Olaf Sikorski / Mbed OS motor-mining

This is probably never gonna get done

Dependencies:   Crypto

main.cpp@18:e48c0910c71e, 2019-03-18 (annotated)

Committer:
tanyuzhuo
Date:
Mon Mar 18 16:30:12 2019 +0000
Revision:
18:e48c0910c71e
Parent:
17:ff5300ba5442
Child:
20:5bd9f9e406d1
part of motor control and velocity display

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 #include "mbed.h"
peterith 13:c51d828531d5 2 #include "Crypto.h"
estott 0:de4320f74764 3
estott 0:de4320f74764 4 //Photointerrupter input pins
estott 10:a4b5723b6c9d 5 #define I1pin D3
estott 10:a4b5723b6c9d 6 #define I2pin D6
estott 10:a4b5723b6c9d 7 #define I3pin D5
estott 2:4e88faab6988 8
estott 2:4e88faab6988 9 //Incremental encoder input pins
peterith 13:c51d828531d5 10 #define CHApin D12
peterith 13:c51d828531d5 11 #define CHBpin D11
estott 0:de4320f74764 12
estott 0:de4320f74764 13 //Motor Drive output pins //Mask in output byte
estott 10:a4b5723b6c9d 14 #define L1Lpin D1 //0x01
estott 10:a4b5723b6c9d 15 #define L1Hpin A3 //0x02
estott 10:a4b5723b6c9d 16 #define L2Lpin D0 //0x04
peterith 13:c51d828531d5 17 #define L2Hpin A6 //0x08
peterith 13:c51d828531d5 18 #define L3Lpin D10 //0x10
peterith 13:c51d828531d5 19 #define L3Hpin D2 //0x20
estott 10:a4b5723b6c9d 20
estott 10:a4b5723b6c9d 21 #define PWMpin D9
estott 5:08f338b5e4d9 22
estott 5:08f338b5e4d9 23 //Motor current sense
peterith 13:c51d828531d5 24 #define MCSPpin A1
peterith 13:c51d828531d5 25 #define MCSNpin A0
estott 0:de4320f74764 26
estott 0:de4320f74764 27 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 28 /*
estott 0:de4320f74764 29 State L1 L2 L3
estott 0:de4320f74764 30 0 H - L
estott 0:de4320f74764 31 1 - H L
estott 0:de4320f74764 32 2 L H -
estott 0:de4320f74764 33 3 L - H
estott 0:de4320f74764 34 4 - L H
estott 0:de4320f74764 35 5 H L -
estott 0:de4320f74764 36 6 - - -
estott 0:de4320f74764 37 7 - - -
estott 0:de4320f74764 38 */
estott 0:de4320f74764 39 //Drive state to output table
estott 0:de4320f74764 40 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 41
estott 0:de4320f74764 42 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
estott 2:4e88faab6988 43 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 44 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
estott 2:4e88faab6988 45
estott 2:4e88faab6988 46 //Phase lead to make motor spin
estott 3:569b35e2a602 47 const int8_t lead = 2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 48
estott 0:de4320f74764 49 //Status LED
estott 0:de4320f74764 50 DigitalOut led1(LED1);
estott 0:de4320f74764 51
estott 0:de4320f74764 52 //Photointerrupter inputs
tanyuzhuo 12:899cd6bf9844 53 InterruptIn I1(I1pin);
tanyuzhuo 12:899cd6bf9844 54 InterruptIn I2(I2pin);
tanyuzhuo 12:899cd6bf9844 55 InterruptIn I3(I3pin);
tanyuzhuo 12:899cd6bf9844 56
