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Coursework 2 Motor Control
main.cpp
- Committer:
- eavennnn
- Date:
- 2019-03-22
- Revision:
- 11:f101c1f3d3bd
- Parent:
- 10:a4b5723b6c9d
- Child:
- 12:9b7a85e17146
File content as of revision 11:f101c1f3d3bd:
#include "mbed.h" #include "Crypto.h" #include "rtos.h" //Photointerrupter input pins #define I1pin D3 #define I2pin D6 #define I3pin D5 //Incremental encoder input pins #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 PWMpin D9 Thread motorCtrlT (osPriorityNormal, 1024); Thread OutputT (osPriorityNormal,1024); Thread DecodeT (osPriorityNormal,1024); RawSerial pc(SERIAL_TX, SERIAL_RX); //Global variables #define MAX_PWM 10000 Queue<void,8> inCharQ; volatile uint64_t newKey; volatile float newRev = 0.001; //default zero rotation volatile float maxSpeed = 50; //1800 rotations per second volatile float motorPosition; volatile float originalmotorPosition; volatile float pulseWidth = MAX_PWM; int32_t motorVelocity; volatile float kps = 30; volatile float kis = 0.75; volatile float kpr = 20; volatile float kdr = 8.5; //Protect variable from being accessed by other threads Mutex newKey_mutex; typedef struct{ //define structure of mail uint8_t code; float data; uint64_t longData; } mail_t; Mail<mail_t,16> outMail; void serialISR(){ //Rawserial Interrupts uint8_t newChar = pc.getc(); inCharQ.put((void*)newChar); } void putMessage(uint8_t code, float data){ //Mail for queueing messages mail_t *pMail = outMail.alloc(); pMail -> code = code; pMail -> data = data; outMail.put(pMail); } // Overloaded version of putMessage for int versions of data void putMessage(uint8_t code, uint64_t data){ mail_t *pMail = outMail.alloc(); pMail -> code = code; pMail -> longData = data; outMail.put(pMail); } void Decode(){ //Decode User Input Command char newCommand[50]; //Array used to hold commands uint8_t index = 0; pc.attach(&serialISR); //Attach rawserial while(1) { osEvent newEvent = inCharQ.get(); //New event created when new character detected uint8_t newChar = (uint8_t)newEvent.value.p; newCommand[index] = newChar; if(index == 49) { //Checks whether buffer overflows pc.printf("Buffer Overflow!\n\r"); index = 0; } else if(newChar == '\r'){ // \r indicates end of command, checks first character of command and reset buffer newCommand[index] = '\0'; index = 0; if (newCommand[0] == 'K'){ // K -> New Key , case 3 newKey_mutex.lock(); sscanf(newCommand, "K%x", &newKey); putMessage(3,newKey); newKey_mutex.unlock(); } if(newCommand[0] == 'V'){ sscanf(newCommand,"V%f",&maxSpeed); putMessage(6,maxSpeed); if(maxSpeed > 20){ // if the target velocity is large enough kps = 30; kis = 0.75; kpr = 20; kdr = 8.5; } else{ // otherwise for small velocities change the parameters kps = 20; kis = 2; kpr = 18; kdr = 5; } } if(newCommand[0] == 'R'){ sscanf(newCommand, "R%f", &newRev); putMessage(7,newRev); originalmotorPosition = motorPosition; } } else { //Keep loading index++; } } } //Serial Outputs void OutputMail(){ while (1) { //New event created when user enters command osEvent newEvent = outMail.get(); mail_t *pMail = (mail_t*)newEvent.value.p; //Use switch to handle different cases, case defined by code switch(pMail->code){ case 1: pc.printf("Hash rate %.0f\n\r", pMail->data); break; case 2: pc.printf("Hash computed at 0x%016x\n\r", pMail->longData); break; case 3: pc.printf("Sequence key set to 0x%016llx\n\r", pMail->longData); break; case 4: pc.printf("Motor Position is %.2f\n\r", pMail->data); break; case 5: pc.printf("Motor Velocity is %.2f\n\r", pMail->data); break; case 6: pc.printf("Max Speed now is set to %.2f\n\r", pMail->data); break; case 7: pc.printf("Revolution now is set to %.2f\n\r", pMail->data); break; default: pc.printf("Message %d with data 0x%016x\n\r", pMail->code, pMail->data); } //free memory location allocated outMail.free(pMail); } } //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 orState = 0; //Rotot offset at motor state 0 void motorCtrlTick(){ //call back function that starts motor control motorCtrlT.signal_set(0x1); } //Status LED DigitalOut led1(LED1); //Photointerrupter inputs InterruptIn I1(I1pin); InterruptIn I2(I2pin); InterruptIn I3(I3pin); //Motor Drive outputs DigitalOut L1L(L1Lpin); DigitalOut L1H(L1Hpin); DigitalOut L2L(L2Lpin); DigitalOut L2H(L2Hpin); DigitalOut L3L(L3Lpin); DigitalOut L3H(L3Hpin); //PwmOut Pin PwmOut PWMD9(PWMpin); //Set a given drive state 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 & 0x02) L1H = 1; if (~driveOut & 0x04) L2L = 0; if (~driveOut & 0x08) L2H = 1; if (~driveOut & 0x10) L3L = 0; if (~driveOut & 0x20) L3H = 1; //Then turn on if (driveOut & 0x01) L1L = 1; if (driveOut & 0x02) L1H = 0; if (driveOut & 0x04) L2L = 1; if (driveOut & 0x08) L2H = 0; if (driveOut & 0x10) L3L = 1; if (driveOut & 0x20) L3H = 0; //d9.write(motorTorque); PWMD9.pulsewidth_us(motorTorque); } //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 stabilize motorOut(0, 700000); //motorOut(0); wait(2.0); //Get the rotor state return readRotorState(); } void motorISR(){ static int8_t oldrotorState; int8_t rotorState = readRotorState(); //pc.printf("Im here"); 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 Torque(){ } */ void motorCtrlFn(){ int32_t counter = 0; static int32_t oldmotorPosition; Timer t; t.start(); //Define variables and parameters being used for motor control float motorPos; float Speed; float Revolution; float outputTorqueS; float outputTorqueR; float Torque; float rateofchangeofPositionError; float oldError; float errorSum; float speedError; float positionError; float c = 42.0; //Default Lead int8_t outputLeadS = 2; int8_t outputLeadR = 2; //Sign of direction int8_t errorSign = 1; //Define ticker to measure time interval Ticker motorCtrlTicker; motorCtrlTicker.attach_us(&motorCtrlTick,100000); while(1){ motorCtrlT.signal_wait(0x1); //executes every 100ms errorSum = 0; motorPos = motorPosition; Speed = maxSpeed*6; Revolution = newRev*6; //Calculate rate of change of position = velocity motorVelocity = (motorPos - oldmotorPosition)/t.read(); // if(motorVelocity >= 0) errorSign = 1; else errorSign = -1; //Calculate rate of change of position error = differential term positionError = Revolution + originalmotorPosition - motorPos; rateofchangeofPositionError = (positionError - oldError)/t.read(); //Calculate speed error speedError = Speed - abs(motorVelocity); oldmotorPosition = motorPos; //Calculate output Torque for speed and position if(Speed == 0) outputTorqueS = MAX_PWM; else outputTorqueS = (kps*((Speed+c)- abs(motorVelocity))+kis*errorSum)*errorSign; outputTorqueR = kpr*positionError + kdr*rateofchangeofPositionError; //set upper limit for integral term if(kis*errorSum <= MAX_PWM){ errorSum += speedError*t.read(); } t.reset(); //ticker reset //Determine output lead depending on sign of torque if(outputTorqueR >= 0) { outputLeadR = 2; } else { outputLeadR = -2; } if(Speed !=0 ){ if(outputTorqueS >= 0) { outputLeadS = 2; } else { outputLeadS = -2; } if(outputTorqueS > MAX_PWM) { outputTorqueS = MAX_PWM; } if(outputTorqueS < -MAX_PWM) { outputTorqueS = -MAX_PWM; } } else { outputTorqueS = MAX_PWM; } // pick the slower one to limit speed to maxSpeed if(newRev == 0){ pulseWidth = abs(outputTorqueS); } else{ if(motorVelocity < 0){ if(outputTorqueS >= outputTorqueR){ pulseWidth = abs(outputTorqueS); lead = outputLeadS; } else { pulseWidth = abs(outputTorqueR); lead = outputLeadR; } } else { if (outputTorqueS <= outputTorqueR){ pulseWidth = abs(outputTorqueS); lead = outputLeadS; } else { pulseWidth = abs(outputTorqueR); lead = outputLeadR; } } } if(motorVelocity == 0) motorISR(); //Output position and velocity when counter counts to 10 counter++; if(counter == 10){ counter = 0; putMessage(4,(float)(motorPosition/6.0)); putMessage(5,(float)(motorVelocity/6.0)); } //Redefine old position error oldError = positionError; } } float hashCount = 0; void calcHashRate(){ putMessage(1,hashCount); hashCount = 0; } //Main int main() { //set up pwm period PWMD9.period(0.002f); // 2ms second period PWMD9.write(1.0f); // 100% duty cycle, relative to period orState = motorHome(); pc.printf("Rotor origin: %x\n\r", orState); motorCtrlT.start(motorCtrlFn); OutputT.start(OutputMail); DecodeT.start(Decode); // Run the motor synchronisation pc.printf("Rotor origin: %x\n\r", orState); // motor controlling interrupt routines I1.rise(&motorISR); I1.fall(&motorISR); I2.rise(&motorISR); I2.fall(&motorISR); I3.rise(&motorISR); I3.fall(&motorISR); // mining bitcoins SHA256 mine; 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 for hash rate Ticker t; t.attach(&calcHashRate, 1.0); while (1) { //Protect key from other accesses newKey_mutex.lock(); *key = newKey; newKey_mutex.unlock(); //Computer Hash with correct conditions mine.computeHash(hash, sequence, 64); hashCount = hashCount + 1; if (hash[0] == 0 && hash[1] == 0){ putMessage(2, *nonce); //pc.printf("Key: 0x%016llx\n\r", *key); } *nonce = *nonce + 1; } }