehadd 27:ce05fed3c1ea 510 switch (currentState) {
adehadd 27:ce05fed3c1ea 511 case 1:
adehadd 27:ce05fed3c1ea 512 stateCount[0]++;
adehadd 27:ce05fed3c1ea 513 break;
adehadd 27:ce05fed3c1ea 514 case (1 + lead):
adehadd 27:ce05fed3c1ea 515 stateCount[1]++;
adehadd 27:ce05fed3c1ea 516 break;
adehadd 27:ce05fed3c1ea 517 case (1 + (lead*2)):
adehadd 27:ce05fed3c1ea 518 stateCount[2]++;
adehadd 27:ce05fed3c1ea 519 break;
adehadd 27:ce05fed3c1ea 520 }
adehadd 27:ce05fed3c1ea 521
adehadd 27:ce05fed3c1ea 522 motorOut((currentState - offset + lead + 6) % 6);
adehadd 26:fb6151e5907d 523 }
adehadd 26:fb6151e5907d 524
adehadd 27:ce05fed3c1ea 525 //Main
adehadd 27:ce05fed3c1ea 526 int main() {
adehadd 26:fb6151e5907d 527
adehadd 27:ce05fed3c1ea 528 // std::ios::sync_with_stdio(false);
adehadd 27:ce05fed3c1ea 529 Comm comm_plz;
adehadd 27:ce05fed3c1ea 530
adehadd 27:ce05fed3c1ea 531 // comm_plz.pc.printf("%s\n", "do i work bruh" ); // using printf of class is calm
adehadd 27:ce05fed3c1ea 532 SHA256 Miner;
adehadd 27:ce05fed3c1ea 533
adehadd 27:ce05fed3c1ea 534 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
adehadd 27:ce05fed3c1ea 535 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
adehadd 27:ce05fed3c1ea 536 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
adehadd 27:ce05fed3c1ea 537 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
adehadd 27:ce05fed3c1ea 538 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
adehadd 27:ce05fed3c1ea 539 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
adehadd 27:ce05fed3c1ea 540 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
adehadd 27:ce05fed3c1ea 541 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
adehadd 27:ce05fed3c1ea 542 uint64_t* key = (uint64_t*)((int)sequence + 48);
adehadd 27:ce05fed3c1ea 543 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
adehadd 27:ce05fed3c1ea 544 uint8_t hash[32];
adehadd 27:ce05fed3c1ea 545 uint32_t length64 = 64;
adehadd 27:ce05fed3c1ea 546 uint32_t hashCounter = 0;
adehadd 27:ce05fed3c1ea 547 Timer timer;
adehadd 27:ce05fed3c1ea 548
adehadd 27:ce05fed3c1ea 549 float dutyC = 1; // 100%
adehadd 27:ce05fed3c1ea 550 float mtrPeriod = 2e-3; // motor period
adehadd 27:ce05fed3c1ea 551
adehadd 27:ce05fed3c1ea 552 pwmCtrl.period(mtrPeriod);
adehadd 27:ce05fed3c1ea 553 pwmCtrl.pulsewidth(mtrPeriod*dutyC);
adehadd 27:ce05fed3c1ea 554
adehadd 27:ce05fed3c1ea 555 comm_plz.start_comm();
iachinweze1 23:ab1cb51527d1 556
adehadd 27:ce05fed3c1ea 557 // Motor States
adehadd 27:ce05fed3c1ea 558 int8_t orState = 0; //Rotot offset at motor state 0
adehadd 27:ce05fed3c1ea 559 int8_t currentState = 0; //Rotot offset at motor state 0
adehadd 27:ce05fed3c1ea 560 int8_t stateList[6]; //Rotot offset at motor state 0
adehadd 27:ce05fed3c1ea 561 //Run the motor synchronisation
adehadd 27:ce05fed3c1ea 562 orState = motorHome();
adehadd 27:ce05fed3c1ea 563
adehadd 27:ce05fed3c1ea 564 theStates[0] = orState;
adehadd 27:ce05fed3c1ea 565 theStates[1] = (orState + lead) % 6;
adehadd 27:ce05fed3c1ea 566 theStates[2] = (orState + (lead*2)) % 6;
adehadd 27:ce05fed3c1ea 567
adehadd 27:ce05fed3c1ea 568 // Add callbacks
adehadd 27:ce05fed3c1ea 569 // I1.fall(&stateUpdate);
adehadd 27:ce05fed3c1ea 570 // I2.fall(&stateUpdate);
adehadd 27:ce05fed3c1ea 571 // I3.fall(&stateUpdate);
adehadd 27:ce05fed3c1ea 572 int8_t* params[2];
adehadd 27:ce05fed3c1ea 573 params[0] = &currentState;
adehadd 27:ce05fed3c1ea 574 params[1] = &orState;
