First Commit
Dependencies: mbed Crypto_light mbed-rtos
Spin it 2 win it
main.cpp@19:526fd700e1b3, 2018-03-20 (annotated)
- Committer:
- TrebleStick
- Date:
- Tue Mar 20 15:10:08 2018 +0000
- Revision:
- 19:526fd700e1b3
- Parent:
- 18:05e5d280a082
- Child:
- 20:a435105305fe
Torque sorted, completed it m8
Who changed what in which revision?
User | Revision | Line number | New 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 | 17:80159ace5ddf | 23 | #define MAX_PWM_PERIOD 2000 |
andrebharath | 18:05e5d280a082 | 24 | #define MAX_TORQUE 1000 |
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 | 9:ecef1e8cbe3d | 40 | |
TrebleStick | 0:88c3d6c8a4eb | 41 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
TrebleStick | 12:1b2e2540e4e1 | 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 | 9:ecef1e8cbe3d | 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 | 9:ecef1e8cbe3d | 47 | |
andrebharath | 9:ecef1e8cbe3d | 48 | //Rotor offset at motor state 0 |
andrebharath | 18:05e5d280a082 | 49 | volatile int8_t orState = 0; |
andrebharath | 9:ecef1e8cbe3d | 50 | |
andrebharath | 17:80159ace5ddf | 51 | //Set initial torque of 1000 |
andrebharath | 18:05e5d280a082 | 52 | volatile uint32_t torque = 1000; |
andrebharath | 17:80159ace5ddf | 53 | |
andrebharath | 9:ecef1e8cbe3d | 54 | |
TrebleStick | 12:1b2e2540e4e1 | 55 | enum MSG {MSG_RESET, MSG_HASHCOUNT, MSG_NONCE_OK, |
andrebharath | 17:80159ace5ddf | 56 | MSG_OVERFLOW, MSG_ROT_PEN, MSG_MAX_SPD, MSG_NEW_KEY, MSG_INP_ERR, |
andrebharath | 17:80159ace5ddf | 57 | MSG_TEST, MSG_TORQUE}; |
andrebharath | 9:ecef1e8cbe3d | 58 | |
andrebharath | 3:2e32d7974962 | 59 | //Instantiate the serial port |
andrebharath | 9:ecef1e8cbe3d | 60 | RawSerial pc(SERIAL_TX, SERIAL_RX); |
andrebharath | 9:ecef1e8cbe3d | 61 | |
andrebharath | 9:ecef1e8cbe3d | 62 | //Status LED |
andrebharath | 9:ecef1e8cbe3d | 63 | DigitalOut led1(LED1); |
andrebharath | 9:ecef1e8cbe3d | 64 | |
andrebharath | 9:ecef1e8cbe3d | 65 | //Photointerrupter inputs |
andrebharath | 9:ecef1e8cbe3d | 66 | InterruptIn I1(I1pin); |
andrebharath | 9:ecef1e8cbe3d | 67 | InterruptIn I2(I2pin); |
andrebharath | 9:ecef1e8cbe3d | 68 | InterruptIn I3(I3pin); |
andrebharath | 9:ecef1e8cbe3d | 69 | |
andrebharath | 9:ecef1e8cbe3d | 70 | //Motor Drive outputs |
andrebharath | 17:80159ace5ddf | 71 | PwmOut L1L(L1Lpin); |
andrebharath | 9:ecef1e8cbe3d | 72 | DigitalOut L1H(L1Hpin); |
andrebharath | 17:80159ace5ddf | 73 | PwmOut L2L(L2Lpin); |
andrebharath | 9:ecef1e8cbe3d | 74 | DigitalOut L2H(L2Hpin); |
andrebharath | 17:80159ace5ddf | 75 | PwmOut L3L(L3Lpin); |
andrebharath | 9:ecef1e8cbe3d | 76 | DigitalOut L3H(L3Hpin); |
andrebharath | 9:ecef1e8cbe3d | 77 | |
TrebleStick | 0:88c3d6c8a4eb | 78 | |
andrebharath | 3:2e32d7974962 | 79 | |
andrebharath | 3:2e32d7974962 | 80 | typedef struct { |
andrebharath | 3:2e32d7974962 | 81 | uint8_t code; |
