Skad00sh / Mbed OS ES_CW2_Dev

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

Dependencies:   Crypto

main.cpp@33:f1dc3b160eac, 2019-03-18 (annotated)

Committer:
CallumAlder
Date:
Mon Mar 18 18:10:10 2019 +0000
Revision:
33:f1dc3b160eac
Parent:
32:fc5e00d9f74d
Child:
34:2c6f635cc8e7
House keeping and motor class tidy;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
CallumAlder 14:4e312fb83330 1 #include "SHA256.h"
estott 0:de4320f74764 2 #include "mbed.h"
adehadd 20:c60f4785b556 3 // #include <iostream>
adehadd 20:c60f4785b556 4 // #include "rtos.h"
CallumAlder 14:4e312fb83330 5
CallumAlder 19:805c87360b55 6 /*TODO:
iachinweze1 23:ab1cb51527d1 7 Change
CallumAlder 19:805c87360b55 8 Indx
CallumAlder 19:805c87360b55 9 newCmd
CallumAlder 19:805c87360b55 10 MAXCMDLENGTH
CallumAlder 28:4f02ac845e5d 11 move the global variables to a class because we arent paeasents
CallumAlder 19:805c87360b55 12 */
estott 0:de4320f74764 13
estott 0:de4320f74764 14 //Photointerrupter input pins
estott 10:a4b5723b6c9d 15 #define I1pin D3
estott 10:a4b5723b6c9d 16 #define I2pin D6
estott 10:a4b5723b6c9d 17 #define I3pin D5
estott 2:4e88faab6988 18
estott 2:4e88faab6988 19 //Incremental encoder input pins
estott 10:a4b5723b6c9d 20 #define CHApin D12
estott 10:a4b5723b6c9d 21 #define CHBpin D11
estott 0:de4320f74764 22
estott 0:de4320f74764 23 //Motor Drive output pins //Mask in output byte
estott 10:a4b5723b6c9d 24 #define L1Lpin D1 //0x01
estott 10:a4b5723b6c9d 25 #define L1Hpin A3 //0x02
estott 10:a4b5723b6c9d 26 #define L2Lpin D0 //0x04
estott 10:a4b5723b6c9d 27 #define L2Hpin A6 //0x08
estott 10:a4b5723b6c9d 28 #define L3Lpin D10 //0x10
estott 10:a4b5723b6c9d 29 #define L3Hpin D2 //0x20
estott 10:a4b5723b6c9d 30
estott 10:a4b5723b6c9d 31 #define PWMpin D9
estott 5:08f338b5e4d9 32
estott 5:08f338b5e4d9 33 //Motor current sense
estott 5:08f338b5e4d9 34 #define MCSPpin A1
estott 5:08f338b5e4d9 35 #define MCSNpin A0
estott 0:de4320f74764 36
estott 0:de4320f74764 37 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 38 /*
estott 0:de4320f74764 39 State L1 L2 L3
estott 0:de4320f74764 40 0 H - L
estott 0:de4320f74764 41 1 - H L
estott 0:de4320f74764 42 2 L H -
estott 0:de4320f74764 43 3 L - H
estott 0:de4320f74764 44 4 - L H
estott 0:de4320f74764 45 5 H L -
estott 0:de4320f74764 46 6 - - -
estott 0:de4320f74764 47 7 - - -
estott 0:de4320f74764 48 */
CallumAlder 28:4f02ac845e5d 49
CallumAlder 29:c96439a60184 50 //Status LED
CallumAlder 29:c96439a60184 51 DigitalOut led1(LED1);
CallumAlder 28:4f02ac845e5d 52
CallumAlder 29:c96439a60184 53 //Photointerrupter inputs
CallumAlder 29:c96439a60184 54 InterruptIn I1(I1pin);
CallumAlder 29:c96439a60184 55 InterruptIn I2(I2pin);
CallumAlder 29:c96439a60184 56 InterruptIn I3(I3pin);
CallumAlder 28:4f02ac845e5d 57
CallumAlder 29:c96439a60184 58 //Motor Drive outputs
CallumAlder 29:c96439a60184 59 DigitalOut L1L(L1Lpin);
CallumAlder 29:c96439a60184 60 DigitalOut L1H(L1Hpin);
CallumAlder 29:c96439a60184 61 DigitalOut L2L(L2Lpin);
CallumAlder 29:c96439a60184 62 DigitalOut L2H(L2Hpin);
CallumAlder 29:c96439a60184 63 DigitalOut L3L(L3Lpin);
CallumAlder 29:c96439a60184 64 DigitalOut L3H(L3Hpin);
CallumAlder 28:4f02ac845e5d 65
CallumAlder 29:c96439a60184 66 PwmOut pwmCtrl(PWMpin);
CallumAlder 28:4f02ac845e5d 67
estott 0:de4320f74764 68 //Drive state to output table
estott 0:de4320f74764 69 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 70
estott 0:de4320f74764 71 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
iachinweze1 23:ab1cb51527d1 72 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 73 //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 74
