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Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Diff: main.cpp
- Revision:
- 27:ce05fed3c1ea
- Parent:
- 26:fb6151e5907d
- Child:
- 42:121148278dae
diff -r fb6151e5907d -r ce05fed3c1ea main.cpp --- a/main.cpp Sat Mar 16 18:19:08 2019 +0000 +++ b/main.cpp Sat Mar 16 18:25:38 2019 +0000 @@ -1,54 +1,37 @@ -//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~INCLUDES~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +#include "SHA256.h" #include "mbed.h" -#include "Crypto.h" // Library used for Bitcoin mining. -#include "rtos.h" // Real time operating system library for threads etc. - - - - -//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~DEFINITIONS~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +// #include <iostream> +// #include "rtos.h" -//~~~~~~~~~~~~~~Photointerrupter pins~~~~~~~~~~~~~~ -#define I1pin D2 -#define I2pin D11 -#define I3pin D12 +/*TODO: +Change +Indx +newCmd +MAXCMDLENGTH +*/ - -////~~~~~~~~~~Incremental encoder pins//~~~~~~~~~~~ -#define CHA D7 -#define CHB D8 - +//Photointerrupter input pins +#define I1pin D3 +#define I2pin D6 +#define I3pin D5 -//~~Motor Drive output pins~/Mask in output byte~~~ -#define L1Lpin D4 //0x01 -#define L1Hpin D5 //0x02 -#define L2Lpin D3 //0x04 -#define L2Hpin D6 //0x08 -#define L3Lpin D9 //0x10 -#define L3Hpin D10 //0x20 - - -//~~~~~~~~Maximum command length accepted~~~~~~~~~~~ -#define MAXCMDLENGTH 18 - +//Incremental encoder input pins +#define CHApin D12 +#define CHBpin D11 -//~~~~~~~~Maximum PWM allowed due to 50% restriction -#define MAXPWM 1000 - - -//~~~~~~~Enumeration of message identifiers~~~~~~~~~ -enum MsgCode {Msg_motorState, Msg_hashRate, Msg_nonceMatch, Msg_keyAdded, Msg_velocityOut, Msg_velocityIn, Msg_positionIn, Msg_positionOut, Msg_rotations, Msg_torque, Msg_error}; - +//Motor Drive output pins //Mask in output byte +#define L1Lpin D1 //0x01 +#define L1Hpin A3 //0x02 +#define L2Lpin D0 //0x04 +#define L2Hpin A6 //0x08 +#define L3Lpin D10 //0x10 +#define L3Hpin D2 //0x20 -//~~~~~~~New data type to carry the messages~~~~~~~~ -typedef struct { - MsgCode code; - uint32_t data; -} message_t; +#define PWMpin D9 - - -//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Global Variables~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +//Motor current sense +#define MCSPpin A1 +#define MCSNpin A0 //Mapping from sequential drive states to motor phase outputs /* @@ -62,451 +45,594 @@ 6 - - - 7 - - - */ - - -//~~~~~~~~~~~Drive state to output table~~~~~~~~~~~~ +//Drive state to output table const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; - -//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid. -const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; -//Alternative if phase order of input or drive is reversed. -//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; - +//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid +const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; +//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed -////~~~~~~~~~Phase lead to make motor spin~~~~~~~~~ -int8_t lead = 2; //2 for forwards, -2 for backwards - +//Phase lead to make motor spin +const int8_t lead = 2; //2 for forwards, -2 for backwards -//~~~~~~~~~~~~~~~~~~Rotor states~~~~~~~~~~~~~~~~~~~ -int8_t orState = 0; // Rotor offset at motor state 0 -volatile int8_t intStateOld = 0; // Motor old state. Type is volatile since - // its value may change in ISR - -//~~~~~~~~~~~~~~~~~~~Status LED~~~~~~~~~~~~~~~~~~~~ +//Status LED DigitalOut led1(LED1); - -//~~~~~~~~~~~~~Photointerrupter inputs~~~~~~~~~~~~~ +//Photointerrupter inputs InterruptIn