SpinnyBoi
First Commit
Dependencies: mbed Crypto_light mbed-rtos
Spin it 2 win it
Diff: main.cpp
- Revision:
- 10:cedc98128562
- Parent:
- 8:e7818c369bd3
- Child:
- 11:14ccee7c6b59
--- a/main.cpp Mon Mar 12 18:57:42 2018 +0000
+++ b/main.cpp Tue Mar 20 11:25:22 2018 +0000
@@ -6,11 +6,11 @@
#define I1pin D2
#define I2pin D11
#define I3pin D12
-
+
//Incremental encoder input pins
#define CHA D7
#define CHB D8
-
+
//Motor Drive output pins //Mask in output byte
#define L1Lpin D4 //0x01
#define L1Hpin D5 //0x02
@@ -19,17 +19,7 @@
#define L3Lpin D9 //0x10
#define L3Hpin D10 //0x20
-//Enum for putMessage message types
-#define MSG_HASHCOUNT 0
-#define MSG_NONCE_OK 1
-#define MSG_OVERFLOW 2
-#define INVALID_KEY 3
-#define KEY_UPDATED 4
-//FIFO constant definitions
-#define MAX_ARRAY_SIZE 19 //Max length of input codes
-
-
-
+#define CHAR_ARR_SIZE 18 //Max length of input codes
//Mapping from sequential drive states to motor phase outputs
/*
@@ -45,41 +35,52 @@
*/
//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};
//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
const int8_t lead = 2; //2 for forwards, -2 for backwards
-
-//Instantiate the serial port, using RawSerial to deal with
-//serial's undocumented buffering behaviour
-RawSerial pc(SERIAL_TX, SERIAL_RX);
+
+//Rotor offset at motor state 0
+int8_t orState = 0;
-//structure for Mail Class
+enum MSG {MSG_RESET, MSG_HASHCOUNT, MSG_NONCE_OK,
+ MSG_OVERFLOW, MSG_NEW_KEY, MSG_ASSIGN_KEY};
+
+//Instantiate the serial port
+RawSerial pc(SERIAL_TX, SERIAL_RX);
+
+//Status LED
+DigitalOut led1(LED1);
+
+//Photointerrupter inputs
+InterruptIn I1(I1pin);
+InterruptIn I2(I2pin);
+InterruptIn I3(I3pin);
+
+//Motor Drive outputs
+DigitalOut L1L(L1Lpin);
+DigitalOut L1H(L1Hpin);
+DigitalOut L2L(L2Lpin);
+DigitalOut L2H(L2Hpin);
+DigitalOut L3L(L3Lpin);
+DigitalOut L3H(L3Hpin);
+
+
+
typedef struct {
uint8_t code;
uint32_t data;
} message_t ;
-//Mail class allowing 16 messages to be stored up in the FIFO
Mail<message_t,16> outMessages;
-//Replacement for printf so that notification shortcodes can be sent
-void putMessage(uint8_t code, uint64_t data)
-{
- message_t *pMessage = outMessages.alloc();
- pMessage->code = code;
- pMessage->data = data;
- outMessages.put(pMessage);
-}
-
Thread commOutT;
-void commOutFn()
-{
+void commOutFn() {
while(1) {
osEvent newEvent = outMessages.get();
message_t *pMessage = (message_t*)newEvent.value.p;
@@ -89,37 +90,41 @@
}
}
+
+void putMessage(uint8_t code, uint32_t data) {
+ message_t *pMessage = outMessages.alloc();
+ pMessage->code = code;
+ pMessage->data = data;
+ outMessages.put(pMessage);
+}
+
+
+//Instantiate a Queue to buffer incoming characters
+Queue<void, 8> inCharQ;
+//serial port ISR to receive each incoming byte and place into queue
+void serialISR() {
+ uint8_t newChar = pc.getc();
+ inCharQ.put((void*)newChar);
+}
+
+
//Global varible for the Bitcoin Key
volatile uint64_t newKey = 0; //check initialise value? ****
-
+
Mutex newKey_mutex; //for mutex locking
-//Queue class
-Queue<void, 8> inCharQ;
-//serial port ISR to take individual chars
-void serialISR(){
- uint8_t newChar = pc.getc();
- inCharQ.put((void*)newChar);
- }
-
-
-//decode commands
Thread decodeT;
-//set the global NewKey
-void setNewCmd(char newCmd[MAX_ARRAY_SIZE]){
+void setNewCmd(char newCmd[CHAR_ARR_SIZE]){
//regex error checking ****
//K
if(newCmd[0] == 'K'){
newKey_mutex.lock();
sscanf(newCmd, "K%x", &newKey); //Decode the command
- //error for invalid key
- //if(newKey != newCmd){
-// putMessage(INVALID_KEY, newKey);
-// }
newKey_mutex.unlock();
+ putMessage(MSG_NEW_KEY, newKey);
}
//V
@@ -134,89 +139,48 @@
}
-//decode char's function
-void decodeFn(){
+
+void decodeFn() {
pc.attach(&serialISR);
- char newCmd[MAX_ARRAY_SIZE] = "";
- uint32_t bufferPosition = 0; //change this variable type if the max buffer/fifio size is found to be different
- bool exit = false;
- while(!exit) {
-
- //get new char
+ char charSeq[CHAR_ARR_SIZE] = "";
+ uint8_t bufPos = 0;
+ while(1) {
+
+ if(bufPos >= CHAR_ARR_SIZE) {
+ putMessage(MSG_OVERFLOW, bufPos);
+ break;
+ }
+
osEvent newEvent = inCharQ.get();
uint8_t newChar = (uint8_t)newEvent.value.p;
- //check for carriage return "\r"
- if(newChar == 'r'){
- if(bufferPosition != 0){
- if(newCmd[bufferPosition - 1] == '\\'){
- //carriage found
-// newChar = '0'; //replace character
-
- //add to array
- newCmd[bufferPosition] = '0';
-
- //reset buffer
- bufferPosition = 0;
- //send char array to decoder ***
- setNewCmd(newCmd);
- putMessage(KEY_UPDATED, newKey);
- putMessage(KEY_UPDATED, 0x0123456789abcdef);
- }
- }
- }
- //Add new char to array
- else{
- //add character at current position
- newCmd[bufferPosition] = newChar;
- bufferPosition ++;
- }
-
- //------error for overflow-------------------------//
- if(bufferPosition >= MAX_ARRAY_SIZE ){
- exit = true;
- putMessage(MSG_OVERFLOW, bufferPosition); //
+ if(newChar == '\r' ) {
+ charSeq[bufPos] = '0';
+ bufPos = 0;
+ setNewCmd(charSeq);
}
- //-------------------------------------------------//
-
- }//end of : while(!exit){}
-
- //iii. Test the first character to determine which command was sent.