CallumAlder 33:f1dc3b160eac 75 class Comm{
iachinweze1 23:ab1cb51527d1 76
CallumAlder 33:f1dc3b160eac 77 public:
CallumAlder 33:f1dc3b160eac 78
CallumAlder 33:f1dc3b160eac 79 Thread t_comm_out;
CallumAlder 33:f1dc3b160eac 80 // Thread *p_motor_ctrl;
CallumAlder 33:f1dc3b160eac 81
CallumAlder 33:f1dc3b160eac 82 bool _RUN;
CallumAlder 33:f1dc3b160eac 83
CallumAlder 33:f1dc3b160eac 84 RawSerial pc;
CallumAlder 33:f1dc3b160eac 85 // Queue<void, 8> inCharQ; // Input Character Queue
CallumAlder 33:f1dc3b160eac 86
CallumAlder 33:f1dc3b160eac 87
CallumAlder 33:f1dc3b160eac 88 static const char MsgChar[11];
CallumAlder 33:f1dc3b160eac 89
CallumAlder 33:f1dc3b160eac 90 uint8_t MAXCMDLENGTH;
CallumAlder 33:f1dc3b160eac 91
CallumAlder 33:f1dc3b160eac 92 volatile uint8_t cmdIndx;
CallumAlder 33:f1dc3b160eac 93 volatile uint8_t inCharQIdx;
CallumAlder 33:f1dc3b160eac 94
CallumAlder 33:f1dc3b160eac 95 volatile uint32_t motorPower; // motor toque
CallumAlder 33:f1dc3b160eac 96 volatile float targetVel;
CallumAlder 33:f1dc3b160eac 97 volatile float targetRot;
CallumAlder 33:f1dc3b160eac 98
CallumAlder 33:f1dc3b160eac 99 enum msgType {motorState, posIn, velIn, posOut, velOut,
CallumAlder 33:f1dc3b160eac 100
CallumAlder 33:f1dc3b160eac 101 hashRate, keyAdded, nonceMatch,
CallumAlder 33:f1dc3b160eac 102
CallumAlder 33:f1dc3b160eac 103 torque, rotations,
CallumAlder 33:f1dc3b160eac 104
CallumAlder 33:f1dc3b160eac 105 error};
CallumAlder 33:f1dc3b160eac 106
CallumAlder 33:f1dc3b160eac 107 typedef struct {
CallumAlder 33:f1dc3b160eac 108 msgType type;
CallumAlder 33:f1dc3b160eac 109 uint32_t message;
CallumAlder 33:f1dc3b160eac 110 } msg;
CallumAlder 33:f1dc3b160eac 111
CallumAlder 33:f1dc3b160eac 112 Mail<msg, 32> mailStack;
CallumAlder 33:f1dc3b160eac 113
CallumAlder 33:f1dc3b160eac 114 void serialISR(){
CallumAlder 33:f1dc3b160eac 115 if (pc.readable()) {
CallumAlder 33:f1dc3b160eac 116 char newChar = pc.getc();
CallumAlder 33:f1dc3b160eac 117 // inCharQ.put((void*)newChar); // void* = pointer to an unknown type that cannot be dereferenced
CallumAlder 33:f1dc3b160eac 118
CallumAlder 33:f1dc3b160eac 119 if (inCharQIdx == (MAXCMDLENGTH)) {
CallumAlder 33:f1dc3b160eac 120 inCharQ[MAXCMDLENGTH] = '\0'; // force the string to have an end character
CallumAlder 33:f1dc3b160eac 121 putMessage(error, 1);
CallumAlder 33:f1dc3b160eac 122 inCharQIdx = 0; // reset buffer index
CallumAlder 33:f1dc3b160eac 123 // pc.putc('\r'); // carriage return moves to the start of the line
CallumAlder 33:f1dc3b160eac 124 // for (int i = 0; i < MAXCMDLENGTH; ++i)
CallumAlder 33:f1dc3b160eac 125 // {
CallumAlder 33:f1dc3b160eac 126 // inCharQ[i] = ' ';
CallumAlder 33:f1dc3b160eac 127 // pc.putc(' ');
CallumAlder 33:f1dc3b160eac 128 // }
CallumAlder 33:f1dc3b160eac 129
CallumAlder 33:f1dc3b160eac 130 // pc.putc('\r'); // carriage return moves to the start of the line
adehadd 20:c60f4785b556 131 }
adehadd 20:c60f4785b556 132 else{
CallumAlder 33:f1dc3b160eac 133 if(newChar != '\r'){ //While the command is not over,
CallumAlder 33:f1dc3b160eac 134 inCharQ[inCharQIdx] = newChar; //save input character and
CallumAlder 33:f1dc3b160eac 135 inCharQIdx++; //advance index
CallumAlder 33:f1dc3b160eac 136 pc.putc(newChar);
CallumAlder 33:f1dc3b160eac 137 }
CallumAlder 33:f1dc3b160eac 138 else{
CallumAlder 33:f1dc3b160eac 139 inCharQ[inCharQIdx] = '\0'; //When the command is finally over,
CallumAlder 33:f1dc3b160eac 140 strncpy(newCmd, inCharQ, MAXCMDLENGTH); // Will copy 18 characters from inCharQ to newCmd
CallumAlder 33:f1dc3b160eac 141 cmdParser(); //parse the command for decoding.