I1(I1pin); InterruptIn I2(I2pin); InterruptIn I3(I3pin); - -//~~~~~~~~~~~~~~Motor Drive outputs~~~~~~~~~~~~~~~~ -PwmOut L1L(L1Lpin); +//Motor Drive outputs +DigitalOut L1L(L1Lpin); DigitalOut L1H(L1Hpin); -PwmOut L2L(L2Lpin); +DigitalOut L2L(L2Lpin); DigitalOut L2H(L2Hpin); -PwmOut L3L(L3Lpin); +DigitalOut L3L(L3Lpin); DigitalOut L3H(L3Hpin); +PwmOut pwmCtrl(PWMpin); -//~Dats structure to pass information between threads~ -Mail<message_t,16> outMessages; +uint8_t stateCount[3]; +uint8_t theStates[3]; + +class Comm /*: public T_*/{ + +public: + + Thread t_comm_out; + Thread t_motor_ctrl; + // Thread *p_motor_ctrl; + + bool _RUN; + + RawSerial pc; + // Queue<void, 8> inCharQ; // Input Character Queue -//~~~~~~~~~~~~~~~~~~~~Queue~~~~~~~~~~~~~~~~~~~~~~~~ -Queue<void, 8> inCharQ; + static const char MsgChar[11]; + + uint8_t MAXCMDLENGTH; + volatile uint8_t cmdIndx; + volatile uint8_t inCharQIdx; + + volatile uint32_t motorPower; // motor toque + volatile float targetVel; + volatile float targetRot; + + enum msgType {motorState, posIn, velIn, posOut, velOut, -//~~~~~~~~~~~~Serial command buffer~~~~~~~~~~~~~~~ -char newCmd[MAXCMDLENGTH]; -volatile uint8_t cmdIndx = 0; + hashRate, keyAdded, nonceMatch, + + torque, rotations, + + error}; + typedef struct { + msgType type; + uint32_t message; + } msg; + + Mail<msg, 32> mailStack; -//~~~~~~~~~~Key to be passed for mining~~~~~~~~~~~ -volatile uint64_t newKey; // Key -Mutex newKey_mutex; // Restrict access to prevent deadlock. + void serialISR(){ + if (pc.readable()) { + char newChar = pc.getc(); + // inCharQ.put((void*)newChar); // void* = pointer to an unknown type that cannot be dereferenced + if (inCharQIdx == (MAXCMDLENGTH)) { + inCharQ[MAXCMDLENGTH] = '\0'; // force the string to have an end character + putMessage(error, 1); + inCharQIdx = 0; // reset buffer index + // pc.putc('\r'); // carriage return moves to the start of the line + // for (int i = 0; i < MAXCMDLENGTH; ++i) + // { + // inCharQ[i] = ' '; + // pc.putc(' '); + // } -//~~~~~~~~~~~~~~Initial conditions~~~~~~~~~~~~~~~~ -volatile uint32_t motorPower = 300; // motor toque -volatile float targetVel = 45.0; -volatile float targetRot = 459.0; + // pc.putc('\r'); // carriage return moves to the start of the line + } + else{ + if(newChar != '\r'){ //While the command is not over, + inCharQ[inCharQIdx] = newChar; //save input character and + inCharQIdx++; //advance index + pc.putc(newChar); + } + else{ + inCharQ[inCharQIdx] = '\0'; //When the command is finally over, + strncpy(newCmd, inCharQ, MAXCMDLENGTH); // Will copy 18 characters from inCharQ to newCmd + cmdParser(); //parse the command for decoding. + for (int i = 0; i < MAXCMDLENGTH; ++i) // reset buffer + inCharQ[i] = ' '; + inCharQIdx = 0; // reset index + } + } + } -//~~~~~~~~~~~Motor position variable~~~~~~~~~~~~~~ -volatile int32_t motorPos; // Motor position updated by interrupt. + } + + /*void commInFn() { + // if (_RUN) + while (_RUN) { + osEvent newEvent = inCharQ.get(); + uint8_t newChar = (uint8_t)(newEvent.value.p); // size_t to type cast the 64bit pointer properly + pc.putc(newChar); + if(cmdIndx >= MAXCMDLENGTH){ //Make sure there is no overflow in comand. + cmdIndx = 0; + putMessage(error, 1); + } + else{ + if(newChar != '\r'){ //While the command is not over, + newCmd[cmdIndx] = newChar; //save input character and + cmdIndx++; //advance index + } + else{ + newCmd[cmdIndx] = '\0'; //When the command is finally over, + cmdIndx = 0; //reset index and + cmdParser(); //parse the command for decoding. + } + } + } + }*/ -//~~~~~~~~~~Serial port connection~~~~~~~~~~~~~~~~ -RawSerial pc(SERIAL_TX, SERIAL_RX); + void