Final version
Dependencies: Crypto_light mbed-rtos mbed
Fork of EMBEDDED_CW2_Final by
main.cpp
- Committer:
- GPadley
- Date:
- 2018-03-20
- Revision:
- 4:e322ca760c63
- Parent:
- 3:569b35e2a602
- Child:
- 5:e4b799086bc1
File content as of revision 4:e322ca760c63:
#include "mbed.h" #include "SHA256.h" #include "rtos.h" #include "slre.h" #define char_len_max 32 //Photointerrupter input pins #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 #define L2Lpin D3 //0x04 #define L2Hpin D6 //0x08 #define L3Lpin D9 //0x10 #define L3Hpin D10 //0x20 //Mapping from sequential drive states to motor phase outputs /* State L1 L2 L3 0 H - L 1 - H L 2 L H - 3 L - H 4 - L H 5 H L - 6 - - - 7 - - - */ //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 int8_t lead = 2; //2 for forwards, -2 for backwards int8_t oldLead = lead; //Status LED DigitalOut led1(LED1); //Photointerrupter inputs InterruptIn I1(I1pin); InterruptIn I2(I2pin); InterruptIn I3(I3pin); //Motor Drive outputs PwmOut L1L(L1Lpin); DigitalOut L1H(L1Hpin); PwmOut L2L(L2Lpin); DigitalOut L2H(L2Hpin); PwmOut L3L(L3Lpin); DigitalOut L3H(L3Hpin); //Initialise the serial port RawSerial pc(SERIAL_TX, SERIAL_RX); //***********Initialisation Our Variables************// //Message IDs enum message_code { ERROR_C = 0, //Error message ID HASH = 1, //Hash frequency ID NONCE = 2, //correct nonce ID POSITION = 3, //Starting Rotor ID DECODED = 4, //Decoded message ID NEW_KEY = 5, OLD_KEY = 6, VELOCITY = 7, NEW_SPEED = 8, OLD_SPEED = 9, NEW_TORQUE = 10, NEW_ROTATIONS = 11 }; //message structure typedef struct{ uint8_t code; //ID uint64_t data; //Data } message_t; Mail<message_t,16> outMessages; //Output message queue Queue<void, 8> inCharQ; //character inputs int8_t orState; //starting state of the rotor uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,0x74,0x68,0x69,0x6E,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); //Key generation uint64_t* nonce = (uint64_t*)((int)sequence + 56); //Nonce uint8_t hash[32]; //Hash output char commInChar[char_len_max]; //array 32 characters length uint8_t ptr; //char array pointer volatile uint64_t newKey; //means value can change between thread calls uint64_t oldKey; Mutex newKey_mutex; //Stops the value from beng changed during use int newSpeed = 30; Mutex newSpeed_mutex; uint32_t period = 2000; uint32_t torqueVal = 1000; uint32_t kp = 25; uint32_t kd = 20; int noRotations = 0; bool dirSwitch = false; bool rotate = false; bool rotStart = false; Thread commOutT(osPriorityNormal,1024); //Output Thread Thread commInT(osPriorityNormal,1024); //Input Thread Thread motorCtrlT(osPriorityNormal,1024); void init_pwm(){ L1L.period_us(period); L2L.period_us(period); L3L.period_us(period); } void putMessage(uint8_t code, uint64_t data){ message_t *pMessage = outMessages.alloc(); //allocated the recieved message to outmessages pMessage->code = code; pMessage->data = data; outMessages.put(pMessage); } void commOutFn(){ while(1){ osEvent newEvent = outMessages.get(); //pulls the message message_t *pMessage = (message_t*)newEvent.value.p; //assigns the values to pmessage switch(pMessage->code){ //finds correct ID for message case ERROR_C: if(pMessage->data == 0){ //Input message was too large pc.printf("Input command too large\n\r"); } else if(pMessage->data == 1){ //Input message was too large pc.printf("Key of wrong format\n\r"); } break; case