SpinnyBoi / Mbed 2 deprecated Spinnybois

First Commit

Dependencies:   mbed Crypto_light mbed-rtos

Spin it 2 win it

main.cpp@3:2e32d7974962, 2018-03-12 (annotated)

Committer:
andrebharath
Date:
Mon Mar 12 11:58:08 2018 +0000
Revision:
3:2e32d7974962
Parent:
2:862ee3609eee
Child:
4:e1141c1d8b19
Child:
9:ecef1e8cbe3d
Implemented interrupts to initiate the motor sequencing task, bitcoin mining in the main loop, outgoing communication with the host.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TrebleStick 0:88c3d6c8a4eb 1 #include "mbed.h"
andrebharath 3:2e32d7974962 2 #include "Crypto_light/hash/SHA256.h"
andrebharath 3:2e32d7974962 3 #include "mbed-rtos/rtos/rtos.h"
TrebleStick 0:88c3d6c8a4eb 4
TrebleStick 0:88c3d6c8a4eb 5 //Photointerrupter input pins
TrebleStick 0:88c3d6c8a4eb 6 #define I1pin D2
TrebleStick 0:88c3d6c8a4eb 7 #define I2pin D11
TrebleStick 0:88c3d6c8a4eb 8 #define I3pin D12
andrebharath 3:2e32d7974962 9
TrebleStick 0:88c3d6c8a4eb 10 //Incremental encoder input pins
TrebleStick 0:88c3d6c8a4eb 11 #define CHA D7
TrebleStick 0:88c3d6c8a4eb 12 #define CHB D8
andrebharath 3:2e32d7974962 13
TrebleStick 0:88c3d6c8a4eb 14 //Motor Drive output pins //Mask in output byte
TrebleStick 0:88c3d6c8a4eb 15 #define L1Lpin D4 //0x01
TrebleStick 0:88c3d6c8a4eb 16 #define L1Hpin D5 //0x02
TrebleStick 0:88c3d6c8a4eb 17 #define L2Lpin D3 //0x04
TrebleStick 0:88c3d6c8a4eb 18 #define L2Hpin D6 //0x08
TrebleStick 0:88c3d6c8a4eb 19 #define L3Lpin D9 //0x10
TrebleStick 0:88c3d6c8a4eb 20 #define L3Hpin D10 //0x20
TrebleStick 0:88c3d6c8a4eb 21
andrebharath 3:2e32d7974962 22 //Enum for putMessage message types
andrebharath 3:2e32d7974962 23 #define MSG_HASHCOUNT 0
andrebharath 3:2e32d7974962 24 #define MSG_NONCE_OK 1
andrebharath 3:2e32d7974962 25
TrebleStick 0:88c3d6c8a4eb 26 //Mapping from sequential drive states to motor phase outputs
TrebleStick 0:88c3d6c8a4eb 27 /*
TrebleStick 0:88c3d6c8a4eb 28 State L1 L2 L3
TrebleStick 0:88c3d6c8a4eb 29 0 H - L
TrebleStick 0:88c3d6c8a4eb 30 1 - H L
TrebleStick 0:88c3d6c8a4eb 31 2 L H -
TrebleStick 0:88c3d6c8a4eb 32 3 L - H
TrebleStick 0:88c3d6c8a4eb 33 4 - L H
TrebleStick 0:88c3d6c8a4eb 34 5 H L -
TrebleStick 0:88c3d6c8a4eb 35 6 - - -
TrebleStick 0:88c3d6c8a4eb 36 7 - - -
TrebleStick 0:88c3d6c8a4eb 37 */
TrebleStick 0:88c3d6c8a4eb 38 //Drive state to output table
TrebleStick 0:88c3d6c8a4eb 39 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
andrebharath 3:2e32d7974962 40
TrebleStick 0:88c3d6c8a4eb 41 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
TrebleStick 0:88c3d6c8a4eb 42 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
TrebleStick 0:88c3d6c8a4eb 43 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
andrebharath 3:2e32d7974962 44
TrebleStick 0:88c3d6c8a4eb 45 //Phase lead to make motor spin
TrebleStick 0:88c3d6c8a4eb 46 const int8_t lead = 2; //2 for forwards, -2 for backwards
andrebharath 3:2e32d7974962 47
andrebharath 3:2e32d7974962 48 //Instantiate the serial port
andrebharath 3:2e32d7974962 49 Serial pc(SERIAL_TX, SERIAL_RX);
TrebleStick 0:88c3d6c8a4eb 50
andrebharath 3:2e32d7974962 51
andrebharath 3:2e32d7974962 52 typedef struct {
andrebharath 3:2e32d7974962 53 uint8_t code;
andrebharath 3:2e32d7974962 54 uint32_t data;
andrebharath 3:2e32d7974962 55 } message_t ;
andrebharath 3:2e32d7974962 56
andrebharath 3:2e32d7974962 57 Mail<message_t,16> outMessages;
andrebharath 3:2e32d7974962 58
andrebharath 3:2e32d7974962 59 void putMessage(uint8_t code, uint32_t data)
andrebharath 3:2e32d7974962 60 {