returnCursor() { + pc.putc('>'); + for (int i = 0; i < inCharQIdx; ++i) // reset cursor position + pc.putc(inCharQ[i]); + // for (int i = inCharQIdx; i < MAXCMDLENGTH; ++i) // fill remaining with blanks + // pc.putc(' '); + // pc.putc('<'); + } + void cmdParser(){ + switch(newCmd[0]) { + case 'K': //(MsgChar[keyAdded]):// + newKey_mutex.lock(); //Ensure there is no deadlock + sscanf(newCmd, "K%x", &newKey); //Find desired the Key code + putMessage(keyAdded, newKey); //Print it out + newKey_mutex.unlock(); + break; + case 'V': //(MsgChar[velIn]):// + sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity + putMessage(velIn, targetVel); //Print it out + break; + case 'R': //(MsgChar[posIn]):// + sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation + putMessage(posIn, targetRot); //Print it out + break; + case 'T': //(MsgChar[torque]):// + sscanf(newCmd, "T%d", &motorPower); //Find desired target torque + putMessage(torque, motorPower); //Print it out + break; + default: break; + } + } + + //~~~~~Decode messages to print on serial port~~~~~ + void commOutFn() { + while (_RUN) { + osEvent newEvent = mailStack.get(); + msg *pMessage = (msg *) newEvent.value.p; - + //Case switch to choose serial output based on incoming message + switch (pMessage->type) { + case motorState: + pc.printf("The motor is currently in state %x\n\r", pMessage->message); + break; + case hashRate: + pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message); + returnCursor(); + break; + case nonceMatch: + pc.printf("\r>%s< Nonce found: %x\r", inCharQ, pMessage->message); + returnCursor(); + break; + case keyAdded: + pc.printf("New Key Added:\t0x%016x\n\r", pMessage->message); + break; + case torque: + pc.printf("Motor Torque set to:\t%d\n\r", pMessage->message); + break; + case velIn: + pc.printf("Target Velocity set to:\t%.2f\n\r", targetVel); + break; + case velOut: + pc.printf("Current Velocity:\t%.2f\n\r", \ + (float) ((int32_t) pMessage->message / 6)); + break; + case posIn: + pc.printf("Target Rotation set to:\t%.2f\n\r", \ + (float) ((int32_t) pMessage->message / 6)); + break; + case posOut: + pc.printf("Current Position:\t%.2f\n\r", \ + (float) ((int32_t) pMessage->message / 6)); + break; + case error: + pc.printf("\r>%s< Debugging position:%x\n\r", inCharQ, pMessage->message); + for (int i = 0; i < MAXCMDLENGTH; ++i) // reset buffer + inCharQ[i] = ' '; + break; + default: + pc.printf("Unknown Error. Message: %x\n\r", pMessage->message); + break; + } + mailStack.free(pMessage); + } + } -//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Threads~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + // attach_us -> runs funtion every 100ms + void motorCtrlFn() { + Ticker motorCtrlTicker; + motorCtrlTicker.attach_us(callback(this,&Comm::motorCtrlTick), 1e5); + uint8_t cpyStateCount[3]; + uint8_t cpyCurrentState; + + int16_t ting[2] = {5,1}; // 360,60 (for degrees), 5,1 (for states) + uint8_t iterElementMax; + int16_t totalDegrees; + int16_t stateDiff; + + int32_t velocity; //Variable for local velocity calculation + int32_t locMotorPos; //Local copy of motor position + static int32_t oldMotorPos = 0; //Old motor position used for calculations + static uint8_t motorCtrlCounter = 0; //Counter to be reset every 10 iterations to get velocity calculation in seconds + int32_t torque; //Local variable to set motor torque + float sError; //Velocity error between target and reality + float rError; //Rotation error between target and reality + static float rErrorOld; //Old rotation error used for calculation -Thread commOutT(osPriorityAboveNormal,1024); // Output to serial port. -Thread commInT(osPriorityAboveNormal,1024); // Input