Callum and Adel's changes on 12/02/19
Dependencies: Crypto
main.cpp@26:fb6151e5907d, 2019-03-16 (annotated)
- Committer:
- adehadd
- Date:
- Sat Mar 16 18:19:08 2019 +0000
- Revision:
- 26:fb6151e5907d
- Parent:
- 25:995865498aee
- Child:
- 27:ce05fed3c1ea
proposed PID controls added.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
adehadd | 26:fb6151e5907d | 1 | //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~INCLUDES~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
estott | 0:de4320f74764 | 2 | #include "mbed.h" |
adehadd | 26:fb6151e5907d | 3 | #include "Crypto.h" // Library used for Bitcoin mining. |
adehadd | 26:fb6151e5907d | 4 | #include "rtos.h" // Real time operating system library for threads etc. |
adehadd | 26:fb6151e5907d | 5 | |
adehadd | 26:fb6151e5907d | 6 | |
adehadd | 26:fb6151e5907d | 7 | |
adehadd | 26:fb6151e5907d | 8 | |
adehadd | 26:fb6151e5907d | 9 | //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~DEFINITIONS~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
CallumAlder | 14:4e312fb83330 | 10 | |
adehadd | 26:fb6151e5907d | 11 | //~~~~~~~~~~~~~~Photointerrupter pins~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 12 | #define I1pin D2 |
adehadd | 26:fb6151e5907d | 13 | #define I2pin D11 |
adehadd | 26:fb6151e5907d | 14 | #define I3pin D12 |
estott | 0:de4320f74764 | 15 | |
adehadd | 26:fb6151e5907d | 16 | |
adehadd | 26:fb6151e5907d | 17 | ////~~~~~~~~~~Incremental encoder pins//~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 18 | #define CHA D7 |
adehadd | 26:fb6151e5907d | 19 | #define CHB D8 |
adehadd | 26:fb6151e5907d | 20 | |
estott | 2:4e88faab6988 | 21 | |
adehadd | 26:fb6151e5907d | 22 | //~~Motor Drive output pins~/Mask in output byte~~~ |
adehadd | 26:fb6151e5907d | 23 | #define L1Lpin D4 //0x01 |
adehadd | 26:fb6151e5907d | 24 | #define L1Hpin D5 //0x02 |
adehadd | 26:fb6151e5907d | 25 | #define L2Lpin D3 //0x04 |
adehadd | 26:fb6151e5907d | 26 | #define L2Hpin D6 //0x08 |
adehadd | 26:fb6151e5907d | 27 | #define L3Lpin D9 //0x10 |
adehadd | 26:fb6151e5907d | 28 | #define L3Hpin D10 //0x20 |
adehadd | 26:fb6151e5907d | 29 | |
adehadd | 26:fb6151e5907d | 30 | |
adehadd | 26:fb6151e5907d | 31 | //~~~~~~~~Maximum command length accepted~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 32 | #define MAXCMDLENGTH 18 |
adehadd | 26:fb6151e5907d | 33 | |
estott | 0:de4320f74764 | 34 | |
adehadd | 26:fb6151e5907d | 35 | //~~~~~~~~Maximum PWM allowed due to 50% restriction |
adehadd | 26:fb6151e5907d | 36 | #define MAXPWM 1000 |
adehadd | 26:fb6151e5907d | 37 | |
adehadd | 26:fb6151e5907d | 38 | |
adehadd | 26:fb6151e5907d | 39 | //~~~~~~~Enumeration of message identifiers~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 40 | enum MsgCode {Msg_motorState, Msg_hashRate, Msg_nonceMatch, Msg_keyAdded, Msg_velocityOut, Msg_velocityIn, Msg_positionIn, Msg_positionOut, Msg_rotations, Msg_torque, Msg_error}; |
adehadd | 26:fb6151e5907d | 41 | |
estott | 10:a4b5723b6c9d | 42 | |
adehadd | 26:fb6151e5907d | 43 | //~~~~~~~New data type to carry the messages~~~~~~~~ |
adehadd | 26:fb6151e5907d | 44 | typedef struct { |
adehadd | 26:fb6151e5907d | 45 | MsgCode code; |
adehadd | 26:fb6151e5907d | 46 | uint32_t data; |
adehadd | 26:fb6151e5907d | 47 | } message_t; |
estott | 5:08f338b5e4d9 | 48 | |
adehadd | 26:fb6151e5907d | 49 | |
adehadd | 26:fb6151e5907d | 50 | |
adehadd | 26:fb6151e5907d | 51 | //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Global Variables~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
estott | 0:de4320f74764 | 52 | |
estott | 0:de4320f74764 | 53 | //Mapping from sequential drive states to motor phase outputs |
estott | 0:de4320f74764 | 54 | /* |
estott | 0:de4320f74764 | 55 | State L1 L2 L3 |
estott | 0:de4320f74764 | 56 | 0 H - L |
estott | 0:de4320f74764 | 57 | 1 - H L |
estott | 0:de4320f74764 | 58 | 2 L H - |
estott | 0:de4320f74764 | 59 | 3 L - H |
estott | 0:de4320f74764 | 60 | 4 - L H |
estott | 0:de4320f74764 | 61 | 5 H L - |
estott | 0:de4320f74764 | 62 | 6 - - - |
estott | 0:de4320f74764 | 63 | 7 - - - |
estott | 0:de4320f74764 | 64 | */ |
adehadd | 26:fb6151e5907d | 65 | |
adehadd | 26:fb6151e5907d | 66 | |
