Skad00sh / Mbed OS ES_CW2_Dev

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

Dependencies:   Crypto

main.cpp@48:b2afe48ced0d, 2019-03-21 (annotated)

Committer:
CallumAlder
Date:
Thu Mar 21 23:54:18 2019 +0000
Revision:
48:b2afe48ced0d
Parent:
47:21bf4096faa1
Child:
49:ae8dedfe2d0f
fm gay balls

Who changed what in which revision?

UserRevisionLine numberNew 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
CallumAlder 48:b2afe48ced0d 96 Mutex _newKeyMutex; // Restrict access to prevent deadlock.
CallumAlder 48:b2afe48ced0d 97 bool YES = false;
CallumAlder 42:121148278dae 98 class Comm{
CallumAlder 42:121148278dae 99
CallumAlder 42:121148278dae 100 public:
estott 0:de4320f74764 101
CallumAlder 43:a6d20109b2f2 102 volatile bool _outMining;
CallumAlder 43:a6d20109b2f2 103 volatile float _targetVel, _targetRot;
CallumAlder 47:21bf4096faa1 104 volatile char _notes[9]; // Array of actual _notes
estott 0:de4320f74764 105
CallumAlder 47:21bf4096faa1 106 volatile int8_t _modeBitField; // 0,0,0,... <=> Melody,Torque,Rotation,Velocity
CallumAlder 47:21bf4096faa1 107 const uint8_t _MAXCMDLENGTH; //
CallumAlder 47:21bf4096faa1 108 volatile uint8_t _inCharIndex, _cmdIndex,
CallumAlder 47:21bf4096faa1 109 _noteDur[9],_noteLen; // Array of note durations
CallumAlder 47:21bf4096faa1 110 volatile uint32_t _motorTorque; // Motor Toque
CallumAlder 47:21bf4096faa1 111 volatile uint64_t _newKey; // hash key
CallumAlder 48:b2afe48ced0d 112
CallumAlder 43:a6d20109b2f2 113
CallumAlder 47:21bf4096faa1 114 RawSerial _pc;
CallumAlder 47:21bf4096faa1 115 Thread _tCommOut;
CallumAlder 47:21bf4096faa1 116 bool _RUN;
CallumAlder 42:121148278dae 117
CallumAlder 48:b2afe48ced0d 118 enum msgType { mot_orState, posIn, velIn, posOut, velOut,
CallumAlder 42:121148278dae 119 hashRate, keyAdded, nonceMatch,
CallumAlder 43:a6d20109b2f2 120 torque, rotations, melody,
CallumAlder 42:121148278dae 121 error};
adehadd 27:ce05fed3c1ea 122
CallumAlder 47:21bf4096faa1 123 typedef struct { msgType type;
CallumAlder 47:21bf4096faa1 124 uint32_t message;} msg;
adehadd 27:ce05fed3c1ea 125
CallumAlder 47:21bf4096faa1 126 Mail<msg, 32> _msgStack;
CallumAlder 47:21bf4096faa1 127
iachinweze1 23:ab1cb51527d1 128
CallumAlder 48:b2afe48ced0d 129 //-- Default Constructor With Inheritance From RawSerial Constructor ------------------------------------------------//
CallumAlder 48:b2afe48ced0d 130 Comm(): _pc(SERIAL_TX, SERIAL_RX), _tCommOut(osPriorityAboveNormal, 1024), _MAXCMDLENGTH(18){
adehadd 27:ce05fed3c1ea 131
CallumAlder 47:21bf4096faa1 132 _cmdIndex = 0;
CallumAlder 47:21bf4096faa1 133 _inCharIndex = 0;
adehadd 45:402a8a9423b9 134
CallumAlder 47:21bf4096faa1 135 _outMining = false;
CallumAlder 47:21bf4096faa1 136 _motorTorque = 300;
CallumAlder 47:21bf4096faa1 137 _targetRot = 459.0;
CallumAlder 47:21bf4096faa1 138 _targetVel = 45.0;
iachinweze1 23:ab1cb51527d1 139
CallumAlder 47:21bf4096faa1 140 _modeBitField = 0x01; // Default velocity mode
adehadd 45:402a8a9423b9 141
CallumAlder 48:b2afe48ced0d 142 _pc.printf("\n\r%s\n\r>", "Welcome" ); // Welcome
CallumAlder 47:21bf4096faa1 143 for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer
CallumAlder 48:b2afe48ced0d 144 _inCharQ[i] = (char)'.'; // If a null terminator is printed Mbed prints 'Embedded Systems are fun and do awesome things!'