from serial port. -Thread motorCtrlT(osPriorityNormal,1024); // Motor control thread. + //~~~Controller constants~~~~ + int32_t Kp1=22; //Proportional controller constants + int32_t Kp2=22; //Calculated by trial and error to give optimal accuracy + float Kd=15.5; + + + while (_RUN) { + 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 yes + cpyCurrentState = 0; + for (int i = 0; i < 3; ++i) { + stateCount[i] = 0; + } + core_util_critical_section_exit(); + + iterElementMax = std::max_element(cpyStateCount, cpyStateCount+3) - cpyStateCount; + + + totalDegrees = ting[0] * cpyStateCount[iterElementMax]; + stateDiff = theStates[iterElementMax]-cpyCurrentState; + if (stateDiff >= 0) { + totalDegrees = totalDegrees + (ting[1]* stateDiff); + } else { + totalDegrees = totalDegrees + (ting[1]*stateDiff*-1); + } + pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10)); + + /* + //~~~~~Speed controller~~~~~~ + velocity = totalDegrees*10; + sError = (targetVel * 6) - abs(velocity); //Read global variable targetVel updated by interrupt and calculate error between target and reality + int32_t Ys; //Initialise controller output Ys (s=speed) + if (sError == -abs(velocity)) { //Check if user entered V0, + Ys = MAXPWM; //and set the output to maximum as specified + } else { + Ys = (int)(Kp1 * sError); //If the user didn't enter V0 implement controller transfer function: Ys = Kp * (s -|v|) where, + } //Ys = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity + + //~~~~~Rotation control~~~~~~ + rError = targetRot - (locMotorPos/6); //Read global variable targetRot updated by interrupt and calculate the rotation error. + int32_t Yr; //Initialise controller output Yr (r=rotations) + Yr = Kp2*rError + Kd*(rError - rErrorOld); //Implement controller transfer function Ys= Kp*Er + Kd* (dEr/dt) + rErrorOld = rError; //Update rotation error + if(rError < 0){ //Use the sign of the error to set controller wrt direction of rotation + Ys = -Ys; + } + + if((velocity>=0 && Ys<Yr) || (velocity<0 && Ys>Yr)){ //Choose Ys or Yr based on distance from target value so that it takes + torque = Ys; //appropriate steps in the right direction to reach target value + } else { + torque = Yr; + } + if(torque < 0){ //Variable torque cannot be negative since it sets the PWM + torque = -torque; //Hence we make the value positive, + lead = -2; //and instead set the direction to the opposite one + } else { + lead = 2; + } + if(torque > MAXPWM){ //In case the calculated PWM is higher than our maximum 50% allowance, + torque = MAXPWM; //Set it to our max. + } + + motorPower = torque; //Lastly, update global variable motorPower which is updated by interrupt + */ + } + + } + + void motorCtrlTick(){ + t_motor_ctrl.signal_set(0x1); + } + //TODO: stop function, maybe use parent de-constructor + //void stop_comm{} + // public: + + volatile uint64_t newKey; // hash key + Mutex newKey_mutex; // Restrict access to prevent deadlock. -//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Function declarations~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + Comm() : pc(SERIAL_TX, SERIAL_RX), + t_comm_out(osPriorityAboveNormal, 1024), + t_motor_ctrl(osPriorityAboveNormal2, 1024) + { // inherit from the RawSerial constructor + + pc.printf("%s\n\r", "Welcome" ); + MAXCMDLENGTH = 18; -void motorOut(int8_t driveState, uint32_t pw); -inline int8_t readRotorState(); -int8_t motorHome(); -void motorISR(); -void cmdParser(); -void commOutFn(); -void putMessage(MsgCode code, uint32_t data); -void serialISR(); -void commInFn(); -void motorCtrlFn(); -void motorCtrlTick(); + // reset buffer + // MbedOS prints 'Embedded Systems