estott 0:de4320f74764 57 //Motor Drive outputs
tanyuzhuo 18:e48c0910c71e 58 PwmOut L1L(L1Lpin);
estott 0:de4320f74764 59 DigitalOut L1H(L1Hpin);
tanyuzhuo 18:e48c0910c71e 60 PwmOut L2L(L2Lpin);
estott 0:de4320f74764 61 DigitalOut L2H(L2Hpin);
tanyuzhuo 18:e48c0910c71e 62 PwmOut L3L(L3Lpin);
estott 0:de4320f74764 63 DigitalOut L3H(L3Hpin);
tanyuzhuo 18:e48c0910c71e 64
estott 0:de4320f74764 65
peterith 13:c51d828531d5 66 int8_t orState = 0;
tanyuzhuo 12:899cd6bf9844 67 int8_t intState = 0;
tanyuzhuo 12:899cd6bf9844 68 int8_t intStateOld = 0;
tanyuzhuo 17:ff5300ba5442 69 int32_t revoCounter = 0; //Counts the number of revolutions
tanyuzhuo 18:e48c0910c71e 70 int32_t motorVelocity;
tanyuzhuo 18:e48c0910c71e 71 //Phase lead to make motor spin
tanyuzhuo 18:e48c0910c71e 72 int8_t lead = -2; //2 for forwards, -2 for backwards
tanyuzhuo 12:899cd6bf9844 73
peterith 14:0481b606d10e 74 typedef struct {
peterith 14:0481b606d10e 75 uint64_t nonce;
tanyuzhuo 18:e48c0910c71e 76 float data;
peterith 14:0481b606d10e 77 } mail_t;
peterith 14:0481b606d10e 78
peterith 14:0481b606d10e 79 Mail<mail_t, 16> mail_box;
peterith 14:0481b606d10e 80 Thread commandProcessorthread;
tanyuzhuo 16:10d53b056b17 81 Thread bitcointhread;
peterith 14:0481b606d10e 82 RawSerial pc(SERIAL_TX, SERIAL_RX);
peterith 14:0481b606d10e 83 Queue<void, 8> inCharQ;
peterith 14:0481b606d10e 84 Mutex newKey_mutex;
peterith 14:0481b606d10e 85 uint64_t newKey = 0;
peterith 14:0481b606d10e 86
tanyuzhuo 18:e48c0910c71e 87 volatile float newRev;
tanyuzhuo 18:e48c0910c71e 88 volatile float maxSpeed = 300;
tanyuzhuo 18:e48c0910c71e 89 uint32_t pulseWidth;
tanyuzhuo 18:e48c0910c71e 90 float motorPosition_command;
tanyuzhuo 18:e48c0910c71e 91 float motorPosition;
tanyuzhuo 18:e48c0910c71e 92
tanyuzhuo 18:e48c0910c71e 93 // mail to queue messages for serial port
tanyuzhuo 18:e48c0910c71e 94 void putMessage(uint64_t *nonce,float data){
peterith 14:0481b606d10e 95 mail_t *mail = mail_box.alloc();
peterith 14:0481b606d10e 96 mail->nonce = *nonce;
tanyuzhuo 18:e48c0910c71e 97 mail->data = *data;
peterith 14:0481b606d10e 98 mail_box.put(mail);
peterith 14:0481b606d10e 99 }
peterith 14:0481b606d10e 100
peterith 14:0481b606d10e 101 void serialISR() {
peterith 14:0481b606d10e 102 uint8_t newChar = pc.getc();
peterith 14:0481b606d10e 103 inCharQ.put((void*) newChar);
peterith 14:0481b606d10e 104 }
peterith 14:0481b606d10e 105
peterith 14:0481b606d10e 106 void commandProcessor() {
peterith 14:0481b606d10e 107 pc.attach(&serialISR);
tanyuzhuo 17:ff5300ba5442 108 char command[19];
tanyuzhuo 17:ff5300ba5442 109 char* number;
peterith 14:0481b606d10e 110 //char k;
peterith 14:0481b606d10e 111 uint64_t receivedKey;
peterith 14:0481b606d10e 112 uint8_t index = 0;
peterith 14:0481b606d10e 113 while(1) {