CallumAlder 42:121148278dae 145
CallumAlder 47:21bf4096faa1 146 _inCharQ[_MAXCMDLENGTH] = (char)'\0';
CallumAlder 48:b2afe48ced0d 147 sprintf(_inCharQ, "%s", _inCharQ); // Handling of the correct string
CallumAlder 47:21bf4096faa1 148 strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH);
CallumAlder 19:805c87360b55 149
CallumAlder 47:21bf4096faa1 150 _pc.printf("%s\n\r", _inCharQ);
CallumAlder 47:21bf4096faa1 151 _pc.putc('<');
CallumAlder 47:21bf4096faa1 152 _pc.attach(callback(this, &Comm::serialISR));
CallumAlder 42:121148278dae 153 }
iachinweze1 23:ab1cb51527d1 154
CallumAlder 48:b2afe48ced0d 155 //-- Interrupt Service Routine for Serial Port and Character Queue Handling -----------------------------------------//
CallumAlder 48:b2afe48ced0d 156 void serialISR() {
CallumAlder 43:a6d20109b2f2 157 if (_pc.readable()) {
CallumAlder 43:a6d20109b2f2 158 char newChar = _pc.getc();
CallumAlder 42:121148278dae 159
CallumAlder 43:a6d20109b2f2 160 if (_inCharIndex == (_MAXCMDLENGTH)) {
CallumAlder 47:21bf4096faa1 161 _inCharQ[_MAXCMDLENGTH] = '\0'; // Force the string to have an end character
CallumAlder 42:121148278dae 162 putMessage(error, 1);
CallumAlder 47:21bf4096faa1 163 _inCharIndex = 0; // Reset buffer index
adehadd 27:ce05fed3c1ea 164 }
adehadd 27:ce05fed3c1ea 165 else{
CallumAlder 47:21bf4096faa1 166 if(newChar != '\r'){ // While the command is not over,
CallumAlder 47:21bf4096faa1 167 _inCharQ[_inCharIndex] = newChar; // Save input character and
CallumAlder 47:21bf4096faa1 168 _inCharIndex++; // Advance index
CallumAlder 43:a6d20109b2f2 169 _pc.putc(newChar);
CallumAlder 42:121148278dae 170 }
CallumAlder 42:121148278dae 171 else{
CallumAlder 47:21bf4096faa1 172 _inCharQ[_inCharIndex] = '\0'; // When the command is finally over,
CallumAlder 47:21bf4096faa1 173 strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH); // Will copy 18 characters from _inCharQ to _newCmd
CallumAlder 42:121148278dae 174
CallumAlder 47:21bf4096faa1 175 for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer
CallumAlder 47:21bf4096faa1 176 _inCharQ[i] = ' ';
CallumAlder 47:21bf4096faa1 177
CallumAlder 47:21bf4096faa1 178 _inCharIndex = 0; // Reset index
CallumAlder 48:b2afe48ced0d 179 YES = true;
CallumAlder 48:b2afe48ced0d 180 // cmdParser(); // Parse the command for decoding
CallumAlder 42:121148278dae 181 }
adehadd 27:ce05fed3c1ea 182 }
adehadd 27:ce05fed3c1ea 183 }
adehadd 27:ce05fed3c1ea 184 }
CallumAlder 19:805c87360b55 185
CallumAlder 48:b2afe48ced0d 186 //-- Reset Cursor Position ------------------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 187 void returnCursor() {
CallumAlder 43:a6d20109b2f2 188 _pc.putc('>');
CallumAlder 43:a6d20109b2f2 189 for (int i = 0; i < _inCharIndex; ++i)
CallumAlder 47:21bf4096faa1 190 _pc.putc(_inCharQ[i]);
CallumAlder 42:121148278dae 191 }
CallumAlder 47:21bf4096faa1 192
CallumAlder 48:b2afe48ced0d 193 //-- Parse Incoming Data From Serial Port ---------------------------------------------------------------------------//
CallumAlder 48:b2afe48ced0d 194 void cmdParser() {
CallumAlder 47:21bf4096faa1 195 switch(_newCmd[0]) {
CallumAlder 47:21bf4096faa1 196 case 'K': // keyAdded
CallumAlder 47:21bf4096faa1 197 _newKeyMutex.lock(); // Ensure there is no deadlock
CallumAlder 47:21bf4096faa1 198 sscanf(_newCmd, "K%x", &_newKey); // Find desired the Key code
CallumAlder 47:21bf4096faa1 199 putMessage(keyAdded, _newKey); // Print it out
CallumAlder 43:a6d20109b2f2 200 _newKeyMutex.unlock();
CallumAlder 43:a6d20109b2f2 201 break;
CallumAlder 43:a6d20109b2f2 202
CallumAlder 47:21bf4096faa1 203 case 'V': // velIn
CallumAlder 47:21bf4096faa1 204 sscanf(_newCmd, "V%f", &_targetVel); // Find desired the target velocity
CallumAlder 47:21bf4096faa1 205 _modeBitField = 0x01; // Adjust bitfield pos 1
CallumAlder 47:21bf4096faa1 206 putMessage(velIn, _targetVel); // Print it out
CallumAlder 43:a6d20109b2f2 207 break;
CallumAlder 43:a6d20109b2f2 208
CallumAlder 47:21bf4096faa1 209 case 'R': // posIn
CallumAlder 47:21bf4096faa1 210 sscanf(_newCmd, "R%f", &_targetRot); // Find desired target rotation
CallumAlder 47:21bf4096faa1 211 _modeBitField = 0x02; // Adjust bitfield pos 2
CallumAlder 47:21bf4096faa1 212 putMessage(posIn, _targetRot); // Print it out
CallumAlder 42:121148278dae 213 break;
iachinweze1 23:ab1cb51527d1 214
CallumAlder 47:21bf4096faa1 215 case 'x': // Torque
CallumAlder 47:21bf4096faa1 216 sscanf(_newCmd, "x%u", &_motorTorque); // Find desired target torque
CallumAlder 47:21bf4096faa1 217 _modeBitField = 0x04; // Adjust bitfield pos 3
CallumAlder 47:21bf4096faa1 218 putMessage(torque, _motorTorque); // Print it out
adehadd 27:ce05fed3c1ea 219 break;
CallumAlder 42:121148278dae 220
CallumAlder 47:21bf4096faa1 221 case 'M': // Mining display toggle
CallumAlder 47:21bf4096faa1 222 int8_t miningTest;
CallumAlder 47:21bf4096faa1 223 sscanf(_newCmd, "M%d", &miningTest); // Display if input is 1
