Callum and Adel's changes on 12/02/19
Dependencies: Crypto
main.cpp@50:d1b983a0dd6f, 2019-03-22 (annotated)
- Committer:
- adehadd
- Date:
- Fri Mar 22 19:05:40 2019 +0000
- Revision:
- 50:d1b983a0dd6f
- Parent:
- 49:ae8dedfe2d0f
- Child:
- 51:c03f63c6f930
The tune is working, not nice sounding, but it okay
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
adehadd | 27:ce05fed3c1ea | 1 | /*TODO: |
CallumAlder | 42:121148278dae | 2 | Change: |
CallumAlder | 42:121148278dae | 3 | Indx |
CallumAlder | 47:21bf4096faa1 | 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 |
CallumAlder | 47:21bf4096faa1 | 10 | |
CallumAlder | 47:21bf4096faa1 | 11 | Move things out of public and into a protected part of the class |
CallumAlder | 47:21bf4096faa1 | 12 | |
CallumAlder | 47:21bf4096faa1 | 13 | Move char Comm::_inCharQ[] = {'.','.','... into the class by making it a vector |
CallumAlder | 47:21bf4096faa1 | 14 | |
CallumAlder | 47:21bf4096faa1 | 15 | Change abs lacro to |
CallumAlder | 47:21bf4096faa1 | 16 | NOT V0 but R0 (to go on forever) |
CallumAlder | 47:21bf4096faa1 | 17 | |
CallumAlder | 47:21bf4096faa1 | 18 | Actually make the code robust lol |
adehadd | 27:ce05fed3c1ea | 19 | */ |
estott | 0:de4320f74764 | 20 | |
estott | 0:de4320f74764 | 21 | //Mapping from sequential drive states to motor phase outputs |
estott | 0:de4320f74764 | 22 | /* |
estott | 0:de4320f74764 | 23 | State L1 L2 L3 |
estott | 0:de4320f74764 | 24 | 0 H - L |
estott | 0:de4320f74764 | 25 | 1 - H L |
estott | 0:de4320f74764 | 26 | 2 L H - |
estott | 0:de4320f74764 | 27 | 3 L - H |
estott | 0:de4320f74764 | 28 | 4 - L H |
estott | 0:de4320f74764 | 29 | 5 H L - |
estott | 0:de4320f74764 | 30 | 6 - - - |
estott | 0:de4320f74764 | 31 | 7 - - - |
estott | 0:de4320f74764 | 32 | */ |
CallumAlder | 42:121148278dae | 33 | |
CallumAlder | 42:121148278dae | 34 | //Header Files |
CallumAlder | 42:121148278dae | 35 | #include "SHA256.h" |
CallumAlder | 42:121148278dae | 36 | #include "mbed.h" |
CallumAlder | 42:121148278dae | 37 | |
CallumAlder | 42:121148278dae | 38 | //Photointerrupter Input Pins |
CallumAlder | 42:121148278dae | 39 | #define I1pin D3 |
CallumAlder | 42:121148278dae | 40 | #define I2pin D6 |
CallumAlder | 42:121148278dae | 41 | #define I3pin D5 |
CallumAlder | 42:121148278dae | 42 | |
CallumAlder | 42:121148278dae | 43 | //Incremental Encoder Input Pins |
CallumAlder | 42:121148278dae | 44 | #define CHApin D12 |
CallumAlder | 42:121148278dae | 45 | #define CHBpin D11 |
CallumAlder | 42:121148278dae | 46 | |
CallumAlder | 42:121148278dae | 47 | //Motor Drive High Pins //Mask in output byte |
CallumAlder | 42:121148278dae | 48 | #define L1Hpin A3 //0x02 |
CallumAlder | 42:121148278dae | 49 | #define L2Hpin A6 //0x08 |
CallumAlder | 42:121148278dae | 50 | #define L3Hpin D2 //0x20 |
CallumAlder | 42:121148278dae | 51 | |
CallumAlder | 42:121148278dae | 52 | //Motor Drive Low Pins |
CallumAlder | 42:121148278dae | 53 | #define L1Lpin D1 //0x01 |
CallumAlder | 42:121148278dae | 54 | #define L2Lpin D0 //0x04 |
CallumAlder | 42:121148278dae | 55 | #define L3Lpin D10 //0x10 |
CallumAlder | 42:121148278dae | 56 | |
CallumAlder | 42:121148278dae | 57 | //Motor Pulse Width Modulation (PWM) Pin |
CallumAlder | 42:121148278dae | 58 | #define PWMpin D9 |
CallumAlder | 42:121148278dae | 59 | |
CallumAlder | 42:121148278dae | 60 | //Motor current sense |
CallumAlder | 42:121148278dae | 61 | #define MCSPpin A1 |
CallumAlder | 42:121148278dae | 62 | #define MCSNpin A0 |
CallumAlder | 42:121148278dae | 63 | |
CallumAlder | 42:121148278dae | 64 | // "Lacros" for utility |
CallumAlder | 47:21bf4096faa1 | 65 | #define max(x,y) ( (x)>=(y) ? (x):(y) ) |
CallumAlder | 47:21bf4096faa1 | 66 | #define min(x,y) ( (x)>=(y) ? (y):(x) ) |
CallumAlder | 47:21bf4096faa1 | 67 | #define sgn(x) ( (x)>= 0 ? 1 :-1 ) |
CallumAlder | 42:121148278dae | 68 | |
CallumAlder | 42:121148278dae | 69 | //Status LED |
CallumAlder | 42:121148278dae | 70 | DigitalOut led1(LED1); |
CallumAlder | 42:121148278dae | 71 | |
CallumAlder | 42:121148278dae | 72 | //Photointerrupter Inputs |
CallumAlder | 42:121148278dae | 73 | InterruptIn I1(I1pin); |
CallumAlder | 42:121148278dae | 74 | InterruptIn I2(I2pin); |
CallumAlder | 42:121148278dae | 75 | InterruptIn I3(I3pin); |
CallumAlder | 42:121148278dae | 76 | |
CallumAlder | 42:121148278dae | 77 | //Motor Drive High Outputs |
CallumAlder | 42:121148278dae | 78 | DigitalOut L1H(L1Hpin); |
CallumAlder | 42:121148278dae | 79 | DigitalOut L2H(L2Hpin); |
CallumAlder | 42:121148278dae | 80 | DigitalOut L3H(L3Hpin); |
CallumAlder | 42:121148278dae | 81 | |
CallumAlder | 42:121148278dae | 82 | //Motor Drive Low Outputs |
CallumAlder | 42:121148278dae | 83 | DigitalOut L1L(L1Lpin); |
CallumAlder | 42:121148278dae | 84 | DigitalOut L2L(L2Lpin); |
CallumAlder | 42:121148278dae | 85 | DigitalOut L3L(L3Lpin); |
CallumAlder | 42:121148278dae | 86 | |
CallumAlder | 42:121148278dae | 87 | PwmOut pwmCtrl(PWMpin); |
CallumAlder | 42:121148278dae | 88 | |
adehadd | 27:ce05fed3c1ea | 89 | //Drive state to output table |
estott | 0:de4320f74764 | 90 | const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; |
estott | 2:4e88faab6988 | 91 | |
adehadd | 27:ce05fed3c1ea | 92 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
CallumAlder | 47:21bf4096faa1 | 93 | const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; |
CallumAlder | 47:21bf4096faa1 | 94 | //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 | 95 | |
adehadd | 49:ae8dedfe2d0f | 96 | #ifndef MAXCMDLENGTH |
adehadd | 49:ae8dedfe2d0f | 97 | #define MAXCMDLENGTH 18 |
adehadd | 49:ae8dedfe2d0f | 98 | #endif |
adehadd | 49:ae8dedfe2d0f | 99 | |
adehadd | 49:ae8dedfe2d0f | 100 | #ifndef MAXCMDLENGTH_HALF |
adehadd | 49:ae8dedfe2d0f | 101 | #define MAXCMDLENGTH_HALF 9 |
adehadd | 49:ae8dedfe2d0f | 102 | #endif |
adehadd | 49:ae8dedfe2d0f | 103 | |
CallumAlder | 42:121148278dae | 104 | class Comm{ |
CallumAlder | 42:121148278dae | 105 | |
CallumAlder | 42:121148278dae | 106 | public: |
estott | 0:de4320f74764 | 107 | |
CallumAlder | 43:a6d20109b2f2 | 108 | volatile bool _outMining; |
CallumAlder | 43:a6d20109b2f2 | 109 | volatile float _targetVel, _targetRot; |
adehadd | 49:ae8dedfe2d0f | 110 | volatile char _notes[MAXCMDLENGTH_HALF]; // Array of actual _notes |
estott | 0:de4320f74764 | 111 | |
CallumAlder | 47:21bf4096faa1 | 112 | volatile int8_t _modeBitField; // 0,0,0,... <=> Melody,Torque,Rotation,Velocity |
CallumAlder | 47:21bf4096faa1 | 113 | const uint8_t _MAXCMDLENGTH; // |
adehadd | 50:d1b983a0dd6f | 114 | volatile uint8_t _inCharIndex, _cmdIndex, _noteRep, |