- //iv. Decode the rest of the command
-
-
-
-
-}
+ else {
+ charSeq[bufPos] = newChar;
+ bufPos++;
+ }
+ }
+}
-
-//Status LED
-DigitalOut led1(LED1);
-
-//Photointerrupter inputs
-InterruptIn I1(I1pin);
-InterruptIn I2(I2pin);
-InterruptIn I3(I3pin);
-
-//Motor Drive outputs
-DigitalOut L1L(L1Lpin);
-DigitalOut L1H(L1Hpin);
-DigitalOut L2L(L2Lpin);
-DigitalOut L2H(L2Hpin);
-DigitalOut L3L(L3Lpin);
-DigitalOut L3H(L3Hpin);
-
+
+
+
+
+
volatile uint16_t hashcount = 0;
-void do_hashcount()
-{
+void do_hashcount() {
putMessage(MSG_HASHCOUNT, hashcount);
hashcount = 0;
}
-
+
+
//Set a given drive state
-void motorOut(int8_t driveState)
-{
+void motorOut(int8_t driveState){
//Lookup the output byte from the drive state.
int8_t driveOut = driveTable[driveState & 0x07];
@@ -236,17 +200,15 @@
if (driveOut & 0x08) L2H = 0;
if (driveOut & 0x10) L3L = 1;
if (driveOut & 0x20) L3H = 0;
-}
+ }
-//Convert photointerrupter inputs to a rotor state
-inline int8_t readRotorState()
-{
+ //Convert photointerrupter inputs to a rotor state
+inline int8_t readRotorState(){
return stateMap[I1 + 2*I2 + 4*I3];
-}
-
+ }
+
//Basic synchronisation routine
-int8_t motorHome()
-{
+int8_t motorHome() {
//Put the motor in drive state 0 and wait for it to stabilise
motorOut(0);
wait(2.0);
@@ -257,14 +219,28 @@
void photointerrupter_isr()
{
- int8_t orState = motorHome();
int8_t intState = readRotorState();
motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
}
+
//Main
-int main()
-{
+int main() {
+
+ putMessage(MSG_RESET, 0);
+
+
+ commOutT.start(&commOutFn);
+
+ decodeT.start(&decodeFn);
+
+// pc.printf("Hello\n\r");
+
+ //Run the motor synchronisation
+ orState = motorHome();
+// pc.printf("Rotor origin: %x\n\r",orState);
+ //orState is subtracted from future rotor state inputs to align rotor and motor states
+
I1.rise(&photointerrupter_isr);
I2.rise(&photointerrupter_isr);
I3.rise(&photointerrupter_isr);
@@ -273,12 +249,10 @@
I2.fall(&photointerrupter_isr);
I3.fall(&photointerrupter_isr);
- Ticker hashcounter;
- hashcounter.attach(&do_hashcount, 1.0);
+ //Calling the ISR once starts the motor movement
+ photointerrupter_isr();
- commOutT.start(&commOutFn);
-
- decodeT.start(&decodeFn);
+ SHA256 sha256;
uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
@@ -288,19 +262,27 @@
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);
- //set key to newKey
- *key = newKey;
- putMessage(KEY_UPDATED, *key);
+ newKey_mutex.lock();
+ newKey = *key;
+ newKey_mutex.unlock();
uint64_t* nonce = (uint64_t*)((int)sequence + 56);
uint8_t hash[32];
+ Ticker hashcounter;
+ hashcounter.attach(&do_hashcount, 1.0);
+
//Poll the rotor state and set the motor outputs accordingly to spin the motor
while (1) {
- SHA256::computeHash(hash, sequence, 64);
+ newKey_mutex.lock();
+ *key = newKey;
+ newKey_mutex.unlock();
+
+ putMessage(MSG_ASSIGN_KEY, newKey);
+
+ sha256.computeHash(hash, sequence, 64);
if (hash[0] == 0 && hash[1] == 0) {
putMessage(MSG_NONCE_OK, *nonce);
@@ -308,10 +290,6 @@
(*nonce)++;
hashcount++;
- *key = newKey;
- //putMessage(KEY_UPDATED, *key);
-
}
}
-
-
\ No newline at end of file
+