Olaf Sikorski
This is probably never gonna get done
Diff: main.cpp
- Revision:
- 19:ca08111237ab
- Parent:
- 10:a4b5723b6c9d
--- a/main.cpp Thu Feb 28 10:44:25 2019 +0000
+++ b/main.cpp Tue Mar 19 18:05:37 2019 +0000
@@ -1,28 +1,29 @@
#include "mbed.h"
-
+#include "Crypto.h"
+
//Photointerrupter input pins
#define I1pin D3
#define I2pin D6
#define I3pin D5
-
+
//Incremental encoder input pins
-#define CHApin D12
-#define CHBpin D11
-
+#define CHApin D12
+#define CHBpin D11
+
//Motor Drive output pins //Mask in output byte
#define L1Lpin D1 //0x01
#define L1Hpin A3 //0x02
#define L2Lpin D0 //0x04
-#define L2Hpin A6 //0x08
-#define L3Lpin D10 //0x10
-#define L3Hpin D2 //0x20
-
+#define L2Hpin A6 //0x08
+#define L3Lpin D10 //0x10
+#define L3Hpin D2 //0x20
+
#define PWMpin D9
-
+
//Motor current sense
-#define MCSPpin A1
-#define MCSNpin A0
-
+#define MCSPpin A1
+#define MCSNpin A0
+
//Mapping from sequential drive states to motor phase outputs
/*
State L1 L2 L3
@@ -37,91 +38,313 @@
*/
//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
-
+
//Status LED
DigitalOut led1(LED1);
-
+
//Photointerrupter inputs
-DigitalIn I1(I1pin);
-DigitalIn I2(I2pin);
-DigitalIn I3(I3pin);
-
+InterruptIn I1(I1pin);
+InterruptIn I2(I2pin);
+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);
-
+
+
+int8_t orState = 0;
+int8_t intState = 0;
+int8_t intStateOld = 0;
+int32_t revoCounter = 0; //Counts the number of revolutions
+int32_t motorVelocity;
+//Phase lead to make motor spin
+int8_t lead = -2; //2 for forwards, -2 for backwards
+
+typedef struct {
+ uint64_t nonce;
+ float data;
+} mail_t;
+
+Mail<mail_t, 16> mail_box;
+Thread commandProcessorthread;
+Thread bitcointhread;
+RawSerial pc(SERIAL_TX, SERIAL_RX);
+Queue<void, 8> inCharQ;
+Mutex newKey_mutex;
+uint64_t newKey = 0;
+
+volatile float newRev;
+volatile float maxSpeed = 300;
+uint32_t pulseWidth;
+float motorPosition_command;
+float motorPosition;
+
+// mail to queue messages for serial port
+void putMessage(uint64_t *nonce,float data){
+ mail_t *mail = mail_box.alloc();
+ mail->nonce = *nonce;
+ mail->data = *data;
+ mail_box.put(mail);
+}
+
+void serialISR() {
+ uint8_t newChar = pc.getc();
+ inCharQ.put((void*) newChar);
+}
+
+void commandProcessor() {
+ pc.attach(&serialISR);
+ char command[19];
+ char* number;
+ //char k;
+ uint64_t receivedKey;
+ uint8_t index = 0;
+ while(1) {
+ osEvent newEvent = inCharQ.get();
+ uint8_t newChar = (uint8_t) newEvent.value.p;
+ command[index] = newChar;
+ index++;
+ if (newChar == '\r') {
+ command[17] = '\0';
+
+ if (command[0] == 'R') {
+ pc.printf("Rotation command\n");
+
+ pc.printf("%s", command);
+ }
+ else if (command[0] == 'V') {
+ pc.printf("Max speed command\n");
+ pc.printf("%s", command);
+ }
+ else if (command[0] == 'K') {
+ if (index == 18){ // when index is 18 means you entered K and 16 digits
+ number = command +1; //super bad solution, but I don't know how to work with strings in C
+ receivedKey = strtoull(number, NULL, 16);
+ //receivedKey = 2147483648;
+ //sscanf(command, "%d", &receivedKey);
+ pc.printf("Received key: %016llx\n\r", receivedKey);
+ newKey_mutex.lock();