CallumAlder 33:f1dc3b160eac 142 for (int i = 0; i < MAXCMDLENGTH; ++i) // reset buffer
CallumAlder 33:f1dc3b160eac 143 inCharQ[i] = ' ';
CallumAlder 33:f1dc3b160eac 144 inCharQIdx = 0; // reset index
CallumAlder 33:f1dc3b160eac 145 }
CallumAlder 19:805c87360b55 146 }
CallumAlder 19:805c87360b55 147 }
CallumAlder 33:f1dc3b160eac 148
CallumAlder 33:f1dc3b160eac 149
CallumAlder 33:f1dc3b160eac 150 }
CallumAlder 33:f1dc3b160eac 151
CallumAlder 33:f1dc3b160eac 152 void returnCursor() {
CallumAlder 33:f1dc3b160eac 153 pc.putc('>');
CallumAlder 33:f1dc3b160eac 154 for (int i = 0; i < inCharQIdx; ++i) // reset cursor position
CallumAlder 33:f1dc3b160eac 155 pc.putc(inCharQ[i]);
CallumAlder 33:f1dc3b160eac 156 // for (int i = inCharQIdx; i < MAXCMDLENGTH; ++i) // fill remaining with blanks
CallumAlder 33:f1dc3b160eac 157 // pc.putc(' ');
CallumAlder 33:f1dc3b160eac 158 // pc.putc('<');
CallumAlder 33:f1dc3b160eac 159 }
CallumAlder 33:f1dc3b160eac 160
CallumAlder 33:f1dc3b160eac 161 void cmdParser(){
CallumAlder 33:f1dc3b160eac 162 switch(newCmd[0]) {
CallumAlder 33:f1dc3b160eac 163 case 'K': //(MsgChar[keyAdded])://
CallumAlder 33:f1dc3b160eac 164 newKey_mutex.lock(); //Ensure there is no deadlock
CallumAlder 33:f1dc3b160eac 165 sscanf(newCmd, "K%x", &newKey); //Find desired the Key code
CallumAlder 33:f1dc3b160eac 166 putMessage(keyAdded, newKey); //Print it out
CallumAlder 33:f1dc3b160eac 167 newKey_mutex.unlock();
CallumAlder 33:f1dc3b160eac 168 break;
CallumAlder 33:f1dc3b160eac 169 case 'V': //(MsgChar[velIn])://
CallumAlder 33:f1dc3b160eac 170 sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity
CallumAlder 33:f1dc3b160eac 171 putMessage(velIn, targetVel); //Print it out
CallumAlder 33:f1dc3b160eac 172 break;
CallumAlder 33:f1dc3b160eac 173 case 'R': //(MsgChar[posIn])://
CallumAlder 33:f1dc3b160eac 174 sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation
CallumAlder 33:f1dc3b160eac 175 putMessage(posIn, targetRot); //Print it out
CallumAlder 33:f1dc3b160eac 176 break;
CallumAlder 33:f1dc3b160eac 177 case 'T': //(MsgChar[torque])://
CallumAlder 33:f1dc3b160eac 178 sscanf(newCmd, "T%d", &motorPower); //Find desired target torque
CallumAlder 33:f1dc3b160eac 179 putMessage(torque, motorPower); //Print it out
CallumAlder 33:f1dc3b160eac 180 break;
CallumAlder 33:f1dc3b160eac 181 default: break;
CallumAlder 33:f1dc3b160eac 182 }
CallumAlder 19:805c87360b55 183 }
CallumAlder 33:f1dc3b160eac 184
CallumAlder 33:f1dc3b160eac 185 //~~~~~Decode messages to print on serial port~~~~~
CallumAlder 33:f1dc3b160eac 186 void commOutFn() {
CallumAlder 33:f1dc3b160eac 187 while (_RUN) {
CallumAlder 33:f1dc3b160eac 188 osEvent newEvent = mailStack.get();
CallumAlder 33:f1dc3b160eac 189 msg *pMessage = (msg *) newEvent.value.p;
CallumAlder 33:f1dc3b160eac 190
CallumAlder 33:f1dc3b160eac 191 //Case switch to choose serial output based on incoming message
CallumAlder 33:f1dc3b160eac 192 switch (pMessage->type) {
CallumAlder 33:f1dc3b160eac 193 case motorState:
CallumAlder 33:f1dc3b160eac 194 pc.printf("The motor is currently in state %x\n\r", pMessage->message);
CallumAlder 33:f1dc3b160eac 195 break;
CallumAlder 33:f1dc3b160eac 196 case hashRate:
CallumAlder 33:f1dc3b160eac 197 pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message);
CallumAlder 33:f1dc3b160eac 198 returnCursor();