are fun and do awesome things!' + // if you print a null terminator + pc.putc('>'); + for (int i = 0; i < MAXCMDLENGTH; ++i) { + inCharQ[i] = '.'; + pc.putc('.'); + } + pc.putc('<'); + pc.putc('\r'); + inCharQ[MAXCMDLENGTH] = '\0'; + strncpy(newCmd, inCharQ, MAXCMDLENGTH); + + cmdIndx = 0; + + inCharQIdx = 0; + // inCharQIdx = MAXCMDLENGTH-1; -//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Main~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + pc.attach(callback(this, &Comm::serialISR)); -int main() { - //~~~~~~~~~~~~~Initial serial prints~~~~~~~~~~~~~ - pc.printf("\n\r\n\r Hello \n\r"); - pc.printf("\n\r\n\rGroup: IndiCorp \n\r"); - pc.printf("Initial hardcoded conditions:\n\r"); - pc.printf("\tVelocity:\t%f\n\r", targetVel); - pc.printf("\tRotation:\t%f\n\r", targetRot); - + // Thread t_comm_in(osPriorityAboveNormal, 1024); + // Thread t_comm_out(osPriorityAboveNormal, 1024); + // Thread t_motor_ctrl(osPriorityAboveNormal, 1024); - //~~~~~~~~~~~~~~~Start all threads~~~~~~~~~~~~~~~ - commOutT.start(commOutFn); - commInT.start(commInFn); - motorCtrlT.start(motorCtrlFn); - - - //~~~~~~~~~~~~~~Attach ISR to serial~~~~~~~~~~~~ - pc.attach(&serialISR); - - - //~~~~~~~~Attach ISR to photointerrupters~~~~~~~ - I1.rise(&motorISR); - I1.fall(&motorISR); - I2.rise(&motorISR); - I2.fall(&motorISR); - I3.rise(&motorISR); - I3.fall(&motorISR); - + motorPower = 300; + targetVel = 45.0; + targetRot = 459.0; + + + + /*MsgChar = {'m', 'R', 'V', 'r', 'v', + + 'h', 'K', 'n', - //~~~~~~~~~Declare Bitcoin Variables~~~~~~~~~~~ - SHA256 sha256Inst; - 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,\ - 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,\ - 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,\ - 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,\ - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,\ - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 - }; - uint64_t* key = (uint64_t*)((int)sequence + 48); - uint64_t* nonce = (uint64_t*)((int)sequence + 56); - uint8_t hash[32]; - uint32_t sequenceLength = 64; - uint32_t hashCounter = 0; - Timer bitcoinTimer; + 'T', 'r', + + 'e'};*/ + } + - - //Set PWM period to max 2000 due to hardware limitations - L1L.period_us(2000); - L2L.period_us(2000); - L3L.period_us(2000); - + void putMessage(msgType type, uint32_t message){ + msg *p_msg = mailStack.alloc(); + p_msg->type = type; + p_msg->message = message; + mailStack.put(p_msg); + } - /* Run the motor synchronisation: orState is subtracted from future rotor - state inputs to align rotor and motor states */ - orState = motorHome(); - pc.printf("Rotor origin: %x\n\r", orState); //Print state for debugging purposes. - - - //~~~~~~Give the motor a kick to begin~~~~~~~~ - motorISR(); - + void start_comm(){ + _RUN = true; - //~~~~~~~~~~~~~~~~Mining loop~~~~~~~~~~~~~~~~~ - bitcoinTimer.start(); // start timer - while (1) { - newKey_mutex.lock(); - (*key) = newKey; - newKey_mutex.unlock(); - sha256Inst.computeHash(hash, sequence, sequenceLength); - hashCounter++; - if ((hash[0]==0) && (hash[1]==0)){ - putMessage(Msg_nonceMatch, *nonce); // matching nonce 7 + // reset buffer + // MbedOS prints 'Embedded Systems are fun and do awesome things!' + // if you print a null terminator + pc.putc('>'); + for (int i = 0; i < MAXCMDLENGTH; ++i) { + inCharQ[i] = '.'; + pc.putc('.'); } + pc.putc('<'); + pc.putc('\r'); + + inCharQ[MAXCMDLENGTH] = '\0'; + strncpy(newCmd, inCharQ, MAXCMDLENGTH); + + // returnCursor(); - (*nonce)++; + // t_comm_in.start(callback(this, &Comm::commInFn)); + // this::thread::wait() + // wait(1.0); + t_comm_out.start(callback(this, &Comm::commOutFn)); + t_motor_ctrl.start(callback(this, &Comm::motorCtrlFn)); + + + } - if (bitcoinTimer.read() >= 1){ - putMessage(Msg_hashRate, hashCounter); // 5 - hashCounter=0; - bitcoinTimer.reset(); - } - } -} + char newCmd[]; // because unallocated must be defined at the bottom of the class + char inCharQ[]; +}; -//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Functions Definitions~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + -//~~~~~~~~~~~~Set a given drive state~~~~~~~~~~~~ -void motorOut(int8_t driveState, uint32_t pw){ +//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.pulsewidth_us(0); + if (~driveOut & 0x01) L1L = 0; if (~driveOut & 0x02) L1H = 1; - if (~driveOut & 0x04) L2L.pulsewidth_us(0); + if (~driveOut & 0x04) L2L = 0; if (~driveOut & 0x08) L2H = 1; - if (~driveOut & 0x10) L3L.pulsewidth_us(0); + if (~driveOut & 0x10) L3L = 0; if (~driveOut & 0x20) L3H = 1; - + //Then turn on - if (driveOut & 0x01) L1L.pulsewidth_us(pw); + if (driveOut & 0x01) L1L = 1; if (driveOut & 0x02) L1H = 0; - if (driveOut & 0x04) L2L.pulsewidth_us(pw); + if (driveOut & 0x04) L2L = 1; if (driveOut & 0x08) L2H = 0; - if (driveOut & 0x10) L3L.pulsewidth_us(pw); + if (driveOut & 0x10) L3L = 1; if (driveOut & 0x20) L3H = 0; } - -//~Convert photointerrupter inputs to a rotor state~ +//Convert photointerrupter inputs to a rotor state inline int8_t readRotorState(){ return stateMap[I1 + 2*I2 + 4*I3]; } -//~~~~~~Basic motor synchronisation routine~~~~~~ +//Basic synchronisation routine int8_t motorHome() { //Put the motor in drive state 0 and wait for it to stabilise - motorOut(0, MAXPWM); // set to max PWM + motorOut(0); wait(2.0); - + //Get the rotor state return readRotorState(); } -//~~~~~~~~~Motor ISR (photointerrupters)~~~~~~~~~ -void motorISR() { - static int8_t oldRotorState; - int8_t rotorState = readRotorState(); - - motorOut((rotorState-orState+lead+6)%6,motorPower); - - // update motorPosition and oldRotorState - if (rotorState - oldRotorState == 5) motorPos--; - else if (rotorState - oldRotorState == -5) motorPos++; - else motorPos += (rotorState - oldRotorState); - oldRotorState = rotorState; +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() { -//~~~~~Decode messages to print on serial port~~~~~ -void commOutFn() { - while(1) { - osEvent newEvent = outMessages.get(); - message_t *pMessage = (message_t*)newEvent.value.p; + // std::ios::sync_with_stdio(false); + Comm comm_plz; + + // comm_plz.pc.printf("%s\n", "do i work bruh" ); // using printf of class is calm + SHA256 Miner; + + 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, + 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20, + 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20, + 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20, + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; + uint64_t* key = (uint64_t*)((int)sequence + 48); + uint64_t* nonce = (uint64_t*)((int)sequence + 56); + uint8_t hash[32]; + uint32_t length64 = 64; + 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(); - //Case switch to choose serial output based on incoming message - switch(pMessage->code) { - case Msg_motorState: - pc.printf("The motor is currently in state %x\n\r", pMessage->data); - break; - case Msg_hashRate: - pc.printf("Mining at a rate of %.2f Hash/s\n\r", (int32_t)pMessage->data); - break; - case Msg_nonceMatch: - pc.printf("Nonce found: %x\n\r", pMessage->data); - break; - case Msg_keyAdded: - pc.printf("New key added:\t0x%016x\n\r", pMessage->data); - break; - case Msg_torque: - pc.printf("Motor torque set to:\t%d\n\r", pMessage->data); - break; - case Msg_velocityIn: - pc.printf("Target velocity set