+ newKey = receivedKey;
+ newKey_mutex.unlock();
+ } else {
+ pc.printf("Not a valid key!");
+ };
+ }
+ else if (command[0] == 'T') {
+ pc.printf("Melody command\n");
+ pc.printf("%s", command);
+ }
+ memset(command, 0, sizeof(command));
+ index = 0;
+ } else {
+ pc.printf("Current command: %s\n\r", command);
+ }
+ }
+}
+
+void bitcoin(){
+ while(1) {
+ SHA256 sha;
+ 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);
+ uint64_t* nonce = (uint64_t*) ((int) sequence + 56);
+ uint8_t hash[32];
+
+ Timer t;
+ t.start();
+ unsigned currentTime = 0;
+ unsigned currentCount = 0;
+
+ for (unsigned i = 0; i <= UINT_MAX; i++) {
+ (*nonce)++;
+ newKey_mutex.lock();
+ *key = newKey;
+ newKey_mutex.unlock();
+ sha.computeHash(hash, sequence, 64);
+ if (hash[0] == 0 && hash[1] == 0) {
+ //putMessage(nonce);
+ pc.printf("Successful nonce: %016x\n\r", *nonce);
+ }
+ if ((unsigned) t.read() == currentTime) {
+ //pc.printf("Hash rate: %d\n\r", i - currentCount);
+ pc.printf("Current key: %016llx\n\r", *key);
+ currentTime++;
+ currentCount = i;
+ }
+ }
+ t.stop();
+ }
+ }
+
+
+
+void motorCtrlTick(){
+ motorCtrlT.signal_set(0x1);
+ }
+
+
//Set a given drive state
-void motorOut(int8_t driveState){
+void motorOut(int8_t driveState,uint32_t motorTorque){
//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(0);
if (~driveOut & 0x02) L1H = 1;
- if (~driveOut & 0x04) L2L = 0;
+ if (~driveOut & 0x04) L2L.pulsewidth(0);
if (~driveOut & 0x08) L2H = 1;
- if (~driveOut & 0x10) L3L = 0;
+ if (~driveOut & 0x10) L3L.pulsewidth(0);
if (~driveOut & 0x20) L3H = 1;
//Then turn on
- if (driveOut & 0x01) L1L = 1;
+ if (driveOut & 0x01) L1L.pulsewidth(motorTorque);
if (driveOut & 0x02) L1H = 0;
- if (driveOut & 0x04) L2L = 1;
+ if (driveOut & 0x04) L2L.pulsewidth(motorTorque);
if (driveOut & 0x08) L2H = 0;
- if (driveOut & 0x10) L3L = 1;
+ if (driveOut & 0x10) L3L.pulsewidth(motorTorque);
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);
- wait(2.0);
-
- //Get the rotor state
- return readRotorState();
}
-//Main
-int main() {
- int8_t orState = 0; //Rotot offset at motor state 0
- int8_t intState = 0;
- int8_t intStateOld = 0;
-
- //Initialise the serial port
- Serial pc(SERIAL_TX, SERIAL_RX);
- 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
-
- //Poll the rotor state and set the motor outputs accordingly to spin the motor
- while (1) {
- intState = readRotorState();
- if (intState != intStateOld) {
- intStateOld = intState;
- motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
- //pc.printf("%d\n\r",intState);
+//Convert photointerrupter inputs to a rotor state
+inline int8_t readRotorState(){
+ return stateMap[I1 + 2*I2 + 4*I3];
+}
+
+int8_t motorHome() {
+ //Put the motor in drive state 0 and wait for it to stabilize
+ L1L.period(2000);
+ L2L.period(2000);
+ L3L.period(2000);
+ motorOut(0,200);
+ wait(2.0);
+ return readRotorState();
+}
+
+//orState is subtracted from future rotor state inputs to align rotor and motor states
+int8_t orState = motorHome();
+// ISR to handle the updating of the motor position
+void motorISR() {
+ static int8_t oldRotorState;
+ int8_t rotorState = readRotorState();