adehadd | 49:ae8dedfe2d0f | 115 | _noteDur[MAXCMDLENGTH_HALF],_noteLen; // Array of note durations |
CallumAlder | 47:21bf4096faa1 | 116 | volatile uint32_t _motorTorque; // Motor Toque |
CallumAlder | 47:21bf4096faa1 | 117 | volatile uint64_t _newKey; // hash key |
adehadd | 49:ae8dedfe2d0f | 118 | |
CallumAlder | 48:b2afe48ced0d | 119 | |
adehadd | 49:ae8dedfe2d0f | 120 | char _inCharQ[MAXCMDLENGTH], |
adehadd | 49:ae8dedfe2d0f | 121 | _newCmd[MAXCMDLENGTH]; |
adehadd | 49:ae8dedfe2d0f | 122 | |
CallumAlder | 47:21bf4096faa1 | 123 | RawSerial _pc; |
adehadd | 49:ae8dedfe2d0f | 124 | Thread _tCommOut, _tCommIn; |
adehadd | 49:ae8dedfe2d0f | 125 | Mutex _newKeyMutex; // Restrict access to prevent deadlock. |
CallumAlder | 47:21bf4096faa1 | 126 | bool _RUN; |
CallumAlder | 42:121148278dae | 127 | |
CallumAlder | 48:b2afe48ced0d | 128 | enum msgType { mot_orState, posIn, velIn, posOut, velOut, |
CallumAlder | 42:121148278dae | 129 | hashRate, keyAdded, nonceMatch, |
CallumAlder | 43:a6d20109b2f2 | 130 | torque, rotations, melody, |
CallumAlder | 42:121148278dae | 131 | error}; |
adehadd | 27:ce05fed3c1ea | 132 | |
CallumAlder | 47:21bf4096faa1 | 133 | typedef struct { msgType type; |
adehadd | 49:ae8dedfe2d0f | 134 | uint32_t message;} msg; // TODO: Maybe add a thing that stores the newCmd message as well |
adehadd | 27:ce05fed3c1ea | 135 | |
CallumAlder | 47:21bf4096faa1 | 136 | Mail<msg, 32> _msgStack; |
adehadd | 49:ae8dedfe2d0f | 137 | Mail<bool,32> _msgReceived; |
CallumAlder | 47:21bf4096faa1 | 138 | |
iachinweze1 | 23:ab1cb51527d1 | 139 | |
CallumAlder | 48:b2afe48ced0d | 140 | //-- Default Constructor With Inheritance From RawSerial Constructor ------------------------------------------------// |
adehadd | 49:ae8dedfe2d0f | 141 | Comm(): _pc(SERIAL_TX, SERIAL_RX), _tCommOut(osPriorityNormal, 1024), _tCommIn(osPriorityAboveNormal, 1024), _MAXCMDLENGTH(MAXCMDLENGTH){ |
adehadd | 27:ce05fed3c1ea | 142 | |
CallumAlder | 47:21bf4096faa1 | 143 | _cmdIndex = 0; |
CallumAlder | 47:21bf4096faa1 | 144 | _inCharIndex = 0; |
adehadd | 45:402a8a9423b9 | 145 | |
CallumAlder | 47:21bf4096faa1 | 146 | _outMining = false; |
CallumAlder | 47:21bf4096faa1 | 147 | _motorTorque = 300; |
CallumAlder | 47:21bf4096faa1 | 148 | _targetRot = 459.0; |
CallumAlder | 47:21bf4096faa1 | 149 | _targetVel = 45.0; |
iachinweze1 | 23:ab1cb51527d1 | 150 | |
CallumAlder | 47:21bf4096faa1 | 151 | _modeBitField = 0x01; // Default velocity mode |
adehadd | 45:402a8a9423b9 | 152 | |
adehadd | 49:ae8dedfe2d0f | 153 | _pc.printf("\n\r%s %d\n\r>", "Welcome", _MAXCMDLENGTH ); // Welcome |
CallumAlder | 47:21bf4096faa1 | 154 | for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer |
CallumAlder | 48:b2afe48ced0d | 155 | _inCharQ[i] = (char)'.'; // If a null terminator is printed Mbed prints 'Embedded Systems are fun and do awesome things!' |
CallumAlder | 42:121148278dae | 156 | |
CallumAlder | 47:21bf4096faa1 | 157 | _inCharQ[_MAXCMDLENGTH] = (char)'\0'; |
CallumAlder | 48:b2afe48ced0d | 158 | sprintf(_inCharQ, "%s", _inCharQ); // Handling of the correct string |
CallumAlder | 47:21bf4096faa1 | 159 | strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH); |
CallumAlder | 19:805c87360b55 | 160 | |
adehadd | 49:ae8dedfe2d0f | 161 | _pc.printf("%s\n\r<", _inCharQ); |
adehadd | 49:ae8dedfe2d0f | 162 | |
CallumAlder | 42:121148278dae | 163 | } |
iachinweze1 | 23:ab1cb51527d1 | 164 | |
adehadd | 49:ae8dedfe2d0f | 165 | void commInFn() { |
adehadd | 49:ae8dedfe2d0f | 166 | _pc.attach(callback(this, &Comm::serialISR)); |
adehadd | 49:ae8dedfe2d0f | 167 | char newChar; |
CallumAlder | 42:121148278dae | 168 | |
adehadd | 49:ae8dedfe2d0f | 169 | while (_RUN) { |
adehadd | 49:ae8dedfe2d0f | 170 | osEvent newEvent = _msgReceived.get(); // Waits forever until it receives a thing |
adehadd | 49:ae8dedfe2d0f | 171 | _msgReceived.free((bool *)newEvent.value.p); |
adehadd | 49:ae8dedfe2d0f | 172 | |
CallumAlder | 43:a6d20109b2f2 | 173 | if (_inCharIndex == (_MAXCMDLENGTH)) { |
CallumAlder | 47:21bf4096faa1 | 174 | _inCharQ[_MAXCMDLENGTH] = '\0'; // Force the string to have an end character |
CallumAlder | 42:121148278dae | 175 | putMessage(error, 1); |
CallumAlder | 47:21bf4096faa1 | 176 | _inCharIndex = 0; // Reset buffer index |
adehadd | 27:ce05fed3c1ea | 177 | } |
adehadd | 27:ce05fed3c1ea | 178 | else{ |
adehadd | 49:ae8dedfe2d0f | 179 | newChar = _inCharQ[_inCharIndex]; |
adehadd | 49:ae8dedfe2d0f | 180 | |
adehadd | 49:ae8dedfe2d0f | 181 | if(newChar != '\r'){ // While the command is not over, |
CallumAlder | 47:21bf4096faa1 | 182 | _inCharIndex++; // Advance index |
CallumAlder | 43:a6d20109b2f2 | 183 | _pc.putc(newChar); |
CallumAlder | 42:121148278dae | 184 | } |
CallumAlder | 42:121148278dae | 185 | else{ |
CallumAlder | 47:21bf4096faa1 | 186 | _inCharQ[_inCharIndex] = '\0'; // When the command is finally over, |
CallumAlder | 47:21bf4096faa1 | 187 | strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH); // Will copy 18 characters from _inCharQ to _newCmd |
CallumAlder | 42:121148278dae | 188 | |
CallumAlder | 47:21bf4096faa1 | 189 | for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer |
CallumAlder | 47:21bf4096faa1 | 190 | _inCharQ[i] = ' '; |
adehadd | 49:ae8dedfe2d0f | 191 | |
CallumAlder | 47:21bf4096faa1 | 192 | _inCharIndex = 0; // Reset index |
adehadd | 49:ae8dedfe2d0f | 193 | cmdParser(); |
adehadd | 49:ae8dedfe2d0f | 194 | |
adehadd | 49:ae8dedfe2d0f | 195 | // _tCommIn.signal_wait(0x01); |
CallumAlder | 42:121148278dae | 196 | } |
adehadd | 27:ce05fed3c1ea | 197 | } |
adehadd | 27:ce05fed3c1ea | 198 | } |
adehadd | 27:ce05fed3c1ea | 199 | } |
CallumAlder | 19:805c87360b55 | 200 | |
adehadd | 49:ae8dedfe2d0f | 201 | //-- Interrupt Service Routine for Serial Port and Character Queue Handling -----------------------------------------// |
adehadd | 49:ae8dedfe2d0f | 202 | void serialISR() { |
adehadd | 49:ae8dedfe2d0f | 203 | if (_pc.readable()) { |
adehadd | 49:ae8dedfe2d0f | 204 | char newChar = _pc.getc(); |
adehadd | 49:ae8dedfe2d0f | 205 | _inCharQ[_inCharIndex] = newChar; // Save input character |
adehadd | 49:ae8dedfe2d0f | 206 | |
adehadd | 49:ae8dedfe2d0f | 207 | bool *new_msg = _msgReceived.alloc(); |
adehadd | 49:ae8dedfe2d0f | 208 | *new_msg = true; |
adehadd | 49:ae8dedfe2d0f | 209 | _msgReceived.put(new_msg); |
adehadd | 49:ae8dedfe2d0f | 210 | } |
adehadd | 49:ae8dedfe2d0f | 211 | } |
adehadd | 49:ae8dedfe2d0f | 212 | |
CallumAlder | 48:b2afe48ced0d | 213 | //-- Reset Cursor Position ------------------------------------------------------------------------------------------// |
CallumAlder | 42:121148278dae | 214 | void returnCursor() { |