CallumAlder 47:21bf4096faa1 224 miningTest == 1 ? _outMining = true : _outMining = false;
CallumAlder 47:21bf4096faa1 225 break;
CallumAlder 47:21bf4096faa1 226
CallumAlder 47:21bf4096faa1 227 case 'T': // Play tune
CallumAlder 47:21bf4096faa1 228 regexTune() ? putMessage(melody, 1) : putMessage(error, 2);
CallumAlder 47:21bf4096faa1 229 break; // Break from case 'T'
CallumAlder 47:21bf4096faa1 230
CallumAlder 47:21bf4096faa1 231 default: // Break from switch
adehadd 27:ce05fed3c1ea 232 break;
adehadd 27:ce05fed3c1ea 233 }
adehadd 27:ce05fed3c1ea 234 }
adehadd 27:ce05fed3c1ea 235
CallumAlder 48:b2afe48ced0d 236 //-- Read In Note Data From Serial Port and Parse Into Class Variables ----------------------------------------------//
CallumAlder 47:21bf4096faa1 237 bool regexTune() {
CallumAlder 47:21bf4096faa1 238
CallumAlder 47:21bf4096faa1 239 uint8_t len = 0;
CallumAlder 47:21bf4096faa1 240
CallumAlder 47:21bf4096faa1 241 for (int i = 1; i < _MAXCMDLENGTH; ++i) // Find first #
CallumAlder 47:21bf4096faa1 242 if (_newCmd[i] == '#') {
CallumAlder 47:21bf4096faa1 243 len = i;
CallumAlder 47:21bf4096faa1 244 break; // Stop at first # found
CallumAlder 47:21bf4096faa1 245 }
CallumAlder 47:21bf4096faa1 246
CallumAlder 47:21bf4096faa1 247 if (len>0) { // Parse the input only if # found
CallumAlder 47:21bf4096faa1 248 uint8_t newLen = 2*(len+1)+1;
CallumAlder 47:21bf4096faa1 249 bool isChar = true;
CallumAlder 47:21bf4096faa1 250 char formatSpec[newLen];
CallumAlder 47:21bf4096faa1 251 formatSpec[0]='T';
CallumAlder 47:21bf4096faa1 252 for (int i = 1; i < newLen; i=i+2) { // Create a format spec based on length of input
CallumAlder 47:21bf4096faa1 253 formatSpec[i] = '%';
CallumAlder 47:21bf4096faa1 254 isChar ? formatSpec[i+1] = 'c' : \
CallumAlder 47:21bf4096faa1 255 formatSpec[i+1] = 'u' ;
CallumAlder 47:21bf4096faa1 256 isChar = !isChar;
CallumAlder 47:21bf4096faa1 257 }
CallumAlder 47:21bf4096faa1 258
CallumAlder 47:21bf4096faa1 259 formatSpec[newLen] = '\0';
CallumAlder 47:21bf4096faa1 260 sprintf(formatSpec, "%s", formatSpec); // Set string format correctly
CallumAlder 47:21bf4096faa1 261 // _pc.printf("%s\n", formatSpec );
CallumAlder 47:21bf4096faa1 262 sscanf(_newCmd, formatSpec, &_notes[0], &_noteDur[0],
CallumAlder 47:21bf4096faa1 263 &_notes[1], &_noteDur[1],
CallumAlder 47:21bf4096faa1 264 &_notes[2], &_noteDur[2],
CallumAlder 47:21bf4096faa1 265 &_notes[3], &_noteDur[3],
CallumAlder 47:21bf4096faa1 266 &_notes[4], &_noteDur[4],
CallumAlder 47:21bf4096faa1 267 &_notes[5], &_noteDur[5],
CallumAlder 47:21bf4096faa1 268 &_notes[6], &_noteDur[6],
CallumAlder 47:21bf4096faa1 269 &_notes[7], &_noteDur[7],
CallumAlder 47:21bf4096faa1 270 &_notes[8], &_noteDur[8]);
CallumAlder 47:21bf4096faa1 271
CallumAlder 47:21bf4096faa1 272
CallumAlder 47:21bf4096faa1 273 // Update _newCmd for putMessage print
CallumAlder 48:b2afe48ced0d 274 sprintf(_newCmd,formatSpec, _notes[0], _noteDur[0],\
CallumAlder 47:21bf4096faa1 275 _notes[1], _noteDur[1],\
CallumAlder 47:21bf4096faa1 276 _notes[2], _noteDur[2],\
CallumAlder 47:21bf4096faa1 277 _notes[3], _noteDur[3],\
CallumAlder 47:21bf4096faa1 278 _notes[4], _noteDur[4],\
CallumAlder 47:21bf4096faa1 279 _notes[5], _noteDur[5],\
CallumAlder 47:21bf4096faa1 280 _notes[6], _noteDur[6],\
CallumAlder 47:21bf4096faa1 281 _notes[7], _noteDur[7],\
CallumAlder 47:21bf4096faa1 282 _notes[8], _noteDur[8]);
CallumAlder 47:21bf4096faa1 283 _noteLen = len;
CallumAlder 47:21bf4096faa1 284 return true;
CallumAlder 47:21bf4096faa1 285 }
CallumAlder 47:21bf4096faa1 286
CallumAlder 47:21bf4096faa1 287 else {
CallumAlder 47:21bf4096faa1 288 return false;
CallumAlder 47:21bf4096faa1 289 }
CallumAlder 47:21bf4096faa1 290 }
CallumAlder 47:21bf4096faa1 291
CallumAlder 48:b2afe48ced0d 292 //-- Decode Messages to Print on Serial Port ------------------------------------------------------------------------//
CallumAlder 42:121148278dae 293 void commOutFn() {
CallumAlder 42:121148278dae 294 while (_RUN) {
CallumAlder 48:b2afe48ced0d 295
CallumAlder 48:b2afe48ced0d 296 if (YES){ // waiiiiiittt
CallumAlder 48:b2afe48ced0d 297 cmdParser(); // Parse the command for decoding
CallumAlder 48:b2afe48ced0d 298
CallumAlder 47:21bf4096faa1 299 osEvent newEvent = _msgStack.get();
CallumAlder 42:121148278dae 300 msg *pMessage = (msg *) newEvent.value.p;
adehadd 27:ce05fed3c1ea 301
CallumAlder 47:21bf4096faa1 302 //Case switch to choose serial output based on incoming message enum
CallumAlder 42:121148278dae 303 switch (pMessage->type) {
CallumAlder 48:b2afe48ced0d 304 case mot_orState:
CallumAlder 47:21bf4096faa1 305 _pc.printf("\r>%s< The motor is currently in state %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 306 break;
CallumAlder 42:121148278dae 307 case hashRate:
CallumAlder 43:a6d20109b2f2 308 if (_outMining) {
CallumAlder 47:21bf4096faa1 309 _pc.printf("\r>%s< Mining: %.4u Hash/s\r", _inCharQ, (uint32_t) pMessage->message);
CallumAlder 42:121148278dae 310 returnCursor();