to:\t%.2f\n\r", targetVel); - break; - case Msg_velocityOut: - pc.printf("Current Velocity:\t%.2f\n\r", \ - (float)((int32_t)pMessage->data / 6)); - break; - case Msg_positionIn: - pc.printf("Target rotation set to:\t%.2f\n\r", \ - (float)((int32_t)pMessage->data / 6)); - break; - case Msg_positionOut: - pc.printf("Current position:\t%.2f\n\r", \ - (float)((int32_t)pMessage->data / 6)); - break; - case Msg_error: - pc.printf("Debugging position:%x\n\r", pMessage->data); - break; - default: - pc.printf("Unknown Error. Data: %x\n\r", pMessage->data); - break; - } - outMessages.free(pMessage); - } -} + // 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)); -//~~~~~~~~~Put message in Mail queue~~~~~~~~~~~ -void putMessage(MsgCode code, uint32_t data){ - message_t *pMessage = outMessages.alloc(); - pMessage->code = code; - pMessage->data = data; - outMessages.put(pMessage); -} + 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 -//~~~~Receive & decode serial input command~~~~~ -void commInFn() { - while (1) { - osEvent newEvent = inCharQ.get(); - uint8_t newChar = *((uint8_t*)(&newEvent.value.p)); - pc.putc(newChar); - if(cmdIndx >= MAXCMDLENGTH){ //Make sure there is no overflow in comand. - cmdIndx = 0; - putMessage(Msg_error, 1); - } - else{ - if(newChar != '\r'){ //While the command is not over, - newCmd[cmdIndx] = newChar; //save input character and - cmdIndx++; //advance index - } - else{ - newCmd[cmdIndx] = '\0'; //When the command is finally over, - cmdIndx = 0; //reset index and - cmdParser(); //parse the command for decoding. - } - } - } -} + // pc.printf("Rotor origin: %x\n\r",orState); + // orState is subtracted from future rotor state inputs to align rotor and motor states + // intState = readRotorState(); + //if (intState != intStateOld) { + // pc.printf("old:%d \t new:%d \t next:%d \n\r",intStateOld, intState, (intState-orState+lead+6)%6); + // intStateOld = intState; + // motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive + // } + dutyC = 0.8; + pwmCtrl.pulsewidth(mtrPeriod*dutyC); -//~~~~~~~~~~~~~Decode the command~~~~~~~~~~~ -void cmdParser(){ - switch(newCmd[0]) { - case 'K': - newKey_mutex.lock(); //Ensure there is no deadlock - sscanf(newCmd, "K%x", &newKey); //Find desired the Key code - putMessage(Msg_keyAdded, newKey); //Print it out - newKey_mutex.unlock(); - break; - case 'V': - sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity - putMessage(Msg_velocityIn, targetVel); //Print it out - break; - case 'R': - sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation - putMessage(Msg_positionIn, targetRot); //Print it out - break; - case 'T': - sscanf(newCmd, "T%d", &motorPower); //Find desired target torque - putMessage(Msg_torque, motorPower); //Print it out - break; - default: break; + // 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(); + *key = comm_plz.newKey; + comm_plz.newKey_mutex.unlock(); + Miner.computeHash(hash, sequence, length64); + hashCounter++; + if ((hash[0]==0) && (hash[1]==0)){ + comm_plz.putMessage((Comm::msgType)7, *nonce); } -} - - -//~~~~~~~~~~~~~Serial ISR~~~~~~~~~~~~ -void serialISR() { - uint8_t newChar = pc.getc(); - inCharQ.put((void*)newChar); -} - - -//~~~~~~ISR triggered by Ticker~~~~~~ -void motorCtrlTick(){ - motorCtrlT.signal_set(0x1); //Set signal to motor control thread which carries out calculations to avoid CPU blocking -} - - -//~~~~~~~~~~~~~Motor control function with proportional controller~~~~~~~~~~~ -void motorCtrlFn() { - //~~~~~~~~~~~~~Variables~~~~~~~~~~~~~~~~ - Ticker motorCtrlTicker; //Ticker to ba attached to callback function - int32_t velocity; //Variable for local velocity calculation - int32_t