adehadd | 26:fb6151e5907d | 67 | //~~~~~~~~~~~Drive state to output table~~~~~~~~~~~~ |
estott | 0:de4320f74764 | 68 | const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; |
estott | 2:4e88faab6988 | 69 | |
adehadd | 26:fb6151e5907d | 70 | |
adehadd | 26:fb6151e5907d | 71 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid. |
adehadd | 26:fb6151e5907d | 72 | const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; |
adehadd | 26:fb6151e5907d | 73 | //Alternative if phase order of input or drive is reversed. |
adehadd | 26:fb6151e5907d | 74 | //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; |
adehadd | 26:fb6151e5907d | 75 | |
estott | 2:4e88faab6988 | 76 | |
adehadd | 26:fb6151e5907d | 77 | ////~~~~~~~~~Phase lead to make motor spin~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 78 | int8_t lead = 2; //2 for forwards, -2 for backwards |
adehadd | 26:fb6151e5907d | 79 | |
estott | 0:de4320f74764 | 80 | |
adehadd | 26:fb6151e5907d | 81 | //~~~~~~~~~~~~~~~~~~Rotor states~~~~~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 82 | int8_t orState = 0; // Rotor offset at motor state 0 |
adehadd | 26:fb6151e5907d | 83 | volatile int8_t intStateOld = 0; // Motor old state. Type is volatile since |
adehadd | 26:fb6151e5907d | 84 | // its value may change in ISR |
adehadd | 26:fb6151e5907d | 85 | |
adehadd | 26:fb6151e5907d | 86 | //~~~~~~~~~~~~~~~~~~~Status LED~~~~~~~~~~~~~~~~~~~~ |
estott | 0:de4320f74764 | 87 | DigitalOut led1(LED1); |
estott | 0:de4320f74764 | 88 | |
adehadd | 26:fb6151e5907d | 89 | |
adehadd | 26:fb6151e5907d | 90 | //~~~~~~~~~~~~~Photointerrupter inputs~~~~~~~~~~~~~ |
iachinweze1 | 12:41b3112021a3 | 91 | InterruptIn I1(I1pin); |
iachinweze1 | 12:41b3112021a3 | 92 | InterruptIn I2(I2pin); |
iachinweze1 | 12:41b3112021a3 | 93 | InterruptIn I3(I3pin); |
estott | 0:de4320f74764 | 94 | |
adehadd | 26:fb6151e5907d | 95 | |
adehadd | 26:fb6151e5907d | 96 | //~~~~~~~~~~~~~~Motor Drive outputs~~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 97 | PwmOut L1L(L1Lpin); |
estott | 0:de4320f74764 | 98 | DigitalOut L1H(L1Hpin); |
adehadd | 26:fb6151e5907d | 99 | PwmOut L2L(L2Lpin); |
estott | 0:de4320f74764 | 100 | DigitalOut L2H(L2Hpin); |
adehadd | 26:fb6151e5907d | 101 | PwmOut L3L(L3Lpin); |
estott | 0:de4320f74764 | 102 | DigitalOut L3H(L3Hpin); |
estott | 0:de4320f74764 | 103 | |
iachinweze1 | 23:ab1cb51527d1 | 104 | |
adehadd | 26:fb6151e5907d | 105 | //~Dats structure to pass information between threads~ |
adehadd | 26:fb6151e5907d | 106 | Mail<message_t,16> outMessages; |
iachinweze1 | 23:ab1cb51527d1 | 107 | |
iachinweze1 | 23:ab1cb51527d1 | 108 | |
adehadd | 26:fb6151e5907d | 109 | //~~~~~~~~~~~~~~~~~~~~Queue~~~~~~~~~~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 110 | Queue<void, 8> inCharQ; |
iachinweze1 | 23:ab1cb51527d1 | 111 | |
iachinweze1 | 23:ab1cb51527d1 | 112 | |
adehadd | 26:fb6151e5907d | 113 | //~~~~~~~~~~~~Serial command buffer~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 114 | char newCmd[MAXCMDLENGTH]; |
adehadd | 26:fb6151e5907d | 115 | volatile uint8_t cmdIndx = 0; |
iachinweze1 | 23:ab1cb51527d1 | 116 | |
iachinweze1 | 23:ab1cb51527d1 | 117 | |
adehadd | 26:fb6151e5907d | 118 | //~~~~~~~~~~Key to be passed for mining~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 119 | volatile uint64_t newKey; // Key |
adehadd | 26:fb6151e5907d | 120 | Mutex newKey_mutex; // Restrict access to prevent deadlock. |
CallumAlder | 19:805c87360b55 | 121 | |
iachinweze1 | 23:ab1cb51527d1 | 122 | |
adehadd | 26:fb6151e5907d | 123 | //~~~~~~~~~~~~~~Initial conditions~~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 124 | volatile uint32_t motorPower = 300; // motor toque |
adehadd | 26:fb6151e5907d | 125 | volatile float targetVel = 45.0; |
adehadd | 26:fb6151e5907d | 126 | volatile float targetRot = 459.0; |
CallumAlder | 19:805c87360b55 | 127 | |
iachinweze1 | 23:ab1cb51527d1 | 128 | |
adehadd | 26:fb6151e5907d | 129 | //~~~~~~~~~~~Motor position variable~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 130 | volatile int32_t motorPos; // Motor position updated by interrupt. |
iachinweze1 | 23:ab1cb51527d1 | 131 | |