CallumAlder 43:a6d20109b2f2 311 _outMining = false;
CallumAlder 42:121148278dae 312 }
CallumAlder 42:121148278dae 313 break;
CallumAlder 42:121148278dae 314 case nonceMatch:
CallumAlder 47:21bf4096faa1 315 _pc.printf("\r>%s< Nonce found: %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 316 returnCursor();
CallumAlder 42:121148278dae 317 break;
CallumAlder 42:121148278dae 318 case keyAdded:
CallumAlder 47:21bf4096faa1 319 _pc.printf("\r>%s< New Key Added:\t0x%016x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 320 break;
CallumAlder 42:121148278dae 321 case torque:
CallumAlder 47:21bf4096faa1 322 _pc.printf("\r>%s< Motor Torque set to:\t%d\n\r", _inCharQ, (int32_t) pMessage->message);
CallumAlder 42:121148278dae 323 break;
CallumAlder 42:121148278dae 324 case velIn:
CallumAlder 47:21bf4096faa1 325 _pc.printf("\r>%s< Target Velocity set to:\t%.2f\n\r", _inCharQ, _targetVel);
CallumAlder 42:121148278dae 326 break;
CallumAlder 42:121148278dae 327 case velOut:
CallumAlder 47:21bf4096faa1 328 _pc.printf("\r>%s< Current Velocity:\t%.2f States/sec\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 329 break;
CallumAlder 42:121148278dae 330 case posIn:
CallumAlder 47:21bf4096faa1 331 _pc.printf("\r>%s< Target # Rotations:\t%.2f\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 332 break;
CallumAlder 42:121148278dae 333 case posOut:
CallumAlder 47:21bf4096faa1 334 _pc.printf("\r>%s< Current Position:\t%.2f\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 335 break;
CallumAlder 47:21bf4096faa1 336 case melody:
CallumAlder 47:21bf4096faa1 337 _pc.printf("\r>%s< New Tune:\t%s\n\r", _inCharQ, _newCmd);
CallumAlder 47:21bf4096faa1 338 break;
CallumAlder 42:121148278dae 339 case error:
CallumAlder 47:21bf4096faa1 340 switch (pMessage->message) {
CallumAlder 47:21bf4096faa1 341 case 1:
CallumAlder 47:21bf4096faa1 342 _pc.printf("\r>%s< Error:%s\n\r", _inCharQ, "Overfull Buffer Reset" );
CallumAlder 47:21bf4096faa1 343 break;
CallumAlder 47:21bf4096faa1 344 case 2:
CallumAlder 47:21bf4096faa1 345 _pc.printf("\r>%s< Error:%s\n\r", _inCharQ, "Invalid Melody" );
CallumAlder 47:21bf4096faa1 346 default:
CallumAlder 47:21bf4096faa1 347 break;
CallumAlder 47:21bf4096faa1 348 }
CallumAlder 47:21bf4096faa1 349 for (int i = 0; i < _MAXCMDLENGTH; ++i) // reset buffer
CallumAlder 47:21bf4096faa1 350 _inCharQ[i] = ' ';
CallumAlder 47:21bf4096faa1 351
CallumAlder 47:21bf4096faa1 352 _inCharIndex = 0;
CallumAlder 42:121148278dae 353 break;
CallumAlder 42:121148278dae 354 default:
CallumAlder 47:21bf4096faa1 355 _pc.printf("\r>%s< Unknown Error. Message: %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 356 break;
CallumAlder 42:121148278dae 357 }
CallumAlder 42:121148278dae 358
CallumAlder 47:21bf4096faa1 359
CallumAlder 47:21bf4096faa1 360
CallumAlder 47:21bf4096faa1 361 _msgStack.free(pMessage);
CallumAlder 48:b2afe48ced0d 362 YES = false;
CallumAlder 48:b2afe48ced0d 363 }
CallumAlder 42:121148278dae 364 }
CallumAlder 42:121148278dae 365 }
CallumAlder 42:121148278dae 366
CallumAlder 48:b2afe48ced0d 367 //-- Put a Message On the Outgoing Message Stack --------------------------------------------------------------------//
CallumAlder 42:121148278dae 368 void putMessage(msgType type, uint32_t message){
CallumAlder 47:21bf4096faa1 369 msg *p_msg = _msgStack.alloc();
CallumAlder 42:121148278dae 370 p_msg->type = type;
CallumAlder 42:121148278dae 371 p_msg->message = message;
CallumAlder 47:21bf4096faa1 372 _msgStack.put(p_msg);
CallumAlder 42:121148278dae 373 }
CallumAlder 42:121148278dae 374
CallumAlder 48:b2afe48ced0d 375 //-- Attach CommOut Thread to the Outgoing Communication Function ---------------------------------------------------//
CallumAlder 42:121148278dae 376 void start_comm(){
CallumAlder 42:121148278dae 377 _RUN = true;
CallumAlder 47:21bf4096faa1 378 _tCommOut.start(callback(this, &Comm::commOutFn));
CallumAlder 42:121148278dae 379 }
iachinweze1 23:ab1cb51527d1 380
CallumAlder 48:b2afe48ced0d 381 char _newCmd[]; // Unallocated must be defined at the bottom of the class
CallumAlder 47:21bf4096faa1 382 static char _inCharQ[];
CallumAlder 42:121148278dae 383 };
CallumAlder 48:b2afe48ced0d 384 char Comm::_inCharQ[] = {'.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','\0'}; // Static member must be defined outside class
CallumAlder 48:b2afe48ced0d 385 //Mutex Comm::_newKeyMutex;
adehadd 46:b9081aa50bda 386
CallumAlder 42:121148278dae 387 class Motor {
adehadd 27:ce05fed3c1ea 388
CallumAlder 42:121148278dae 389 protected:
CallumAlder 48:b2afe48ced0d 390 volatile int8_t _orState, // Rotor offset at motor state 0, motor specific
CallumAlder 48:b2afe48ced0d 391 _currentState, // Current Rotor State
CallumAlder 48:b2afe48ced0d 392 _stateList[6], // All possible rotor states stored
CallumAlder 48:b2afe48ced0d 393 _lead; // Phase _lead to make motor spin
CallumAlder 42:121148278dae 394
