SpinnyBoi / Mbed 2 deprecated Spinnybois

First Commit

Dependencies:   mbed Crypto_light mbed-rtos

Spin it 2 win it

main.cpp@13:ecccfc611025, 2018-03-20 (annotated)

Committer:
TrebleStick
Date:
Tue Mar 20 13:17:10 2018 +0000
Revision:
13:ecccfc611025
Parent:
12:1b2e2540e4e1
Child:
14:66746291017c
Inputs reset correctly;

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 9:ecef1e8cbe3d 9
TrebleStick 0:88c3d6c8a4eb 10 //Incremental encoder input pins
TrebleStick 0:88c3d6c8a4eb 11 #define CHA D7
TrebleStick 12:1b2e2540e4e1 12 #define CHB D8
andrebharath 9:ecef1e8cbe3d 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 9:ecef1e8cbe3d 22 #define CHAR_ARR_SIZE 18 //Max length of input codes
andrebharath 3:2e32d7974962 23
TrebleStick 0:88c3d6c8a4eb 24 //Mapping from sequential drive states to motor phase outputs
TrebleStick 0:88c3d6c8a4eb 25 /*
TrebleStick 0:88c3d6c8a4eb 26 State L1 L2 L3
TrebleStick 0:88c3d6c8a4eb 27 0 H - L
TrebleStick 0:88c3d6c8a4eb 28 1 - H L
TrebleStick 0:88c3d6c8a4eb 29 2 L H -
TrebleStick 0:88c3d6c8a4eb 30 3 L - H
TrebleStick 0:88c3d6c8a4eb 31 4 - L H
TrebleStick 0:88c3d6c8a4eb 32 5 H L -
TrebleStick 0:88c3d6c8a4eb 33 6 - - -
TrebleStick 0:88c3d6c8a4eb 34 7 - - -
TrebleStick 0:88c3d6c8a4eb 35 */
TrebleStick 0:88c3d6c8a4eb 36 //Drive state to output table
TrebleStick 0:88c3d6c8a4eb 37 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
andrebharath 9:ecef1e8cbe3d 38
TrebleStick 0:88c3d6c8a4eb 39 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
TrebleStick 12:1b2e2540e4e1 40 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
TrebleStick 0:88c3d6c8a4eb 41 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
andrebharath 9:ecef1e8cbe3d 42
TrebleStick 0:88c3d6c8a4eb 43 //Phase lead to make motor spin
TrebleStick 0:88c3d6c8a4eb 44 const int8_t lead = 2; //2 for forwards, -2 for backwards
andrebharath 9:ecef1e8cbe3d 45
andrebharath 9:ecef1e8cbe3d 46 //Rotor offset at motor state 0
andrebharath 9:ecef1e8cbe3d 47 int8_t orState = 0;
andrebharath 9:ecef1e8cbe3d 48
andrebharath 9:ecef1e8cbe3d 49
TrebleStick 12:1b2e2540e4e1 50 enum MSG {MSG_RESET, MSG_HASHCOUNT, MSG_NONCE_OK,
TrebleStick 12:1b2e2540e4e1 51 MSG_OVERFLOW, MSG_NEW_KEY, MSG_ASSIGN_KEY, MSG_TEST};
andrebharath 9:ecef1e8cbe3d 52
andrebharath 3:2e32d7974962 53 //Instantiate the serial port
andrebharath 9:ecef1e8cbe3d 54 RawSerial pc(SERIAL_TX, SERIAL_RX);
andrebharath 9:ecef1e8cbe3d 55
andrebharath 9:ecef1e8cbe3d 56 //Status LED
andrebharath 9:ecef1e8cbe3d 57 DigitalOut led1(LED1);
andrebharath 9:ecef1e8cbe3d 58
andrebharath 9:ecef1e8cbe3d 59 //Photointerrupter inputs
andrebharath 9:ecef1e8cbe3d 60 InterruptIn I1(I1pin);
andrebharath 9:ecef1e8cbe3d 61 InterruptIn I2(I2pin);
andrebharath 9:ecef1e8cbe3d 62 InterruptIn I3(I3pin);
andrebharath 9:ecef1e8cbe3d 63
andrebharath 9:ecef1e8cbe3d 64 //Motor Drive outputs
andrebharath 9:ecef1e8cbe3d 65 DigitalOut L1L(L1Lpin);
