Skad00sh
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Diff: main.cpp
- Revision:
- 28:4f02ac845e5d
- Parent:
- 24:be5fef3dace1
- Child:
- 29:c96439a60184
--- a/main.cpp Sat Mar 16 16:43:47 2019 +0000
+++ b/main.cpp Sat Mar 16 18:16:39 2019 +0000
@@ -8,6 +8,7 @@
Indx
newCmd
MAXCMDLENGTH
+move the global variables to a class because we arent paeasents
*/
//Photointerrupter input pins
@@ -45,6 +46,41 @@
6 - - -
7 - - -
*/
+
+/*//Declare and start threads
+class T_{
+
+ // protected:
+ public:
+
+ Thread *p_comm_in;
+ Thread *p_comm_out;
+ Thread *p_motor_ctrl;
+
+
+
+ T_(){
+ //(priority, stack size,
+ Thread comm_in(osPriorityAboveNormal, 1024);
+ Thread comm_out(osPriorityAboveNormal, 1024);
+ Thread motor_ctrl(osPriorityAboveNormal, 1024);
+
+ p_comm_in = &comm_in;
+ p_comm_out = &comm_out;
+ p_motor_ctrl = &motor_ctrl;
+
+ }
+
+ ~T_(){
+ if (p_comm_in->get_state() == 2)
+ p_comm_in->terminate();
+ if (p_comm_out->get_state() == 2)
+ p_comm_out->terminate();
+ if (p_motor_ctrl->get_state() == 2)
+ p_motor_ctrl->terminate();
+ }
+};*/
+
//Drive state to output table
const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
@@ -55,26 +91,6 @@
//Phase lead to make motor spin
const int8_t lead = 2; //2 for forwards, -2 for backwards
-//Status LED
-DigitalOut led1(LED1);
-
-//Photointerrupter inputs
-InterruptIn I1(I1pin);
-InterruptIn I2(I2pin);
-InterruptIn I3(I3pin);
-
-//Motor Drive outputs
-DigitalOut L1L(L1Lpin);
-DigitalOut L1H(L1Hpin);
-DigitalOut L2L(L2Lpin);
-DigitalOut L2H(L2Hpin);
-DigitalOut L3L(L3Lpin);
-DigitalOut L3H(L3Hpin);
-
-PwmOut pwmCtrl(PWMpin);
-
-uint8_t stateCount[3];
-uint8_t theStates[3];
class Comm /*: public T_*/{
@@ -269,30 +285,9 @@
void motorCtrlFn() {
Ticker motorCtrlTicker;
motorCtrlTicker.attach_us(callback(this,&Comm::motorCtrlTick), 1e5);
- uint8_t cpyStateCount[3];
- uint8_t cpyCurrentState;
- while (_RUN) {
+ while (1) {
t_motor_ctrl.signal_wait((int32_t)0x1);
- core_util_critical_section_enter();
- //Access shared variables here
- std::copy(stateCount, stateCount+3, cpyStateCount);
- // TODO: A thing
- cpyCurrentState = 0;
- for (int i = 0; i < 3; ++i) {
- stateCount[i] = 0;
- }
- core_util_critical_section_exit();
-
- uint8_t iterElementMax = std::max_element(cpyStateCount, cpyStateCount+3) - cpyStateCount;
-
- int16_t totalDegrees = 360 * cpyStateCount[iterElementMax];
- int16_t stateDiff = theStates[iterElementMax]-cpyCurrentState;
- if (stateDiff >= 0) {
- totalDegrees = totalDegrees + (60* stateDiff);
- } else {
- totalDegrees = totalDegrees + (60*stateDiff*-1);
- }
- pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
+ pc.printf("B4115");
}
}
@@ -311,7 +306,7 @@
Comm() : pc(SERIAL_TX, SERIAL_RX),
t_comm_out(osPriorityAboveNormal, 1024),
- t_motor_ctrl(osPriorityAboveNormal2, 1024)
+ t_motor_ctrl(osPriorityAboveNormal, 1024)
{ // inherit from the RawSerial constructor
pc.printf("%s\n\r", "Welcome" );
@@ -402,64 +397,125 @@
-//Set a given drive state
-void motorOut(int8_t driveState){
+class Motor{
+
+
+protected:
+ int8_t orState; //Rotot offset at motor state 0
+ int8_t currentState; //Rotot offset at motor state 0
+ int8_t stateList[6]; //Rotot offset at motor state 0
+ //Run the motor synchronisation
+
+ int8_t* params[2];
- //Lookup the output byte from the drive state.