CallumAlder 48:b2afe48ced0d 395 uint8_t _theStates[3], // The Key states
CallumAlder 48:b2afe48ced0d 396 _stateCount[3]; // State Counter
CallumAlder 47:21bf4096faa1 397 uint32_t mtrPeriod, // Motor period
CallumAlder 47:21bf4096faa1 398 _MAXPWM_PRD;
CallumAlder 48:b2afe48ced0d 399 float _dutyC; // 1 = 100%
CallumAlder 47:21bf4096faa1 400 bool _RUN;
adehadd 27:ce05fed3c1ea 401
CallumAlder 48:b2afe48ced0d 402 Comm* _pComm;
CallumAlder 48:b2afe48ced0d 403 Thread _tMotorCtrl; // Thread for motor Control
CallumAlder 42:121148278dae 404
CallumAlder 42:121148278dae 405 public:
CallumAlder 48:b2afe48ced0d 406 //-- Default Constructor With Thread Object Constructor -------------------------------------------------------------//
CallumAlder 48:b2afe48ced0d 407 Motor() : _tMotorCtrl(osPriorityAboveNormal2, 1024){
CallumAlder 47:21bf4096faa1 408
CallumAlder 48:b2afe48ced0d 409 _dutyC = 1.0f; // Set Power to maximum to drive motorHome()
CallumAlder 48:b2afe48ced0d 410 mtrPeriod = 2e3; // Motor period
CallumAlder 48:b2afe48ced0d 411 pwmCtrl.period_us(mtrPeriod); // Initialise PWM
CallumAlder 42:121148278dae 412 pwmCtrl.pulsewidth_us(mtrPeriod);
CallumAlder 42:121148278dae 413
CallumAlder 48:b2afe48ced0d 414 _orState = motorHome(); // Rotor offset at motor state 0
CallumAlder 48:b2afe48ced0d 415 _currentState = readRot_orState(); // Current Rotor State
CallumAlder 48:b2afe48ced0d 416 _lead = 2; // 2 for forwards, -2 for backwards
adehadd 27:ce05fed3c1ea 417
CallumAlder 48:b2afe48ced0d 418 _theStates[0] = _orState +1; // Initialise repeatable states, for us this is state 1
CallumAlder 48:b2afe48ced0d 419 _theStates[1] = (_orState + _lead) % 6 +1; // state 3
CallumAlder 48:b2afe48ced0d 420 _theStates[2] = (_orState + (_lead*2)) % 6 +1; // state 5
CallumAlder 42:121148278dae 421
CallumAlder 48:b2afe48ced0d 422 _stateCount[0] = 0; // Initialise
CallumAlder 48:b2afe48ced0d 423 _stateCount[1] = 0;
CallumAlder 48:b2afe48ced0d 424 _stateCount[2] = 0;
CallumAlder 42:121148278dae 425
CallumAlder 48:b2afe48ced0d 426 _pComm = NULL; // Initialise as NULL
CallumAlder 48:b2afe48ced0d 427 _RUN = false;
CallumAlder 42:121148278dae 428
CallumAlder 47:21bf4096faa1 429 _MAXPWM_PRD = 2e3;
CallumAlder 42:121148278dae 430
CallumAlder 42:121148278dae 431 }
adehadd 27:ce05fed3c1ea 432
CallumAlder 48:b2afe48ced0d 433 //-- Start Motor and Attach State Update Function to Rise/Fall Interrupts -------------------------------------------//
CallumAlder 42:121148278dae 434 void motorStart(Comm *comm) {
CallumAlder 42:121148278dae 435
CallumAlder 48:b2afe48ced0d 436 I1.fall(callback(this, &Motor::stateUpdate)); // Establish Photo Interrupter Service Routines (auto choose next state)
CallumAlder 42:121148278dae 437 I2.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 438 I3.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 439 I1.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 440 I2.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 441 I3.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 442
CallumAlder 48:b2afe48ced0d 443 motorOut((_currentState-_orState+_lead+6)%6); // Push digitally so static motor will start moving
CallumAlder 42:121148278dae 444
CallumAlder 48:b2afe48ced0d 445
CallumAlder 48:b2afe48ced0d 446 _dutyC = 0.8; // Default a lower duty cycle
CallumAlder 42:121148278dae 447 pwmCtrl.period_us((uint32_t)mtrPeriod);
CallumAlder 48:b2afe48ced0d 448 pwmCtrl.pulsewidth_us((uint32_t)mtrPeriod*_dutyC);
CallumAlder 42:121148278dae 449
CallumAlder 48:b2afe48ced0d 450 _pComm = comm;
CallumAlder 42:121148278dae 451 _RUN = true;
CallumAlder 42:121148278dae 452
CallumAlder 48:b2afe48ced0d 453 _tMotorCtrl.start(callback(this, &Motor::motorCtrlFn)); // Start motor control thread
CallumAlder 42:121148278dae 454
CallumAlder 48:b2afe48ced0d 455 _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 456
CallumAlder 42:121148278dae 457 }
CallumAlder 42:121148278dae 458
CallumAlder 48:b2afe48ced0d 459 //-- Set a Predetermined Drive State -------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 460 void motorOut(int8_t driveState) {
iachinweze1 23:ab1cb51527d1 461
CallumAlder 48:b2afe48ced0d 462 int8_t driveOut = driveTable[driveState & 0x07]; //Lookup the output byte from the drive state
CallumAlder 42:121148278dae 463
CallumAlder 48:b2afe48ced0d 464 if (~driveOut & 0x01) L1L = 0; //Turn off first
CallumAlder 42:121148278dae 465 if (~driveOut & 0x02) L1H = 1;
CallumAlder 42:121148278dae 466 if (~driveOut & 0x04) L2L = 0;
CallumAlder 42:121148278dae 467 if (~driveOut & 0x08) L2H = 1;
CallumAlder 42:121148278dae 468 if (~driveOut & 0x10) L3L = 0;
CallumAlder 42:121148278dae 469 if (~driveOut & 0x20) L3H = 1;
CallumAlder 42:121148278dae 470
CallumAlder 48:b2afe48ced0d 471 if (driveOut & 0x01) L1L = 1; //Then turn on
CallumAlder 48:b2afe48ced0d 472 if (driveOut & 0x02) L1H = 0;
CallumAlder 48:b2afe48ced0d 473 if (driveOut & 0x04) L2L = 1;
CallumAlder 48:b2afe48ced0d 474 if (driveOut & 0x08) L2H = 0;