CallumAlder 33:f1dc3b160eac 199 break;
CallumAlder 33:f1dc3b160eac 200 case nonceMatch:
CallumAlder 33:f1dc3b160eac 201 pc.printf("\r>%s< Nonce found: %x\r", inCharQ, pMessage->message);
CallumAlder 33:f1dc3b160eac 202 returnCursor();
CallumAlder 33:f1dc3b160eac 203 break;
CallumAlder 33:f1dc3b160eac 204 case keyAdded:
CallumAlder 33:f1dc3b160eac 205 pc.printf("New Key Added:\t0x%016x\n\r", pMessage->message);
CallumAlder 33:f1dc3b160eac 206 break;
CallumAlder 33:f1dc3b160eac 207 case torque:
CallumAlder 33:f1dc3b160eac 208 pc.printf("Motor Torque set to:\t%d\n\r", pMessage->message);
CallumAlder 33:f1dc3b160eac 209 break;
CallumAlder 33:f1dc3b160eac 210 case velIn:
CallumAlder 33:f1dc3b160eac 211 pc.printf("Target Velocity set to:\t%.2f\n\r", targetVel);
CallumAlder 33:f1dc3b160eac 212 break;
CallumAlder 33:f1dc3b160eac 213 case velOut:
CallumAlder 33:f1dc3b160eac 214 pc.printf("Current Velocity:\t%.2f\n\r", \
CallumAlder 33:f1dc3b160eac 215 (float) ((int32_t) pMessage->message / 6));
CallumAlder 33:f1dc3b160eac 216 break;
CallumAlder 33:f1dc3b160eac 217 case posIn:
CallumAlder 33:f1dc3b160eac 218 pc.printf("Target Rotation set to:\t%.2f\n\r", \
CallumAlder 33:f1dc3b160eac 219 (float) ((int32_t) pMessage->message / 6));
CallumAlder 33:f1dc3b160eac 220 break;
CallumAlder 33:f1dc3b160eac 221 case posOut:
CallumAlder 33:f1dc3b160eac 222 pc.printf("Current Position:\t%.2f\n\r", \
CallumAlder 33:f1dc3b160eac 223 (float) ((int32_t) pMessage->message / 6));
CallumAlder 33:f1dc3b160eac 224 break;
CallumAlder 33:f1dc3b160eac 225 case error:
CallumAlder 33:f1dc3b160eac 226 pc.printf("\r>%s< Debugging position:%x\n\r", inCharQ, pMessage->message);
CallumAlder 33:f1dc3b160eac 227 for (int i = 0; i < MAXCMDLENGTH; ++i) // reset buffer
CallumAlder 33:f1dc3b160eac 228 inCharQ[i] = ' ';
CallumAlder 33:f1dc3b160eac 229 break;
CallumAlder 33:f1dc3b160eac 230 default:
CallumAlder 33:f1dc3b160eac 231 pc.printf("Unknown Error. Message: %x\n\r", pMessage->message);
CallumAlder 33:f1dc3b160eac 232 break;
CallumAlder 33:f1dc3b160eac 233 }
CallumAlder 33:f1dc3b160eac 234 mailStack.free(pMessage);
CallumAlder 19:805c87360b55 235 }
iachinweze1 23:ab1cb51527d1 236 }
CallumAlder 33:f1dc3b160eac 237
CallumAlder 33:f1dc3b160eac 238
CallumAlder 33:f1dc3b160eac 239
CallumAlder 33:f1dc3b160eac 240
CallumAlder 33:f1dc3b160eac 241 //TODO: stop function, maybe use parent de-constructor
CallumAlder 33:f1dc3b160eac 242 //void stop_comm{}
CallumAlder 33:f1dc3b160eac 243
CallumAlder 33:f1dc3b160eac 244 // public:
CallumAlder 33:f1dc3b160eac 245
CallumAlder 33:f1dc3b160eac 246 volatile uint64_t newKey; // hash key
CallumAlder 33:f1dc3b160eac 247 Mutex newKey_mutex; // Restrict access to prevent deadlock.
CallumAlder 33:f1dc3b160eac 248
CallumAlder 33:f1dc3b160eac 249 Comm() : pc(SERIAL_TX, SERIAL_RX),
CallumAlder 33:f1dc3b160eac 250 t_comm_out(osPriorityAboveNormal, 1024)
CallumAlder 33:f1dc3b160eac 251 { // inherit from the RawSerial constructor
CallumAlder 33:f1dc3b160eac 252
CallumAlder 33:f1dc3b160eac 253 pc.printf("%s\n\r", "Welcome" );
CallumAlder 33:f1dc3b160eac 254 MAXCMDLENGTH = 18;
CallumAlder 33:f1dc3b160eac 255
CallumAlder 33:f1dc3b160eac 256 // reset buffer
CallumAlder 33:f1dc3b160eac 257 // MbedOS prints 'Embedded Systems are fun and do awesome things!'