CallumAlder | 43:a6d20109b2f2 | 215 | _pc.putc('>'); |
CallumAlder | 43:a6d20109b2f2 | 216 | for (int i = 0; i < _inCharIndex; ++i) |
CallumAlder | 47:21bf4096faa1 | 217 | _pc.putc(_inCharQ[i]); |
CallumAlder | 42:121148278dae | 218 | } |
CallumAlder | 47:21bf4096faa1 | 219 | |
CallumAlder | 48:b2afe48ced0d | 220 | //-- Parse Incoming Data From Serial Port ---------------------------------------------------------------------------// |
CallumAlder | 48:b2afe48ced0d | 221 | void cmdParser() { |
CallumAlder | 47:21bf4096faa1 | 222 | switch(_newCmd[0]) { |
CallumAlder | 47:21bf4096faa1 | 223 | case 'K': // keyAdded |
CallumAlder | 47:21bf4096faa1 | 224 | _newKeyMutex.lock(); // Ensure there is no deadlock |
CallumAlder | 47:21bf4096faa1 | 225 | sscanf(_newCmd, "K%x", &_newKey); // Find desired the Key code |
CallumAlder | 47:21bf4096faa1 | 226 | putMessage(keyAdded, _newKey); // Print it out |
CallumAlder | 43:a6d20109b2f2 | 227 | _newKeyMutex.unlock(); |
CallumAlder | 43:a6d20109b2f2 | 228 | break; |
CallumAlder | 43:a6d20109b2f2 | 229 | |
CallumAlder | 47:21bf4096faa1 | 230 | case 'V': // velIn |
CallumAlder | 47:21bf4096faa1 | 231 | sscanf(_newCmd, "V%f", &_targetVel); // Find desired the target velocity |
CallumAlder | 47:21bf4096faa1 | 232 | _modeBitField = 0x01; // Adjust bitfield pos 1 |
CallumAlder | 47:21bf4096faa1 | 233 | putMessage(velIn, _targetVel); // Print it out |
CallumAlder | 43:a6d20109b2f2 | 234 | break; |
CallumAlder | 43:a6d20109b2f2 | 235 | |
CallumAlder | 47:21bf4096faa1 | 236 | case 'R': // posIn |
CallumAlder | 47:21bf4096faa1 | 237 | sscanf(_newCmd, "R%f", &_targetRot); // Find desired target rotation |
CallumAlder | 47:21bf4096faa1 | 238 | _modeBitField = 0x02; // Adjust bitfield pos 2 |
CallumAlder | 47:21bf4096faa1 | 239 | putMessage(posIn, _targetRot); // Print it out |
CallumAlder | 42:121148278dae | 240 | break; |
iachinweze1 | 23:ab1cb51527d1 | 241 | |
CallumAlder | 47:21bf4096faa1 | 242 | case 'x': // Torque |
CallumAlder | 47:21bf4096faa1 | 243 | sscanf(_newCmd, "x%u", &_motorTorque); // Find desired target torque |
CallumAlder | 47:21bf4096faa1 | 244 | _modeBitField = 0x04; // Adjust bitfield pos 3 |
CallumAlder | 47:21bf4096faa1 | 245 | putMessage(torque, _motorTorque); // Print it out |
adehadd | 27:ce05fed3c1ea | 246 | break; |
CallumAlder | 42:121148278dae | 247 | |
CallumAlder | 47:21bf4096faa1 | 248 | case 'M': // Mining display toggle |
CallumAlder | 47:21bf4096faa1 | 249 | int8_t miningTest; |
CallumAlder | 47:21bf4096faa1 | 250 | sscanf(_newCmd, "M%d", &miningTest); // Display if input is 1 |
CallumAlder | 47:21bf4096faa1 | 251 | miningTest == 1 ? _outMining = true : _outMining = false; |
CallumAlder | 47:21bf4096faa1 | 252 | break; |
CallumAlder | 47:21bf4096faa1 | 253 | |
CallumAlder | 47:21bf4096faa1 | 254 | case 'T': // Play tune |
CallumAlder | 47:21bf4096faa1 | 255 | regexTune() ? putMessage(melody, 1) : putMessage(error, 2); |
CallumAlder | 47:21bf4096faa1 | 256 | break; // Break from case 'T' |
CallumAlder | 47:21bf4096faa1 | 257 | |
CallumAlder | 47:21bf4096faa1 | 258 | default: // Break from switch |
adehadd | 27:ce05fed3c1ea | 259 | break; |
adehadd | 27:ce05fed3c1ea | 260 | } |
adehadd | 27:ce05fed3c1ea | 261 | } |
adehadd | 27:ce05fed3c1ea | 262 | |
CallumAlder | 48:b2afe48ced0d | 263 | //-- Read In Note Data From Serial Port and Parse Into Class Variables ----------------------------------------------// |
CallumAlder | 47:21bf4096faa1 | 264 | bool regexTune() { |
CallumAlder | 47:21bf4096faa1 | 265 | |
CallumAlder | 47:21bf4096faa1 | 266 | uint8_t len = 0; |
CallumAlder | 47:21bf4096faa1 | 267 | |
CallumAlder | 47:21bf4096faa1 | 268 | for (int i = 1; i < _MAXCMDLENGTH; ++i) // Find first # |
CallumAlder | 47:21bf4096faa1 | 269 | if (_newCmd[i] == '#') { |
CallumAlder | 47:21bf4096faa1 | 270 | len = i; |
CallumAlder | 47:21bf4096faa1 | 271 | break; // Stop at first # found |
CallumAlder | 47:21bf4096faa1 | 272 | } |
CallumAlder | 47:21bf4096faa1 | 273 | |
CallumAlder | 47:21bf4096faa1 | 274 | if (len>0) { // Parse the input only if # found |
adehadd | 50:d1b983a0dd6f | 275 | uint8_t specLen = 2*(len+1) +1; // Add extra character for number of repeats, and +1 for the letter T |
adehadd | 50:d1b983a0dd6f | 276 | bool isChar = true; // After 'T' first is character note |
adehadd | 50:d1b983a0dd6f | 277 | char formatSpec[specLen]; |
CallumAlder | 47:21bf4096faa1 | 278 | formatSpec[0]='T'; |
adehadd | 50:d1b983a0dd6f | 279 | for (int i = 1; i < specLen; i=i+2) { // Create a format spec based on length of input |
CallumAlder | 47:21bf4096faa1 | 280 | formatSpec[i] = '%'; |
CallumAlder | 47:21bf4096faa1 | 281 | isChar ? formatSpec[i+1] = 'c' : \ |
CallumAlder | 47:21bf4096faa1 | 282 | formatSpec[i+1] = 'u' ; |
CallumAlder | 47:21bf4096faa1 | 283 | isChar = !isChar; |
CallumAlder | 47:21bf4096faa1 | 284 | } |
CallumAlder | 47:21bf4096faa1 | 285 | |
adehadd | 50:d1b983a0dd6f | 286 | formatSpec[specLen] = '\0'; |
CallumAlder | 47:21bf4096faa1 | 287 | sprintf(formatSpec, "%s", formatSpec); // Set string format correctly |
CallumAlder | 47:21bf4096faa1 | 288 | // _pc.printf("%s\n", formatSpec ); |
CallumAlder | 47:21bf4096faa1 | 289 | sscanf(_newCmd, formatSpec, &_notes[0], &_noteDur[0], |
adehadd | 50:d1b983a0dd6f | 290 | &_notes[1], &_noteDur[1], |
adehadd | 50:d1b983a0dd6f | 291 | &_notes[2], &_noteDur[2], |
adehadd | 50:d1b983a0dd6f | 292 | &_notes[3], &_noteDur[3], |
adehadd | 50:d1b983a0dd6f | 293 | &_notes[4], &_noteDur[4], |
adehadd | 50:d1b983a0dd6f | 294 | &_notes[5], &_noteDur[5], |
adehadd | 50:d1b983a0dd6f | 295 | &_notes[6], &_noteDur[6], |
adehadd | 50:d1b983a0dd6f | 296 | &_notes[7], &_noteDur[7], |
adehadd | 50:d1b983a0dd6f | 297 | &_notes[8], &_noteDur[8]); |
CallumAlder | 47:21bf4096faa1 | 298 | |
CallumAlder | 47:21bf4096faa1 | 299 | |
CallumAlder | 47:21bf4096faa1 | 300 | // Update _newCmd for putMessage print |
CallumAlder | 48:b2afe48ced0d | 301 | sprintf(_newCmd,formatSpec, _notes[0], _noteDur[0],\ |
CallumAlder | 47:21bf4096faa1 | 302 | _notes[1], _noteDur[1],\ |
CallumAlder | 47:21bf4096faa1 | 303 | _notes[2], _noteDur[2],\ |
CallumAlder | 47:21bf4096faa1 | 304 | _notes[3], _noteDur[3],\ |
CallumAlder | 47:21bf4096faa1 | 305 | _notes[4], _noteDur[4],\ |
CallumAlder | 47:21bf4096faa1 | 306 | _notes[5], _noteDur[5],\ |
CallumAlder | 47:21bf4096faa1 | 307 | _notes[6], _noteDur[6],\ |
CallumAlder | 47:21bf4096faa1 | 308 | _notes[7], _noteDur[7],\ |
CallumAlder | 47:21bf4096faa1 | 309 | _notes[8], _noteDur[8]); |
adehadd | 50:d1b983a0dd6f | 310 | _noteLen = (len-1)/2; |
adehadd | 50:d1b983a0dd6f | 311 | _modeBitField = 0x08; |
