SpinnyBoi / Mbed 2 deprecated Spinnybois

First Commit

Dependencies:   mbed Crypto_light mbed-rtos

Spin it 2 win it

main.cpp@9:ecef1e8cbe3d, 2018-03-20 (annotated)

Committer:
andrebharath
Date:
Tue Mar 20 11:21:34 2018 +0000
Revision:
9:ecef1e8cbe3d
Parent:
3:2e32d7974962
Child:
11:14ccee7c6b59
Reimplementation of first two instruction sets

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 0:88c3d6c8a4eb 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 0:88c3d6c8a4eb 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
andrebharath 9:ecef1e8cbe3d 50 enum MSG {MSG_RESET, MSG_HASHCOUNT, MSG_NONCE_OK,
andrebharath 9:ecef1e8cbe3d 51 MSG_OVERFLOW, MSG_NEW_KEY, MSG_ASSIGN_KEY};
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
andrebharath 3:2e32d7974962 81 Thread commOutT;
andrebharath 3:2e32d7974962 82
andrebharath 9:ecef1e8cbe3d 83 void commOutFn() {
andrebharath 3:2e32d7974962 84 while(1) {
andrebharath 3:2e32d7974962 85 osEvent newEvent = outMessages.get();
andrebharath 3:2e32d7974962 86 message_t *pMessage = (message_t*)newEvent.value.p;
andrebharath 3:2e32d7974962 87 pc.printf("Message %d with data 0x%016x\r\n",
andrebharath 3:2e32d7974962 88 pMessage->code,pMessage->data);
andrebharath 3:2e32d7974962 89 outMessages.free(pMessage);
andrebharath 3:2e32d7974962 90 }
andrebharath 3:2e32d7974962 91 }
andrebharath 3:2e32d7974962 92
andrebharath 9:ecef1e8cbe3d 93
andrebharath 9:ecef1e8cbe3d 94 void putMessage(uint8_t code, uint32_t data) {
andrebharath 9:ecef1e8cbe3d 95 message_t *pMessage = outMessages.alloc();
andrebharath 9:ecef1e8cbe3d 96 pMessage->code = code;
andrebharath 9:ecef1e8cbe3d 97 pMessage->data = data;
andrebharath 9:ecef1e8cbe3d 98 outMessages.put(pMessage);
andrebharath 9:ecef1e8cbe3d 99 }
andrebharath 9:ecef1e8cbe3d 100
andrebharath 9:ecef1e8cbe3d 101
andrebharath 9:ecef1e8cbe3d 102 //Instantiate a Queue to buffer incoming characters
andrebharath 9:ecef1e8cbe3d 103 Queue<void, 8> inCharQ;
andrebharath 9:ecef1e8cbe3d 104 //serial port ISR to receive each incoming byte and place into queue
andrebharath 9:ecef1e8cbe3d 105 void serialISR() {
andrebharath 9:ecef1e8cbe3d 106 uint8_t newChar = pc.getc();
andrebharath 9:ecef1e8cbe3d 107 inCharQ.put((void*)newChar);
andrebharath 9:ecef1e8cbe3d 108 }
andrebharath 9:ecef1e8cbe3d 109
andrebharath 9:ecef1e8cbe3d 110
andrebharath 9:ecef1e8cbe3d 111 //Global varible for the Bitcoin Key
andrebharath 9:ecef1e8cbe3d 112 volatile uint64_t newKey = 0; //check initialise value? ****
andrebharath 3:2e32d7974962 113
andrebharath 9:ecef1e8cbe3d 114 Mutex newKey_mutex; //for mutex locking
andrebharath 9:ecef1e8cbe3d 115
andrebharath 9:ecef1e8cbe3d 116
andrebharath 9:ecef1e8cbe3d 117 Thread decodeT;
andrebharath 9:ecef1e8cbe3d 118
andrebharath 9:ecef1e8cbe3d 119 void setNewCmd(char newCmd[CHAR_ARR_SIZE]){
andrebharath 9:ecef1e8cbe3d 120 //regex error checking ****
andrebharath 9:ecef1e8cbe3d 121