- int8_t driveOut = driveTable[driveState & 0x07];
+ //Status LED
+ DigitalOut led1(LED1);
+
+ //Photointerrupter inputs
+ InterruptIn I1(I1pin);
+ InterruptIn I2(I2pin);
+ InterruptIn I3(I3pin);
+
+ //Motor Drive outputs
+ DigitalOut L1L(L1Lpin);
+ DigitalOut L1H(L1Hpin);
+ DigitalOut L2L(L2Lpin);
+ DigitalOut L2H(L2Hpin);
+ DigitalOut L3L(L3Lpin);
+ DigitalOut L3H(L3Hpin);
- //Turn off first
- if (~driveOut & 0x01) L1L = 0;
- if (~driveOut & 0x02) L1H = 1;
- if (~driveOut & 0x04) L2L = 0;
- if (~driveOut & 0x08) L2H = 1;
- if (~driveOut & 0x10) L3L = 0;
- if (~driveOut & 0x20) L3H = 1;
+ PwmOut pwmCtrl(PWMpin);
+
+
+
+
+public:
+
+
+
+ float dutyC = 1; // 100%
+ float mtrPeriod = 2e-3; // motor period
+
+
+
+ Motor(){
+
+ orState = motorHome();; //Rotot offset at motor state 0
+ currentState = readRotorState();; //Rotot offset at motor state 0
+ stateList[6]; //Rotot offset at motor state 0
+
+ motorOut((currentState-orState+lead+6)%6); // We push it digitally
+
+ dutyC = 0.8;
+ pwmCtrl.pulsewidth(mtrPeriod*dutyC);
+
+ params[0] = ¤tState;
+ params[1] = &orState;
- //Then turn on
- if (driveOut & 0x01) L1L = 1;
- if (driveOut & 0x02) L1H = 0;
- if (driveOut & 0x04) L2L = 1;
- if (driveOut & 0x08) L2H = 0;
- if (driveOut & 0x10) L3L = 1;
- if (driveOut & 0x20) L3H = 0;
-}
+ I1.fall(callback(&stateUpdate,params));
+ I2.fall(callback(&stateUpdate,params));
+ I3.fall(callback(&stateUpdate,params));
+
+ I1.rise(callback(&stateUpdate,params));
+ I2.rise(callback(&stateUpdate,params));
+ I3.rise(callback(&stateUpdate,params));
+
+ pwmCtrl.period(mtrPeriod);
+ pwmCtrl.pulsewidth(mtrPeriod*dutyC);
+
+ }
+
+
+ //Set a given drive state
+ void motorOut(int8_t driveState){
+
+ //Lookup the output byte from the drive state.