andrebharath 3:2e32d7974962 61 message_t *pMessage = outMessages.alloc();
andrebharath 3:2e32d7974962 62 pMessage->code = code;
andrebharath 3:2e32d7974962 63 pMessage->data = data;
andrebharath 3:2e32d7974962 64 outMessages.put(pMessage);
andrebharath 3:2e32d7974962 65 }
andrebharath 3:2e32d7974962 66
andrebharath 3:2e32d7974962 67 Thread commOutT;
andrebharath 3:2e32d7974962 68
andrebharath 3:2e32d7974962 69 void commOutFn()
andrebharath 3:2e32d7974962 70 {
andrebharath 3:2e32d7974962 71 while(1) {
andrebharath 3:2e32d7974962 72 osEvent newEvent = outMessages.get();
andrebharath 3:2e32d7974962 73 message_t *pMessage = (message_t*)newEvent.value.p;
andrebharath 3:2e32d7974962 74 pc.printf("Message %d with data 0x%016x\r\n",
andrebharath 3:2e32d7974962 75 pMessage->code,pMessage->data);
andrebharath 3:2e32d7974962 76 outMessages.free(pMessage);
andrebharath 3:2e32d7974962 77 }
andrebharath 3:2e32d7974962 78 }
andrebharath 3:2e32d7974962 79
andrebharath 3:2e32d7974962 80
TrebleStick 0:88c3d6c8a4eb 81 //Status LED
TrebleStick 0:88c3d6c8a4eb 82 DigitalOut led1(LED1);
andrebharath 3:2e32d7974962 83
TrebleStick 0:88c3d6c8a4eb 84 //Photointerrupter inputs
andrebharath 3:2e32d7974962 85 InterruptIn I1(I1pin);
andrebharath 3:2e32d7974962 86 InterruptIn I2(I2pin);
andrebharath 3:2e32d7974962 87 InterruptIn I3(I3pin);
andrebharath 3:2e32d7974962 88
TrebleStick 0:88c3d6c8a4eb 89 //Motor Drive outputs
TrebleStick 0:88c3d6c8a4eb 90 DigitalOut L1L(L1Lpin);
TrebleStick 0:88c3d6c8a4eb 91 DigitalOut L1H(L1Hpin);
TrebleStick 0:88c3d6c8a4eb 92 DigitalOut L2L(L2Lpin);
TrebleStick 0:88c3d6c8a4eb 93 DigitalOut L2H(L2Hpin);
TrebleStick 0:88c3d6c8a4eb 94 DigitalOut L3L(L3Lpin);
TrebleStick 0:88c3d6c8a4eb 95 DigitalOut L3H(L3Hpin);
andrebharath 3:2e32d7974962 96
andrebharath 3:2e32d7974962 97 volatile uint16_t hashcount = 0;
TrebleStick 0:88c3d6c8a4eb 98
andrebharath 3:2e32d7974962 99 void do_hashcount()
andrebharath 3:2e32d7974962 100 {
andrebharath 3:2e32d7974962 101 putMessage(MSG_HASHCOUNT, hashcount);
andrebharath 3:2e32d7974962 102 hashcount = 0;
andrebharath 3:2e32d7974962 103 }
andrebharath 3:2e32d7974962 104
TrebleStick 0:88c3d6c8a4eb 105 //Set a given drive state
andrebharath 3:2e32d7974962 106 void motorOut(int8_t driveState)
andrebharath 3:2e32d7974962 107 {
TrebleStick 0:88c3d6c8a4eb 108
TrebleStick 0:88c3d6c8a4eb 109 //Lookup the output byte from the drive state.
TrebleStick 0:88c3d6c8a4eb 110 int8_t driveOut = driveTable[driveState & 0x07];
TrebleStick 0:88c3d6c8a4eb 111
TrebleStick 0:88c3d6c8a4eb 112 //Turn off first
TrebleStick 0:88c3d6c8a4eb 113 if (~driveOut & 0x01) L1L = 0;
TrebleStick 0:88c3d6c8a4eb 114 if (~driveOut & 0x02) L1H = 1;
TrebleStick 0:88c3d6c8a4eb 115 if (~driveOut & 0x04) L2L = 0;
TrebleStick 0:88c3d6c8a4eb 116 if (~driveOut & 0x08) L2H = 1;
TrebleStick 0:88c3d6c8a4eb 117 if (~driveOut & 0x10) L3L = 0;
TrebleStick 0:88c3d6c8a4eb 118 if (~driveOut & 0x20) L3H = 1;
TrebleStick 0:88c3d6c8a4eb 119
TrebleStick 0:88c3d6c8a4eb 120 //Then turn on
TrebleStick 0:88c3d6c8a4eb 121 if (driveOut & 0x01) L1L = 1;
TrebleStick 0:88c3d6c8a4eb 122 if (driveOut & 0x02) L1H = 0;
TrebleStick 0:88c3d6c8a4eb 123 if (driveOut & 0x04) L2L = 1;
TrebleStick 0:88c3d6c8a4eb 124 if (driveOut & 0x08) L2H = 0;
TrebleStick 0:88c3d6c8a4eb 125 if (driveOut & 0x10) L3L = 1;
TrebleStick 0:88c3d6c8a4eb 126 if (driveOut & 0x20) L3H = 0;
andrebharath 3:2e32d7974962 127 }
TrebleStick 0:88c3d6c8a4eb 128
andrebharath 3:2e32d7974962 129 //Convert photointerrupter inputs to a rotor state
andrebharath 3:2e32d7974962 130 inline int8_t readRotorState()