andrebharath 9:ecef1e8cbe3d 122 //K
andrebharath 9:ecef1e8cbe3d 123 if(newCmd[0] == 'K'){
andrebharath 9:ecef1e8cbe3d 124 newKey_mutex.lock();
andrebharath 9:ecef1e8cbe3d 125 sscanf(newCmd, "K%x", &newKey); //Decode the command
andrebharath 9:ecef1e8cbe3d 126 newKey_mutex.unlock();
andrebharath 9:ecef1e8cbe3d 127 putMessage(MSG_NEW_KEY, newKey);
andrebharath 9:ecef1e8cbe3d 128 }
andrebharath 9:ecef1e8cbe3d 129
andrebharath 9:ecef1e8cbe3d 130 //V
andrebharath 9:ecef1e8cbe3d 131 if(newCmd[0] == 'V'){
andrebharath 9:ecef1e8cbe3d 132 //set new velocity***
andrebharath 9:ecef1e8cbe3d 133 }
andrebharath 9:ecef1e8cbe3d 134
andrebharath 9:ecef1e8cbe3d 135 //R
andrebharath 9:ecef1e8cbe3d 136 if(newCmd[0] == 'R'){
andrebharath 9:ecef1e8cbe3d 137 //set new rotation***
andrebharath 9:ecef1e8cbe3d 138 }
andrebharath 9:ecef1e8cbe3d 139
andrebharath 9:ecef1e8cbe3d 140 }
andrebharath 9:ecef1e8cbe3d 141
andrebharath 9:ecef1e8cbe3d 142
andrebharath 9:ecef1e8cbe3d 143 void decodeFn() {
andrebharath 9:ecef1e8cbe3d 144 pc.attach(&serialISR);
andrebharath 9:ecef1e8cbe3d 145 char charSeq[CHAR_ARR_SIZE] = "";
andrebharath 9:ecef1e8cbe3d 146 uint8_t bufPos = 0;
andrebharath 9:ecef1e8cbe3d 147 while(1) {
andrebharath 9:ecef1e8cbe3d 148
andrebharath 9:ecef1e8cbe3d 149 if(bufPos >= CHAR_ARR_SIZE) {
andrebharath 9:ecef1e8cbe3d 150 putMessage(MSG_OVERFLOW, bufPos);
andrebharath 9:ecef1e8cbe3d 151 break;
andrebharath 9:ecef1e8cbe3d 152 }
andrebharath 9:ecef1e8cbe3d 153
andrebharath 9:ecef1e8cbe3d 154 osEvent newEvent = inCharQ.get();
andrebharath 9:ecef1e8cbe3d 155 uint8_t newChar = (uint8_t)newEvent.value.p;
andrebharath 9:ecef1e8cbe3d 156
andrebharath 9:ecef1e8cbe3d 157 if(newChar == '\r' ) {
andrebharath 9:ecef1e8cbe3d 158 charSeq[bufPos] = '0';
andrebharath 9:ecef1e8cbe3d 159 bufPos = 0;
andrebharath 9:ecef1e8cbe3d 160 setNewCmd(charSeq);
andrebharath 9:ecef1e8cbe3d 161 }
andrebharath 9:ecef1e8cbe3d 162 else {
andrebharath 9:ecef1e8cbe3d 163 charSeq[bufPos] = newChar;
andrebharath 9:ecef1e8cbe3d 164 bufPos++;
andrebharath 9:ecef1e8cbe3d 165 }
andrebharath 9:ecef1e8cbe3d 166 }
andrebharath 9:ecef1e8cbe3d 167 }
andrebharath 9:ecef1e8cbe3d 168
andrebharath 9:ecef1e8cbe3d 169
andrebharath 9:ecef1e8cbe3d 170
andrebharath 9:ecef1e8cbe3d 171
andrebharath 9:ecef1e8cbe3d 172
andrebharath 9:ecef1e8cbe3d 173
andrebharath 3:2e32d7974962 174 volatile uint16_t hashcount = 0;
TrebleStick 0:88c3d6c8a4eb 175
andrebharath 9:ecef1e8cbe3d 176 void do_hashcount() {
andrebharath 3:2e32d7974962 177 putMessage(MSG_HASHCOUNT, hashcount);
andrebharath 3:2e32d7974962 178 hashcount = 0;
andrebharath 3:2e32d7974962 179 }
andrebharath 9:ecef1e8cbe3d 180
andrebharath 9:ecef1e8cbe3d 181
TrebleStick 0:88c3d6c8a4eb 182 //Set a given drive state
andrebharath 9:ecef1e8cbe3d 183 void motorOut(int8_t driveState){
TrebleStick 0:88c3d6c8a4eb 184
TrebleStick 0:88c3d6c8a4eb 185 //Lookup the output byte from the drive state.
