![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Diff: main.cpp
- Revision:
- 29:c96439a60184
- Parent:
- 28:4f02ac845e5d
- Child:
- 30:fbae0e5f200d
--- a/main.cpp Sat Mar 16 18:16:39 2019 +0000 +++ b/main.cpp Mon Mar 18 15:37:20 2019 +0000 @@ -47,39 +47,23 @@ 7 - - - */ -/*//Declare and start threads -class T_{ - - // protected: - public: +//Status LED +DigitalOut led1(LED1); - Thread *p_comm_in; - Thread *p_comm_out; - Thread *p_motor_ctrl; - - +//Photointerrupter inputs +InterruptIn I1(I1pin); +InterruptIn I2(I2pin); +InterruptIn I3(I3pin); - 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; +//Motor Drive outputs +DigitalOut L1L(L1Lpin); +DigitalOut L1H(L1Hpin); +DigitalOut L2L(L2Lpin); +DigitalOut L2H(L2Hpin); +DigitalOut L3L(L3Lpin); +DigitalOut L3H(L3Hpin); - } - - ~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(); - } -};*/ +PwmOut pwmCtrl(PWMpin); //Drive state to output table const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; @@ -408,36 +392,12 @@ int8_t* params[2]; - //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); - - - + float dutyC; // 1 = 100% + float mtrPeriod; // motor period + int stateCount; public: - - - float dutyC = 1; // 100% - float mtrPeriod = 2e-3; // motor period - - - Motor(){ orState = motorHome();; //Rotot offset at motor state 0 @@ -447,21 +407,23 @@ motorOut((currentState-orState+lead+6)%6); // We push it digitally dutyC = 0.8; + mtrPeriod = 2e-3; // motor period pwmCtrl.pulsewidth(mtrPeriod*dutyC); 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)); + I1.fall(callback(this, &Motor::stateUpdate)); + I2.fall(callback(this, &Motor::stateUpdate)); + I3.fall(callback(this, &Motor::stateUpdate)); + I1.rise(callback(this, &Motor::stateUpdate)); + I2.rise(callback(this, &Motor::stateUpdate)); + I3.rise(callback(this, &Motor::stateUpdate)); pwmCtrl.period(mtrPeriod); pwmCtrl.pulsewidth(mtrPeriod*dutyC); + + stateCount = 0; } @@ -505,15 +467,29 @@ } - void stateUpdate(int8_t *params[]) { // () { // **params + void stateUpdate() { // () { // **params *params[0] = readRotorState(); int8_t currentState = *params[0]; int8_t offset = *params[1]; motorOut((currentState - offset + lead + 6) % 6); + + if (stateCount<6){ + stateList[stateCount] = currentState; + stateCount++; + } + else { + //pc.printf("states"); + //for(int i = 0; i < 6; ++i) + //pc.printf("%02i,", stateList[i]); + //pc.printf("\n\r"); + stateCount = 0; + } + + } -} +}; @@ -558,7 +534,7 @@ // Keep the program running indefinitely timer.start(); // start timer - int stateCount = 0; + while (1) { // pc.printf("Current:%d \t Next:%d \n\r", currentState, (currentState-orState+lead+6)%6); comm_plz.newKey_mutex.lock(); @@ -573,18 +549,6 @@ // Try a new nonce (*nonce)++; - if (stateCount<6){ - stateList[stateCount] = currentState; - stateCount++; - } - else { - //pc.printf("states"); - //for(int i = 0; i < 6; ++i) - //pc.printf("%02i,", stateList[i]); - //pc.printf("\n\r"); - stateCount = 0; - } - // Per Second i.e. when greater or equal to 1 if (timer.read() >= 1){ comm_plz.putMessage((Comm::msgType)5, hashCounter);