CallumAlder 48:b2afe48ced0d 475 if (driveOut & 0x10) L3L = 1;
CallumAlder 48:b2afe48ced0d 476 if (driveOut & 0x20) L3H = 0;
CallumAlder 42:121148278dae 477 }
CallumAlder 42:121148278dae 478
CallumAlder 48:b2afe48ced0d 479 //-- Inline Conversion of Photointerrupts to a Rotor State ----------------------------------------------------------//
CallumAlder 48:b2afe48ced0d 480 inline int8_t readRot_orState() {
CallumAlder 42:121148278dae 481 return stateMap[I1 + 2*I2 + 4*I3];
CallumAlder 42:121148278dae 482 }
CallumAlder 42:121148278dae 483
CallumAlder 48:b2afe48ced0d 484 //-- Basic Motor Stabilisation and Synchronisation ------------------------------------------------------------------//
CallumAlder 42:121148278dae 485 int8_t motorHome() {
CallumAlder 48:b2afe48ced0d 486
CallumAlder 48:b2afe48ced0d 487 motorOut(0); //Put the motor in drive state 0 and wait for it to stabilise
CallumAlder 42:121148278dae 488 wait(3.0);
CallumAlder 42:121148278dae 489
CallumAlder 48:b2afe48ced0d 490 return readRot_orState(); //Get the rotor state
CallumAlder 42:121148278dae 491 }
iachinweze1 23:ab1cb51527d1 492
CallumAlder 48:b2afe48ced0d 493 //-- Motor State Log, Circumvents Issues From Occasionally Skipping Certain States ----------------------------------//
CallumAlder 42:121148278dae 494 void stateUpdate() { // () { // **params
CallumAlder 48:b2afe48ced0d 495 _currentState = readRot_orState(); // Get current state
adehadd 27:ce05fed3c1ea 496
CallumAlder 48:b2afe48ced0d 497 if (_currentState == _theStates[0]) // Cumulative state counter (1 for our group's motor)
CallumAlder 48:b2afe48ced0d 498 _stateCount[0]++;
CallumAlder 48:b2afe48ced0d 499 else if (_currentState == _theStates[1]) // Cumulative state counter (3 for our group's motor)
CallumAlder 48:b2afe48ced0d 500 _stateCount[1]++;
CallumAlder 48:b2afe48ced0d 501 else if (_currentState == _theStates[2]) // Cumulative state counter (5 for our group's motor)
CallumAlder 48:b2afe48ced0d 502 _stateCount[2]++;
adehadd 27:ce05fed3c1ea 503
CallumAlder 48:b2afe48ced0d 504 motorOut((_currentState - _orState + _lead + 6) % 6); // Send the next state to the motor
iachinweze1 23:ab1cb51527d1 505
CallumAlder 42:121148278dae 506 }
CallumAlder 19:805c87360b55 507
CallumAlder 48:b2afe48ced0d 508 //-- Motor PID Control ---------------------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 509 void motorCtrlFn() {
CallumAlder 42:121148278dae 510 Ticker motorCtrlTicker;
CallumAlder 42:121148278dae 511 Timer m_timer;
CallumAlder 42:121148278dae 512 motorCtrlTicker.attach_us(callback(this,&Motor::motorCtrlTick), 1e5);
iachinweze1 23:ab1cb51527d1 513
CallumAlder 42:121148278dae 514 // Init some things
CallumAlder 48:b2afe48ced0d 515 uint8_t cpyStateCount[3];
CallumAlder 48:b2afe48ced0d 516 uint8_t cpyCurrentState;
CallumAlder 48:b2afe48ced0d 517 int8_t cpyModeBitfield;
CallumAlder 42:121148278dae 518
CallumAlder 48:b2afe48ced0d 519 int32_t ting[2] = {6,1}; // 360,60 (for degrees), 5,1 (for states)
CallumAlder 48:b2afe48ced0d 520 uint8_t iterElementMax;
CallumAlder 48:b2afe48ced0d 521 int32_t totalDegrees;
CallumAlder 48:b2afe48ced0d 522 int32_t stateDiff;
adehadd 27:ce05fed3c1ea 523
CallumAlder 48:b2afe48ced0d 524 int32_t cur_speed; // Variable for local velocity calculation
CallumAlder 48:b2afe48ced0d 525 int32_t locMotorPos; // Local copy of motor position
CallumAlder 47:21bf4096faa1 526 volatile int32_t torque; // Local variable to set motor torque
CallumAlder 48:b2afe48ced0d 527 static int32_t oldTorque =0;
CallumAlder 48:b2afe48ced0d 528 float sError, // Velocity error between target and reality
CallumAlder 48:b2afe48ced0d 529 rError; // Rotation error between target and reality
CallumAlder 48:b2afe48ced0d 530 static float rErrorOld; // Old rotation error used for calculation
CallumAlder 42:121148278dae 531
CallumAlder 42:121148278dae 532 //~~~Controller constants~~~~
CallumAlder 48:b2afe48ced0d 533 int32_t Kp1=22; // Proportional controller constants
CallumAlder 48:b2afe48ced0d 534 int32_t Kp2=22; // Calculated by trial and error to give optimal accuracy
CallumAlder 48:b2afe48ced0d 535 int32_t Ki = 12;
CallumAlder 48:b2afe48ced0d 536 float Kd=15.5;
CallumAlder 42:121148278dae 537
CallumAlder 42:121148278dae 538
CallumAlder 48:b2afe48ced0d 539 int32_t Ts; // Initialise controller output Ts (s=speed)
CallumAlder 48:b2afe48ced0d 540 int32_t Tr; // Initialise controller output Tr (r=rotations)
CallumAlder 42:121148278dae 541
CallumAlder 48:b2afe48ced0d 542 int32_t old_pos = 0;
adehadd 27:ce05fed3c1ea 543
CallumAlder 48:b2afe48ced0d 544 uint32_t cur_time = 0,
CallumAlder 48:b2afe48ced0d 545 old_time = 0,
CallumAlder 48:b2afe48ced0d 546 time_diff;
CallumAlder 42:121148278dae 547
CallumAlder 48:b2afe48ced0d 548 float cur_err = 0.0f,
CallumAlder 48:b2afe48ced0d 549 old_err = 0.0f,
CallumAlder 48:b2afe48ced0d 550 err_diff;
CallumAlder 42:121148278dae 551
CallumAlder 42:121148278dae 552 m_timer.start();
CallumAlder 42:121148278dae 553