TrebleStick 0:88c3d6c8a4eb 186 int8_t driveOut = driveTable[driveState & 0x07];
TrebleStick 0:88c3d6c8a4eb 187
TrebleStick 0:88c3d6c8a4eb 188 //Turn off first
TrebleStick 0:88c3d6c8a4eb 189 if (~driveOut & 0x01) L1L = 0;
TrebleStick 0:88c3d6c8a4eb 190 if (~driveOut & 0x02) L1H = 1;
TrebleStick 0:88c3d6c8a4eb 191 if (~driveOut & 0x04) L2L = 0;
TrebleStick 0:88c3d6c8a4eb 192 if (~driveOut & 0x08) L2H = 1;
TrebleStick 0:88c3d6c8a4eb 193 if (~driveOut & 0x10) L3L = 0;
TrebleStick 0:88c3d6c8a4eb 194 if (~driveOut & 0x20) L3H = 1;
TrebleStick 0:88c3d6c8a4eb 195
TrebleStick 0:88c3d6c8a4eb 196 //Then turn on
TrebleStick 0:88c3d6c8a4eb 197 if (driveOut & 0x01) L1L = 1;
TrebleStick 0:88c3d6c8a4eb 198 if (driveOut & 0x02) L1H = 0;
TrebleStick 0:88c3d6c8a4eb 199 if (driveOut & 0x04) L2L = 1;
TrebleStick 0:88c3d6c8a4eb 200 if (driveOut & 0x08) L2H = 0;
TrebleStick 0:88c3d6c8a4eb 201 if (driveOut & 0x10) L3L = 1;
TrebleStick 0:88c3d6c8a4eb 202 if (driveOut & 0x20) L3H = 0;
andrebharath 9:ecef1e8cbe3d 203 }
TrebleStick 0:88c3d6c8a4eb 204
andrebharath 9:ecef1e8cbe3d 205 //Convert photointerrupter inputs to a rotor state
andrebharath 9:ecef1e8cbe3d 206 inline int8_t readRotorState(){
TrebleStick 0:88c3d6c8a4eb 207 return stateMap[I1 + 2*I2 + 4*I3];
andrebharath 9:ecef1e8cbe3d 208 }
andrebharath 9:ecef1e8cbe3d 209
TrebleStick 0:88c3d6c8a4eb 210 //Basic synchronisation routine
andrebharath 9:ecef1e8cbe3d 211 int8_t motorHome() {
TrebleStick 0:88c3d6c8a4eb 212 //Put the motor in drive state 0 and wait for it to stabilise
TrebleStick 0:88c3d6c8a4eb 213 motorOut(0);
andrebharath 3:2e32d7974962 214 wait(2.0);
TrebleStick 0:88c3d6c8a4eb 215
TrebleStick 0:88c3d6c8a4eb 216 //Get the rotor state
TrebleStick 0:88c3d6c8a4eb 217 return readRotorState();
TrebleStick 0:88c3d6c8a4eb 218 }
andrebharath 3:2e32d7974962 219
andrebharath 3:2e32d7974962 220 void photointerrupter_isr()
andrebharath 3:2e32d7974962 221 {
andrebharath 3:2e32d7974962 222 int8_t intState = readRotorState();
andrebharath 3:2e32d7974962 223 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
andrebharath 3:2e32d7974962 224 }
andrebharath 9:ecef1e8cbe3d 225
TrebleStick 0:88c3d6c8a4eb 226
TrebleStick 0:88c3d6c8a4eb 227 //Main
andrebharath 9:ecef1e8cbe3d 228 int main() {
andrebharath 9:ecef1e8cbe3d 229
andrebharath 9:ecef1e8cbe3d 230 putMessage(MSG_RESET, 0);
andrebharath 9:ecef1e8cbe3d 231
andrebharath 9:ecef1e8cbe3d 232
andrebharath 9:ecef1e8cbe3d 233 commOutT.start(&commOutFn);
andrebharath 9:ecef1e8cbe3d 234
andrebharath 9:ecef1e8cbe3d 235 decodeT.start(&decodeFn);
andrebharath 9:ecef1e8cbe3d 236
andrebharath 9:ecef1e8cbe3d 237 // pc.printf("Hello\n\r");
andrebharath 9:ecef1e8cbe3d 238
andrebharath 9:ecef1e8cbe3d 239 //Run the motor synchronisation
andrebharath 9:ecef1e8cbe3d 240 orState = motorHome();
andrebharath 9:ecef1e8cbe3d 241 // pc.printf("Rotor origin: %x\n\r",orState);
andrebharath 9:ecef1e8cbe3d 242 //orState is subtracted from future rotor state inputs to align rotor and motor states