adehadd | 50:d1b983a0dd6f | 312 | _noteRep = _noteDur[(len-1)/2]; |
CallumAlder | 47:21bf4096faa1 | 313 | return true; |
CallumAlder | 47:21bf4096faa1 | 314 | } |
CallumAlder | 47:21bf4096faa1 | 315 | else { |
CallumAlder | 47:21bf4096faa1 | 316 | return false; |
CallumAlder | 47:21bf4096faa1 | 317 | } |
CallumAlder | 47:21bf4096faa1 | 318 | } |
CallumAlder | 47:21bf4096faa1 | 319 | |
CallumAlder | 48:b2afe48ced0d | 320 | //-- Decode Messages to Print on Serial Port ------------------------------------------------------------------------// |
CallumAlder | 42:121148278dae | 321 | void commOutFn() { |
CallumAlder | 42:121148278dae | 322 | while (_RUN) { |
CallumAlder | 48:b2afe48ced0d | 323 | |
CallumAlder | 47:21bf4096faa1 | 324 | osEvent newEvent = _msgStack.get(); |
CallumAlder | 42:121148278dae | 325 | msg *pMessage = (msg *) newEvent.value.p; |
adehadd | 27:ce05fed3c1ea | 326 | |
CallumAlder | 47:21bf4096faa1 | 327 | //Case switch to choose serial output based on incoming message enum |
CallumAlder | 42:121148278dae | 328 | switch (pMessage->type) { |
CallumAlder | 48:b2afe48ced0d | 329 | case mot_orState: |
CallumAlder | 47:21bf4096faa1 | 330 | _pc.printf("\r>%s< The motor is currently in state %x\n\r", _inCharQ, pMessage->message); |
CallumAlder | 42:121148278dae | 331 | break; |
CallumAlder | 42:121148278dae | 332 | case hashRate: |
CallumAlder | 43:a6d20109b2f2 | 333 | if (_outMining) { |
CallumAlder | 47:21bf4096faa1 | 334 | _pc.printf("\r>%s< Mining: %.4u Hash/s\r", _inCharQ, (uint32_t) pMessage->message); |
CallumAlder | 42:121148278dae | 335 | returnCursor(); |
CallumAlder | 43:a6d20109b2f2 | 336 | _outMining = false; |
CallumAlder | 42:121148278dae | 337 | } |
CallumAlder | 42:121148278dae | 338 | break; |
CallumAlder | 42:121148278dae | 339 | case nonceMatch: |
CallumAlder | 47:21bf4096faa1 | 340 | _pc.printf("\r>%s< Nonce found: %x\n\r", _inCharQ, pMessage->message); |
CallumAlder | 42:121148278dae | 341 | returnCursor(); |
CallumAlder | 42:121148278dae | 342 | break; |
CallumAlder | 42:121148278dae | 343 | case keyAdded: |
CallumAlder | 47:21bf4096faa1 | 344 | _pc.printf("\r>%s< New Key Added:\t0x%016x\n\r", _inCharQ, pMessage->message); |
CallumAlder | 42:121148278dae | 345 | break; |
CallumAlder | 42:121148278dae | 346 | case torque: |
CallumAlder | 47:21bf4096faa1 | 347 | _pc.printf("\r>%s< Motor Torque set to:\t%d\n\r", _inCharQ, (int32_t) pMessage->message); |
CallumAlder | 42:121148278dae | 348 | break; |
CallumAlder | 42:121148278dae | 349 | case velIn: |
CallumAlder | 47:21bf4096faa1 | 350 | _pc.printf("\r>%s< Target Velocity set to:\t%.2f\n\r", _inCharQ, _targetVel); |
CallumAlder | 42:121148278dae | 351 | break; |
CallumAlder | 42:121148278dae | 352 | case velOut: |
CallumAlder | 47:21bf4096faa1 | 353 | _pc.printf("\r>%s< Current Velocity:\t%.2f States/sec\n\r", _inCharQ, (float) ((int32_t) pMessage->message)); |
CallumAlder | 42:121148278dae | 354 | break; |
CallumAlder | 42:121148278dae | 355 | case posIn: |
CallumAlder | 47:21bf4096faa1 | 356 | _pc.printf("\r>%s< Target # Rotations:\t%.2f\n\r", _inCharQ, (float) ((int32_t) pMessage->message)); |
CallumAlder | 42:121148278dae | 357 | break; |
CallumAlder | 42:121148278dae | 358 | case posOut: |
CallumAlder | 47:21bf4096faa1 | 359 | _pc.printf("\r>%s< Current Position:\t%.2f\n\r", _inCharQ, (float) ((int32_t) pMessage->message)); |
CallumAlder | 42:121148278dae | 360 | break; |
CallumAlder | 47:21bf4096faa1 | 361 | case melody: |
CallumAlder | 47:21bf4096faa1 | 362 | _pc.printf("\r>%s< New Tune:\t%s\n\r", _inCharQ, _newCmd); |
CallumAlder | 47:21bf4096faa1 | 363 | break; |
CallumAlder | 42:121148278dae | 364 | case error: |
CallumAlder | 47:21bf4096faa1 | 365 | switch (pMessage->message) { |
CallumAlder | 47:21bf4096faa1 | 366 | case 1: |
CallumAlder | 47:21bf4096faa1 | 367 | _pc.printf("\r>%s< Error:%s\n\r", _inCharQ, "Overfull Buffer Reset" ); |
CallumAlder | 47:21bf4096faa1 | 368 | break; |
CallumAlder | 47:21bf4096faa1 | 369 | case 2: |
CallumAlder | 47:21bf4096faa1 | 370 | _pc.printf("\r>%s< Error:%s\n\r", _inCharQ, "Invalid Melody" ); |
CallumAlder | 47:21bf4096faa1 | 371 | default: |
CallumAlder | 47:21bf4096faa1 | 372 | break; |
CallumAlder | 47:21bf4096faa1 | 373 | } |
CallumAlder | 47:21bf4096faa1 | 374 | for (int i = 0; i < _MAXCMDLENGTH; ++i) // reset buffer |
CallumAlder | 47:21bf4096faa1 | 375 | _inCharQ[i] = ' '; |
CallumAlder | 47:21bf4096faa1 | 376 | |
CallumAlder | 47:21bf4096faa1 | 377 | _inCharIndex = 0; |
CallumAlder | 42:121148278dae | 378 | break; |
CallumAlder | 42:121148278dae | 379 | default: |
CallumAlder | 47:21bf4096faa1 | 380 | _pc.printf("\r>%s< Unknown Error. Message: %x\n\r", _inCharQ, pMessage->message); |
CallumAlder | 42:121148278dae | 381 | break; |
CallumAlder | 42:121148278dae | 382 | } |
CallumAlder | 42:121148278dae | 383 | |
CallumAlder | 47:21bf4096faa1 | 384 | _msgStack.free(pMessage); |
CallumAlder | 42:121148278dae | 385 | } |
CallumAlder | 42:121148278dae | 386 | } |
CallumAlder | 42:121148278dae | 387 | |
CallumAlder | 48:b2afe48ced0d | 388 | //-- Put a Message On the Outgoing Message Stack --------------------------------------------------------------------// |
CallumAlder | 42:121148278dae | 389 | void putMessage(msgType type, uint32_t message){ |
CallumAlder | 47:21bf4096faa1 | 390 | msg *p_msg = _msgStack.alloc(); |
CallumAlder | 42:121148278dae | 391 | p_msg->type = type; |
CallumAlder | 42:121148278dae | 392 | p_msg->message = message; |
CallumAlder | 47:21bf4096faa1 | 393 | _msgStack.put(p_msg); |
CallumAlder | 42:121148278dae | 394 | } |
CallumAlder | 42:121148278dae | 395 | |
CallumAlder | 48:b2afe48ced0d | 396 | //-- Attach CommOut Thread to the Outgoing Communication Function ---------------------------------------------------// |
CallumAlder | 42:121148278dae | 397 | void start_comm(){ |
CallumAlder | 42:121148278dae | 398 | _RUN = true; |
CallumAlder | 47:21bf4096faa1 | 399 | _tCommOut.start(callback(this, &Comm::commOutFn)); |
adehadd | 49:ae8dedfe2d0f | 400 | _tCommIn.start(callback(this, &Comm::commInFn)); |
CallumAlder | 42:121148278dae | 401 | } |
iachinweze1 | 23:ab1cb51527d1 | 402 | |
adehadd | 49:ae8dedfe2d0f | 403 | |
CallumAlder | 42:121148278dae | 404 | }; |
adehadd | 49:ae8dedfe2d0f | 405 | // char Comm::_inCharQ[] = {'.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','\0'}; // Static member must be defined outside class |
CallumAlder | 48:b2afe48ced0d | 406 | //Mutex Comm::_newKeyMutex; |
adehadd | 46:b9081aa50bda | 407 | |
CallumAlder | 42:121148278dae | 408 | class Motor { |
adehadd | 27:ce05fed3c1ea | 409 | |
CallumAlder | 42:121148278dae | 410 | protected: |