andrebharath 9:ecef1e8cbe3d 66 DigitalOut L1H(L1Hpin);
andrebharath 9:ecef1e8cbe3d 67 DigitalOut L2L(L2Lpin);
andrebharath 9:ecef1e8cbe3d 68 DigitalOut L2H(L2Hpin);
andrebharath 9:ecef1e8cbe3d 69 DigitalOut L3L(L3Lpin);
andrebharath 9:ecef1e8cbe3d 70 DigitalOut L3H(L3Hpin);
andrebharath 9:ecef1e8cbe3d 71
TrebleStick 0:88c3d6c8a4eb 72
andrebharath 3:2e32d7974962 73
andrebharath 3:2e32d7974962 74 typedef struct {
andrebharath 3:2e32d7974962 75 uint8_t code;
andrebharath 3:2e32d7974962 76 uint32_t data;
andrebharath 3:2e32d7974962 77 } message_t ;
andrebharath 3:2e32d7974962 78
andrebharath 3:2e32d7974962 79 Mail<message_t,16> outMessages;
andrebharath 3:2e32d7974962 80
TrebleStick 12:1b2e2540e4e1 81
TrebleStick 12:1b2e2540e4e1 82 void putMessage(uint8_t code, uint32_t data) {//uint64_t
TrebleStick 12:1b2e2540e4e1 83 message_t *pMessage = outMessages.alloc();
TrebleStick 12:1b2e2540e4e1 84 pMessage->code = code;
TrebleStick 12:1b2e2540e4e1 85 pMessage->data = data;
TrebleStick 12:1b2e2540e4e1 86 outMessages.put(pMessage);
TrebleStick 12:1b2e2540e4e1 87 }
TrebleStick 12:1b2e2540e4e1 88
andrebharath 3:2e32d7974962 89 Thread commOutT;
andrebharath 3:2e32d7974962 90
TrebleStick 12:1b2e2540e4e1 91 void commOutFn() {
andrebharath 3:2e32d7974962 92 while(1) {
andrebharath 3:2e32d7974962 93 osEvent newEvent = outMessages.get();
andrebharath 3:2e32d7974962 94 message_t *pMessage = (message_t*)newEvent.value.p;
andrebharath 3:2e32d7974962 95 pc.printf("Message %d with data 0x%016x\r\n",
andrebharath 3:2e32d7974962 96 pMessage->code,pMessage->data);
andrebharath 3:2e32d7974962 97 outMessages.free(pMessage);
andrebharath 3:2e32d7974962 98 }
andrebharath 3:2e32d7974962 99 }
andrebharath 3:2e32d7974962 100
andrebharath 9:ecef1e8cbe3d 101
andrebharath 9:ecef1e8cbe3d 102
TrebleStick 12:1b2e2540e4e1 103 //Global varible for the Bitcoin Key
TrebleStick 12:1b2e2540e4e1 104 volatile uint64_t newKey = 0; //check initialise value? ****
TrebleStick 12:1b2e2540e4e1 105
TrebleStick 12:1b2e2540e4e1 106 Mutex newKey_mutex; //for mutex locking
andrebharath 9:ecef1e8cbe3d 107
andrebharath 9:ecef1e8cbe3d 108 //Instantiate a Queue to buffer incoming characters
andrebharath 9:ecef1e8cbe3d 109 Queue<void, 8> inCharQ;
andrebharath 9:ecef1e8cbe3d 110 //serial port ISR to receive each incoming byte and place into queue
andrebharath 9:ecef1e8cbe3d 111 void serialISR() {
andrebharath 9:ecef1e8cbe3d 112 uint8_t newChar = pc.getc();
andrebharath 9:ecef1e8cbe3d 113 inCharQ.put((void*)newChar);
andrebharath 9:ecef1e8cbe3d 114 }
andrebharath 9:ecef1e8cbe3d 115
andrebharath 9:ecef1e8cbe3d 116
andrebharath 9:ecef1e8cbe3d 117
andrebharath 9:ecef1e8cbe3d 118
andrebharath 9:ecef1e8cbe3d 119 Thread decodeT;
andrebharath 9:ecef1e8cbe3d 120
andrebharath 9:ecef1e8cbe3d 121 void setNewCmd(char newCmd[CHAR_ARR_SIZE]){
andrebharath 9:ecef1e8cbe3d 122 //regex error checking ****
TrebleStick 12:1b2e2540e4e1 123
TrebleStick 12:1b2e2540e4e1 124 //K