TrebleStick | 15:bd303ab8a21f | 82 | int32_t data; |
andrebharath | 3:2e32d7974962 | 83 | } message_t ; |
andrebharath | 3:2e32d7974962 | 84 | |
andrebharath | 3:2e32d7974962 | 85 | Mail<message_t,16> outMessages; |
andrebharath | 3:2e32d7974962 | 86 | |
TrebleStick | 12:1b2e2540e4e1 | 87 | |
TrebleStick | 15:bd303ab8a21f | 88 | void putMessage(uint8_t code, int32_t data) {//uint64_t |
TrebleStick | 12:1b2e2540e4e1 | 89 | message_t *pMessage = outMessages.alloc(); |
TrebleStick | 12:1b2e2540e4e1 | 90 | pMessage->code = code; |
TrebleStick | 12:1b2e2540e4e1 | 91 | pMessage->data = data; |
TrebleStick | 12:1b2e2540e4e1 | 92 | outMessages.put(pMessage); |
TrebleStick | 12:1b2e2540e4e1 | 93 | } |
TrebleStick | 12:1b2e2540e4e1 | 94 | |
andrebharath | 3:2e32d7974962 | 95 | Thread commOutT; |
andrebharath | 3:2e32d7974962 | 96 | |
TrebleStick | 12:1b2e2540e4e1 | 97 | void commOutFn() { |
andrebharath | 3:2e32d7974962 | 98 | while(1) { |
andrebharath | 3:2e32d7974962 | 99 | osEvent newEvent = outMessages.get(); |
andrebharath | 3:2e32d7974962 | 100 | message_t *pMessage = (message_t*)newEvent.value.p; |
TrebleStick | 15:bd303ab8a21f | 101 | pc.printf("Message: [%d], data: 0x%08x\r\n", |
andrebharath | 3:2e32d7974962 | 102 | pMessage->code,pMessage->data); |
andrebharath | 3:2e32d7974962 | 103 | outMessages.free(pMessage); |
andrebharath | 3:2e32d7974962 | 104 | } |
andrebharath | 3:2e32d7974962 | 105 | } |
andrebharath | 3:2e32d7974962 | 106 | |
andrebharath | 9:ecef1e8cbe3d | 107 | |
andrebharath | 9:ecef1e8cbe3d | 108 | |
TrebleStick | 14:66746291017c | 109 | //Global varible for the Bitcoin Key,maxspeed and rotations_pending |
TrebleStick | 12:1b2e2540e4e1 | 110 | volatile uint64_t newKey = 0; //check initialise value? **** |
TrebleStick | 14:66746291017c | 111 | volatile float maxspeed = 0, rotations_pending = 0; |
TrebleStick | 14:66746291017c | 112 | //mutex variables |
TrebleStick | 14:66746291017c | 113 | Mutex newKey_mutex; |
TrebleStick | 14:66746291017c | 114 | Mutex maxspeed_mutex; |
TrebleStick | 14:66746291017c | 115 | Mutex rotations_pending_mutex; |
andrebharath | 9:ecef1e8cbe3d | 116 | |
andrebharath | 9:ecef1e8cbe3d | 117 | //Instantiate a Queue to buffer incoming characters |
andrebharath | 9:ecef1e8cbe3d | 118 | Queue<void, 8> inCharQ; |
andrebharath | 9:ecef1e8cbe3d | 119 | //serial port ISR to receive each incoming byte and place into queue |
andrebharath | 9:ecef1e8cbe3d | 120 | void serialISR() { |
andrebharath | 9:ecef1e8cbe3d | 121 | uint8_t newChar = pc.getc(); |
andrebharath | 9:ecef1e8cbe3d | 122 | inCharQ.put((void*)newChar); |
andrebharath | 9:ecef1e8cbe3d | 123 | } |
andrebharath | 9:ecef1e8cbe3d | 124 | |
andrebharath | 9:ecef1e8cbe3d | 125 | |
TrebleStick | 19:526fd700e1b3 | 126 | void photointerrupter_isr() |
TrebleStick | 19:526fd700e1b3 | 127 | { |
TrebleStick | 19:526fd700e1b3 | 128 | int8_t intState = readRotorState(); |