locMotorPos; //Local copy of motor position - static int32_t oldMotorPos = 0; //Old motor position used for calculations - static uint8_t motorCtrlCounter = 0; //Counter to be reset every 10 iterations to get velocity calculation in seconds - int32_t torque; //Local variable to set motor torque - float sError; //Velocity error between target and reality - float rError; //Rotation error between target and reality - static float rErrorOld; //Old rotation error used for calculation - - //~~~Controller constants~~~~ - int32_t Kp1=22; //Proportional controller constants - int32_t Kp2=22; //Calculated by trial and error to give optimal accuracy - float Kd=15.5; - - - //Attach ticker to callback function that will run every 100 ms - motorCtrlTicker.attach_us(&motorCtrlTick,100000); - + // Try a new nonce + (*nonce)++; - - while(1) { - motorCtrlT.signal_wait(0x1); // Wait for thread signal. - - //Initial velocity calculation and report - locMotorPos = motorPos; //Read global variable motorPos which is updated by interrupt and store it in local variable - velocity = (locMotorPos - oldMotorPos) * 10; //Proceed with calculation - oldMotorPos = locMotorPos; //Update old motor position - motorCtrlCounter++; //Advance counter - if (motorCtrlCounter >= 10) { //Every 10th iteration - motorCtrlCounter = 0; //Reset counter - putMessage(Msg_velocityOut, velocity); //Report the current velocity - putMessage(Msg_positionOut, locMotorPos); //Report the current position - } - /* - //~~~~~Speed controller~~~~~~ - sError = (targetVel * 6) - abs(velocity); //Read global variable targetVel updated by interrupt and calculate error between target and reality - int32_t Ys; //Initialise controller output Ys - if (sError == -abs(velocity)) { //Check if user entered V0, - Ys = MAXPWM; //and set the output to maximum as specified + if (stateCount<6){ + stateList[stateCount] = currentState; + stateCount++; } else { - Ys = (int)(Kp1 * sError); //If the user didn't enter V0 implement controller transfer function: Ys = Kp * (s -|v|) where, - } //Ys = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity - - //~~~~~Rotation control~~~~~~ - rError = targetRot - (locMotorPos/6); //Read global variable targetRot updated by interrupt and calculate the rotation error. - int32_t Yr; //Initialise controller output Yr - Yr = Kp2*rError + Kd*(rError - rErrorOld); //Implement controller transfer function Ys= Kp*Er + Kd* (dEr/dt) - rErrorOld = rError; //Update rotation error - if(rError < 0){ //Use the sign of the error to set controller wrt direction of rotation - Ys = -Ys; + //pc.printf("states"); + //for(int i = 0; i < 6; ++i) + //pc.printf("%02i,", stateList[i]); + //pc.printf("\n\r"); + stateCount = 0; } - if((velocity>=0 && Ys<Yr) || (velocity<0 && Ys>Yr)){ //Choose Ys or Yr based on distance from target value so that it takes - torque = Ys; //appropriate steps in the right direction to reach target value - } - else{ - torque = Yr; - } - if(torque < 0){ //Variable torque cannot be negative since it sets the PWM - torque = -torque; //Hence we make the value positive, - lead = -2; //and instead set the direction to the opposite one + // Per Second i.e. when greater or equal to 1 + if (timer.read() >= 1){ + comm_plz.putMessage((Comm::msgType)5, hashCounter); + //pc.printf("HashRate = %02u \n\r",hashCounter); + hashCounter=0; + timer.reset(); } - else{ - lead = 2; - } - if(torque > MAXPWM){ //In case the calculated PWM is higher than our maximum 50% allowance, - torque = MAXPWM; //Set it to our max. - } - motorPower = torque; //Lastly, update global variable motorPower which is updated by interrupt - */ } -} +} \ No newline at end of file