andrebharath 9:ecef1e8cbe3d 125 if(newCmd[0] == 'K'){
andrebharath 9:ecef1e8cbe3d 126 newKey_mutex.lock();
andrebharath 9:ecef1e8cbe3d 127 sscanf(newCmd, "K%x", &newKey); //Decode the command
andrebharath 9:ecef1e8cbe3d 128 newKey_mutex.unlock();
andrebharath 9:ecef1e8cbe3d 129 putMessage(MSG_NEW_KEY, newKey);
andrebharath 9:ecef1e8cbe3d 130 }
TrebleStick 12:1b2e2540e4e1 131
andrebharath 9:ecef1e8cbe3d 132 //V
andrebharath 9:ecef1e8cbe3d 133 if(newCmd[0] == 'V'){
andrebharath 9:ecef1e8cbe3d 134 //set new velocity***
andrebharath 9:ecef1e8cbe3d 135 }
TrebleStick 12:1b2e2540e4e1 136
andrebharath 9:ecef1e8cbe3d 137 //R
andrebharath 9:ecef1e8cbe3d 138 if(newCmd[0] == 'R'){
andrebharath 9:ecef1e8cbe3d 139 //set new rotation***
andrebharath 9:ecef1e8cbe3d 140 }
TrebleStick 12:1b2e2540e4e1 141
andrebharath 9:ecef1e8cbe3d 142 }
andrebharath 9:ecef1e8cbe3d 143
andrebharath 9:ecef1e8cbe3d 144
andrebharath 9:ecef1e8cbe3d 145 void decodeFn() {
andrebharath 9:ecef1e8cbe3d 146 pc.attach(&serialISR);
andrebharath 9:ecef1e8cbe3d 147 char charSeq[CHAR_ARR_SIZE] = "";
andrebharath 9:ecef1e8cbe3d 148 uint8_t bufPos = 0;
andrebharath 9:ecef1e8cbe3d 149 while(1) {
TrebleStick 12:1b2e2540e4e1 150
andrebharath 9:ecef1e8cbe3d 151 if(bufPos >= CHAR_ARR_SIZE) {
andrebharath 9:ecef1e8cbe3d 152 putMessage(MSG_OVERFLOW, bufPos);
TrebleStick 12:1b2e2540e4e1 153 bufPos = 0;
andrebharath 9:ecef1e8cbe3d 154 }
TrebleStick 13:ecccfc611025 155 else{
TrebleStick 12:1b2e2540e4e1 156
TrebleStick 13:ecccfc611025 157 osEvent newEvent = inCharQ.get();
TrebleStick 13:ecccfc611025 158 uint8_t newChar = (uint8_t)newEvent.value.p;
TrebleStick 12:1b2e2540e4e1 159
TrebleStick 13:ecccfc611025 160 if(newChar == '\r' || newChar == '\n') {
TrebleStick 13:ecccfc611025 161 charSeq[bufPos] = '\0';
TrebleStick 13:ecccfc611025 162 bufPos = 0;
TrebleStick 13:ecccfc611025 163 setNewCmd(charSeq);
TrebleStick 13:ecccfc611025 164 }
TrebleStick 13:ecccfc611025 165 else {
TrebleStick 13:ecccfc611025 166 charSeq[bufPos] = newChar;
TrebleStick 13:ecccfc611025 167 bufPos++;
TrebleStick 13:ecccfc611025 168 }
TrebleStick 12:1b2e2540e4e1 169 }
andrebharath 9:ecef1e8cbe3d 170 }
andrebharath 9:ecef1e8cbe3d 171 }
andrebharath 9:ecef1e8cbe3d 172
andrebharath 9:ecef1e8cbe3d 173
andrebharath 9:ecef1e8cbe3d 174
andrebharath 9:ecef1e8cbe3d 175
andrebharath 9:ecef1e8cbe3d 176
andrebharath 3:2e32d7974962 177 volatile uint16_t hashcount = 0;
TrebleStick 0:88c3d6c8a4eb 178
andrebharath 9:ecef1e8cbe3d 179 void do_hashcount() {
andrebharath 3:2e32d7974962 180 putMessage(MSG_HASHCOUNT, hashcount);
andrebharath 3:2e32d7974962 181 hashcount = 0;
andrebharath 3:2e32d7974962 182 }
andrebharath 9:ecef1e8cbe3d 183
andrebharath 9:ecef1e8cbe3d 184
TrebleStick 0:88c3d6c8a4eb 185 //Set a given drive state
andrebharath 9:ecef1e8cbe3d 186 void motorOut(int8_t driveState){
TrebleStick 12:1b2e2540e4e1 187
TrebleStick 0:88c3d6c8a4eb 188 //Lookup the output byte from the drive state.