CallumAlder | 48:b2afe48ced0d | 411 | volatile int8_t _orState, // Rotor offset at motor state 0, motor specific |
CallumAlder | 48:b2afe48ced0d | 412 | _currentState, // Current Rotor State |
CallumAlder | 48:b2afe48ced0d | 413 | _stateList[6], // All possible rotor states stored |
CallumAlder | 48:b2afe48ced0d | 414 | _lead; // Phase _lead to make motor spin |
CallumAlder | 42:121148278dae | 415 | |
CallumAlder | 48:b2afe48ced0d | 416 | uint8_t _theStates[3], // The Key states |
CallumAlder | 48:b2afe48ced0d | 417 | _stateCount[3]; // State Counter |
CallumAlder | 47:21bf4096faa1 | 418 | uint32_t mtrPeriod, // Motor period |
CallumAlder | 47:21bf4096faa1 | 419 | _MAXPWM_PRD; |
CallumAlder | 48:b2afe48ced0d | 420 | float _dutyC; // 1 = 100% |
CallumAlder | 47:21bf4096faa1 | 421 | bool _RUN; |
adehadd | 27:ce05fed3c1ea | 422 | |
CallumAlder | 48:b2afe48ced0d | 423 | Comm* _pComm; |
CallumAlder | 48:b2afe48ced0d | 424 | Thread _tMotorCtrl; // Thread for motor Control |
CallumAlder | 42:121148278dae | 425 | |
CallumAlder | 42:121148278dae | 426 | public: |
CallumAlder | 48:b2afe48ced0d | 427 | //-- Default Constructor With Thread Object Constructor -------------------------------------------------------------// |
CallumAlder | 48:b2afe48ced0d | 428 | Motor() : _tMotorCtrl(osPriorityAboveNormal2, 1024){ |
CallumAlder | 47:21bf4096faa1 | 429 | |
CallumAlder | 48:b2afe48ced0d | 430 | _dutyC = 1.0f; // Set Power to maximum to drive motorHome() |
CallumAlder | 48:b2afe48ced0d | 431 | mtrPeriod = 2e3; // Motor period |
CallumAlder | 48:b2afe48ced0d | 432 | pwmCtrl.period_us(mtrPeriod); // Initialise PWM |
CallumAlder | 42:121148278dae | 433 | pwmCtrl.pulsewidth_us(mtrPeriod); |
CallumAlder | 42:121148278dae | 434 | |
CallumAlder | 48:b2afe48ced0d | 435 | _orState = motorHome(); // Rotor offset at motor state 0 |
adehadd | 49:ae8dedfe2d0f | 436 | _currentState = readRotorState(); // Current Rotor State |
CallumAlder | 48:b2afe48ced0d | 437 | _lead = 2; // 2 for forwards, -2 for backwards |
adehadd | 27:ce05fed3c1ea | 438 | |
CallumAlder | 48:b2afe48ced0d | 439 | _theStates[0] = _orState +1; // Initialise repeatable states, for us this is state 1 |
CallumAlder | 48:b2afe48ced0d | 440 | _theStates[1] = (_orState + _lead) % 6 +1; // state 3 |
CallumAlder | 48:b2afe48ced0d | 441 | _theStates[2] = (_orState + (_lead*2)) % 6 +1; // state 5 |
CallumAlder | 42:121148278dae | 442 | |
CallumAlder | 48:b2afe48ced0d | 443 | _stateCount[0] = 0; // Initialise |
CallumAlder | 48:b2afe48ced0d | 444 | _stateCount[1] = 0; |
CallumAlder | 48:b2afe48ced0d | 445 | _stateCount[2] = 0; |
CallumAlder | 42:121148278dae | 446 | |
CallumAlder | 48:b2afe48ced0d | 447 | _pComm = NULL; // Initialise as NULL |
CallumAlder | 48:b2afe48ced0d | 448 | _RUN = false; |
CallumAlder | 42:121148278dae | 449 | |
CallumAlder | 47:21bf4096faa1 | 450 | _MAXPWM_PRD = 2e3; |
CallumAlder | 42:121148278dae | 451 | |
CallumAlder | 42:121148278dae | 452 | } |
adehadd | 27:ce05fed3c1ea | 453 | |
CallumAlder | 48:b2afe48ced0d | 454 | //-- Start Motor and Attach State Update Function to Rise/Fall Interrupts -------------------------------------------// |
CallumAlder | 42:121148278dae | 455 | void motorStart(Comm *comm) { |
CallumAlder | 42:121148278dae | 456 | |
CallumAlder | 48:b2afe48ced0d | 457 | I1.fall(callback(this, &Motor::stateUpdate)); // Establish Photo Interrupter Service Routines (auto choose next state) |
CallumAlder | 42:121148278dae | 458 | I2.fall(callback(this, &Motor::stateUpdate)); |
CallumAlder | 42:121148278dae | 459 | I3.fall(callback(this, &Motor::stateUpdate)); |
CallumAlder | 42:121148278dae | 460 | I1.rise(callback(this, &Motor::stateUpdate)); |
CallumAlder | 42:121148278dae | 461 | I2.rise(callback(this, &Motor::stateUpdate)); |
CallumAlder | 42:121148278dae | 462 | I3.rise(callback(this, &Motor::stateUpdate)); |
CallumAlder | 42:121148278dae | 463 | |
CallumAlder | 48:b2afe48ced0d | 464 | motorOut((_currentState-_orState+_lead+6)%6); // Push digitally so static motor will start moving |
CallumAlder | 42:121148278dae | 465 | |
CallumAlder | 48:b2afe48ced0d | 466 | |
CallumAlder | 48:b2afe48ced0d | 467 | _dutyC = 0.8; // Default a lower duty cycle |
CallumAlder | 42:121148278dae | 468 | pwmCtrl.period_us((uint32_t)mtrPeriod); |
adehadd | 50:d1b983a0dd6f | 469 | pwmCtrl.pulsewidth_us((uint32_t)(mtrPeriod*_dutyC)); |
CallumAlder | 42:121148278dae | 470 | |
CallumAlder | 48:b2afe48ced0d | 471 | _pComm = comm; |
CallumAlder | 42:121148278dae | 472 | _RUN = true; |
CallumAlder | 42:121148278dae | 473 | |
CallumAlder | 48:b2afe48ced0d | 474 | _tMotorCtrl.start(callback(this, &Motor::motorCtrlFn)); // Start motor control thread |
CallumAlder | 42:121148278dae | 475 | |
CallumAlder | 48:b2afe48ced0d | 476 | _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 | 477 | |
CallumAlder | 42:121148278dae | 478 | } |
CallumAlder | 42:121148278dae | 479 | |
CallumAlder | 48:b2afe48ced0d | 480 | //-- Set a Predetermined Drive State -------------------------------------------------------------------------------// |
CallumAlder | 42:121148278dae | 481 | void motorOut(int8_t driveState) { |
iachinweze1 | 23:ab1cb51527d1 | 482 | |
CallumAlder | 48:b2afe48ced0d | 483 | int8_t driveOut = driveTable[driveState & 0x07]; //Lookup the output byte from the drive state |
CallumAlder | 42:121148278dae | 484 | |
CallumAlder | 48:b2afe48ced0d | 485 | if (~driveOut & 0x01) L1L = 0; //Turn off first |
CallumAlder | 42:121148278dae | 486 | if (~driveOut & 0x02) L1H = 1; |
CallumAlder | 42:121148278dae | 487 | if (~driveOut & 0x04) L2L = 0; |
CallumAlder | 42:121148278dae | 488 | if (~driveOut & 0x08) L2H = 1; |
CallumAlder | 42:121148278dae | 489 | if (~driveOut & 0x10) L3L = 0; |
CallumAlder | 42:121148278dae | 490 | if (~driveOut & 0x20) L3H = 1; |
CallumAlder | 42:121148278dae | 491 | |
CallumAlder | 48:b2afe48ced0d | 492 | if (driveOut & 0x01) L1L = 1; //Then turn on |
CallumAlder | 48:b2afe48ced0d | 493 | if (driveOut & 0x02) L1H = 0; |
CallumAlder | 48:b2afe48ced0d | 494 | if (driveOut & 0x04) L2L = 1; |
CallumAlder | 48:b2afe48ced0d | 495 | if (driveOut & 0x08) L2H = 0; |
CallumAlder | 48:b2afe48ced0d | 496 | if (driveOut & 0x10) L3L = 1; |
CallumAlder | 48:b2afe48ced0d | 497 | if (driveOut & 0x20) L3H = 0; |
CallumAlder | 42:121148278dae | 498 | } |
CallumAlder | 42:121148278dae | 499 | |
CallumAlder | 48:b2afe48ced0d | 500 | //-- Inline Conversion of Photointerrupts to a Rotor State ----------------------------------------------------------// |
adehadd | 49:ae8dedfe2d0f | 501 | inline int8_t readRotorState() { |
CallumAlder | 42:121148278dae | 502 | return stateMap[I1 + 2*I2 + 4*I3]; |