iachinweze1 | 23:ab1cb51527d1 | 132 | |
adehadd | 26:fb6151e5907d | 133 | //~~~~~~~~~~Serial port connection~~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 134 | RawSerial pc(SERIAL_TX, SERIAL_RX); |
iachinweze1 | 23:ab1cb51527d1 | 135 | |
iachinweze1 | 23:ab1cb51527d1 | 136 | |
adehadd | 26:fb6151e5907d | 137 | |
adehadd | 26:fb6151e5907d | 138 | |
adehadd | 26:fb6151e5907d | 139 | //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Threads~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
adehadd | 20:c60f4785b556 | 140 | |
adehadd | 26:fb6151e5907d | 141 | Thread commOutT(osPriorityAboveNormal,1024); // Output to serial port. |
adehadd | 26:fb6151e5907d | 142 | Thread commInT(osPriorityAboveNormal,1024); // Input from serial port. |
adehadd | 26:fb6151e5907d | 143 | Thread motorCtrlT(osPriorityNormal,1024); // Motor control thread. |
adehadd | 20:c60f4785b556 | 144 | |
adehadd | 20:c60f4785b556 | 145 | |
iachinweze1 | 23:ab1cb51527d1 | 146 | |
adehadd | 20:c60f4785b556 | 147 | |
adehadd | 26:fb6151e5907d | 148 | //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Function declarations~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
adehadd | 20:c60f4785b556 | 149 | |
adehadd | 26:fb6151e5907d | 150 | void motorOut(int8_t driveState, uint32_t pw); |
adehadd | 26:fb6151e5907d | 151 | inline int8_t readRotorState(); |
adehadd | 26:fb6151e5907d | 152 | int8_t motorHome(); |
adehadd | 26:fb6151e5907d | 153 | void motorISR(); |
adehadd | 26:fb6151e5907d | 154 | void cmdParser(); |
adehadd | 26:fb6151e5907d | 155 | void commOutFn(); |
adehadd | 26:fb6151e5907d | 156 | void putMessage(MsgCode code, uint32_t data); |
adehadd | 26:fb6151e5907d | 157 | void serialISR(); |
adehadd | 26:fb6151e5907d | 158 | void commInFn(); |
adehadd | 26:fb6151e5907d | 159 | void motorCtrlFn(); |
adehadd | 26:fb6151e5907d | 160 | void motorCtrlTick(); |
iachinweze1 | 23:ab1cb51527d1 | 161 | |
iachinweze1 | 23:ab1cb51527d1 | 162 | |
iachinweze1 | 23:ab1cb51527d1 | 163 | |
iachinweze1 | 23:ab1cb51527d1 | 164 | |
adehadd | 26:fb6151e5907d | 165 | //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Main~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
iachinweze1 | 23:ab1cb51527d1 | 166 | |
adehadd | 26:fb6151e5907d | 167 | int main() { |
adehadd | 26:fb6151e5907d | 168 | //~~~~~~~~~~~~~Initial serial prints~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 169 | pc.printf("\n\r\n\r Hello \n\r"); |
adehadd | 26:fb6151e5907d | 170 | pc.printf("\n\r\n\rGroup: IndiCorp \n\r"); |
adehadd | 26:fb6151e5907d | 171 | pc.printf("Initial hardcoded conditions:\n\r"); |
adehadd | 26:fb6151e5907d | 172 | pc.printf("\tVelocity:\t%f\n\r", targetVel); |
adehadd | 26:fb6151e5907d | 173 | pc.printf("\tRotation:\t%f\n\r", targetRot); |
adehadd | 26:fb6151e5907d | 174 | |
iachinweze1 | 23:ab1cb51527d1 | 175 | |
adehadd | 26:fb6151e5907d | 176 | //~~~~~~~~~~~~~~~Start all threads~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 177 | commOutT.start(commOutFn); |
adehadd | 26:fb6151e5907d | 178 | commInT.start(commInFn); |
adehadd | 26:fb6151e5907d | 179 | motorCtrlT.start(motorCtrlFn); |
adehadd | 26:fb6151e5907d | 180 | |
adehadd | 26:fb6151e5907d | 181 | |
adehadd | 26:fb6151e5907d | 182 | //~~~~~~~~~~~~~~Attach ISR to serial~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 183 | pc.attach(&serialISR); |
adehadd | 26:fb6151e5907d | 184 | |
adehadd | 26:fb6151e5907d | 185 | |
adehadd | 26:fb6151e5907d | 186 | //~~~~~~~~Attach ISR to photointerrupters~~~~~~~ |
adehadd | 26:fb6151e5907d | 187 | I1.rise(&motorISR); |
adehadd | 26:fb6151e5907d | 188 | I1.fall(&motorISR); |
adehadd | 26:fb6151e5907d | 189 | I2.rise(&motorISR); |
adehadd | 26:fb6151e5907d | 190 | I2.fall(&motorISR); |
adehadd | 26:fb6151e5907d | 191 | I3.rise(&motorISR); |
adehadd | 26:fb6151e5907d | 192 | I3.fall(&motorISR); |
adehadd | 26:fb6151e5907d | 193 | |
iachinweze1 | 23:ab1cb51527d1 | 194 | |
adehadd | 26:fb6151e5907d | 195 | //~~~~~~~~~Declare Bitcoin Variables~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 196 | SHA256 sha256Inst; |
adehadd | 26:fb6151e5907d | 197 | uint8_t sequence[] = {\ |
adehadd | 26:fb6151e5907d | 198 | 0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,\ |