peterith 14:0481b606d10e 114 osEvent newEvent = inCharQ.get();
peterith 14:0481b606d10e 115 uint8_t newChar = (uint8_t) newEvent.value.p;
peterith 14:0481b606d10e 116 command[index] = newChar;
peterith 14:0481b606d10e 117 index++;
tanyuzhuo 17:ff5300ba5442 118 if (newChar == '\r') {
peterith 14:0481b606d10e 119 command[17] = '\0';
tanyuzhuo 17:ff5300ba5442 120
tanyuzhuo 17:ff5300ba5442 121 if (command[0] == 'R') {
tanyuzhuo 17:ff5300ba5442 122 pc.printf("Rotation command\n");
tanyuzhuo 18:e48c0910c71e 123
tanyuzhuo 17:ff5300ba5442 124 pc.printf("%s", command);
tanyuzhuo 17:ff5300ba5442 125 }
tanyuzhuo 17:ff5300ba5442 126 else if (command[0] == 'V') {
tanyuzhuo 17:ff5300ba5442 127 pc.printf("Max speed command\n");
tanyuzhuo 17:ff5300ba5442 128 pc.printf("%s", command);
tanyuzhuo 17:ff5300ba5442 129 }
tanyuzhuo 17:ff5300ba5442 130 else if (command[0] == 'K') {
tanyuzhuo 17:ff5300ba5442 131 if (index == 18){ // when index is 18 means you entered K and 16 digits
tanyuzhuo 17:ff5300ba5442 132 number = command +1; //super bad solution, but I don't know how to work with strings in C
tanyuzhuo 17:ff5300ba5442 133 receivedKey = strtoull(number, NULL, 16);
tanyuzhuo 17:ff5300ba5442 134 //receivedKey = 2147483648;
tanyuzhuo 17:ff5300ba5442 135 //sscanf(command, "%d", &receivedKey);
tanyuzhuo 17:ff5300ba5442 136 pc.printf("Received key: %016llx\n\r", receivedKey);
tanyuzhuo 17:ff5300ba5442 137 newKey_mutex.lock();
tanyuzhuo 17:ff5300ba5442 138 newKey = receivedKey;
tanyuzhuo 17:ff5300ba5442 139 newKey_mutex.unlock();
tanyuzhuo 17:ff5300ba5442 140 } else {
tanyuzhuo 17:ff5300ba5442 141 pc.printf("Not a valid key!");
tanyuzhuo 17:ff5300ba5442 142 };
tanyuzhuo 17:ff5300ba5442 143 }
tanyuzhuo 17:ff5300ba5442 144 else if (command[0] == 'T') {
tanyuzhuo 17:ff5300ba5442 145 pc.printf("Melody command\n");
tanyuzhuo 17:ff5300ba5442 146 pc.printf("%s", command);
tanyuzhuo 17:ff5300ba5442 147 }
peterith 14:0481b606d10e 148 memset(command, 0, sizeof(command));
peterith 14:0481b606d10e 149 index = 0;
peterith 14:0481b606d10e 150 } else {
peterith 14:0481b606d10e 151 pc.printf("Current command: %s\n\r", command);
peterith 14:0481b606d10e 152 }
peterith 14:0481b606d10e 153 }
peterith 14:0481b606d10e 154 }
tanyuzhuo 17:ff5300ba5442 155
tanyuzhuo 16:10d53b056b17 156 void bitcoin(){
tanyuzhuo 16:10d53b056b17 157 while(1) {
tanyuzhuo 16:10d53b056b17 158 SHA256 sha;
tanyuzhuo 16:10d53b056b17 159 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
tanyuzhuo 16:10d53b056b17 160 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
tanyuzhuo 16:10d53b056b17 161 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
tanyuzhuo 16:10d53b056b17 162 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
tanyuzhuo 16:10d53b056b17 163 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