CallumAlder | 42:121148278dae | 503 | } |
CallumAlder | 42:121148278dae | 504 | |
CallumAlder | 48:b2afe48ced0d | 505 | //-- Basic Motor Stabilisation and Synchronisation ------------------------------------------------------------------// |
CallumAlder | 42:121148278dae | 506 | int8_t motorHome() { |
CallumAlder | 48:b2afe48ced0d | 507 | |
CallumAlder | 48:b2afe48ced0d | 508 | motorOut(0); //Put the motor in drive state 0 and wait for it to stabilise |
CallumAlder | 42:121148278dae | 509 | wait(3.0); |
CallumAlder | 42:121148278dae | 510 | |
adehadd | 49:ae8dedfe2d0f | 511 | return readRotorState(); //Get the rotor state |
CallumAlder | 42:121148278dae | 512 | } |
iachinweze1 | 23:ab1cb51527d1 | 513 | |
CallumAlder | 48:b2afe48ced0d | 514 | //-- Motor State Log, Circumvents Issues From Occasionally Skipping Certain States ----------------------------------// |
CallumAlder | 42:121148278dae | 515 | void stateUpdate() { // () { // **params |
adehadd | 49:ae8dedfe2d0f | 516 | _currentState = readRotorState(); // Get current state |
adehadd | 27:ce05fed3c1ea | 517 | |
CallumAlder | 48:b2afe48ced0d | 518 | if (_currentState == _theStates[0]) // Cumulative state counter (1 for our group's motor) |
CallumAlder | 48:b2afe48ced0d | 519 | _stateCount[0]++; |
CallumAlder | 48:b2afe48ced0d | 520 | else if (_currentState == _theStates[1]) // Cumulative state counter (3 for our group's motor) |
CallumAlder | 48:b2afe48ced0d | 521 | _stateCount[1]++; |
CallumAlder | 48:b2afe48ced0d | 522 | else if (_currentState == _theStates[2]) // Cumulative state counter (5 for our group's motor) |
CallumAlder | 48:b2afe48ced0d | 523 | _stateCount[2]++; |
adehadd | 27:ce05fed3c1ea | 524 | |
CallumAlder | 48:b2afe48ced0d | 525 | motorOut((_currentState - _orState + _lead + 6) % 6); // Send the next state to the motor |
iachinweze1 | 23:ab1cb51527d1 | 526 | |
CallumAlder | 42:121148278dae | 527 | } |
CallumAlder | 19:805c87360b55 | 528 | |
CallumAlder | 48:b2afe48ced0d | 529 | //-- Motor PID Control ---------------------------------------------------------------------------------------------// |
CallumAlder | 42:121148278dae | 530 | void motorCtrlFn() { |
CallumAlder | 42:121148278dae | 531 | Ticker motorCtrlTicker; |
CallumAlder | 42:121148278dae | 532 | Timer m_timer; |
CallumAlder | 42:121148278dae | 533 | motorCtrlTicker.attach_us(callback(this,&Motor::motorCtrlTick), 1e5); |
iachinweze1 | 23:ab1cb51527d1 | 534 | |
CallumAlder | 42:121148278dae | 535 | // Init some things |
CallumAlder | 48:b2afe48ced0d | 536 | uint8_t cpyStateCount[3]; |
CallumAlder | 48:b2afe48ced0d | 537 | uint8_t cpyCurrentState; |
CallumAlder | 48:b2afe48ced0d | 538 | int8_t cpyModeBitfield; |
CallumAlder | 42:121148278dae | 539 | |
CallumAlder | 48:b2afe48ced0d | 540 | int32_t ting[2] = {6,1}; // 360,60 (for degrees), 5,1 (for states) |
CallumAlder | 48:b2afe48ced0d | 541 | uint8_t iterElementMax; |
CallumAlder | 48:b2afe48ced0d | 542 | int32_t totalDegrees; |
CallumAlder | 48:b2afe48ced0d | 543 | int32_t stateDiff; |
adehadd | 27:ce05fed3c1ea | 544 | |
CallumAlder | 48:b2afe48ced0d | 545 | int32_t cur_speed; // Variable for local velocity calculation |
CallumAlder | 48:b2afe48ced0d | 546 | int32_t locMotorPos; // Local copy of motor position |
CallumAlder | 47:21bf4096faa1 | 547 | volatile int32_t torque; // Local variable to set motor torque |
CallumAlder | 48:b2afe48ced0d | 548 | static int32_t oldTorque =0; |
CallumAlder | 48:b2afe48ced0d | 549 | float sError, // Velocity error between target and reality |
CallumAlder | 48:b2afe48ced0d | 550 | rError; // Rotation error between target and reality |
CallumAlder | 48:b2afe48ced0d | 551 | static float rErrorOld; // Old rotation error used for calculation |
CallumAlder | 42:121148278dae | 552 | |
CallumAlder | 42:121148278dae | 553 | //~~~Controller constants~~~~ |
CallumAlder | 48:b2afe48ced0d | 554 | int32_t Kp1=22; // Proportional controller constants |
CallumAlder | 48:b2afe48ced0d | 555 | int32_t Kp2=22; // Calculated by trial and error to give optimal accuracy |
CallumAlder | 48:b2afe48ced0d | 556 | int32_t Ki = 12; |
CallumAlder | 48:b2afe48ced0d | 557 | float Kd=15.5; |
CallumAlder | 42:121148278dae | 558 | |
CallumAlder | 42:121148278dae | 559 | |
CallumAlder | 48:b2afe48ced0d | 560 | int32_t Ts; // Initialise controller output Ts (s=speed) |
CallumAlder | 48:b2afe48ced0d | 561 | int32_t Tr; // Initialise controller output Tr (r=rotations) |
CallumAlder | 42:121148278dae | 562 | |
CallumAlder | 48:b2afe48ced0d | 563 | int32_t old_pos = 0; |
adehadd | 27:ce05fed3c1ea | 564 | |
CallumAlder | 48:b2afe48ced0d | 565 | uint32_t cur_time = 0, |
CallumAlder | 48:b2afe48ced0d | 566 | old_time = 0, |
CallumAlder | 48:b2afe48ced0d | 567 | time_diff; |
CallumAlder | 42:121148278dae | 568 | |
CallumAlder | 48:b2afe48ced0d | 569 | float cur_err = 0.0f, |
CallumAlder | 48:b2afe48ced0d | 570 | old_err = 0.0f, |
CallumAlder | 48:b2afe48ced0d | 571 | err_diff; |
CallumAlder | 42:121148278dae | 572 | |
adehadd | 50:d1b983a0dd6f | 573 | |
adehadd | 50:d1b983a0dd6f | 574 | enum { // To nearest Hz |
adehadd | 50:d1b983a0dd6f | 575 | NOTE_C = 261, // C4 |
adehadd | 50:d1b983a0dd6f | 576 | NOTE_D = 293, // D4 |
adehadd | 50:d1b983a0dd6f | 577 | NOTE_E = 330, // E4 |
adehadd | 50:d1b983a0dd6f | 578 | NOTE_F = 349, // F4 |
adehadd | 50:d1b983a0dd6f | 579 | NOTE_G = 392, // G4 |
adehadd | 50:d1b983a0dd6f | 580 | NOTE_A = 440, // A4 |
adehadd | 50:d1b983a0dd6f | 581 | NOTE_B = 494 // B4 |
adehadd | 50:d1b983a0dd6f | 582 | }; |
adehadd | 50:d1b983a0dd6f | 583 | |
CallumAlder | 42:121148278dae | 584 | m_timer.start(); |
CallumAlder | 42:121148278dae | 585 | |
CallumAlder | 42:121148278dae | 586 | while (_RUN) { |
CallumAlder | 48:b2afe48ced0d | 587 | _tMotorCtrl.signal_wait((int32_t)0x1); |
adehadd | 49:ae8dedfe2d0f | 588 | // _pComm->_tCommIn.signal_set(0x01); |
iachinweze1 | 23:ab1cb51527d1 | 589 | |
CallumAlder | 48:b2afe48ced0d | 590 | core_util_critical_section_enter(); // Access shared variables here |
CallumAlder | 48:b2afe48ced0d | 591 | cpyModeBitfield = _pComm->_modeBitField; |
CallumAlder | 48:b2afe48ced0d | 592 | std::copy(_stateCount, _stateCount+3, cpyStateCount); |
CallumAlder | 48:b2afe48ced0d | 593 | cpyCurrentState = _currentState; |
CallumAlder | 47:21bf4096faa1 | 594 | for (int i = 0; i < 3; ++i) { |
CallumAlder | 48:b2afe48ced0d | 595 | _stateCount[i] = 0; |
CallumAlder | 47:21bf4096faa1 | 596 | } |
CallumAlder | 42:121148278dae | 597 | core_util_critical_section_exit(); |
adehadd | 20:c60f4785b556 | 598 | |
CallumAlder | 48:b2afe48ced0d | 599 | |
CallumAlder | 48:b2afe48ced0d | 600 | cur_time = m_timer.read(); // Read state & timestamp |