HASH: pc.printf("Hash frequency %d Hz \n\r",pMessage->data); //outputs the hash frequency break; case NONCE: pc.printf("Found a nonce 0x%016x\n\r", pMessage->data); //outputs correct nonce break; case POSITION: pc.printf("Rotor Starting Position: %d\n\r", pMessage->data); //outputs starting position break; case DECODED: if (pMessage->data == 0) { pc.printf("Decoded as max speed\n\r"); } else if (pMessage->data == 1) { pc.printf("Decoded no rotations\n\r"); } else if (pMessage->data == 2) { pc.printf("Decoded key K\n\r"); } else if (pMessage->data == 3) { pc.printf("Decoded torque T\n\r"); } break; case NEW_KEY: pc.printf("Decoded new key 0x%016llx\n\r",pMessage->data); break; case OLD_KEY: pc.printf("Decoded new key same as old key: 0x%016llx\n\r",pMessage->data); break; case VELOCITY: pc.printf("Current speed: %d\n\r",pMessage->data); break; case NEW_SPEED: pc.printf("New speed: %d\n\r",pMessage->data); break; case OLD_SPEED: pc.printf("New speed same as old speed: %d\n\r",pMessage->data); break; case NEW_TORQUE: pc.printf("New torque: %d\n\r",pMessage->data); break; case NEW_ROTATIONS: pc.printf("New number of rotations: %d\n\r",pMessage->data); break; } outMessages.free(pMessage); //removes the message } } void serialISR(){ uint8_t newChar = pc.getc(); //gets valuee from serial port inCharQ.put((void*)newChar); //places into newChar } void decode_char(char* buffer, uint8_t index){ struct slre regex; struct cap captures[0 + 1]; if(buffer[index] == 'V'){ //if first value is R rotate cretain number of times putMessage(DECODED,0); newSpeed_mutex.lock(); sscanf(buffer, "V%d", &newSpeed); if(newSpeed == 0){ newSpeed = 120; } putMessage(NEW_SPEED,newSpeed); newSpeed_mutex.unlock(); } else if(buffer[index] == 'v'){ //if first value is R rotate cretain number of times putMessage(DECODED,0); newSpeed_mutex.lock(); sscanf(buffer, "v%d", &newSpeed); if(newSpeed == 0){ newSpeed = 120; } putMessage(NEW_SPEED,newSpeed); newSpeed_mutex.unlock(); } else if(buffer[index] == 'R'){ //if first value is V set speed of rotation putMessage(DECODED,1); sscanf(buffer, "R%ld", &noRotations); rotate = true; rotStart = true; putMessage(NEW_ROTATIONS,noRotations); } else if(buffer[index] == 'r'){ //if first value is V set speed of rotation putMessage(DECODED,1); sscanf(buffer, "r%ld", &noRotations); rotate = true; rotStart = true; putMessage(NEW_ROTATIONS,noRotations); } else if (buffer[index] == 'K'){ //if char is K set key to value input putMessage(DECODED,2); if(!slre_compile(®ex, "K[0-9a-fA-F]{16}")){ putMessage(ERROR_C,1); } else if(slre_match(®ex, buffer, 16, captures)){ newKey_mutex.lock(); sscanf(buffer, "K%llx", &newKey); if(oldKey != newKey){ putMessage(NEW_KEY,newKey); *key = newKey; oldKey = newKey; } else{ putMessage(OLD_KEY,oldKey); } newKey_mutex.unlock(); } else { putMessage(ERROR_C,1); } } else if (buffer[index] == 'k'){ //if char is K set key to value input putMessage(DECODED,2); // if(!slre_compile(®ex, "k[0-9a-fA-F]{16}")){ // putMessage(ERROR_C,1); // } // else if(slre_match(®ex, buffer, char_len_max, captures)){ newKey_mutex.lock(); sscanf(buffer, "k%llx", &newKey); if(oldKey != newKey){ putMessage(NEW_KEY,newKey); *key = newKey; oldKey = newKey; } else{ putMessage(OLD_KEY,oldKey); } newKey_mutex.unlock(); // } // else { // putMessage(ERROR_C,1); // } } else if (buffer[index] == 'p'){ //if char is K set key to value inpu