TrebleStick | 19:526fd700e1b3 | 129 | motorOut((intState-orState+lead+6)%6, torque); //+6 to make sure the remainder is positive |
TrebleStick | 19:526fd700e1b3 | 130 | } |
andrebharath | 9:ecef1e8cbe3d | 131 | |
andrebharath | 9:ecef1e8cbe3d | 132 | Thread decodeT; |
andrebharath | 9:ecef1e8cbe3d | 133 | |
TrebleStick | 14:66746291017c | 134 | void setNewCmd(char s[CHAR_ARR_SIZE]) |
TrebleStick | 14:66746291017c | 135 | { |
TrebleStick | 14:66746291017c | 136 | uint64_t newKey_; |
andrebharath | 17:80159ace5ddf | 137 | uint32_t torque_; |
TrebleStick | 14:66746291017c | 138 | float maxspeed_, rotations_pending_; |
TrebleStick | 14:66746291017c | 139 | //R |
TrebleStick | 14:66746291017c | 140 | if (sscanf(s, "R%f", &rotations_pending_)) { |
andrebharath | 17:80159ace5ddf | 141 | rotations_pending_mutex.lock(); |
andrebharath | 17:80159ace5ddf | 142 | rotations_pending = rotations_pending_; |
andrebharath | 17:80159ace5ddf | 143 | rotations_pending_mutex.unlock(); |
andrebharath | 17:80159ace5ddf | 144 | putMessage(MSG_ROT_PEN, rotations_pending); |
TrebleStick | 14:66746291017c | 145 | //V |
TrebleStick | 14:66746291017c | 146 | } else if (sscanf(s, "V%f", &maxspeed_)) { |
andrebharath | 17:80159ace5ddf | 147 | maxspeed_mutex.lock(); |
andrebharath | 17:80159ace5ddf | 148 | maxspeed = maxspeed_; |
andrebharath | 17:80159ace5ddf | 149 | maxspeed_mutex.unlock(); |
andrebharath | 17:80159ace5ddf | 150 | putMessage(MSG_MAX_SPD, maxspeed); |
TrebleStick | 14:66746291017c | 151 | //K |
TrebleStick | 14:66746291017c | 152 | } else if (sscanf(s, "K%llx", &newKey_)) { |
andrebharath | 17:80159ace5ddf | 153 | newKey_mutex.lock(); |
andrebharath | 17:80159ace5ddf | 154 | newKey = newKey_; |
andrebharath | 17:80159ace5ddf | 155 | newKey_mutex.unlock(); |
andrebharath | 17:80159ace5ddf | 156 | putMessage(MSG_NEW_KEY, newKey); |
andrebharath | 17:80159ace5ddf | 157 | } else if (sscanf(s, "T%u", &torque_)) { |
andrebharath | 17:80159ace5ddf | 158 | torque = torque_; |
TrebleStick | 19:526fd700e1b3 | 159 | photointerrupter_isr(); //Give it a kick |
andrebharath | 17:80159ace5ddf | 160 | putMessage(MSG_TORQUE, torque); |
TrebleStick | 14:66746291017c | 161 | //ERROR |
TrebleStick | 14:66746291017c | 162 | } else |
TrebleStick | 14:66746291017c | 163 | putMessage(MSG_INP_ERR, 0x404); |
TrebleStick | 14:66746291017c | 164 | } |
TrebleStick | 12:1b2e2540e4e1 | 165 | |
andrebharath | 9:ecef1e8cbe3d | 166 | |
andrebharath | 9:ecef1e8cbe3d | 167 | |
andrebharath | 9:ecef1e8cbe3d | 168 | void decodeFn() { |
andrebharath | 9:ecef1e8cbe3d | 169 | pc.attach(&serialISR); |
andrebharath | 9:ecef1e8cbe3d | 170 | char charSeq[CHAR_ARR_SIZE] = ""; |
andrebharath | 9:ecef1e8cbe3d | 171 | uint8_t bufPos = 0; |
andrebharath | 9:ecef1e8cbe3d | 172 | while(1) { |
TrebleStick | 12:1b2e2540e4e1 | 173 | |
andrebharath | 9:ecef1e8cbe3d | 174 | if(bufPos >= CHAR_ARR_SIZE) { |