CallumAlder | 42:121148278dae | 601 | |
CallumAlder | 42:121148278dae | 602 | time_diff = cur_time - old_time; |
CallumAlder | 42:121148278dae | 603 | // cur_speed = (cur_pos - old_pos) / time_diff; |
CallumAlder | 48:b2afe48ced0d | 604 | |
CallumAlder | 48:b2afe48ced0d | 605 | old_time = cur_time; // prep values for next time through loop |
CallumAlder | 42:121148278dae | 606 | old_pos = cpyCurrentState; |
CallumAlder | 42:121148278dae | 607 | |
CallumAlder | 47:21bf4096faa1 | 608 | // Hence we make the value positive,// and instead set the direction to the opposite one |
CallumAlder | 42:121148278dae | 609 | |
CallumAlder | 42:121148278dae | 610 | iterElementMax = std::max_element(cpyStateCount, cpyStateCount+3) - cpyStateCount; |
adehadd | 20:c60f4785b556 | 611 | |
CallumAlder | 42:121148278dae | 612 | totalDegrees = ting[0] * cpyStateCount[iterElementMax]; |
CallumAlder | 48:b2afe48ced0d | 613 | stateDiff = _theStates[iterElementMax]-cpyCurrentState; |
CallumAlder | 47:21bf4096faa1 | 614 | stateDiff >= 0 ? totalDegrees = totalDegrees + (ting[1]* stateDiff) : \ |
CallumAlder | 47:21bf4096faa1 | 615 | totalDegrees = totalDegrees + (ting[1]* stateDiff *-1); |
CallumAlder | 42:121148278dae | 616 | |
CallumAlder | 47:21bf4096faa1 | 617 | if ((cpyModeBitfield & 0x01)|(cpyModeBitfield & 0x02)) {// Speed, torque control and PID |
CallumAlder | 42:121148278dae | 618 | cur_speed = totalDegrees / time_diff; |
CallumAlder | 48:b2afe48ced0d | 619 | sError = (_pComm->_targetVel * 6) - abs(cur_speed); // Read global variable _targetVel updated by interrupt and calculate error between target and reality |
CallumAlder | 42:121148278dae | 620 | |
CallumAlder | 48:b2afe48ced0d | 621 | // Ts = Kp * (s -|v|) where, // SPEED CONTROLLER |
CallumAlder | 48:b2afe48ced0d | 622 | // Ts = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity |
CallumAlder | 42:121148278dae | 623 | |
CallumAlder | 47:21bf4096faa1 | 624 | // Check if user entered V0 and set the output to maximum as specified |
adehadd | 49:ae8dedfe2d0f | 625 | sError == -abs(cur_speed) ? Ts = _MAXPWM_PRD : \ |
CallumAlder | 48:b2afe48ced0d | 626 | Ts = (Kp1 * sError); // If the user didn't enter V0 implement controller transfer function: |
CallumAlder | 47:21bf4096faa1 | 627 | |
CallumAlder | 47:21bf4096faa1 | 628 | |
CallumAlder | 48:b2afe48ced0d | 629 | // Tr= Kp*Er + Kd* (dEr/dt) where, // ROTATION CONTROLLER |
CallumAlder | 48:b2afe48ced0d | 630 | // Tr = controller output, Kp = prop controller constant, Er = error in number of rotations |
CallumAlder | 48:b2afe48ced0d | 631 | rError = (_pComm->_targetRot)*6 - totalDegrees; // Read global variable _targetRot updated by interrupt and calculate the rotation error. |
CallumAlder | 48:b2afe48ced0d | 632 | Tr = Kp2*rError + Kd*(rError - rErrorOld); // Implement controller transfer function |
CallumAlder | 47:21bf4096faa1 | 633 | rErrorOld = rError; // Update rotation error |
CallumAlder | 47:21bf4096faa1 | 634 | |
CallumAlder | 48:b2afe48ced0d | 635 | Ts = (int32_t)( Ts * sgn(rError) ); // Use the sign of the error to set controller wrt direction of rotation |
CallumAlder | 42:121148278dae | 636 | |
CallumAlder | 48:b2afe48ced0d | 637 | cur_speed < 0 ? torque = max(Ts, Tr): torque = min(Ts, Tr); |
CallumAlder | 47:21bf4096faa1 | 638 | |
CallumAlder | 47:21bf4096faa1 | 639 | } |
CallumAlder | 47:21bf4096faa1 | 640 | else if (cpyModeBitfield & 0x04) { // If it is in torque mode, do no PID math, just set pulsewidth |
CallumAlder | 48:b2afe48ced0d | 641 | torque = (int32_t)_pComm->_motorTorque; |
CallumAlder | 47:21bf4096faa1 | 642 | if (oldTorque != torque) { |
CallumAlder | 48:b2afe48ced0d | 643 | _pComm->putMessage((Comm::msgType)8, torque); |
CallumAlder | 47:21bf4096faa1 | 644 | oldTorque = torque; |
CallumAlder | 42:121148278dae | 645 | } |
CallumAlder | 47:21bf4096faa1 | 646 | } |
adehadd | 50:d1b983a0dd6f | 647 | else if (cpyModeBitfield & 0x08) { // If it is in Melody mode |
adehadd | 50:d1b983a0dd6f | 648 | uint32_t oldMtrPeriod = mtrPeriod; // Backup of current motor period |
adehadd | 50:d1b983a0dd6f | 649 | float oldDutyC = _dutyC; // Backup of current duty cycle |
adehadd | 50:d1b983a0dd6f | 650 | uint32_t noteFreq, newDur, newPeriod =0, |
adehadd | 50:d1b983a0dd6f | 651 | oldPeriod = mtrPeriod; |
adehadd | 50:d1b983a0dd6f | 652 | |
adehadd | 50:d1b983a0dd6f | 653 | Timer testTimer; |
adehadd | 50:d1b983a0dd6f | 654 | testTimer.start(); |
adehadd | 50:d1b983a0dd6f | 655 | _pComm->_pc.printf("rep:%i, len:%i \n\r", _pComm->_noteRep, _pComm->_noteLen); |
adehadd | 50:d1b983a0dd6f | 656 | for (int k = 0; k < _pComm->_noteRep; ++k) { |
adehadd | 50:d1b983a0dd6f | 657 | |
adehadd | 50:d1b983a0dd6f | 658 | for (int i = 0; i < _pComm->_noteLen; ++i) { |
adehadd | 50:d1b983a0dd6f | 659 | |
adehadd | 50:d1b983a0dd6f | 660 | noteFreq = 0; |
adehadd | 50:d1b983a0dd6f | 661 | newDur = (uint32_t)_pComm->_noteDur[i]*1e3; // ms |
adehadd | 50:d1b983a0dd6f | 662 | |
adehadd | 50:d1b983a0dd6f | 663 | switch (_pComm->_notes[i]) { |
adehadd | 50:d1b983a0dd6f | 664 | case 'C': |
adehadd | 50:d1b983a0dd6f | 665 | noteFreq = NOTE_C; |
adehadd | 50:d1b983a0dd6f | 666 | break; |
adehadd | 50:d1b983a0dd6f | 667 | case 'D': |
adehadd | 50:d1b983a0dd6f | 668 | noteFreq = NOTE_D; |
adehadd | 50:d1b983a0dd6f | 669 | break; |
adehadd | 50:d1b983a0dd6f | 670 | case 'E': |
adehadd | 50:d1b983a0dd6f | 671 | noteFreq = NOTE_E; |
adehadd | 50:d1b983a0dd6f | 672 | break; |
adehadd | 50:d1b983a0dd6f | 673 | case 'F': |
adehadd | 50:d1b983a0dd6f | 674 | noteFreq = NOTE_F; |
adehadd | 50:d1b983a0dd6f | 675 | break; |
adehadd | 50:d1b983a0dd6f | 676 | case 'G': |
adehadd | 50:d1b983a0dd6f | 677 | noteFreq = NOTE_G; |
adehadd | 50:d1b983a0dd6f | 678 | break; |
adehadd | 50:d1b983a0dd6f | 679 | case 'A': |
adehadd | 50:d1b983a0dd6f | 680 | noteFreq = NOTE_A; |
adehadd | 50:d1b983a0dd6f | 681 | break; |
adehadd | 50:d1b983a0dd6f | 682 | case 'B': |
adehadd | 50:d1b983a0dd6f | 683 | noteFreq = NOTE_B; |
adehadd | 50:d1b983a0dd6f | 684 | break; |
adehadd | 50:d1b983a0dd6f | 685 | default: |
adehadd | 50:d1b983a0dd6f | 686 | break; |
adehadd | 50:d1b983a0dd6f | 687 | } |
adehadd | 50:d1b983a0dd6f | 688 | |
adehadd | 50:d1b983a0dd6f | 689 | newPeriod = (uint32_t)(1e6/(uint32_t)noteFreq); // us |
adehadd | 50:d1b983a0dd6f | 690 | |
adehadd | 50:d1b983a0dd6f | 691 | if (newPeriod>oldPeriod) { // Change Period First |
adehadd | 50:d1b983a0dd6f | 692 | _pComm->_pc.printf("Period:changed \n" ); |
adehadd | 50:d1b983a0dd6f | 693 | pwmCtrl.period_us(newPeriod); //set frequency of PWM |