+ int8_t driveOut = driveTable[driveState & 0x07];
+
+ //Turn off first
+ if (~driveOut & 0x01) L1L = 0;
+ if (~driveOut & 0x02) L1H = 1;
+ if (~driveOut & 0x04) L2L = 0;
+ if (~driveOut & 0x08) L2H = 1;
+ if (~driveOut & 0x10) L3L = 0;
+ if (~driveOut & 0x20) L3H = 1;
-//Convert photointerrupter inputs to a rotor state
-inline int8_t readRotorState(){
- return stateMap[I1 + 2*I2 + 4*I3];
-}
+ //Then turn on
+ if (driveOut & 0x01) L1L = 1;
+ if (driveOut & 0x02) L1H = 0;
+ if (driveOut & 0x04) L2L = 1;
+ if (driveOut & 0x08) L2H = 0;
+ if (driveOut & 0x10) L3L = 1;
+ if (driveOut & 0x20) L3H = 0;
+ }
+
+ //Convert photointerrupter inputs to a rotor state
+ inline int8_t readRotorState(){
+ return stateMap[I1 + 2*I2 + 4*I3];
+ }
-//Basic synchronisation routine
-int8_t motorHome() {
- //Put the motor in drive state 0 and wait for it to stabilise
- motorOut(0);
- wait(2.0);
+ //Basic synchronisation routine
+ int8_t motorHome() {
+ //Put the motor in drive state 0 and wait for it to stabilise
+ motorOut(0);
+ wait(2.0);
+
+ //Get the rotor state
+ return readRotorState();
+ }
- //Get the rotor state
- return readRotorState();
+
+ void stateUpdate(int8_t *params[]) { // () { // **params
+ *params[0] = readRotorState();
+ int8_t currentState = *params[0];
+ int8_t offset = *params[1];
+
+ motorOut((currentState - offset + lead + 6) % 6);
+ }
+
}
-void stateUpdate(int8_t *params[]) { // () { // **params
- *params[0] = readRotorState();
- int8_t currentState = *params[0];
- int8_t offset = *params[1];
-
- switch (currentState) {
- case 1:
- stateCount[0]++;
- break;
- case (1 + lead):
- stateCount[1]++;
- break;
- case (1 + (lead*2)):
- stateCount[2]++;
- break;
- }
-
- motorOut((currentState - offset + lead + 6) % 6);
-}
//Main
int main() {
@@ -470,6 +526,8 @@
// comm_plz.pc.printf("%s\n", "do i work bruh" ); // using printf of class is calm
SHA256 Miner;
+ Motor motor;
+
uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
@@ -485,44 +543,9 @@
uint32_t hashCounter = 0;
Timer timer;
- float dutyC = 1; // 100%
- float mtrPeriod = 2e-3; // motor period
-
- pwmCtrl.period(mtrPeriod);
- pwmCtrl.pulsewidth(mtrPeriod*dutyC);
-
comm_plz.start_comm();
// Motor States
- int8_t orState = 0; //Rotot offset at motor state 0
- int8_t currentState = 0; //Rotot offset at motor state 0
- int8_t stateList[6]; //Rotot offset at motor state 0
- //Run the motor synchronisation
- orState = motorHome();
-
- theStates[0] = orState;
- theStates[1] = (orState + lead) % 6;
- theStates[2] = (orState + (lead*2)) % 6;
-
- // Add callbacks
- // I1.fall(&stateUpdate);
- // I2.fall(&stateUpdate);
- // I3.fall(&stateUpdate);
- int8_t* params[2];
- params[0] = ¤tState;
- params[1] = &orState;
-
- I1.fall(callback(&stateUpdate,params));
- I2.fall(callback(&stateUpdate,params));
- I3.fall(callback(&stateUpdate,params));
-
- I1.rise(callback(&stateUpdate,params));
- I2.rise(callback(&stateUpdate,params));
- I3.rise(callback(&stateUpdate,params));
-
- // Push motor to move
- currentState = readRotorState();
- motorOut((currentState-orState+lead+6)%6); // We push it digitally
// pc.printf("Rotor origin: %x\n\r",orState);
// orState is subtracted from future rotor state inputs to align rotor and motor states
@@ -533,10 +556,6 @@
// motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
// }
- dutyC = 0.8;
- pwmCtrl.pulsewidth(mtrPeriod*dutyC);
-
-
// Keep the program running indefinitely
timer.start(); // start timer
int stateCount = 0;