adehadd | 26:fb6151e5907d | 199 | 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,\ |
adehadd | 26:fb6151e5907d | 200 | 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,\ |
adehadd | 26:fb6151e5907d | 201 | 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,\ |
adehadd | 26:fb6151e5907d | 202 | 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,\ |
adehadd | 26:fb6151e5907d | 203 | 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,\ |
adehadd | 26:fb6151e5907d | 204 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,\ |
adehadd | 26:fb6151e5907d | 205 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 |
adehadd | 26:fb6151e5907d | 206 | }; |
adehadd | 26:fb6151e5907d | 207 | uint64_t* key = (uint64_t*)((int)sequence + 48); |
adehadd | 26:fb6151e5907d | 208 | uint64_t* nonce = (uint64_t*)((int)sequence + 56); |
adehadd | 26:fb6151e5907d | 209 | uint8_t hash[32]; |
adehadd | 26:fb6151e5907d | 210 | uint32_t sequenceLength = 64; |
adehadd | 26:fb6151e5907d | 211 | uint32_t hashCounter = 0; |
adehadd | 26:fb6151e5907d | 212 | Timer bitcoinTimer; |
iachinweze1 | 23:ab1cb51527d1 | 213 | |
adehadd | 26:fb6151e5907d | 214 | |
adehadd | 26:fb6151e5907d | 215 | //Set PWM period to max 2000 due to hardware limitations |
adehadd | 26:fb6151e5907d | 216 | L1L.period_us(2000); |
adehadd | 26:fb6151e5907d | 217 | L2L.period_us(2000); |
adehadd | 26:fb6151e5907d | 218 | L3L.period_us(2000); |
adehadd | 26:fb6151e5907d | 219 | |
iachinweze1 | 23:ab1cb51527d1 | 220 | |
adehadd | 26:fb6151e5907d | 221 | /* Run the motor synchronisation: orState is subtracted from future rotor |
adehadd | 26:fb6151e5907d | 222 | state inputs to align rotor and motor states */ |
adehadd | 26:fb6151e5907d | 223 | orState = motorHome(); |
adehadd | 26:fb6151e5907d | 224 | pc.printf("Rotor origin: %x\n\r", orState); //Print state for debugging purposes. |
adehadd | 26:fb6151e5907d | 225 | |
adehadd | 26:fb6151e5907d | 226 | |
adehadd | 26:fb6151e5907d | 227 | //~~~~~~Give the motor a kick to begin~~~~~~~~ |
adehadd | 26:fb6151e5907d | 228 | motorISR(); |
adehadd | 26:fb6151e5907d | 229 | |
iachinweze1 | 23:ab1cb51527d1 | 230 | |
adehadd | 20:c60f4785b556 | 231 | |
adehadd | 26:fb6151e5907d | 232 | //~~~~~~~~~~~~~~~~Mining loop~~~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 233 | bitcoinTimer.start(); // start timer |
adehadd | 26:fb6151e5907d | 234 | while (1) { |
adehadd | 26:fb6151e5907d | 235 | newKey_mutex.lock(); |
adehadd | 26:fb6151e5907d | 236 | (*key) = newKey; |
adehadd | 26:fb6151e5907d | 237 | newKey_mutex.unlock(); |
adehadd | 26:fb6151e5907d | 238 | sha256Inst.computeHash(hash, sequence, sequenceLength); |
adehadd | 26:fb6151e5907d | 239 | hashCounter++; |
adehadd | 26:fb6151e5907d | 240 | if ((hash[0]==0) && (hash[1]==0)){ |
adehadd | 26:fb6151e5907d | 241 | putMessage(Msg_nonceMatch, *nonce); // matching nonce 7 |
iachinweze1 | 23:ab1cb51527d1 | 242 | } |
adehadd | 20:c60f4785b556 | 243 | |
adehadd | 26:fb6151e5907d | 244 | (*nonce)++; |
iachinweze1 | 23:ab1cb51527d1 | 245 | |
adehadd | 26:fb6151e5907d | 246 | if (bitcoinTimer.read() >= 1){ |
adehadd | 26:fb6151e5907d | 247 | putMessage(Msg_hashRate, hashCounter); // 5 |
adehadd | 26:fb6151e5907d | 248 | hashCounter=0; |
adehadd | 26:fb6151e5907d | 249 | bitcoinTimer.reset(); |
adehadd | 26:fb6151e5907d | 250 | } |
adehadd | 26:fb6151e5907d | 251 | } |
adehadd | 26:fb6151e5907d | 252 | } |
CallumAlder | 19:805c87360b55 | 253 | |
adehadd | 26:fb6151e5907d | 254 | //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Functions Definitions~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
adehadd | 20:c60f4785b556 | 255 | |
adehadd | 26:fb6151e5907d | 256 | //~~~~~~~~~~~~Set a given drive state~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 257 | void motorOut(int8_t driveState, uint32_t pw){ |
iachinweze1 | 23:ab1cb51527d1 | 258 | |
adehadd | 20:c60f4785b556 | 259 | //Lookup the output byte from the drive state. |
adehadd | 20:c60f4785b556 | 260 | int8_t driveOut = driveTable[driveState & 0x07]; |
adehadd | 26:fb6151e5907d | 261 | |
adehadd | 20:c60f4785b556 | 262 | //Turn off first |