adehadd | 50:d1b983a0dd6f | 694 | pwmCtrl.pulsewidth_us((uint32_t)(newPeriod*0.8)); |
adehadd | 50:d1b983a0dd6f | 695 | } else { // Change Pulse WidthFirst |
adehadd | 50:d1b983a0dd6f | 696 | pwmCtrl.pulsewidth_us((uint32_t)(newPeriod*0.8)); |
adehadd | 50:d1b983a0dd6f | 697 | pwmCtrl.period_us(newPeriod); //set frequency of PWM |
adehadd | 50:d1b983a0dd6f | 698 | } |
adehadd | 50:d1b983a0dd6f | 699 | // stateUpdate(); |
adehadd | 50:d1b983a0dd6f | 700 | oldPeriod = newPeriod; |
adehadd | 50:d1b983a0dd6f | 701 | testTimer.reset(); |
adehadd | 50:d1b983a0dd6f | 702 | while (testTimer.read_ms() < newDur ) {} // Do nothing |
adehadd | 50:d1b983a0dd6f | 703 | _pComm->_pc.printf("Period:%d Dur:%d \n",newPeriod, newDur ); |
adehadd | 50:d1b983a0dd6f | 704 | } |
adehadd | 50:d1b983a0dd6f | 705 | |
adehadd | 50:d1b983a0dd6f | 706 | _pComm->_modeBitField = 0x04; // stop melody mode |
adehadd | 50:d1b983a0dd6f | 707 | |
adehadd | 50:d1b983a0dd6f | 708 | } |
adehadd | 50:d1b983a0dd6f | 709 | // After playing notes, go back to the old speed |
adehadd | 50:d1b983a0dd6f | 710 | torque = (int32_t)_pComm->_motorTorque; |
adehadd | 50:d1b983a0dd6f | 711 | pwmCtrl.pulsewidth_us((uint32_t)(torque*0.8)); |
adehadd | 50:d1b983a0dd6f | 712 | // And reset the motor period and duty cycle |
adehadd | 50:d1b983a0dd6f | 713 | |
adehadd | 50:d1b983a0dd6f | 714 | } |
CallumAlder | 47:21bf4096faa1 | 715 | else{ |
CallumAlder | 47:21bf4096faa1 | 716 | torque = _MAXPWM_PRD * 0.5; // Run at 50% duty cycle if argument not properly defined |
adehadd | 27:ce05fed3c1ea | 717 | |
CallumAlder | 42:121148278dae | 718 | } |
adehadd | 27:ce05fed3c1ea | 719 | |
CallumAlder | 48:b2afe48ced0d | 720 | torque < 0 ? _lead = -2 : _lead = +2; |
CallumAlder | 47:21bf4096faa1 | 721 | torque = abs(torque); |
adehadd | 26:fb6151e5907d | 722 | |
CallumAlder | 47:21bf4096faa1 | 723 | if(torque > _MAXPWM_PRD) torque = _MAXPWM_PRD; // In case the calculated PWM is higher than our maximum 50% allowance, |
CallumAlder | 47:21bf4096faa1 | 724 | // Set it to our max. |
CallumAlder | 48:b2afe48ced0d | 725 | _pComm->_motorTorque = torque; |
CallumAlder | 47:21bf4096faa1 | 726 | pwmCtrl.pulsewidth_us(torque); |
CallumAlder | 47:21bf4096faa1 | 727 | |
CallumAlder | 42:121148278dae | 728 | } |
CallumAlder | 42:121148278dae | 729 | } |
CallumAlder | 42:121148278dae | 730 | |
CallumAlder | 42:121148278dae | 731 | void motorCtrlTick(){ |
CallumAlder | 48:b2afe48ced0d | 732 | _tMotorCtrl.signal_set(0x1); |
CallumAlder | 42:121148278dae | 733 | } |
CallumAlder | 42:121148278dae | 734 | }; |
CallumAlder | 42:121148278dae | 735 | |
CallumAlder | 42:121148278dae | 736 | |
adehadd | 27:ce05fed3c1ea | 737 | int main() { |
adehadd | 26:fb6151e5907d | 738 | |
CallumAlder | 42:121148278dae | 739 | // Declare Objects |
CallumAlder | 42:121148278dae | 740 | Comm comm_port; |
CallumAlder | 42:121148278dae | 741 | SHA256 miner; |
CallumAlder | 42:121148278dae | 742 | Motor motor; |
adehadd | 27:ce05fed3c1ea | 743 | |
CallumAlder | 42:121148278dae | 744 | // Start Motor and Comm Port |
CallumAlder | 42:121148278dae | 745 | motor.motorStart(&comm_port); |
CallumAlder | 42:121148278dae | 746 | comm_port.start_comm(); |
adehadd | 27:ce05fed3c1ea | 747 | |
CallumAlder | 42:121148278dae | 748 | // Declare Hash Variables |
CallumAlder | 47:21bf4096faa1 | 749 | uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64, |
CallumAlder | 47:21bf4096faa1 | 750 | 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73, |
CallumAlder | 47:21bf4096faa1 | 751 | 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E, |
CallumAlder | 47:21bf4096faa1 | 752 | 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20, |
CallumAlder | 47:21bf4096faa1 | 753 | 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20, |
CallumAlder | 47:21bf4096faa1 | 754 | 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20, |
CallumAlder | 47:21bf4096faa1 | 755 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
CallumAlder | 47:21bf4096faa1 | 756 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; |
CallumAlder | 47:21bf4096faa1 | 757 | uint8_t hash[32]; |
CallumAlder | 47:21bf4096faa1 | 758 | uint32_t length64 = 64; |
CallumAlder | 47:21bf4096faa1 | 759 | uint32_t hashCounter = 0; |
CallumAlder | 47:21bf4096faa1 | 760 | uint64_t* nonce = (uint64_t*)((int)sequence + 56); |
adehadd | 27:ce05fed3c1ea | 761 | uint64_t* key = (uint64_t*)((int)sequence + 48); |
iachinweze1 | 23:ab1cb51527d1 | 762 | |
CallumAlder | 42:121148278dae | 763 | // Begin Main Timer |
CallumAlder | 42:121148278dae | 764 | Timer timer; |
CallumAlder | 42:121148278dae | 765 | timer.start(); |
adehadd | 27:ce05fed3c1ea | 766 | |
CallumAlder | 47:21bf4096faa1 | 767 | // Loop Program |
CallumAlder | 42:121148278dae | 768 | while (1) { |
adehadd | 26:fb6151e5907d | 769 | |
CallumAlder | 47:21bf4096faa1 | 770 | //try{ |
CallumAlder | 47:21bf4096faa1 | 771 | |
CallumAlder | 47:21bf4096faa1 | 772 | // Mutex For Access Control |
adehadd | 49:ae8dedfe2d0f | 773 | comm_port._newKeyMutex.lock(); |
CallumAlder | 47:21bf4096faa1 | 774 | *key = comm_port._newKey; |
adehadd | 49:ae8dedfe2d0f | 775 | comm_port._newKeyMutex.unlock(); |
adehadd | 20:c60f4785b556 | 776 | |
CallumAlder | 47:21bf4096faa1 | 777 | // Compute Hash and Counter |
CallumAlder | 47:21bf4096faa1 | 778 | miner.computeHash(hash, sequence, length64); |
CallumAlder | 47:21bf4096faa1 | 779 | hashCounter++; |
CallumAlder | 47:21bf4096faa1 | 780 | |
CallumAlder | 47:21bf4096faa1 | 781 | // Enum Casting and Condition |
CallumAlder | 47:21bf4096faa1 | 782 | if (hash[0]==0 && hash[1]==0) |
CallumAlder | 47:21bf4096faa1 | 783 | comm_port.putMessage((Comm::msgType)7, *nonce); |
adehadd | 20:c60f4785b556 | 784 | |
CallumAlder | 47:21bf4096faa1 | 785 | // Try Nonce |
CallumAlder | 47:21bf4096faa1 | 786 | (*nonce)++; |
adehadd | 26:fb6151e5907d | 787 | |
CallumAlder | 47:21bf4096faa1 | 788 | // Display via Comm Port |
CallumAlder | 47:21bf4096faa1 | 789 | if (timer.read() >= 1){ |
CallumAlder | 47:21bf4096faa1 | 790 | comm_port.putMessage((Comm::msgType)5, hashCounter); |
CallumAlder | 47:21bf4096faa1 | 791 | hashCounter=0; |
CallumAlder | 47:21bf4096faa1 | 792 | timer.reset(); |
CallumAlder | 47:21bf4096faa1 | 793 | } |
CallumAlder | 47:21bf4096faa1 | 794 | //} |
adehadd | 26:fb6151e5907d | 795 | |
CallumAlder | 47:21bf4096faa1 | 796 | //catch(...){ |
CallumAlder | 47:21bf4096faa1 | 797 | // break; |
CallumAlder | 47:21bf4096faa1 | 798 | //} |
CallumAlder | 47:21bf4096faa1 | 799 | |
CallumAlder | 15:2f95f2fb68e3 | 800 | } |
CallumAlder | 42:121148278dae | 801 | |
CallumAlder | 42:121148278dae | 802 | return 0; |
adehadd | 27:ce05fed3c1ea | 803 | } |