+ motorOut((rotorState-orState+lead+6)%6,pulseWidth); //+6 to make sure the remainder is positive
+ if (rotorState - oldRotorState == 5) motorPosition --;
+ else if (rotorState - oldRotorState == -5) motorPosition ++;
+ else motorPosition += (rotorState - oldRotorState);
+ oldRotorState = rotorState;
+}
+/*void push() {
+ intState = readRotorState();
+ if (intState != intStateOld) {
+ intStateOld = intState;
+ motorOut((intState - orState + lead +6) % 6); //+6 to make sure the remainder is positive
+ }
+}*/
+
+void motorCtrlFn(){
+ int32_t counter=0;
+ static int32_t oldmotorPosition;
+ int32_t error =0;
+ int32_t PrevError = 0;// diff btw one possition and current position
+ int32_t errorSum;
+ int32_t PrevErrorArray[10]; //10 errors for integration
+ int8_t errorSign = 1; // get rid of the minus sign when motor is turning negative direction
+ // Timer to count time passed between ticks to calculate velocity
+ Timer motorTime;
+ motorTime.start();
+ float motorPos;
+ float windingSpeed;
+ float windingRev;
+ float Ms; //proportional motor speed control
+ float Mp; // diff motor postion control
+ float ks = 15; //proportional constant for speed
+ float kd = 11; // 11 values in 100ms, diff constant for position control
+ float ki = ??; // integration constant, to be tested for friction
+ int8_t leadMs = -2;
+ int8_t leadMp = -2; // different leads to know which controller used
+ Ticker motorCtrlTicker;
+
+ motorCtrlTicker.attach_us(&motorCtrlTick,100000);
+ while(1){
+ motorCtrlT.signal_wait(0x1);
+ errorSum= 0;
+ for(uint8_t i=9; i >0 ; i--){
+ PrevErrorArray[i] = prevErrorArray[i-1];
+ errorSum+= PrevErrorArray[i];
+ }
+ // convert state change into rotations
+ windingSpeed = maxSpeed*6;
+ windingRev = newRev*6;
+ motorPos = motorPosition;
+ motorVelocity = (motorPos - oldmotorPosition)/motorTime.read();
+
+ error = windingRev+ motorPosition_command- motorPos;
+
+ if (error < 0) errorSign = -1;
+ else errorSign =1;
+
+ PrevErrorArray[0] = error * motorTime.read();
+ errorSum += PrevErrorArray [0];
+ oldmotorPosition = motorPos;
+
+ //equation for controls
+ Ms = ks*(windingSpeed -abs(motorVelocity))*errorSign;
+ Mp = ks*error + kd*(error - PrevError) /motorTime.read() + ki*errorSum;
+
+ motorTime.reset();
+ // Serial output to monitor speed and position
+ counter++;
+ if(counter == 10){
+ counter = 0;
+ //display velocity and motor position
+ putMessage(3,(float)(motorPos/6.0));
+ putMessage(4,(float)(motorVelocity/6.0));
}
}
+int main() {
+ //Serial pc(SERIAL_TX, SERIAL_RX);
+
+ //Initialise bincoin mining and communication
+ bitcointhread.set_priority(osPriorityNormal);
+ commandProcessorthread.set_priority(osPriorityHigh);
+ commandProcessorthread.start(commandProcessor);
+ bitcointhread.start(bitcoin);
+
+ //PWM.period(0.002f); //Set PWM period in seconds
+ //PWM.write(0.5); //Set PWM duty in %
+
+ pc.printf("Hello Pete\n\r");
+
+ orState = motorHome();
+ pc.printf("Rotor origin: %x\n\r", orState);
+
+ I1.rise(&push);
+ I2.rise(&push);
+ I3.rise(&push);
+
+ I1.fall(&push);
+ I2.fall(&push);
+ I3.fall(&push);
+
+
}
-
+
+
\ No newline at end of file