CallumAlder 33:f1dc3b160eac 258 // if you print a null terminator
CallumAlder 33:f1dc3b160eac 259 pc.putc('>');
CallumAlder 33:f1dc3b160eac 260 for (int i = 0; i < MAXCMDLENGTH; ++i) {
CallumAlder 33:f1dc3b160eac 261 inCharQ[i] = '.';
CallumAlder 33:f1dc3b160eac 262 pc.putc('.');
CallumAlder 33:f1dc3b160eac 263 }
CallumAlder 33:f1dc3b160eac 264 pc.putc('<');
CallumAlder 33:f1dc3b160eac 265 pc.putc('\r');
CallumAlder 33:f1dc3b160eac 266
CallumAlder 33:f1dc3b160eac 267 inCharQ[MAXCMDLENGTH] = '\0';
CallumAlder 33:f1dc3b160eac 268 strncpy(newCmd, inCharQ, MAXCMDLENGTH);
CallumAlder 33:f1dc3b160eac 269
CallumAlder 33:f1dc3b160eac 270 cmdIndx = 0;
CallumAlder 33:f1dc3b160eac 271
CallumAlder 33:f1dc3b160eac 272 inCharQIdx = 0;
CallumAlder 33:f1dc3b160eac 273 // inCharQIdx = MAXCMDLENGTH-1;
CallumAlder 33:f1dc3b160eac 274
CallumAlder 33:f1dc3b160eac 275
CallumAlder 33:f1dc3b160eac 276
CallumAlder 33:f1dc3b160eac 277 pc.attach(callback(this, &Comm::serialISR));
CallumAlder 33:f1dc3b160eac 278
CallumAlder 33:f1dc3b160eac 279 // Thread t_comm_in(osPriorityAboveNormal, 1024);
CallumAlder 33:f1dc3b160eac 280 // Thread t_comm_out(osPriorityAboveNormal, 1024);
CallumAlder 33:f1dc3b160eac 281 // Thread t_motor_ctrl(osPriorityAboveNormal, 1024);
CallumAlder 33:f1dc3b160eac 282
CallumAlder 33:f1dc3b160eac 283 motorPower = 300;
CallumAlder 33:f1dc3b160eac 284 targetVel = 45.0;
CallumAlder 33:f1dc3b160eac 285 targetRot = 459.0;
CallumAlder 33:f1dc3b160eac 286
CallumAlder 33:f1dc3b160eac 287
CallumAlder 33:f1dc3b160eac 288
CallumAlder 33:f1dc3b160eac 289 /*MsgChar = {'m', 'R', 'V', 'r', 'v',
CallumAlder 33:f1dc3b160eac 290
CallumAlder 33:f1dc3b160eac 291 'h', 'K', 'n',
CallumAlder 33:f1dc3b160eac 292
CallumAlder 33:f1dc3b160eac 293 'T', 'r',
CallumAlder 33:f1dc3b160eac 294
CallumAlder 33:f1dc3b160eac 295 'e'};*/
CallumAlder 19:805c87360b55 296 }
CallumAlder 33:f1dc3b160eac 297
CallumAlder 33:f1dc3b160eac 298
CallumAlder 33:f1dc3b160eac 299 void putMessage(msgType type, uint32_t message){
CallumAlder 33:f1dc3b160eac 300 msg *p_msg = mailStack.alloc();
CallumAlder 33:f1dc3b160eac 301 p_msg->type = type;
CallumAlder 33:f1dc3b160eac 302 p_msg->message = message;
CallumAlder 33:f1dc3b160eac 303 mailStack.put(p_msg);
iachinweze1 23:ab1cb51527d1 304 }
CallumAlder 33:f1dc3b160eac 305
CallumAlder 33:f1dc3b160eac 306 void start_comm(){
CallumAlder 33:f1dc3b160eac 307 _RUN = true;
CallumAlder 33:f1dc3b160eac 308
CallumAlder 33:f1dc3b160eac 309
CallumAlder 33:f1dc3b160eac 310 // reset buffer
CallumAlder 33:f1dc3b160eac 311 // MbedOS prints 'Embedded Systems are fun and do awesome things!'
CallumAlder 33:f1dc3b160eac 312 // if you print a null terminator
CallumAlder 33:f1dc3b160eac 313 pc.putc('>');
CallumAlder 33:f1dc3b160eac 314 for (int i = 0; i < MAXCMDLENGTH; ++i) {
CallumAlder 33:f1dc3b160eac 315 inCharQ[i] = '.';
CallumAlder 33:f1dc3b160eac 316 pc.putc('.');
CallumAlder 33:f1dc3b160eac 317 }
CallumAlder 33:f1dc3b160eac 318 pc.putc('<');
CallumAlder 33:f1dc3b160eac 319 pc.putc('\r');
CallumAlder 33:f1dc3b160eac 320
CallumAlder 33:f1dc3b160eac 321 inCharQ[MAXCMDLENGTH] = '\0';
CallumAlder 33:f1dc3b160eac 322 strncpy(newCmd, inCharQ, MAXCMDLENGTH);
CallumAlder 33:f1dc3b160eac 323
CallumAlder 33:f1dc3b160eac 324 // returnCursor();
CallumAlder 33:f1dc3b160eac 325
CallumAlder 33:f1dc3b160eac 326 // t_comm_in.start(callback(this, &Comm::commInFn));
CallumAlder 33:f1dc3b160eac 327 // this::thread::wait()
CallumAlder 33:f1dc3b160eac 328 // wait(1.0);
CallumAlder 33:f1dc3b160eac 329 t_comm_out.start(callback(this, &Comm::commOutFn));
CallumAlder 33:f1dc3b160eac 330
CallumAlder 33:f1dc3b160eac 331
CallumAlder 33:f1dc3b160eac 332
CallumAlder 33:f1dc3b160eac 333 }
CallumAlder 33:f1dc3b160eac 334
CallumAlder 33:f1dc3b160eac 335 char newCmd[]; // because unallocated must be defined at the bottom of the class
CallumAlder 33:f1dc3b160eac 336 char inCharQ[];
CallumAlder 19:805c87360b55 337 };
CallumAlder 19:805c87360b55 338
iachinweze1 12:41b3112021a3 339
adehadd 30:fbae0e5f200d 340 class Motor {
CallumAlder 28:4f02ac845e5d 341
CallumAlder 28:4f02ac845e5d 342
CallumAlder 33:f1dc3b160eac 343 protected:
CallumAlder 33:f1dc3b160eac 344 int8_t orState; //Rotor offset at motor state 0, motor specific