andrebharath 3:2e32d7974962 131 {
TrebleStick 0:88c3d6c8a4eb 132 return stateMap[I1 + 2*I2 + 4*I3];
andrebharath 3:2e32d7974962 133 }
andrebharath 3:2e32d7974962 134
TrebleStick 0:88c3d6c8a4eb 135 //Basic synchronisation routine
andrebharath 3:2e32d7974962 136 int8_t motorHome()
andrebharath 3:2e32d7974962 137 {
TrebleStick 0:88c3d6c8a4eb 138 //Put the motor in drive state 0 and wait for it to stabilise
TrebleStick 0:88c3d6c8a4eb 139 motorOut(0);
andrebharath 3:2e32d7974962 140 wait(2.0);
TrebleStick 0:88c3d6c8a4eb 141
TrebleStick 0:88c3d6c8a4eb 142 //Get the rotor state
TrebleStick 0:88c3d6c8a4eb 143 return readRotorState();
TrebleStick 0:88c3d6c8a4eb 144 }
andrebharath 3:2e32d7974962 145
andrebharath 3:2e32d7974962 146 void photointerrupter_isr()
andrebharath 3:2e32d7974962 147 {
andrebharath 3:2e32d7974962 148 int8_t orState = motorHome();
andrebharath 3:2e32d7974962 149 int8_t intState = readRotorState();
andrebharath 3:2e32d7974962 150 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
andrebharath 3:2e32d7974962 151 }
TrebleStick 0:88c3d6c8a4eb 152
TrebleStick 0:88c3d6c8a4eb 153 //Main
andrebharath 3:2e32d7974962 154 int main()
andrebharath 3:2e32d7974962 155 {
andrebharath 3:2e32d7974962 156 I1.rise(&photointerrupter_isr);
andrebharath 3:2e32d7974962 157 I2.rise(&photointerrupter_isr);
andrebharath 3:2e32d7974962 158 I3.rise(&photointerrupter_isr);
andrebharath 3:2e32d7974962 159
andrebharath 3:2e32d7974962 160 I1.fall(&photointerrupter_isr);
andrebharath 3:2e32d7974962 161 I2.fall(&photointerrupter_isr);
andrebharath 3:2e32d7974962 162 I3.fall(&photointerrupter_isr);
andrebharath 3:2e32d7974962 163
andrebharath 3:2e32d7974962 164 Ticker hashcounter;
andrebharath 3:2e32d7974962 165 hashcounter.attach(&do_hashcount, 1.0);
TrebleStick 0:88c3d6c8a4eb 166
andrebharath 3:2e32d7974962 167 commOutT.start(&commOutFn);
TrebleStick 0:88c3d6c8a4eb 168
andrebharath 3:2e32d7974962 169 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
andrebharath 3:2e32d7974962 170 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
andrebharath 3:2e32d7974962 171 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
andrebharath 3:2e32d7974962 172 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
andrebharath 3:2e32d7974962 173 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
andrebharath 3:2e32d7974962 174 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
andrebharath 3:2e32d7974962 175 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
andrebharath 3:2e32d7974962 176 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
andrebharath 3:2e32d7974962 177 uint64_t* key = (uint64_t*)((int)sequence + 48);
andrebharath 3:2e32d7974962 178 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
andrebharath 3:2e32d7974962 179 uint8_t hash[32];
TrebleStick 0:88c3d6c8a4eb 180
TrebleStick 0:88c3d6c8a4eb 181 //Poll the rotor state and set the motor outputs accordingly to spin the motor
TrebleStick 0:88c3d6c8a4eb 182 while (1) {
andrebharath 3:2e32d7974962 183 SHA256::computeHash(hash, sequence, 64);
TrebleStick 0:88c3d6c8a4eb 184
andrebharath 3:2e32d7974962 185 if (hash[0] == 0 && hash[1] == 0) {
andrebharath 3:2e32d7974962 186 putMessage(MSG_NONCE_OK, *nonce);
andrebharath 3:2e32d7974962 187 }
andrebharath 3:2e32d7974962 188
andrebharath 3:2e32d7974962 189 (*nonce)++;
andrebharath 3:2e32d7974962 190 hashcount++;
TrebleStick 1:a530f6235850 191
TrebleStick 0:88c3d6c8a4eb 192 }
TrebleStick 0:88c3d6c8a4eb 193 }
andrebharath 3:2e32d7974962 194
andrebharath 3:2e32d7974962 195