andrebharath 9:ecef1e8cbe3d 243
andrebharath 3:2e32d7974962 244 I1.rise(&photointerrupter_isr);
andrebharath 3:2e32d7974962 245 I2.rise(&photointerrupter_isr);
andrebharath 3:2e32d7974962 246 I3.rise(&photointerrupter_isr);
andrebharath 3:2e32d7974962 247
andrebharath 3:2e32d7974962 248 I1.fall(&photointerrupter_isr);
andrebharath 3:2e32d7974962 249 I2.fall(&photointerrupter_isr);
andrebharath 3:2e32d7974962 250 I3.fall(&photointerrupter_isr);
andrebharath 3:2e32d7974962 251
andrebharath 9:ecef1e8cbe3d 252 //Calling the ISR once starts the motor movement
andrebharath 9:ecef1e8cbe3d 253 photointerrupter_isr();
TrebleStick 0:88c3d6c8a4eb 254
andrebharath 9:ecef1e8cbe3d 255 SHA256 sha256;
TrebleStick 0:88c3d6c8a4eb 256
andrebharath 3:2e32d7974962 257 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
andrebharath 3:2e32d7974962 258 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
andrebharath 3:2e32d7974962 259 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
andrebharath 3:2e32d7974962 260 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
andrebharath 3:2e32d7974962 261 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
andrebharath 3:2e32d7974962 262 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
andrebharath 3:2e32d7974962 263 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
andrebharath 3:2e32d7974962 264 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
andrebharath 3:2e32d7974962 265 uint64_t* key = (uint64_t*)((int)sequence + 48);
andrebharath 9:ecef1e8cbe3d 266
andrebharath 9:ecef1e8cbe3d 267 newKey_mutex.lock();
andrebharath 9:ecef1e8cbe3d 268 newKey = *key;
andrebharath 9:ecef1e8cbe3d 269 newKey_mutex.unlock();
andrebharath 9:ecef1e8cbe3d 270
andrebharath 3:2e32d7974962 271 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
andrebharath 3:2e32d7974962 272 uint8_t hash[32];
TrebleStick 0:88c3d6c8a4eb 273
andrebharath 9:ecef1e8cbe3d 274 Ticker hashcounter;
andrebharath 9:ecef1e8cbe3d 275 hashcounter.attach(&do_hashcount, 1.0);
andrebharath 9:ecef1e8cbe3d 276
TrebleStick 0:88c3d6c8a4eb 277 //Poll the rotor state and set the motor outputs accordingly to spin the motor
TrebleStick 0:88c3d6c8a4eb 278 while (1) {
andrebharath 9:ecef1e8cbe3d 279 newKey_mutex.lock();
andrebharath 9:ecef1e8cbe3d 280 *key = newKey;
andrebharath 9:ecef1e8cbe3d 281 newKey_mutex.unlock();
andrebharath 9:ecef1e8cbe3d 282
andrebharath 9:ecef1e8cbe3d 283 putMessage(MSG_ASSIGN_KEY, newKey);
andrebharath 9:ecef1e8cbe3d 284
andrebharath 9:ecef1e8cbe3d 285 sha256.computeHash(hash, sequence, 64);
TrebleStick 0:88c3d6c8a4eb 286
andrebharath 3:2e32d7974962 287 if (hash[0] == 0 && hash[1] == 0) {
andrebharath 3:2e32d7974962 288 putMessage(MSG_NONCE_OK, *nonce);
andrebharath 3:2e32d7974962 289 }
andrebharath 3:2e32d7974962 290
andrebharath 3:2e32d7974962 291 (*nonce)++;
andrebharath 3:2e32d7974962 292 hashcount++;
TrebleStick 0:88c3d6c8a4eb 293 }
TrebleStick 0:88c3d6c8a4eb 294 }
andrebharath 9:ecef1e8cbe3d 295