CallumAlder 33:f1dc3b160eac 345 volatile int8_t currentState; //Current Rotor State
CallumAlder 33:f1dc3b160eac 346 volatile int8_t stateList[6]; //All possible rotor states stored
CallumAlder 28:4f02ac845e5d 347
CallumAlder 33:f1dc3b160eac 348 //Phase lead to make motor spin
CallumAlder 33:f1dc3b160eac 349 int8_t lead;
CallumAlder 33:f1dc3b160eac 350
CallumAlder 33:f1dc3b160eac 351 Comm* p_comm;
CallumAlder 33:f1dc3b160eac 352
CallumAlder 33:f1dc3b160eac 353 //Run the motor synchronisation
adehadd 31:b10ca6cf39bf 354
CallumAlder 33:f1dc3b160eac 355 float dutyC; // 1 = 100%
CallumAlder 33:f1dc3b160eac 356 float mtrPeriod; // motor period
CallumAlder 33:f1dc3b160eac 357 uint8_t stateCount[3]; // State Counter
CallumAlder 33:f1dc3b160eac 358 uint8_t theStates[3]; // The Key states
CallumAlder 33:f1dc3b160eac 359
CallumAlder 33:f1dc3b160eac 360 Thread t_motor_ctrl; // Thread for motor Control
CallumAlder 33:f1dc3b160eac 361
CallumAlder 33:f1dc3b160eac 362 public:
CallumAlder 33:f1dc3b160eac 363
CallumAlder 33:f1dc3b160eac 364 Motor() : t_motor_ctrl(osPriorityAboveNormal, 1024)
CallumAlder 33:f1dc3b160eac 365 {
CallumAlder 33:f1dc3b160eac 366 // Set Power to maximum to drive motorHome()
CallumAlder 33:f1dc3b160eac 367 dutyC = 1;
CallumAlder 33:f1dc3b160eac 368 mtrPeriod = 2e-3; // motor period
CallumAlder 33:f1dc3b160eac 369 pwmCtrl.period(mtrPeriod);
CallumAlder 33:f1dc3b160eac 370 pwmCtrl.pulsewidth(mtrPeriod*dutyC);
CallumAlder 33:f1dc3b160eac 371
CallumAlder 33:f1dc3b160eac 372 orState = motorHome(); //Rotot offset at motor state 0
CallumAlder 33:f1dc3b160eac 373 currentState = readRotorState(); //Current Rotor State
CallumAlder 33:f1dc3b160eac 374 // stateList[6] = {0,0,0, 0,0,0}; //All possible rotor states stored
CallumAlder 33:f1dc3b160eac 375
CallumAlder 33:f1dc3b160eac 376 theStates[0] = orState;
CallumAlder 33:f1dc3b160eac 377 theStates[1] = (orState + lead) % 6;
CallumAlder 33:f1dc3b160eac 378 theStates[2] = (orState + (lead*2)) % 6;
CallumAlder 33:f1dc3b160eac 379
CallumAlder 33:f1dc3b160eac 380 lead = 2; //2 for forwards, -2 for backwards
CallumAlder 33:f1dc3b160eac 381
CallumAlder 33:f1dc3b160eac 382 stateCount[0] = 0; stateCount[1] = 0; stateCount[2] = 0;
CallumAlder 33:f1dc3b160eac 383 theStates[0] = 0; theStates[1] = 0; theStates[2] = 0;
CallumAlder 33:f1dc3b160eac 384
CallumAlder 33:f1dc3b160eac 385 p_comm = NULL; // null pointer for now
CallumAlder 33:f1dc3b160eac 386
CallumAlder 33:f1dc3b160eac 387 }
CallumAlder 33:f1dc3b160eac 388
CallumAlder 33:f1dc3b160eac 389
CallumAlder 33:f1dc3b160eac 390 void motorStart(Comm *comm) {
CallumAlder 33:f1dc3b160eac 391
CallumAlder 33:f1dc3b160eac 392 // Establish Photointerrupter Service Routines (auto choose next state)
CallumAlder 33:f1dc3b160eac 393 I1.fall(callback(this, &Motor::stateUpdate));
CallumAlder 33:f1dc3b160eac 394 I2.fall(callback(this, &Motor::stateUpdate));
CallumAlder 33:f1dc3b160eac 395 I3.fall(callback(this, &Motor::stateUpdate));
CallumAlder 33:f1dc3b160eac 396 I1.rise(callback(this, &Motor::stateUpdate));
CallumAlder 33:f1dc3b160eac 397 I2.rise(callback(this, &Motor::stateUpdate));
CallumAlder 33:f1dc3b160eac 398 I3.rise(callback(this, &Motor::stateUpdate));
CallumAlder 33:f1dc3b160eac 399
CallumAlder 33:f1dc3b160eac 400 // push digitally so if motor is static it will start moving
CallumAlder 33:f1dc3b160eac 401 motorOut((currentState-orState+lead+6)%6); // We push it digitally
CallumAlder 33:f1dc3b160eac 402
CallumAlder 33:f1dc3b160eac 403 // Default a lower duty cylce
CallumAlder 33:f1dc3b160eac 404 dutyC = 0.8;
CallumAlder 33:f1dc3b160eac 405 pwmCtrl.period(mtrPeriod);
CallumAlder 33:f1dc3b160eac 406 pwmCtrl.pulsewidth(mtrPeriod*dutyC);
CallumAlder 33:f1dc3b160eac 407
CallumAlder 33:f1dc3b160eac 408 // Start motor control thread
CallumAlder 33:f1dc3b160eac 409 t_motor_ctrl.start(callback(this, &Motor::motorCtrlFn));
CallumAlder 33:f1dc3b160eac 410
CallumAlder 33:f1dc3b160eac 411 p_comm = comm;
CallumAlder 29:c96439a60184 412 }
CallumAlder 33:f1dc3b160eac 413
CallumAlder 33:f1dc3b160eac 414 //Set a given drive state
CallumAlder 33:f1dc3b160eac 415 void motorOut(int8_t driveState) {
CallumAlder 33:f1dc3b160eac 416
CallumAlder 33:f1dc3b160eac 417 //Lookup the output byte from the drive state.