sscanf(buffer, "p%lld", &kp); putMessage(NEW_TORQUE,kp); } } void commInFn(){ pc.printf("Enter your command:\n\r"); //Tells the person to input their message pc.attach(&serialISR); //looks for the serialISR to get message while(1){ if(ptr >= char_len_max){ putMessage(ERROR_C,0); //if gone over the buffer length, cancel and restart for next input ptr = 0; //reset pointer break; } osEvent newEvent = inCharQ.get(); //get next character uint8_t newChar = (uint8_t)newEvent.value.p; if(newChar != '\r' && newChar != '\n'){ commInChar[ptr] = newChar; //place values into buffer ptr++; //increment pointer } else{ commInChar[ptr] = '\0'; //defines the end of the command ptr = 0; //resets the pointer decode_char(commInChar,ptr); //sends array to decoding function } } } //Set a given drive state void motorOut(int8_t driveState, uint32_t torque){ //Lookup the output byte from the drive state. int8_t driveOut = driveTable[driveState & 0x07]; //Turn off first if (~driveOut & 0x01) L1L.pulsewidth_us(0); if (~driveOut & 0x02) L1H = 1; if (~driveOut & 0x04) L2L.pulsewidth_us(0); if (~driveOut & 0x08) L2H = 1; if (~driveOut & 0x10) L3L.pulsewidth_us(0); if (~driveOut & 0x20) L3H = 1; //Then turn on if (driveOut & 0x01) L1L.pulsewidth_us(torque); if (driveOut & 0x02) L1H = 0; if (driveOut & 0x04) L2L.pulsewidth_us(torque); if (driveOut & 0x08) L2H = 0; if (driveOut & 0x10) L3L.pulsewidth_us(torque); 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,torqueVal); wait(1.0); lead = 0; //Get the rotor state return readRotorState(); } int32_t motorPosition; void motorISR(){ static int8_t oldRotorState; int8_t rotorState = readRotorState(); //reads motor position motorOut((rotorState-orState+lead+6)%6,torqueVal); //+6 to make sure the remainder is positive if(rotorState - orState==5) motorPosition--; else if(rotorState - orState== -5) motorPosition++; else motorPosition+=(rotorState - orState); oldRotorState = rotorState; } void motorCtrlTick(){ motorCtrlT.signal_set(0x1); } Timer t_motor; void motorCtrlFn(){ float v, v_avg, ys, yr, dEr; int i = 0, dt, oldPosition, totPosition, position, startPosition, newEr, oldEr, mainLead; t_motor.start(); Ticker motorCtrlTicker; motorCtrlTicker.attach_us(&motorCtrlTick,100000); while(1){ if(rotate){ if(rotStart){ if(noRotations > 0){ lead = 2; } else if(noRotations < 0){ lead = -2; } else if(noRotations == 0 && lead == 0){ lead = -2; } i = 0; v_avg = 0; mainLead = lead; //sets general direction totPosition = (int)6*noRotations; //nimber of position changes required oldEr = totPosition; //how far away rotStart = false; //stops from running this loop motorCtrlT.signal_wait(0x1); //waits for tick __disable_irq(); //disables interrupts startPosition = motorPosition; //sets start position at present motor position oldPosition = startPosition; //sets old position to same value t_motor.reset(); motorPosition = 0; //resets time and motorPosition __enable_irq(); //enables interrupts } else if(noRotations == 0){//if to spin forever i++; //increment counter motorCtrlT.signal_wait(0x1); __disable_irq(); position = motorPosition; //adds on number of rotations dt = t_motor.read_ms(); //change in time t_motor.reset(); //resets time motorPosition = 0; //resets motor position __enable_irq(); //enables interrupts v = 1000.0*(((float)position)/(float)dt)/6.0; //calculates velocity v_avg += v; //adds speed onto averager if((int)abs(v) < 