adehadd | 26:fb6151e5907d | 263 | if (~driveOut & 0x01) L1L.pulsewidth_us(0); |
adehadd | 20:c60f4785b556 | 264 | if (~driveOut & 0x02) L1H = 1; |
adehadd | 26:fb6151e5907d | 265 | if (~driveOut & 0x04) L2L.pulsewidth_us(0); |
adehadd | 20:c60f4785b556 | 266 | if (~driveOut & 0x08) L2H = 1; |
adehadd | 26:fb6151e5907d | 267 | if (~driveOut & 0x10) L3L.pulsewidth_us(0); |
adehadd | 20:c60f4785b556 | 268 | if (~driveOut & 0x20) L3H = 1; |
adehadd | 26:fb6151e5907d | 269 | |
adehadd | 20:c60f4785b556 | 270 | //Then turn on |
adehadd | 26:fb6151e5907d | 271 | if (driveOut & 0x01) L1L.pulsewidth_us(pw); |
adehadd | 20:c60f4785b556 | 272 | if (driveOut & 0x02) L1H = 0; |
adehadd | 26:fb6151e5907d | 273 | if (driveOut & 0x04) L2L.pulsewidth_us(pw); |
adehadd | 20:c60f4785b556 | 274 | if (driveOut & 0x08) L2H = 0; |
adehadd | 26:fb6151e5907d | 275 | if (driveOut & 0x10) L3L.pulsewidth_us(pw); |
adehadd | 20:c60f4785b556 | 276 | if (driveOut & 0x20) L3H = 0; |
iachinweze1 | 23:ab1cb51527d1 | 277 | } |
adehadd | 26:fb6151e5907d | 278 | |
iachinweze1 | 23:ab1cb51527d1 | 279 | |
adehadd | 26:fb6151e5907d | 280 | //~Convert photointerrupter inputs to a rotor state~ |
adehadd | 20:c60f4785b556 | 281 | inline int8_t readRotorState(){ |
adehadd | 20:c60f4785b556 | 282 | return stateMap[I1 + 2*I2 + 4*I3]; |
iachinweze1 | 23:ab1cb51527d1 | 283 | } |
adehadd | 20:c60f4785b556 | 284 | |
adehadd | 26:fb6151e5907d | 285 | //~~~~~~Basic motor synchronisation routine~~~~~~ |
adehadd | 20:c60f4785b556 | 286 | int8_t motorHome() { |
adehadd | 20:c60f4785b556 | 287 | //Put the motor in drive state 0 and wait for it to stabilise |
adehadd | 26:fb6151e5907d | 288 | motorOut(0, MAXPWM); // set to max PWM |
adehadd | 20:c60f4785b556 | 289 | wait(2.0); |
adehadd | 26:fb6151e5907d | 290 | |
adehadd | 20:c60f4785b556 | 291 | //Get the rotor state |
adehadd | 20:c60f4785b556 | 292 | return readRotorState(); |
adehadd | 20:c60f4785b556 | 293 | } |
adehadd | 20:c60f4785b556 | 294 | |
adehadd | 20:c60f4785b556 | 295 | |
adehadd | 26:fb6151e5907d | 296 | //~~~~~~~~~Motor ISR (photointerrupters)~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 297 | void motorISR() { |
adehadd | 26:fb6151e5907d | 298 | static int8_t oldRotorState; |
adehadd | 26:fb6151e5907d | 299 | int8_t rotorState = readRotorState(); |
adehadd | 26:fb6151e5907d | 300 | |
adehadd | 26:fb6151e5907d | 301 | motorOut((rotorState-orState+lead+6)%6,motorPower); |
adehadd | 26:fb6151e5907d | 302 | |
adehadd | 26:fb6151e5907d | 303 | // update motorPosition and oldRotorState |
adehadd | 26:fb6151e5907d | 304 | if (rotorState - oldRotorState == 5) motorPos--; |
adehadd | 26:fb6151e5907d | 305 | else if (rotorState - oldRotorState == -5) motorPos++; |
adehadd | 26:fb6151e5907d | 306 | else motorPos += (rotorState - oldRotorState); |
adehadd | 26:fb6151e5907d | 307 | oldRotorState = rotorState; |
adehadd | 26:fb6151e5907d | 308 | } |
adehadd | 26:fb6151e5907d | 309 | |
adehadd | 26:fb6151e5907d | 310 | |
adehadd | 26:fb6151e5907d | 311 | //~~~~~Decode messages to print on serial port~~~~~ |
adehadd | 26:fb6151e5907d | 312 | void commOutFn() { |
adehadd | 26:fb6151e5907d | 313 | while(1) { |
adehadd | 26:fb6151e5907d | 314 | osEvent newEvent = outMessages.get(); |
adehadd | 26:fb6151e5907d | 315 | message_t *pMessage = (message_t*)newEvent.value.p; |
iachinweze1 | 23:ab1cb51527d1 | 316 | |
adehadd | 26:fb6151e5907d | 317 | //Case switch to choose serial output based on incoming message |
adehadd | 26:fb6151e5907d | 318 | switch(pMessage->code) { |
adehadd | 26:fb6151e5907d | 319 | case Msg_motorState: |
adehadd | 26:fb6151e5907d | 320 | pc.printf("The motor is currently in state %x\n\r", pMessage->data); |
adehadd | 26:fb6151e5907d | 321 | break; |
adehadd | 26:fb6151e5907d | 322 | case Msg_hashRate: |
adehadd | 26:fb6151e5907d | 323 | pc.printf("Mining at a rate of %.2f Hash/s\n\r", (int32_t)pMessage->data); |
adehadd | 26:fb6151e5907d | 324 | break; |
adehadd | 26:fb6151e5907d | 325 | case Msg_nonceMatch: |
adehadd | 26:fb6151e5907d | 326 | pc.printf("Nonce found: %x\n\r", pMessage->data); |
adehadd | 26:fb6151e5907d | 327 | break; |
adehadd | 26:fb6151e5907d | 328 | case Msg_keyAdded: |