tanyuzhuo 16:10d53b056b17 164 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
tanyuzhuo 16:10d53b056b17 165 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
tanyuzhuo 16:10d53b056b17 166 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
tanyuzhuo 16:10d53b056b17 167 uint64_t* key = (uint64_t*) ((int) sequence + 48);
tanyuzhuo 16:10d53b056b17 168 uint64_t* nonce = (uint64_t*) ((int) sequence + 56);
tanyuzhuo 16:10d53b056b17 169 uint8_t hash[32];
tanyuzhuo 16:10d53b056b17 170
tanyuzhuo 16:10d53b056b17 171 Timer t;
tanyuzhuo 16:10d53b056b17 172 t.start();
tanyuzhuo 16:10d53b056b17 173 unsigned currentTime = 0;
tanyuzhuo 16:10d53b056b17 174 unsigned currentCount = 0;
tanyuzhuo 16:10d53b056b17 175
tanyuzhuo 16:10d53b056b17 176 for (unsigned i = 0; i <= UINT_MAX; i++) {
tanyuzhuo 16:10d53b056b17 177 (*nonce)++;
tanyuzhuo 16:10d53b056b17 178 newKey_mutex.lock();
tanyuzhuo 16:10d53b056b17 179 *key = newKey;
tanyuzhuo 16:10d53b056b17 180 newKey_mutex.unlock();
tanyuzhuo 16:10d53b056b17 181 sha.computeHash(hash, sequence, 64);
tanyuzhuo 16:10d53b056b17 182 if (hash[0] == 0 && hash[1] == 0) {
tanyuzhuo 16:10d53b056b17 183 //putMessage(nonce);
tanyuzhuo 16:10d53b056b17 184 pc.printf("Successful nonce: %016x\n\r", *nonce);
tanyuzhuo 16:10d53b056b17 185 }
tanyuzhuo 16:10d53b056b17 186 if ((unsigned) t.read() == currentTime) {
tanyuzhuo 16:10d53b056b17 187 //pc.printf("Hash rate: %d\n\r", i - currentCount);
tanyuzhuo 16:10d53b056b17 188 pc.printf("Current key: %016llx\n\r", *key);
tanyuzhuo 16:10d53b056b17 189 currentTime++;
tanyuzhuo 16:10d53b056b17 190 currentCount = i;
tanyuzhuo 16:10d53b056b17 191 }
tanyuzhuo 16:10d53b056b17 192 }
tanyuzhuo 16:10d53b056b17 193 t.stop();
tanyuzhuo 16:10d53b056b17 194 }
tanyuzhuo 16:10d53b056b17 195 }
tanyuzhuo 18:e48c0910c71e 196
tanyuzhuo 18:e48c0910c71e 197
tanyuzhuo 18:e48c0910c71e 198
tanyuzhuo 18:e48c0910c71e 199 void motorCtrlTick(){
tanyuzhuo 18:e48c0910c71e 200 motorCtrlT.signal_set(0x1);
tanyuzhuo 18:e48c0910c71e 201 }
tanyuzhuo 18:e48c0910c71e 202
tanyuzhuo 18:e48c0910c71e 203
estott 0:de4320f74764 204 //Set a given drive state
tanyuzhuo 18:e48c0910c71e 205 void motorOut(int8_t driveState,uint32_t motorTorque){
estott 0:de4320f74764 206
estott 2:4e88faab6988 207 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 208 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 209
estott 2:4e88faab6988 210 //Turn off first
tanyuzhuo 18:e48c0910c71e 211 if (~driveOut & 0x01) L1L.pulsewidth(0);
estott 2:4e88faab6988 212 if (~driveOut & 0x02) L1H = 1;
tanyuzhuo 18:e48c0910c71e 213 if (~driveOut & 0x04) L2L.pulsewidth(0);
estott 2:4e88faab6988 214 if (~driveOut & 0x08) L2H = 1;
tanyuzhuo 18:e48c0910c71e 215 if (~driveOut & 0x10) L3L.pulsewidth(0);
estott 2:4e88faab6988 216 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 217