iachinweze1 24:be5fef3dace1 575
adehadd 27:ce05fed3c1ea 576 I1.fall(callback(&stateUpdate,params));
adehadd 27:ce05fed3c1ea 577 I2.fall(callback(&stateUpdate,params));
adehadd 27:ce05fed3c1ea 578 I3.fall(callback(&stateUpdate,params));
adehadd 26:fb6151e5907d 579
adehadd 27:ce05fed3c1ea 580 I1.rise(callback(&stateUpdate,params));
adehadd 27:ce05fed3c1ea 581 I2.rise(callback(&stateUpdate,params));
adehadd 27:ce05fed3c1ea 582 I3.rise(callback(&stateUpdate,params));
adehadd 26:fb6151e5907d 583
adehadd 27:ce05fed3c1ea 584 // Push motor to move
adehadd 27:ce05fed3c1ea 585 currentState = readRotorState();
adehadd 27:ce05fed3c1ea 586 motorOut((currentState-orState+lead+6)%6); // We push it digitally
adehadd 26:fb6151e5907d 587
adehadd 27:ce05fed3c1ea 588 // pc.printf("Rotor origin: %x\n\r",orState);
adehadd 27:ce05fed3c1ea 589 // orState is subtracted from future rotor state inputs to align rotor and motor states
adehadd 27:ce05fed3c1ea 590 // intState = readRotorState();
adehadd 27:ce05fed3c1ea 591 //if (intState != intStateOld) {
adehadd 27:ce05fed3c1ea 592 // pc.printf("old:%d \t new:%d \t next:%d \n\r",intStateOld, intState, (intState-orState+lead+6)%6);
adehadd 27:ce05fed3c1ea 593 // intStateOld = intState;
adehadd 27:ce05fed3c1ea 594 // motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
adehadd 27:ce05fed3c1ea 595 // }
adehadd 20:c60f4785b556 596
adehadd 27:ce05fed3c1ea 597 dutyC = 0.8;
adehadd 27:ce05fed3c1ea 598 pwmCtrl.pulsewidth(mtrPeriod*dutyC);
CallumAlder 19:805c87360b55 599
adehadd 20:c60f4785b556 600
adehadd 27:ce05fed3c1ea 601 // Keep the program running indefinitely
adehadd 27:ce05fed3c1ea 602 timer.start(); // start timer
adehadd 27:ce05fed3c1ea 603 int stateCount = 0;
adehadd 27:ce05fed3c1ea 604 while (1) {
adehadd 27:ce05fed3c1ea 605 // pc.printf("Current:%d \t Next:%d \n\r", currentState, (currentState-orState+lead+6)%6);
adehadd 27:ce05fed3c1ea 606 comm_plz.newKey_mutex.lock();
adehadd 27:ce05fed3c1ea 607 *key = comm_plz.newKey;
adehadd 27:ce05fed3c1ea 608 comm_plz.newKey_mutex.unlock();
adehadd 27:ce05fed3c1ea 609 Miner.computeHash(hash, sequence, length64);
adehadd 27:ce05fed3c1ea 610 hashCounter++;
adehadd 27:ce05fed3c1ea 611 if ((hash[0]==0) && (hash[1]==0)){
adehadd 27:ce05fed3c1ea 612 comm_plz.putMessage((Comm::msgType)7, *nonce);
adehadd 26:fb6151e5907d 613 }
adehadd 26:fb6151e5907d 614
adehadd 27:ce05fed3c1ea 615 // Try a new nonce
adehadd 27:ce05fed3c1ea 616 (*nonce)++;
adehadd 26:fb6151e5907d 617
adehadd 27:ce05fed3c1ea 618 if (stateCount<6){
adehadd 27:ce05fed3c1ea 619 stateList[stateCount] = currentState;
adehadd 27:ce05fed3c1ea 620 stateCount++;
adehadd 26:fb6151e5907d 621 }
adehadd 26:fb6151e5907d 622 else {
adehadd 27:ce05fed3c1ea 623 //pc.printf("states");
adehadd 27:ce05fed3c1ea 624 //for(int i = 0; i < 6; ++i)
adehadd 27:ce05fed3c1ea 625 //pc.printf("%02i,", stateList[i]);
adehadd 27:ce05fed3c1ea 626 //pc.printf("\n\r");
adehadd 27:ce05fed3c1ea 627 stateCount = 0;
CallumAlder 15:2f95f2fb68e3 628 }
CallumAlder 15:2f95f2fb68e3 629
adehadd 27:ce05fed3c1ea 630 // Per Second i.e. when greater or equal to 1
adehadd 27:ce05fed3c1ea 631 if (timer.read() >= 1){
adehadd 27:ce05fed3c1ea 632 comm_plz.putMessage((Comm::msgType)5, hashCounter);
adehadd 27:ce05fed3c1ea 633 //pc.printf("HashRate = %02u \n\r",hashCounter);
adehadd 27:ce05fed3c1ea 634 hashCounter=0;
adehadd 27:ce05fed3c1ea 635 timer.reset();
adehadd 18:7ee632098fd4 636 }
CallumAlder 15:2f95f2fb68e3 637 }
adehadd 27:ce05fed3c1ea 638 }