adehadd | 26:fb6151e5907d | 329 | pc.printf("New key added:\t0x%016x\n\r", pMessage->data); |
adehadd | 26:fb6151e5907d | 330 | break; |
adehadd | 26:fb6151e5907d | 331 | case Msg_torque: |
adehadd | 26:fb6151e5907d | 332 | pc.printf("Motor torque set to:\t%d\n\r", pMessage->data); |
adehadd | 26:fb6151e5907d | 333 | break; |
adehadd | 26:fb6151e5907d | 334 | case Msg_velocityIn: |
adehadd | 26:fb6151e5907d | 335 | pc.printf("Target velocity set to:\t%.2f\n\r", targetVel); |
adehadd | 26:fb6151e5907d | 336 | break; |
adehadd | 26:fb6151e5907d | 337 | case Msg_velocityOut: |
adehadd | 26:fb6151e5907d | 338 | pc.printf("Current Velocity:\t%.2f\n\r", \ |
adehadd | 26:fb6151e5907d | 339 | (float)((int32_t)pMessage->data / 6)); |
adehadd | 26:fb6151e5907d | 340 | break; |
adehadd | 26:fb6151e5907d | 341 | case Msg_positionIn: |
adehadd | 26:fb6151e5907d | 342 | pc.printf("Target rotation set to:\t%.2f\n\r", \ |
adehadd | 26:fb6151e5907d | 343 | (float)((int32_t)pMessage->data / 6)); |
adehadd | 26:fb6151e5907d | 344 | break; |
adehadd | 26:fb6151e5907d | 345 | case Msg_positionOut: |
adehadd | 26:fb6151e5907d | 346 | pc.printf("Current position:\t%.2f\n\r", \ |
adehadd | 26:fb6151e5907d | 347 | (float)((int32_t)pMessage->data / 6)); |
adehadd | 26:fb6151e5907d | 348 | break; |
adehadd | 26:fb6151e5907d | 349 | case Msg_error: |
adehadd | 26:fb6151e5907d | 350 | pc.printf("Debugging position:%x\n\r", pMessage->data); |
adehadd | 26:fb6151e5907d | 351 | break; |
adehadd | 26:fb6151e5907d | 352 | default: |
adehadd | 26:fb6151e5907d | 353 | pc.printf("Unknown Error. Data: %x\n\r", pMessage->data); |
adehadd | 26:fb6151e5907d | 354 | break; |
adehadd | 26:fb6151e5907d | 355 | } |
adehadd | 26:fb6151e5907d | 356 | outMessages.free(pMessage); |
iachinweze1 | 24:be5fef3dace1 | 357 | } |
adehadd | 26:fb6151e5907d | 358 | } |
iachinweze1 | 24:be5fef3dace1 | 359 | |
adehadd | 26:fb6151e5907d | 360 | |
adehadd | 26:fb6151e5907d | 361 | //~~~~~~~~~Put message in Mail queue~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 362 | void putMessage(MsgCode code, uint32_t data){ |
adehadd | 26:fb6151e5907d | 363 | message_t *pMessage = outMessages.alloc(); |
adehadd | 26:fb6151e5907d | 364 | pMessage->code = code; |
adehadd | 26:fb6151e5907d | 365 | pMessage->data = data; |
adehadd | 26:fb6151e5907d | 366 | outMessages.put(pMessage); |
adehadd | 26:fb6151e5907d | 367 | } |
adehadd | 26:fb6151e5907d | 368 | |
adehadd | 26:fb6151e5907d | 369 | |
adehadd | 26:fb6151e5907d | 370 | //~~~~Receive & decode serial input command~~~~~ |
adehadd | 26:fb6151e5907d | 371 | void commInFn() { |
adehadd | 26:fb6151e5907d | 372 | while (1) { |
adehadd | 26:fb6151e5907d | 373 | osEvent newEvent = inCharQ.get(); |
adehadd | 26:fb6151e5907d | 374 | uint8_t newChar = *((uint8_t*)(&newEvent.value.p)); |
adehadd | 26:fb6151e5907d | 375 | pc.putc(newChar); |
adehadd | 26:fb6151e5907d | 376 | if(cmdIndx >= MAXCMDLENGTH){ //Make sure there is no overflow in comand. |
adehadd | 26:fb6151e5907d | 377 | cmdIndx = 0; |
adehadd | 26:fb6151e5907d | 378 | putMessage(Msg_error, 1); |
adehadd | 26:fb6151e5907d | 379 | } |
adehadd | 26:fb6151e5907d | 380 | else{ |
adehadd | 26:fb6151e5907d | 381 | if(newChar != '\r'){ //While the command is not over, |
adehadd | 26:fb6151e5907d | 382 | newCmd[cmdIndx] = newChar; //save input character and |
adehadd | 26:fb6151e5907d | 383 | cmdIndx++; //advance index |
adehadd | 26:fb6151e5907d | 384 | } |
adehadd | 26:fb6151e5907d | 385 | else{ |
adehadd | 26:fb6151e5907d | 386 | newCmd[cmdIndx] = '\0'; //When the command is finally over, |
adehadd | 26:fb6151e5907d | 387 | cmdIndx = 0; //reset index and |
adehadd | 26:fb6151e5907d | 388 | cmdParser(); //parse the command for decoding. |
adehadd | 26:fb6151e5907d | 389 | } |
adehadd | 26:fb6151e5907d | 390 | } |
adehadd | 26:fb6151e5907d | 391 | } |
adehadd | 20:c60f4785b556 | 392 | } |
adehadd | 20:c60f4785b556 | 393 | |
CallumAlder | 19:805c87360b55 | 394 | |
adehadd | 20:c60f4785b556 | 395 | |
adehadd | 26:fb6151e5907d | 396 | //~~~~~~~~~~~~~Decode the command~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 397 | void cmdParser(){ |
adehadd | 26:fb6151e5907d | 398 | switch(newCmd[0]) { |