CallumAlder 42:121148278dae 554 while (_RUN) {
CallumAlder 48:b2afe48ced0d 555 _tMotorCtrl.signal_wait((int32_t)0x1);
iachinweze1 23:ab1cb51527d1 556
CallumAlder 48:b2afe48ced0d 557 core_util_critical_section_enter(); // Access shared variables here
CallumAlder 48:b2afe48ced0d 558 cpyModeBitfield = _pComm->_modeBitField;
CallumAlder 48:b2afe48ced0d 559 std::copy(_stateCount, _stateCount+3, cpyStateCount);
CallumAlder 48:b2afe48ced0d 560 cpyCurrentState = _currentState;
CallumAlder 47:21bf4096faa1 561 for (int i = 0; i < 3; ++i) {
CallumAlder 48:b2afe48ced0d 562 _stateCount[i] = 0;
CallumAlder 47:21bf4096faa1 563 }
CallumAlder 42:121148278dae 564 core_util_critical_section_exit();
adehadd 20:c60f4785b556 565
CallumAlder 48:b2afe48ced0d 566
CallumAlder 48:b2afe48ced0d 567 cur_time = m_timer.read(); // Read state & timestamp
CallumAlder 42:121148278dae 568
CallumAlder 42:121148278dae 569 time_diff = cur_time - old_time;
CallumAlder 42:121148278dae 570 // cur_speed = (cur_pos - old_pos) / time_diff;
CallumAlder 48:b2afe48ced0d 571
CallumAlder 48:b2afe48ced0d 572 old_time = cur_time; // prep values for next time through loop
CallumAlder 42:121148278dae 573 old_pos = cpyCurrentState;
CallumAlder 42:121148278dae 574
CallumAlder 47:21bf4096faa1 575 // Hence we make the value positive,// and instead set the direction to the opposite one
CallumAlder 42:121148278dae 576
CallumAlder 42:121148278dae 577 iterElementMax = std::max_element(cpyStateCount, cpyStateCount+3) - cpyStateCount;
adehadd 20:c60f4785b556 578
CallumAlder 42:121148278dae 579 totalDegrees = ting[0] * cpyStateCount[iterElementMax];
CallumAlder 48:b2afe48ced0d 580 stateDiff = _theStates[iterElementMax]-cpyCurrentState;
CallumAlder 47:21bf4096faa1 581 stateDiff >= 0 ? totalDegrees = totalDegrees + (ting[1]* stateDiff) : \
CallumAlder 47:21bf4096faa1 582 totalDegrees = totalDegrees + (ting[1]* stateDiff *-1);
CallumAlder 42:121148278dae 583
CallumAlder 47:21bf4096faa1 584 if ((cpyModeBitfield & 0x01)|(cpyModeBitfield & 0x02)) {// Speed, torque control and PID
CallumAlder 42:121148278dae 585 cur_speed = totalDegrees / time_diff;
CallumAlder 48:b2afe48ced0d 586 sError = (_pComm->_targetVel * 6) - abs(cur_speed); // Read global variable _targetVel updated by interrupt and calculate error between target and reality
CallumAlder 42:121148278dae 587
CallumAlder 48:b2afe48ced0d 588 // Ts = Kp * (s -|v|) where, // SPEED CONTROLLER
CallumAlder 48:b2afe48ced0d 589 // Ts = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity
CallumAlder 42:121148278dae 590
CallumAlder 47:21bf4096faa1 591 // Check if user entered V0 and set the output to maximum as specified
CallumAlder 48:b2afe48ced0d 592 sError == -abs(cur_speed) ? Ts = _MAXPWM_PRD : \
CallumAlder 48:b2afe48ced0d 593 Ts = (Kp1 * sError); // If the user didn't enter V0 implement controller transfer function:
CallumAlder 47:21bf4096faa1 594
CallumAlder 47:21bf4096faa1 595
CallumAlder 48:b2afe48ced0d 596 // Tr= Kp*Er + Kd* (dEr/dt) where, // ROTATION CONTROLLER
CallumAlder 48:b2afe48ced0d 597 // Tr = controller output, Kp = prop controller constant, Er = error in number of rotations
CallumAlder 48:b2afe48ced0d 598 rError = (_pComm->_targetRot)*6 - totalDegrees; // Read global variable _targetRot updated by interrupt and calculate the rotation error.
CallumAlder 48:b2afe48ced0d 599 Tr = Kp2*rError + Kd*(rError - rErrorOld); // Implement controller transfer function
CallumAlder 47:21bf4096faa1 600 rErrorOld = rError; // Update rotation error
CallumAlder 47:21bf4096faa1 601
CallumAlder 48:b2afe48ced0d 602 Ts = (int32_t)( Ts * sgn(rError) ); // Use the sign of the error to set controller wrt direction of rotation
CallumAlder 42:121148278dae 603
CallumAlder 48:b2afe48ced0d 604 cur_speed < 0 ? torque = max(Ts, Tr): torque = min(Ts, Tr);
CallumAlder 47:21bf4096faa1 605
CallumAlder 47:21bf4096faa1 606 }
CallumAlder 47:21bf4096faa1 607 else if (cpyModeBitfield & 0x04) { // If it is in torque mode, do no PID math, just set pulsewidth
CallumAlder 48:b2afe48ced0d 608 torque = (int32_t)_pComm->_motorTorque;
CallumAlder 47:21bf4096faa1 609 if (oldTorque != torque) {
CallumAlder 48:b2afe48ced0d 610 _pComm->putMessage((Comm::msgType)8, torque);
CallumAlder 47:21bf4096faa1 611 oldTorque = torque;
CallumAlder 42:121148278dae 612 }
CallumAlder 47:21bf4096faa1 613 }
CallumAlder 47:21bf4096faa1 614 else{
CallumAlder 47:21bf4096faa1 615 torque = _MAXPWM_PRD * 0.5; // Run at 50% duty cycle if argument not properly defined
adehadd 27:ce05fed3c1ea 616
CallumAlder 42:121148278dae 617 }
adehadd 27:ce05fed3c1ea 618
CallumAlder 48:b2afe48ced0d 619 torque < 0 ? _lead = -2 : _lead = +2;
CallumAlder 47:21bf4096faa1 620 torque = abs(torque);
adehadd 26:fb6151e5907d 621
CallumAlder 47:21bf4096faa1 622 if(torque > _MAXPWM_PRD) torque = _MAXPWM_PRD; // In case the calculated PWM is higher than our maximum 50% allowance,
CallumAlder 47:21bf4096faa1 623 // Set it to our max.