estott 2:4e88faab6988 218 //Then turn on
tanyuzhuo 18:e48c0910c71e 219 if (driveOut & 0x01) L1L.pulsewidth(motorTorque);
estott 2:4e88faab6988 220 if (driveOut & 0x02) L1H = 0;
tanyuzhuo 18:e48c0910c71e 221 if (driveOut & 0x04) L2L.pulsewidth(motorTorque);
estott 2:4e88faab6988 222 if (driveOut & 0x08) L2H = 0;
tanyuzhuo 18:e48c0910c71e 223 if (driveOut & 0x10) L3L.pulsewidth(motorTorque);
estott 2:4e88faab6988 224 if (driveOut & 0x20) L3H = 0;
peterith 13:c51d828531d5 225 }
estott 0:de4320f74764 226
peterith 13:c51d828531d5 227 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 228 inline int8_t readRotorState(){
estott 2:4e88faab6988 229 return stateMap[I1 + 2*I2 + 4*I3];
peterith 13:c51d828531d5 230 }
estott 0:de4320f74764 231
estott 2:4e88faab6988 232 int8_t motorHome() {
tanyuzhuo 18:e48c0910c71e 233 //Put the motor in drive state 0 and wait for it to stabilize
tanyuzhuo 18:e48c0910c71e 234 L1L.period(2000);
tanyuzhuo 18:e48c0910c71e 235 L2L.period(2000);
tanyuzhuo 18:e48c0910c71e 236 L3L.period(2000);
tanyuzhuo 18:e48c0910c71e 237 motorOut(0,200);
estott 3:569b35e2a602 238 wait(2.0);
estott 2:4e88faab6988 239 return readRotorState();
estott 0:de4320f74764 240 }
peterith 13:c51d828531d5 241
tanyuzhuo 18:e48c0910c71e 242 //orState is subtracted from future rotor state inputs to align rotor and motor states
tanyuzhuo 18:e48c0910c71e 243 int8_t orState = motorHome();
tanyuzhuo 18:e48c0910c71e 244 // ISR to handle the updating of the motor position
tanyuzhuo 18:e48c0910c71e 245 void motorISR() {
tanyuzhuo 18:e48c0910c71e 246 static int8_t oldRotorState;
tanyuzhuo 18:e48c0910c71e 247 int8_t rotorState = readRotorState();
tanyuzhuo 18:e48c0910c71e 248 motorOut((rotorState-orState+lead+6)%6,pulseWidth); //+6 to make sure the remainder is positive
tanyuzhuo 18:e48c0910c71e 249 if (rotorState - oldRotorState == 5) motorPosition --;
tanyuzhuo 18:e48c0910c71e 250 else if (rotorState - oldRotorState == -5) motorPosition ++;
tanyuzhuo 18:e48c0910c71e 251 else motorPosition += (rotorState - oldRotorState);
tanyuzhuo 18:e48c0910c71e 252 oldRotorState = rotorState;
tanyuzhuo 18:e48c0910c71e 253 }
tanyuzhuo 18:e48c0910c71e 254 /*void push() {
peterith 13:c51d828531d5 255 intState = readRotorState();
peterith 13:c51d828531d5 256 if (intState != intStateOld) {
peterith 13:c51d828531d5 257 intStateOld = intState;
peterith 13:c51d828531d5 258 motorOut((intState - orState + lead +6) % 6); //+6 to make sure the remainder is positive
peterith 13:c51d828531d5 259 }
tanyuzhuo 18:e48c0910c71e 260 }*/
peterith 13:c51d828531d5 261
tanyuzhuo 18:e48c0910c71e 262 void motorCtrlFn(){
tanyuzhuo 18:e48c0910c71e 263 int32_t counter=0;
tanyuzhuo 18:e48c0910c71e 264 static int32_t oldmotorPosition;
tanyuzhuo 18:e48c0910c71e 265 // Timer to count time passed between ticks to calculate velocity