4 && newSpeed != 0){ lead = mainLead; //makes sure it's in the correct direction torqueVal = 1000; //sets torque motorISR(); //moves the motor } ys = kp*(newSpeed-abs(v)); //speed controller if(ys < 0){ lead = mainLead*-1; } else{ lead = mainLead; } torqueVal = abs(ys); if(torqueVal > 1000){ torqueVal = 1000; } } else{ i++; //increment counter motorCtrlT.signal_wait(0x1); __disable_irq(); position += motorPosition; //adds on number of rotations dt = t_motor.read_ms(); //change in time t_motor.reset(); //resets time motorPosition = 0; //resets motor position __enable_irq(); //enables interrupts v = 1000.0*(((float)position-(float)oldPosition)*(lead/2)/(float)dt)/6.0; //calculates velocity oldPosition = position; //changes old position newEr = totPosition+(position)*(lead/2); //difference in placement dEr = (newEr-oldEr)/dt; //change against time oldEr = newEr; //old is same as new yr = kp*newEr + kd*dEr; //rotational controller v_avg += v; //adds speed onto averager newSpeed_mutex.lock(); //locks newSpeed ys = kp*(newSpeed-abs(v))*(newEr/abs(newEr)); //speed controller pc.printf("%d\r\n",newEr); if(abs(newEr) < 6){ lead = 0; // pc.printf("%f\r\n",dEr); } else if(((int)abs(v) < 4) && (newSpeed != 0)){ lead = mainLead; //makes sure it's in the correct direction torqueVal = 1000; //sets torque motorISR(); //moves the motor } else if(v < 0){ //if speed is negative if(ys > yr){ //take the largest value torqueVal = abs(ys); pc.printf(" if(ys < 0){ lead = lead*-1; //reverse direction } else{ lead = mainLead; //set to correct direction } } else{ torqueVal = abs(yr); //set torque if(ys < 0){ lead = lead*-1; } else{ lead = mainLead; } } } else{ if(ys < yr){ //if v is positive select smallest torqueVal = abs(ys); if(ys < 0){ lead = lead*-1; } else{ lead = mainLead; } } else{ torqueVal = abs(yr); if(yr < 0){ lead = lead*-1; } else{ lead = mainLead; } } } if(torqueVal > 1000){ torqueVal = 1000; } } newSpeed_mutex.unlock(); if (i==10){ v_avg = v_avg/i; putMessage(VELOCITY, (uint64_t)abs(v_avg)); v_avg = 0; i= 0; } } } } //Main int main(){ pc.printf("Hello\n\r"); //outputs hello when turned on init_pwm(); commOutT.start(commOutFn); //starts the output and input threads commInT.start(commInFn); //Run the motor synchronisation orState = motorHome(); //finds staring position putMessage(POSITION,orState); Timer t; //adds a timer to count number of hashes per second //orState is subtracted from future rotor state inputs to align rotor and motor states //Poll the rotor state and set the motor outputs accordingly to spin the motor I1.rise(&motorISR); //looks for rising edge to trigger the motor change I2.rise(&motorISR); I3.rise(&motorISR); I1.fall(&motorISR); //looks for rising edge to trigger the motor change I2.fall(&motorISR); I3.fall(&motorISR); uint16_t counter; counter = 0; //initialised and set to 0 to count number of hashes t.start(); //starts the timer motorCtrlT.start(motorCtrlFn); while (1) { if(t.read_ms() >= 1000){ //if more than 1 second has surpased // putMessage(HASH, counter); //outputs the hash frequency counter = 0; //reset counter t.reset(); //resets the timer } SHA256::computeHash(&hash[0],&sequence[0],sizeof(sequence)); //computes the hash counter++; //increments counter; if((hash[0] == 0) && (hash[1] == 0)){ // putMessage(NONCE,*nonce); //when hash is correct print the nonce } *nonce += 1; //increments nonce } }