TrebleStick 0:88c3d6c8a4eb 189 int8_t driveOut = driveTable[driveState & 0x07];
TrebleStick 12:1b2e2540e4e1 190
TrebleStick 0:88c3d6c8a4eb 191 //Turn off first
TrebleStick 0:88c3d6c8a4eb 192 if (~driveOut & 0x01) L1L = 0;
TrebleStick 0:88c3d6c8a4eb 193 if (~driveOut & 0x02) L1H = 1;
TrebleStick 0:88c3d6c8a4eb 194 if (~driveOut & 0x04) L2L = 0;
TrebleStick 0:88c3d6c8a4eb 195 if (~driveOut & 0x08) L2H = 1;
TrebleStick 0:88c3d6c8a4eb 196 if (~driveOut & 0x10) L3L = 0;
TrebleStick 0:88c3d6c8a4eb 197 if (~driveOut & 0x20) L3H = 1;
TrebleStick 12:1b2e2540e4e1 198
TrebleStick 0:88c3d6c8a4eb 199 //Then turn on
TrebleStick 0:88c3d6c8a4eb 200 if (driveOut & 0x01) L1L = 1;
TrebleStick 0:88c3d6c8a4eb 201 if (driveOut & 0x02) L1H = 0;
TrebleStick 0:88c3d6c8a4eb 202 if (driveOut & 0x04) L2L = 1;
TrebleStick 0:88c3d6c8a4eb 203 if (driveOut & 0x08) L2H = 0;
TrebleStick 0:88c3d6c8a4eb 204 if (driveOut & 0x10) L3L = 1;
TrebleStick 0:88c3d6c8a4eb 205 if (driveOut & 0x20) L3H = 0;
andrebharath 9:ecef1e8cbe3d 206 }
TrebleStick 12:1b2e2540e4e1 207
andrebharath 9:ecef1e8cbe3d 208 //Convert photointerrupter inputs to a rotor state
andrebharath 9:ecef1e8cbe3d 209 inline int8_t readRotorState(){
TrebleStick 0:88c3d6c8a4eb 210 return stateMap[I1 + 2*I2 + 4*I3];
andrebharath 9:ecef1e8cbe3d 211 }
andrebharath 9:ecef1e8cbe3d 212
TrebleStick 12:1b2e2540e4e1 213 //Basic synchronisation routine
andrebharath 9:ecef1e8cbe3d 214 int8_t motorHome() {
TrebleStick 0:88c3d6c8a4eb 215 //Put the motor in drive state 0 and wait for it to stabilise
TrebleStick 0:88c3d6c8a4eb 216 motorOut(0);
andrebharath 3:2e32d7974962 217 wait(2.0);
TrebleStick 12:1b2e2540e4e1 218
TrebleStick 0:88c3d6c8a4eb 219 //Get the rotor state
TrebleStick 0:88c3d6c8a4eb 220 return readRotorState();
TrebleStick 0:88c3d6c8a4eb 221 }
andrebharath 3:2e32d7974962 222
andrebharath 3:2e32d7974962 223 void photointerrupter_isr()
andrebharath 3:2e32d7974962 224 {
andrebharath 3:2e32d7974962 225 int8_t intState = readRotorState();
andrebharath 3:2e32d7974962 226 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
andrebharath 3:2e32d7974962 227 }
andrebharath 9:ecef1e8cbe3d 228
TrebleStick 12:1b2e2540e4e1 229
TrebleStick 0:88c3d6c8a4eb 230 //Main
andrebharath 9:ecef1e8cbe3d 231 int main() {
TrebleStick 12:1b2e2540e4e1 232
andrebharath 9:ecef1e8cbe3d 233 putMessage(MSG_RESET, 0);
andrebharath 9:ecef1e8cbe3d 234
TrebleStick 12:1b2e2540e4e1 235
andrebharath 9:ecef1e8cbe3d 236 commOutT.start(&commOutFn);
TrebleStick 12:1b2e2540e4e1 237
TrebleStick 12:1b2e2540e4e1 238 decodeT.start(&decodeFn);
TrebleStick 12:1b2e2540e4e1 239
andrebharath 9:ecef1e8cbe3d 240 // pc.printf("Hello\n\r");
TrebleStick 12:1b2e2540e4e1 241
andrebharath 9:ecef1e8cbe3d 242 //Run the motor synchronisation
andrebharath 9:ecef1e8cbe3d 243 orState = motorHome();
andrebharath 9:ecef1e8cbe3d 244 // pc.printf("Rotor origin: %x\n\r",orState);