CallumAlder 33:f1dc3b160eac 418 int8_t driveOut = driveTable[driveState & 0x07];
CallumAlder 33:f1dc3b160eac 419
CallumAlder 33:f1dc3b160eac 420 //Turn off first
CallumAlder 33:f1dc3b160eac 421 if (~driveOut & 0x01) L1L = 0;
CallumAlder 33:f1dc3b160eac 422 if (~driveOut & 0x02) L1H = 1;
CallumAlder 33:f1dc3b160eac 423 if (~driveOut & 0x04) L2L = 0;
CallumAlder 33:f1dc3b160eac 424 if (~driveOut & 0x08) L2H = 1;
CallumAlder 33:f1dc3b160eac 425 if (~driveOut & 0x10) L3L = 0;
CallumAlder 33:f1dc3b160eac 426 if (~driveOut & 0x20) L3H = 1;
CallumAlder 33:f1dc3b160eac 427
CallumAlder 33:f1dc3b160eac 428 //Then turn on
CallumAlder 33:f1dc3b160eac 429 if (driveOut & 0x01) L1L = 1;
CallumAlder 33:f1dc3b160eac 430 if (driveOut & 0x02) L1H = 0;
CallumAlder 33:f1dc3b160eac 431 if (driveOut & 0x04) L2L = 1;
CallumAlder 33:f1dc3b160eac 432 if (driveOut & 0x08) L2H = 0;
CallumAlder 33:f1dc3b160eac 433 if (driveOut & 0x10) L3L = 1;
CallumAlder 33:f1dc3b160eac 434 if (driveOut & 0x20) L3H = 0;
CallumAlder 33:f1dc3b160eac 435 }
CallumAlder 33:f1dc3b160eac 436
CallumAlder 33:f1dc3b160eac 437 //Convert photointerrupter inputs to a rotor state
CallumAlder 33:f1dc3b160eac 438 inline int8_t readRotorState() {
CallumAlder 33:f1dc3b160eac 439 return stateMap[I1 + 2*I2 + 4*I3];
CallumAlder 33:f1dc3b160eac 440 }
CallumAlder 33:f1dc3b160eac 441
CallumAlder 33:f1dc3b160eac 442 //Basic synchronisation routine
CallumAlder 33:f1dc3b160eac 443 int8_t motorHome() {
CallumAlder 33:f1dc3b160eac 444 //Put the motor in drive state 0 and wait for it to stabilise
CallumAlder 33:f1dc3b160eac 445 motorOut(0);
CallumAlder 33:f1dc3b160eac 446 wait(2.0);
CallumAlder 33:f1dc3b160eac 447
CallumAlder 33:f1dc3b160eac 448 //Get the rotor state
CallumAlder 33:f1dc3b160eac 449 return readRotorState();
CallumAlder 33:f1dc3b160eac 450 }
CallumAlder 33:f1dc3b160eac 451
CallumAlder 33:f1dc3b160eac 452
CallumAlder 33:f1dc3b160eac 453 void stateUpdate() { // () { // **params
CallumAlder 33:f1dc3b160eac 454 currentState = readRotorState();
CallumAlder 33:f1dc3b160eac 455
CallumAlder 33:f1dc3b160eac 456 // Store into state counter
CallumAlder 33:f1dc3b160eac 457 if (currentState == theStates[0])
CallumAlder 33:f1dc3b160eac 458 stateCount[0]++;
CallumAlder 33:f1dc3b160eac 459 else if (currentState == theStates[1])
CallumAlder 33:f1dc3b160eac 460 stateCount[1]++;
CallumAlder 33:f1dc3b160eac 461 else if (currentState == theStates[2])
CallumAlder 33:f1dc3b160eac 462 stateCount[2]++;
CallumAlder 33:f1dc3b160eac 463
CallumAlder 33:f1dc3b160eac 464
CallumAlder 33:f1dc3b160eac 465 // (Current - Offset + lead + 6) %6
CallumAlder 33:f1dc3b160eac 466 motorOut((currentState - orState + lead + 6) % 6);
CallumAlder 33:f1dc3b160eac 467
CallumAlder 33:f1dc3b160eac 468 }
CallumAlder 33:f1dc3b160eac 469
CallumAlder 33:f1dc3b160eac 470
CallumAlder 33:f1dc3b160eac 471
CallumAlder 33:f1dc3b160eac 472 // attach_us -> runs funtion every 100ms
CallumAlder 33:f1dc3b160eac 473 void motorCtrlFn() {
CallumAlder 33:f1dc3b160eac 474 Ticker motorCtrlTicker;
CallumAlder 33:f1dc3b160eac 475 motorCtrlTicker.attach_us(callback(this,&Motor::motorCtrlTick), 1e5);
CallumAlder 33:f1dc3b160eac 476 while (1) {
CallumAlder 33:f1dc3b160eac 477 t_motor_ctrl.signal_wait((int32_t)0x1);
CallumAlder 33:f1dc3b160eac 478 p_comm->pc.printf("B4115");
CallumAlder 33:f1dc3b160eac 479 }
CallumAlder 33:f1dc3b160eac 480 }
CallumAlder 33:f1dc3b160eac 481
CallumAlder 33:f1dc3b160eac 482 void motorCtrlTick(){