adehadd | 26:fb6151e5907d | 399 | case 'K': |
adehadd | 26:fb6151e5907d | 400 | newKey_mutex.lock(); //Ensure there is no deadlock |
adehadd | 26:fb6151e5907d | 401 | sscanf(newCmd, "K%x", &newKey); //Find desired the Key code |
adehadd | 26:fb6151e5907d | 402 | putMessage(Msg_keyAdded, newKey); //Print it out |
adehadd | 26:fb6151e5907d | 403 | newKey_mutex.unlock(); |
adehadd | 26:fb6151e5907d | 404 | break; |
adehadd | 26:fb6151e5907d | 405 | case 'V': |
adehadd | 26:fb6151e5907d | 406 | sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity |
adehadd | 26:fb6151e5907d | 407 | putMessage(Msg_velocityIn, targetVel); //Print it out |
adehadd | 26:fb6151e5907d | 408 | break; |
adehadd | 26:fb6151e5907d | 409 | case 'R': |
adehadd | 26:fb6151e5907d | 410 | sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation |
adehadd | 26:fb6151e5907d | 411 | putMessage(Msg_positionIn, targetRot); //Print it out |
adehadd | 26:fb6151e5907d | 412 | break; |
adehadd | 26:fb6151e5907d | 413 | case 'T': |
adehadd | 26:fb6151e5907d | 414 | sscanf(newCmd, "T%d", &motorPower); //Find desired target torque |
adehadd | 26:fb6151e5907d | 415 | putMessage(Msg_torque, motorPower); //Print it out |
adehadd | 26:fb6151e5907d | 416 | break; |
adehadd | 26:fb6151e5907d | 417 | default: break; |
adehadd | 26:fb6151e5907d | 418 | } |
adehadd | 26:fb6151e5907d | 419 | } |
iachinweze1 | 23:ab1cb51527d1 | 420 | |
iachinweze1 | 23:ab1cb51527d1 | 421 | |
adehadd | 26:fb6151e5907d | 422 | //~~~~~~~~~~~~~Serial ISR~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 423 | void serialISR() { |
adehadd | 26:fb6151e5907d | 424 | uint8_t newChar = pc.getc(); |
adehadd | 26:fb6151e5907d | 425 | inCharQ.put((void*)newChar); |
adehadd | 26:fb6151e5907d | 426 | } |
iachinweze1 | 23:ab1cb51527d1 | 427 | |
adehadd | 26:fb6151e5907d | 428 | |
adehadd | 26:fb6151e5907d | 429 | //~~~~~~ISR triggered by Ticker~~~~~~ |
adehadd | 26:fb6151e5907d | 430 | void motorCtrlTick(){ |
adehadd | 26:fb6151e5907d | 431 | motorCtrlT.signal_set(0x1); //Set signal to motor control thread which carries out calculations to avoid CPU blocking |
adehadd | 26:fb6151e5907d | 432 | } |
iachinweze1 | 12:41b3112021a3 | 433 | |
CallumAlder | 15:2f95f2fb68e3 | 434 | |
adehadd | 26:fb6151e5907d | 435 | //~~~~~~~~~~~~~Motor control function with proportional controller~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 436 | void motorCtrlFn() { |
adehadd | 26:fb6151e5907d | 437 | |
adehadd | 26:fb6151e5907d | 438 | //~~~~~~~~~~~~~Variables~~~~~~~~~~~~~~~~ |
adehadd | 26:fb6151e5907d | 439 | Ticker motorCtrlTicker; //Ticker to ba attached to callback function |
adehadd | 26:fb6151e5907d | 440 | int32_t velocity; //Variable for local velocity calculation |
adehadd | 26:fb6151e5907d | 441 | int32_t locMotorPos; //Local copy of motor position |
adehadd | 26:fb6151e5907d | 442 | static int32_t oldMotorPos = 0; //Old motor position used for calculations |
adehadd | 26:fb6151e5907d | 443 | static uint8_t motorCtrlCounter = 0; //Counter to be reset every 10 iterations to get velocity calculation in seconds |
adehadd | 26:fb6151e5907d | 444 | int32_t torque; //Local variable to set motor torque |
adehadd | 26:fb6151e5907d | 445 | float sError; //Velocity error between target and reality |
adehadd | 26:fb6151e5907d | 446 | float rError; //Rotation error between target and reality |
adehadd | 26:fb6151e5907d | 447 | static float rErrorOld; //Old rotation error used for calculation |
adehadd | 26:fb6151e5907d | 448 | |
adehadd | 26:fb6151e5907d | 449 | //~~~Controller constants~~~~ |
adehadd | 26:fb6151e5907d | 450 | int32_t Kp1=22; //Proportional controller constants |
adehadd | 26:fb6151e5907d | 451 | int32_t Kp2=22; //Calculated by trial and error to give optimal accuracy |
adehadd | 26:fb6151e5907d | 452 | float Kd=15.5; |
adehadd | 26:fb6151e5907d | 453 | |
adehadd | 26:fb6151e5907d | 454 | |
adehadd | 26:fb6151e5907d | 455 | //Attach ticker to callback function that will run every 100 ms |
adehadd | 26:fb6151e5907d | 456 | motorCtrlTicker.attach_us(&motorCtrlTick,100000); |
adehadd | 26:fb6151e5907d | 457 | |
adehadd | 26:fb6151e5907d | 458 | |
adehadd | 26:fb6151e5907d | 459 | |