tanyuzhuo 18:e48c0910c71e 266 Timer motorTime;
tanyuzhuo 18:e48c0910c71e 267 motorTime.start();
tanyuzhuo 18:e48c0910c71e 268 float motorPos;
tanyuzhuo 18:e48c0910c71e 269 float windingSpeed;
tanyuzhuo 18:e48c0910c71e 270 float windingRev;
tanyuzhuo 18:e48c0910c71e 271
tanyuzhuo 18:e48c0910c71e 272 Ticker motorCtrlTicker;
tanyuzhuo 18:e48c0910c71e 273 motorCtrlTicker.attach_us(&motorCtrlTick,100000);
tanyuzhuo 18:e48c0910c71e 274 while(1){
tanyuzhuo 18:e48c0910c71e 275 motorCtrlT.signal_wait(0x1);
tanyuzhuo 18:e48c0910c71e 276 // convert state change into rotations
tanyuzhuo 18:e48c0910c71e 277 windingSpeed = maxSpeed*6;
tanyuzhuo 18:e48c0910c71e 278 windingRev = newRev*6;
tanyuzhuo 18:e48c0910c71e 279 motorPos = motorPosition;
tanyuzhuo 18:e48c0910c71e 280 motorVelocity = (motorPos - oldmotorPosition)/motorTime.read();
tanyuzhuo 18:e48c0910c71e 281 oldmotorPosition = motorPos;
tanyuzhuo 18:e48c0910c71e 282 motorTime.reset();
tanyuzhuo 18:e48c0910c71e 283 // Serial output to monitor speed and position
tanyuzhuo 18:e48c0910c71e 284 counter++;
tanyuzhuo 18:e48c0910c71e 285 if(counter == 10){
tanyuzhuo 18:e48c0910c71e 286 counter = 0;
tanyuzhuo 18:e48c0910c71e 287 //display velocity and motor position
tanyuzhuo 18:e48c0910c71e 288 putMessage(3,(float)(motorPos/6.0));
tanyuzhuo 18:e48c0910c71e 289 putMessage(4,(float)(motorVelocity/6.0));
tanyuzhuo 18:e48c0910c71e 290 }
tanyuzhuo 18:e48c0910c71e 291 }
peterith 13:c51d828531d5 292 int main() {
peterith 14:0481b606d10e 293 //Serial pc(SERIAL_TX, SERIAL_RX);
peterith 14:0481b606d10e 294
tanyuzhuo 17:ff5300ba5442 295 //Initialise bincoin mining and communication
tanyuzhuo 16:10d53b056b17 296 bitcointhread.set_priority(osPriorityNormal);
tanyuzhuo 16:10d53b056b17 297 commandProcessorthread.set_priority(osPriorityHigh);
peterith 14:0481b606d10e 298 commandProcessorthread.start(commandProcessor);
tanyuzhuo 16:10d53b056b17 299 bitcointhread.start(bitcoin);
tanyuzhuo 17:ff5300ba5442 300
tanyuzhuo 18:e48c0910c71e 301 //PWM.period(0.002f); //Set PWM period in seconds
tanyuzhuo 18:e48c0910c71e 302 //PWM.write(0.5); //Set PWM duty in %
peterith 14:0481b606d10e 303
peterith 13:c51d828531d5 304 pc.printf("Hello Pete\n\r");
peterith 14:0481b606d10e 305
estott 2:4e88faab6988 306 orState = motorHome();
peterith 13:c51d828531d5 307 pc.printf("Rotor origin: %x\n\r", orState);
estott 0:de4320f74764 308
tanyuzhuo 12:899cd6bf9844 309 I1.rise(&push);
tanyuzhuo 12:899cd6bf9844 310 I2.rise(&push);
tanyuzhuo 12:899cd6bf9844 311 I3.rise(&push);
peterith 13:c51d828531d5 312
peterith 13:c51d828531d5 313 I1.fall(&push);
peterith 13:c51d828531d5 314 I2.fall(&push);
peterith 13:c51d828531d5 315 I3.fall(&push);
peterith 13:c51d828531d5 316
tanyuzhuo 16:10d53b056b17 317
estott 0:de4320f74764 318 }