CallumAlder 33:f1dc3b160eac 483 t_motor_ctrl.signal_set(0x1);
CallumAlder 33:f1dc3b160eac 484 }
CallumAlder 29:c96439a60184 485 };
adehadd 20:c60f4785b556 486
adehadd 20:c60f4785b556 487
estott 0:de4320f74764 488 int main() {
CallumAlder 19:805c87360b55 489
CallumAlder 32:fc5e00d9f74d 490 // Declare Objects
CallumAlder 32:fc5e00d9f74d 491 Comm comm_port;
CallumAlder 32:fc5e00d9f74d 492 SHA256 miner;
CallumAlder 32:fc5e00d9f74d 493 Motor motor;
CallumAlder 32:fc5e00d9f74d 494
CallumAlder 32:fc5e00d9f74d 495 // Start Motor and Comm Port
CallumAlder 32:fc5e00d9f74d 496 motor.motorStart(&comm_port);
CallumAlder 32:fc5e00d9f74d 497 comm_port.start_comm();
adehadd 20:c60f4785b556 498
CallumAlder 32:fc5e00d9f74d 499 // Declare Hash Variables
CallumAlder 14:4e312fb83330 500 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
CallumAlder 14:4e312fb83330 501 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
CallumAlder 14:4e312fb83330 502 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
CallumAlder 14:4e312fb83330 503 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
CallumAlder 14:4e312fb83330 504 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
CallumAlder 14:4e312fb83330 505 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
CallumAlder 14:4e312fb83330 506 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
CallumAlder 14:4e312fb83330 507 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
CallumAlder 14:4e312fb83330 508 uint64_t* key = (uint64_t*)((int)sequence + 48);
CallumAlder 14:4e312fb83330 509 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
CallumAlder 14:4e312fb83330 510 uint8_t hash[32];
CallumAlder 14:4e312fb83330 511 uint32_t length64 = 64;
CallumAlder 15:2f95f2fb68e3 512 uint32_t hashCounter = 0;
CallumAlder 32:fc5e00d9f74d 513
CallumAlder 32:fc5e00d9f74d 514 // Begin Main Timer
iachinweze1 23:ab1cb51527d1 515 Timer timer;
CallumAlder 32:fc5e00d9f74d 516 timer.start();
CallumAlder 29:c96439a60184 517
CallumAlder 32:fc5e00d9f74d 518 // Loop Program
CallumAlder 15:2f95f2fb68e3 519 while (1) {
CallumAlder 32:fc5e00d9f74d 520
CallumAlder 32:fc5e00d9f74d 521 // Mutex For Access Control
CallumAlder 32:fc5e00d9f74d 522 comm_port.newKey_mutex.lock();
CallumAlder 32:fc5e00d9f74d 523 *key = comm_port.newKey;
CallumAlder 32:fc5e00d9f74d 524 comm_port.newKey_mutex.unlock();
CallumAlder 32:fc5e00d9f74d 525
CallumAlder 32:fc5e00d9f74d 526 // Compute Hash and Counter
CallumAlder 32:fc5e00d9f74d 527 miner.computeHash(hash, sequence, length64);
CallumAlder 15:2f95f2fb68e3 528 hashCounter++;
CallumAlder 32:fc5e00d9f74d 529
CallumAlder 32:fc5e00d9f74d 530 // Enum Casting and Condition
CallumAlder 15:2f95f2fb68e3 531 if ((hash[0]==0) && (hash[1]==0)){
CallumAlder 32:fc5e00d9f74d 532 comm_port.putMessage((Comm::msgType)7, *nonce);
CallumAlder 15:2f95f2fb68e3 533 }
CallumAlder 15:2f95f2fb68e3 534
CallumAlder 32:fc5e00d9f74d 535 // Try Nonce
CallumAlder 15:2f95f2fb68e3 536 (*nonce)++;
CallumAlder 32:fc5e00d9f74d 537
CallumAlder 32:fc5e00d9f74d 538 // Display via Comm Port
CallumAlder 15:2f95f2fb68e3 539 if (timer.read() >= 1){
CallumAlder 32:fc5e00d9f74d 540 comm_port.putMessage((Comm::msgType)5, hashCounter);
CallumAlder 15:2f95f2fb68e3 541 hashCounter=0;
CallumAlder 15:2f95f2fb68e3 542 timer.reset();
CallumAlder 15:2f95f2fb68e3 543 }
CallumAlder 15:2f95f2fb68e3 544 }
CallumAlder 33:f1dc3b160eac 545
CallumAlder 33:f1dc3b160eac 546 return 0;
CallumAlder 33:f1dc3b160eac 547
CallumAlder 19:805c87360b55 548 }