First Commit
Dependencies: mbed Crypto_light mbed-rtos
Spin it 2 win it
Diff: main.cpp
- Revision:
- 17:80159ace5ddf
- Parent:
- 15:bd303ab8a21f
- Child:
- 18:05e5d280a082
diff -r bd303ab8a21f -r 80159ace5ddf main.cpp --- a/main.cpp Tue Mar 20 14:23:18 2018 +0000 +++ b/main.cpp Tue Mar 20 14:49:51 2018 +0000 @@ -20,6 +20,7 @@ #define L3Hpin D10 //0x20 #define CHAR_ARR_SIZE 18 //Max length of input codes +#define MAX_PWM_PERIOD 2000 //Mapping from sequential drive states to motor phase outputs /* @@ -46,9 +47,13 @@ //Rotor offset at motor state 0 int8_t orState = 0; +//Set initial torque of 1000 +uint32_t torque = 1000; + enum MSG {MSG_RESET, MSG_HASHCOUNT, MSG_NONCE_OK, - MSG_OVERFLOW, MSG_ROT_PEN, MSG_MAX_SPD, MSG_NEW_KEY, MSG_INP_ERR, MSG_TEST}; + MSG_OVERFLOW, MSG_ROT_PEN, MSG_MAX_SPD, MSG_NEW_KEY, MSG_INP_ERR, + MSG_TEST, MSG_TORQUE}; //Instantiate the serial port RawSerial pc(SERIAL_TX, SERIAL_RX); @@ -62,11 +67,11 @@ InterruptIn I3(I3pin); //Motor Drive outputs -DigitalOut L1L(L1Lpin); +PwmOut L1L(L1Lpin); DigitalOut L1H(L1Hpin); -DigitalOut L2L(L2Lpin); +PwmOut L2L(L2Lpin); DigitalOut L2H(L2Hpin); -DigitalOut L3L(L3Lpin); +PwmOut L3L(L3Lpin); DigitalOut L3H(L3Hpin); @@ -124,25 +129,29 @@ void setNewCmd(char s[CHAR_ARR_SIZE]) { uint64_t newKey_; + uint32_t torque_; float maxspeed_, rotations_pending_; //R if (sscanf(s, "R%f", &rotations_pending_)) { - rotations_pending_mutex.lock(); - rotations_pending = rotations_pending_; - rotations_pending_mutex.unlock(); - putMessage(MSG_ROT_PEN, rotations_pending); + rotations_pending_mutex.lock(); + rotations_pending = rotations_pending_; + rotations_pending_mutex.unlock(); + putMessage(MSG_ROT_PEN, rotations_pending); //V } else if (sscanf(s, "V%f", &maxspeed_)) { - maxspeed_mutex.lock(); - maxspeed = maxspeed_; - maxspeed_mutex.unlock(); - putMessage(MSG_MAX_SPD, maxspeed); + maxspeed_mutex.lock(); + maxspeed = maxspeed_; + maxspeed_mutex.unlock(); + putMessage(MSG_MAX_SPD, maxspeed); //K } else if (sscanf(s, "K%llx", &newKey_)) { - newKey_mutex.lock(); - newKey = newKey_; - newKey_mutex.unlock(); - putMessage(MSG_NEW_KEY, newKey); + newKey_mutex.lock(); + newKey = newKey_; + newKey_mutex.unlock(); + putMessage(MSG_NEW_KEY, newKey); + } else if (sscanf(s, "T%u", &torque_)) { + torque = torque_; + putMessage(MSG_TORQUE, torque); //ERROR } else putMessage(MSG_INP_ERR, 0x404); @@ -191,37 +200,37 @@ //Set a given drive state -void motorOut(int8_t driveState){ +void motorOut(int8_t driveState, uint32_t t){ //Lookup the output byte from the drive state. int8_t driveOut = driveTable[driveState & 0x07]; //Turn off first - if (~driveOut & 0x01) L1L = 0; + if (~driveOut & 0x01) L1L.pulsewidth_us(0); if (~driveOut & 0x02) L1H = 1; - if (~driveOut & 0x04) L2L = 0; + if (~driveOut & 0x04) L2L.pulsewidth_us(0); if (~driveOut & 0x08) L2H = 1; - if (~driveOut & 0x10) L3L = 0; + if (~driveOut & 0x10) L3L.pulsewidth_us(0); if (~driveOut & 0x20) L3H = 1; //Then turn on - if (driveOut & 0x01) L1L = 1; + if (driveOut & 0x01) L1L.pulsewidth_us(t); if (driveOut & 0x02) L1H = 0; - if (driveOut & 0x04) L2L = 1; + if (driveOut & 0x04) L2L.pulsewidth_us(t); if (driveOut & 0x08) L2H = 0; - if (driveOut & 0x10) L3L = 1; + if (driveOut & 0x10) L3L.pulsewidth_us(t); if (driveOut & 0x20) L3H = 0; - } +} //Convert photointerrupter inputs to a rotor state inline int8_t readRotorState(){ return stateMap[I1 + 2*I2 + 4*I3]; - } +} //Basic synchronisation routine int8_t motorHome() { //Put the motor in drive state 0 and wait for it to stabilise - motorOut(0); + motorOut(0, MAX_PWM_PERIOD); wait(2.0); //Get the rotor state @@ -231,7 +240,7 @@ void photointerrupter_isr() { int8_t intState = readRotorState(); - motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive + motorOut((intState-orState+lead+6)%6, torque); //+6 to make sure the remainder is positive } @@ -262,6 +271,8 @@ //Calling the ISR once starts the motor movement photointerrupter_isr(); + + SHA256 sha256;