andrebharath | 9:ecef1e8cbe3d | 175 | putMessage(MSG_OVERFLOW, bufPos); |
TrebleStick | 12:1b2e2540e4e1 | 176 | bufPos = 0; |
andrebharath | 9:ecef1e8cbe3d | 177 | } |
TrebleStick | 13:ecccfc611025 | 178 | else{ |
TrebleStick | 12:1b2e2540e4e1 | 179 | |
TrebleStick | 13:ecccfc611025 | 180 | osEvent newEvent = inCharQ.get(); |
TrebleStick | 13:ecccfc611025 | 181 | uint8_t newChar = (uint8_t)newEvent.value.p; |
TrebleStick | 12:1b2e2540e4e1 | 182 | |
TrebleStick | 13:ecccfc611025 | 183 | if(newChar == '\r' || newChar == '\n') { |
TrebleStick | 13:ecccfc611025 | 184 | charSeq[bufPos] = '\0'; |
TrebleStick | 13:ecccfc611025 | 185 | bufPos = 0; |
TrebleStick | 13:ecccfc611025 | 186 | setNewCmd(charSeq); |
TrebleStick | 13:ecccfc611025 | 187 | } |
TrebleStick | 13:ecccfc611025 | 188 | else { |
TrebleStick | 13:ecccfc611025 | 189 | charSeq[bufPos] = newChar; |
TrebleStick | 13:ecccfc611025 | 190 | bufPos++; |
TrebleStick | 13:ecccfc611025 | 191 | } |
TrebleStick | 12:1b2e2540e4e1 | 192 | } |
andrebharath | 9:ecef1e8cbe3d | 193 | } |
andrebharath | 9:ecef1e8cbe3d | 194 | } |
andrebharath | 9:ecef1e8cbe3d | 195 | |
andrebharath | 9:ecef1e8cbe3d | 196 | |
andrebharath | 9:ecef1e8cbe3d | 197 | |
andrebharath | 9:ecef1e8cbe3d | 198 | |
andrebharath | 9:ecef1e8cbe3d | 199 | |
andrebharath | 3:2e32d7974962 | 200 | volatile uint16_t hashcount = 0; |
TrebleStick | 0:88c3d6c8a4eb | 201 | |
andrebharath | 9:ecef1e8cbe3d | 202 | void do_hashcount() { |
TrebleStick | 15:bd303ab8a21f | 203 | //putMessage(MSG_HASHCOUNT, hashcount); |
andrebharath | 3:2e32d7974962 | 204 | hashcount = 0; |
andrebharath | 3:2e32d7974962 | 205 | } |
andrebharath | 9:ecef1e8cbe3d | 206 | |
andrebharath | 9:ecef1e8cbe3d | 207 | |
TrebleStick | 0:88c3d6c8a4eb | 208 | //Set a given drive state |
andrebharath | 17:80159ace5ddf | 209 | void motorOut(int8_t driveState, uint32_t t){ |
TrebleStick | 12:1b2e2540e4e1 | 210 | |
TrebleStick | 0:88c3d6c8a4eb | 211 | //Lookup the output byte from the drive state. |
TrebleStick | 0:88c3d6c8a4eb | 212 | int8_t driveOut = driveTable[driveState & 0x07]; |
TrebleStick | 12:1b2e2540e4e1 | 213 | |
TrebleStick | 0:88c3d6c8a4eb | 214 | //Turn off first |
andrebharath | 17:80159ace5ddf | 215 | if (~driveOut & 0x01) L1L.pulsewidth_us(0); |
TrebleStick | 0:88c3d6c8a4eb | 216 | if (~driveOut & 0x02) L1H = 1; |
andrebharath | 17:80159ace5ddf | 217 | if (~driveOut & 0x04) L2L.pulsewidth_us(0); |
TrebleStick | 0:88c3d6c8a4eb | 218 | if (~driveOut & 0x08) L2H = 1; |
andrebharath | 17:80159ace5ddf | 219 | if (~driveOut & 0x10) L3L.pulsewidth_us(0); |
TrebleStick | 0:88c3d6c8a4eb | 220 | if (~driveOut & 0x20) L3H = 1; |
TrebleStick | 12:1b2e2540e4e1 | 221 | |
TrebleStick | 0:88c3d6c8a4eb | 222 | //Then turn on |
andrebharath | 17:80159ace5ddf | 223 | if (driveOut & 0x01) L1L.pulsewidth_us(t); |
TrebleStick | 0:88c3d6c8a4eb | 224 | if (driveOut & 0x02) L1H = 0; |