adehadd | 26:fb6151e5907d | 460 | while(1) { |
adehadd | 26:fb6151e5907d | 461 | motorCtrlT.signal_wait(0x1); // Wait for thread signal. |
adehadd | 26:fb6151e5907d | 462 | |
adehadd | 26:fb6151e5907d | 463 | //Initial velocity calculation and report |
adehadd | 26:fb6151e5907d | 464 | locMotorPos = motorPos; //Read global variable motorPos which is updated by interrupt and store it in local variable |
adehadd | 26:fb6151e5907d | 465 | velocity = (locMotorPos - oldMotorPos) * 10; //Proceed with calculation |
adehadd | 26:fb6151e5907d | 466 | oldMotorPos = locMotorPos; //Update old motor position |
adehadd | 26:fb6151e5907d | 467 | motorCtrlCounter++; //Advance counter |
adehadd | 26:fb6151e5907d | 468 | if (motorCtrlCounter >= 10) { //Every 10th iteration |
adehadd | 26:fb6151e5907d | 469 | motorCtrlCounter = 0; //Reset counter |
adehadd | 26:fb6151e5907d | 470 | putMessage(Msg_velocityOut, velocity); //Report the current velocity |
adehadd | 26:fb6151e5907d | 471 | putMessage(Msg_positionOut, locMotorPos); //Report the current position |
adehadd | 26:fb6151e5907d | 472 | } |
adehadd | 26:fb6151e5907d | 473 | /* |
adehadd | 26:fb6151e5907d | 474 | //~~~~~Speed controller~~~~~~ |
adehadd | 26:fb6151e5907d | 475 | sError = (targetVel * 6) - abs(velocity); //Read global variable targetVel updated by interrupt and calculate error between target and reality |
adehadd | 26:fb6151e5907d | 476 | int32_t Ys; //Initialise controller output Ys |
adehadd | 26:fb6151e5907d | 477 | if (sError == -abs(velocity)) { //Check if user entered V0, |
adehadd | 26:fb6151e5907d | 478 | Ys = MAXPWM; //and set the output to maximum as specified |
adehadd | 26:fb6151e5907d | 479 | } |
adehadd | 26:fb6151e5907d | 480 | else { |
adehadd | 26:fb6151e5907d | 481 | Ys = (int)(Kp1 * sError); //If the user didn't enter V0 implement controller transfer function: Ys = Kp * (s -|v|) where, |
adehadd | 26:fb6151e5907d | 482 | } //Ys = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity |
adehadd | 26:fb6151e5907d | 483 | |
adehadd | 26:fb6151e5907d | 484 | //~~~~~Rotation control~~~~~~ |
adehadd | 26:fb6151e5907d | 485 | rError = targetRot - (locMotorPos/6); //Read global variable targetRot updated by interrupt and calculate the rotation error. |
adehadd | 26:fb6151e5907d | 486 | int32_t Yr; //Initialise controller output Yr |
adehadd | 26:fb6151e5907d | 487 | Yr = Kp2*rError + Kd*(rError - rErrorOld); //Implement controller transfer function Ys= Kp*Er + Kd* (dEr/dt) |
adehadd | 26:fb6151e5907d | 488 | rErrorOld = rError; //Update rotation error |
adehadd | 26:fb6151e5907d | 489 | if(rError < 0){ //Use the sign of the error to set controller wrt direction of rotation |
adehadd | 26:fb6151e5907d | 490 | Ys = -Ys; |
CallumAlder | 15:2f95f2fb68e3 | 491 | } |
CallumAlder | 15:2f95f2fb68e3 | 492 | |
adehadd | 26:fb6151e5907d | 493 | if((velocity>=0 && Ys<Yr) || (velocity<0 && Ys>Yr)){ //Choose Ys or Yr based on distance from target value so that it takes |
adehadd | 26:fb6151e5907d | 494 | torque = Ys; //appropriate steps in the right direction to reach target value |
adehadd | 26:fb6151e5907d | 495 | } |
adehadd | 26:fb6151e5907d | 496 | else{ |
adehadd | 26:fb6151e5907d | 497 | torque = Yr; |
adehadd | 26:fb6151e5907d | 498 | } |
adehadd | 26:fb6151e5907d | 499 | if(torque < 0){ //Variable torque cannot be negative since it sets the PWM |
adehadd | 26:fb6151e5907d | 500 | torque = -torque; //Hence we make the value positive, |
adehadd | 26:fb6151e5907d | 501 | lead = -2; //and instead set the direction to the opposite one |
adehadd | 18:7ee632098fd4 | 502 | } |
adehadd | 26:fb6151e5907d | 503 | else{ |
adehadd | 26:fb6151e5907d | 504 | lead = 2; |
adehadd | 18:7ee632098fd4 | 505 | } |
adehadd | 26:fb6151e5907d | 506 | if(torque > MAXPWM){ //In case the calculated PWM is higher than our maximum 50% allowance, |
adehadd | 26:fb6151e5907d | 507 | torque = MAXPWM; //Set it to our max. |
adehadd | 26:fb6151e5907d | 508 | } |
adehadd | 26:fb6151e5907d | 509 | motorPower = torque; //Lastly, update global variable motorPower which is updated by interrupt |
adehadd | 26:fb6151e5907d | 510 | */ |
CallumAlder | 15:2f95f2fb68e3 | 511 | } |
adehadd | 26:fb6151e5907d | 512 | } |