CallumAlder 48:b2afe48ced0d 624 _pComm->_motorTorque = torque;
CallumAlder 47:21bf4096faa1 625 pwmCtrl.pulsewidth_us(torque);
CallumAlder 47:21bf4096faa1 626
CallumAlder 42:121148278dae 627 }
CallumAlder 42:121148278dae 628 }
CallumAlder 42:121148278dae 629
CallumAlder 42:121148278dae 630 void motorCtrlTick(){
CallumAlder 48:b2afe48ced0d 631 _tMotorCtrl.signal_set(0x1);
CallumAlder 42:121148278dae 632 }
CallumAlder 42:121148278dae 633 };
CallumAlder 42:121148278dae 634
CallumAlder 42:121148278dae 635
adehadd 27:ce05fed3c1ea 636 int main() {
adehadd 26:fb6151e5907d 637
CallumAlder 42:121148278dae 638 // Declare Objects
CallumAlder 42:121148278dae 639 Comm comm_port;
CallumAlder 42:121148278dae 640 SHA256 miner;
CallumAlder 42:121148278dae 641 Motor motor;
adehadd 27:ce05fed3c1ea 642
CallumAlder 42:121148278dae 643 // Start Motor and Comm Port
CallumAlder 42:121148278dae 644 motor.motorStart(&comm_port);
CallumAlder 42:121148278dae 645 comm_port.start_comm();
adehadd 27:ce05fed3c1ea 646
CallumAlder 42:121148278dae 647 // Declare Hash Variables
CallumAlder 47:21bf4096faa1 648 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
CallumAlder 47:21bf4096faa1 649 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
CallumAlder 47:21bf4096faa1 650 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
CallumAlder 47:21bf4096faa1 651 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
CallumAlder 47:21bf4096faa1 652 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
CallumAlder 47:21bf4096faa1 653 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
CallumAlder 47:21bf4096faa1 654 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
CallumAlder 47:21bf4096faa1 655 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
CallumAlder 47:21bf4096faa1 656 uint8_t hash[32];
CallumAlder 47:21bf4096faa1 657 uint32_t length64 = 64;
CallumAlder 47:21bf4096faa1 658 uint32_t hashCounter = 0;
CallumAlder 47:21bf4096faa1 659 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
adehadd 27:ce05fed3c1ea 660 uint64_t* key = (uint64_t*)((int)sequence + 48);
iachinweze1 23:ab1cb51527d1 661
CallumAlder 42:121148278dae 662 // Begin Main Timer
CallumAlder 42:121148278dae 663 Timer timer;
CallumAlder 42:121148278dae 664 timer.start();
adehadd 27:ce05fed3c1ea 665
CallumAlder 47:21bf4096faa1 666 // Loop Program
CallumAlder 42:121148278dae 667 while (1) {
adehadd 26:fb6151e5907d 668
CallumAlder 47:21bf4096faa1 669 //try{
CallumAlder 47:21bf4096faa1 670
CallumAlder 47:21bf4096faa1 671 // Mutex For Access Control
CallumAlder 48:b2afe48ced0d 672 _newKeyMutex.lock();
CallumAlder 47:21bf4096faa1 673 *key = comm_port._newKey;
CallumAlder 48:b2afe48ced0d 674 _newKeyMutex.unlock();
adehadd 20:c60f4785b556 675
CallumAlder 47:21bf4096faa1 676 // Compute Hash and Counter
CallumAlder 47:21bf4096faa1 677 miner.computeHash(hash, sequence, length64);
CallumAlder 47:21bf4096faa1 678 hashCounter++;
CallumAlder 47:21bf4096faa1 679
CallumAlder 47:21bf4096faa1 680 // Enum Casting and Condition
CallumAlder 47:21bf4096faa1 681 if (hash[0]==0 && hash[1]==0)
CallumAlder 47:21bf4096faa1 682 comm_port.putMessage((Comm::msgType)7, *nonce);
adehadd 20:c60f4785b556 683
CallumAlder 47:21bf4096faa1 684 // Try Nonce
CallumAlder 47:21bf4096faa1 685 (*nonce)++;
adehadd 26:fb6151e5907d 686
CallumAlder 47:21bf4096faa1 687 // Display via Comm Port
CallumAlder 47:21bf4096faa1 688 if (timer.read() >= 1){
CallumAlder 47:21bf4096faa1 689 comm_port.putMessage((Comm::msgType)5, hashCounter);
CallumAlder 47:21bf4096faa1 690 hashCounter=0;
CallumAlder 47:21bf4096faa1 691 timer.reset();
CallumAlder 47:21bf4096faa1 692 }
CallumAlder 47:21bf4096faa1 693 //}
adehadd 26:fb6151e5907d 694
CallumAlder 47:21bf4096faa1 695 //catch(...){
CallumAlder 47:21bf4096faa1 696 // break;
CallumAlder 47:21bf4096faa1 697 //}
CallumAlder 47:21bf4096faa1 698
CallumAlder 15:2f95f2fb68e3 699 }
CallumAlder 42:121148278dae 700
CallumAlder 42:121148278dae 701 return 0;
adehadd 27:ce05fed3c1ea 702 }