andrebharath | 17:80159ace5ddf | 225 | if (driveOut & 0x04) L2L.pulsewidth_us(t); |
TrebleStick | 0:88c3d6c8a4eb | 226 | if (driveOut & 0x08) L2H = 0; |
andrebharath | 17:80159ace5ddf | 227 | if (driveOut & 0x10) L3L.pulsewidth_us(t); |
TrebleStick | 0:88c3d6c8a4eb | 228 | if (driveOut & 0x20) L3H = 0; |
andrebharath | 17:80159ace5ddf | 229 | } |
TrebleStick | 12:1b2e2540e4e1 | 230 | |
andrebharath | 9:ecef1e8cbe3d | 231 | //Convert photointerrupter inputs to a rotor state |
andrebharath | 9:ecef1e8cbe3d | 232 | inline int8_t readRotorState(){ |
TrebleStick | 0:88c3d6c8a4eb | 233 | return stateMap[I1 + 2*I2 + 4*I3]; |
andrebharath | 17:80159ace5ddf | 234 | } |
andrebharath | 9:ecef1e8cbe3d | 235 | |
TrebleStick | 12:1b2e2540e4e1 | 236 | //Basic synchronisation routine |
andrebharath | 9:ecef1e8cbe3d | 237 | int8_t motorHome() { |
TrebleStick | 0:88c3d6c8a4eb | 238 | //Put the motor in drive state 0 and wait for it to stabilise |
andrebharath | 18:05e5d280a082 | 239 | motorOut(0, MAX_TORQUE); |
andrebharath | 3:2e32d7974962 | 240 | wait(2.0); |
TrebleStick | 12:1b2e2540e4e1 | 241 | |
TrebleStick | 0:88c3d6c8a4eb | 242 | //Get the rotor state |
TrebleStick | 0:88c3d6c8a4eb | 243 | return readRotorState(); |
TrebleStick | 0:88c3d6c8a4eb | 244 | } |
andrebharath | 3:2e32d7974962 | 245 | |
andrebharath | 9:ecef1e8cbe3d | 246 | |
TrebleStick | 12:1b2e2540e4e1 | 247 | |
TrebleStick | 0:88c3d6c8a4eb | 248 | //Main |
andrebharath | 9:ecef1e8cbe3d | 249 | int main() { |
TrebleStick | 12:1b2e2540e4e1 | 250 | |
andrebharath | 9:ecef1e8cbe3d | 251 | putMessage(MSG_RESET, 0); |
andrebharath | 9:ecef1e8cbe3d | 252 | |
TrebleStick | 12:1b2e2540e4e1 | 253 | |
andrebharath | 9:ecef1e8cbe3d | 254 | commOutT.start(&commOutFn); |
TrebleStick | 12:1b2e2540e4e1 | 255 | |
TrebleStick | 12:1b2e2540e4e1 | 256 | decodeT.start(&decodeFn); |
TrebleStick | 12:1b2e2540e4e1 | 257 | |
andrebharath | 9:ecef1e8cbe3d | 258 | // pc.printf("Hello\n\r"); |
TrebleStick | 12:1b2e2540e4e1 | 259 | |
andrebharath | 9:ecef1e8cbe3d | 260 | //Run the motor synchronisation |
andrebharath | 9:ecef1e8cbe3d | 261 | orState = motorHome(); |
andrebharath | 9:ecef1e8cbe3d | 262 | // pc.printf("Rotor origin: %x\n\r",orState); |
andrebharath | 9:ecef1e8cbe3d | 263 | //orState is subtracted from future rotor state inputs to align rotor and motor states |
TrebleStick | 12:1b2e2540e4e1 | 264 | |
andrebharath | 3:2e32d7974962 | 265 | I1.rise(&photointerrupter_isr); |
andrebharath | 3:2e32d7974962 | 266 | I2.rise(&photointerrupter_isr); |
andrebharath | 3:2e32d7974962 | 267 | I3.rise(&photointerrupter_isr); |
TrebleStick | 12:1b2e2540e4e1 | 268 | |
andrebharath | 3:2e32d7974962 | 269 | I1.fall(&photointerrupter_isr); |
andrebharath | 3:2e32d7974962 | 270 | I2.fall(&photointerrupter_isr); |
andrebharath | 3:2e32d7974962 | 271 | I3.fall(&photointerrupter_isr); |