andrebharath 9:ecef1e8cbe3d 245 //orState is subtracted from future rotor state inputs to align rotor and motor states
TrebleStick 12:1b2e2540e4e1 246
andrebharath 3:2e32d7974962 247 I1.rise(&photointerrupter_isr);
andrebharath 3:2e32d7974962 248 I2.rise(&photointerrupter_isr);
andrebharath 3:2e32d7974962 249 I3.rise(&photointerrupter_isr);
TrebleStick 12:1b2e2540e4e1 250
andrebharath 3:2e32d7974962 251 I1.fall(&photointerrupter_isr);
andrebharath 3:2e32d7974962 252 I2.fall(&photointerrupter_isr);
andrebharath 3:2e32d7974962 253 I3.fall(&photointerrupter_isr);
TrebleStick 12:1b2e2540e4e1 254
andrebharath 9:ecef1e8cbe3d 255 //Calling the ISR once starts the motor movement
andrebharath 9:ecef1e8cbe3d 256 photointerrupter_isr();
TrebleStick 12:1b2e2540e4e1 257
andrebharath 9:ecef1e8cbe3d 258 SHA256 sha256;
TrebleStick 12:1b2e2540e4e1 259
andrebharath 3:2e32d7974962 260 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
andrebharath 3:2e32d7974962 261 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
andrebharath 3:2e32d7974962 262 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
andrebharath 3:2e32d7974962 263 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
andrebharath 3:2e32d7974962 264 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
andrebharath 3:2e32d7974962 265 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
andrebharath 3:2e32d7974962 266 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
andrebharath 3:2e32d7974962 267 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
andrebharath 3:2e32d7974962 268 uint64_t* key = (uint64_t*)((int)sequence + 48);
andrebharath 3:2e32d7974962 269 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
andrebharath 3:2e32d7974962 270 uint8_t hash[32];
TrebleStick 12:1b2e2540e4e1 271
andrebharath 9:ecef1e8cbe3d 272 Ticker hashcounter;
andrebharath 9:ecef1e8cbe3d 273 hashcounter.attach(&do_hashcount, 1.0);
TrebleStick 12:1b2e2540e4e1 274
TrebleStick 0:88c3d6c8a4eb 275 //Poll the rotor state and set the motor outputs accordingly to spin the motor
TrebleStick 0:88c3d6c8a4eb 276 while (1) {
TrebleStick 12:1b2e2540e4e1 277
andrebharath 9:ecef1e8cbe3d 278 *key = newKey;
TrebleStick 12:1b2e2540e4e1 279
TrebleStick 12:1b2e2540e4e1 280 //putMessage(MSG_ASSIGN_KEY, newKey);
TrebleStick 12:1b2e2540e4e1 281
andrebharath 9:ecef1e8cbe3d 282 sha256.computeHash(hash, sequence, 64);
TrebleStick 12:1b2e2540e4e1 283
andrebharath 3:2e32d7974962 284 if (hash[0] == 0 && hash[1] == 0) {
andrebharath 3:2e32d7974962 285 putMessage(MSG_NONCE_OK, *nonce);
andrebharath 3:2e32d7974962 286 }
andrebharath 3:2e32d7974962 287
andrebharath 3:2e32d7974962 288 (*nonce)++;
andrebharath 3:2e32d7974962 289 hashcount++;
TrebleStick 0:88c3d6c8a4eb 290 }
TrebleStick 0:88c3d6c8a4eb 291 }
andrebharath 9:ecef1e8cbe3d 292
TrebleStick 12:1b2e2540e4e1 293
TrebleStick 12:1b2e2540e4e1 294 // K12345678\r
TrebleStick 12:1b2e2540e4e1 295 // K12345678