TrebleStick | 12:1b2e2540e4e1 | 272 | |
andrebharath | 18:05e5d280a082 | 273 | |
andrebharath | 18:05e5d280a082 | 274 | L1L.period_us(MAX_PWM_PERIOD); |
andrebharath | 18:05e5d280a082 | 275 | L2L.period_us(MAX_PWM_PERIOD); |
andrebharath | 18:05e5d280a082 | 276 | L3L.period_us(MAX_PWM_PERIOD); |
andrebharath | 18:05e5d280a082 | 277 | |
andrebharath | 9:ecef1e8cbe3d | 278 | //Calling the ISR once starts the motor movement |
andrebharath | 9:ecef1e8cbe3d | 279 | photointerrupter_isr(); |
TrebleStick | 19:526fd700e1b3 | 280 | |
TrebleStick | 19:526fd700e1b3 | 281 | |
TrebleStick | 12:1b2e2540e4e1 | 282 | |
andrebharath | 9:ecef1e8cbe3d | 283 | SHA256 sha256; |
TrebleStick | 12:1b2e2540e4e1 | 284 | |
andrebharath | 3:2e32d7974962 | 285 | uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64, |
andrebharath | 3:2e32d7974962 | 286 | 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73, |
andrebharath | 3:2e32d7974962 | 287 | 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E, |
andrebharath | 3:2e32d7974962 | 288 | 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20, |
andrebharath | 3:2e32d7974962 | 289 | 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20, |
andrebharath | 3:2e32d7974962 | 290 | 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20, |
andrebharath | 3:2e32d7974962 | 291 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
andrebharath | 3:2e32d7974962 | 292 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; |
andrebharath | 3:2e32d7974962 | 293 | uint64_t* key = (uint64_t*)((int)sequence + 48); |
andrebharath | 3:2e32d7974962 | 294 | uint64_t* nonce = (uint64_t*)((int)sequence + 56); |
andrebharath | 3:2e32d7974962 | 295 | uint8_t hash[32]; |
TrebleStick | 12:1b2e2540e4e1 | 296 | |
andrebharath | 9:ecef1e8cbe3d | 297 | Ticker hashcounter; |
andrebharath | 9:ecef1e8cbe3d | 298 | hashcounter.attach(&do_hashcount, 1.0); |
TrebleStick | 12:1b2e2540e4e1 | 299 | |
TrebleStick | 0:88c3d6c8a4eb | 300 | //Poll the rotor state and set the motor outputs accordingly to spin the motor |
TrebleStick | 0:88c3d6c8a4eb | 301 | while (1) { |
TrebleStick | 12:1b2e2540e4e1 | 302 | |
andrebharath | 9:ecef1e8cbe3d | 303 | *key = newKey; |
TrebleStick | 12:1b2e2540e4e1 | 304 | |
TrebleStick | 14:66746291017c | 305 | |
TrebleStick | 14:66746291017c | 306 | |
TrebleStick | 12:1b2e2540e4e1 | 307 | |
andrebharath | 9:ecef1e8cbe3d | 308 | sha256.computeHash(hash, sequence, 64); |
TrebleStick | 12:1b2e2540e4e1 | 309 | |
andrebharath | 3:2e32d7974962 | 310 | if (hash[0] == 0 && hash[1] == 0) { |
TrebleStick | 15:bd303ab8a21f | 311 | //putMessage(MSG_NONCE_OK, *nonce); |
andrebharath | 3:2e32d7974962 | 312 | } |
andrebharath | 3:2e32d7974962 | 313 | |
andrebharath | 3:2e32d7974962 | 314 | (*nonce)++; |
andrebharath | 3:2e32d7974962 | 315 | hashcount++; |
TrebleStick | 0:88c3d6c8a4eb | 316 | } |
TrebleStick | 0:88c3d6c8a4eb | 317 | } |