Luccas Eagles / TEST_EMBEDDED_LUCCAS

fork of what I have been writing

Dependencies:   Crypto

ES_CW2_Starter_STARFISH/main.cpp@11:038d3ba0d720, 2020-03-06 (annotated)

Committer:
kubitz
Date:
Fri Mar 06 14:27:16 2020 +0000
Revision:
11:038d3ba0d720
Parent:
10:3669e3d832ed
Child:
12:38afe92e67d0
File tree - restructured

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kubitz 5:de6430aee646 1
kubitz 11:038d3ba0d720 2 #include "import.h"
kubitz 9:4135d0c8dc10 3
kubitz 9:4135d0c8dc10 4 // Declaration of threads
kubitz 6:5f4a954cb8bc 5 Thread thread_crypto;
kubitz 9:4135d0c8dc10 6 Thread thread_processor;
kubitz 10:3669e3d832ed 7
kubitz 10:3669e3d832ed 8
kubitz 9:4135d0c8dc10 9 // Timing variables for printing calculation rate
kubitz 9:4135d0c8dc10 10 Timer timer_nonce;
kubitz 9:4135d0c8dc10 11 uint32_t previous_time;
kubitz 9:4135d0c8dc10 12
kubitz 11:038d3ba0d720 13
kubitz 0:19fd8c1944fb 14 //Photointerrupter input pins
kubitz 0:19fd8c1944fb 15 #define I1pin D3
kubitz 0:19fd8c1944fb 16 #define I2pin D6
kubitz 0:19fd8c1944fb 17 #define I3pin D5
kubitz 0:19fd8c1944fb 18
kubitz 0:19fd8c1944fb 19 //Incremental encoder input pins
kubitz 9:4135d0c8dc10 20 #define CHApin D12
kubitz 9:4135d0c8dc10 21 #define CHBpin D11
kubitz 0:19fd8c1944fb 22
kubitz 0:19fd8c1944fb 23 //Motor Drive output pins //Mask in output byte
kubitz 9:4135d0c8dc10 24 #define L1Lpin D1 //0x01
kubitz 9:4135d0c8dc10 25 #define L1Hpin A3 //0x02
kubitz 9:4135d0c8dc10 26 #define L2Lpin D0 //0x04
kubitz 9:4135d0c8dc10 27 #define L2Hpin A6 //0x08
kubitz 9:4135d0c8dc10 28 #define L3Lpin D10 //0x10
kubitz 9:4135d0c8dc10 29 #define L3Hpin D2 //0x20
kubitz 0:19fd8c1944fb 30
kubitz 0:19fd8c1944fb 31 #define PWMpin D9
kubitz 0:19fd8c1944fb 32
kubitz 0:19fd8c1944fb 33 //Motor current sense
kubitz 9:4135d0c8dc10 34 #define MCSPpin A1
kubitz 9:4135d0c8dc10 35 #define MCSNpin A0
kubitz 0:19fd8c1944fb 36
kubitz 0:19fd8c1944fb 37 //Test outputs
kubitz 0:19fd8c1944fb 38 #define TP0pin D4
kubitz 0:19fd8c1944fb 39 #define TP1pin D13
kubitz 0:19fd8c1944fb 40 #define TP2pin A2
kubitz 0:19fd8c1944fb 41
kubitz 0:19fd8c1944fb 42 //Mapping from sequential drive states to motor phase outputs
kubitz 0:19fd8c1944fb 43 /*
kubitz 0:19fd8c1944fb 44 State L1 L2 L3
kubitz 0:19fd8c1944fb 45 0 H - L
kubitz 0:19fd8c1944fb 46 1 - H L
kubitz 0:19fd8c1944fb 47 2 L H -
kubitz 0:19fd8c1944fb 48 3 L - H
kubitz 0:19fd8c1944fb 49 4 - L H
kubitz 0:19fd8c1944fb 50 5 H L -
kubitz 0:19fd8c1944fb 51 6 - - -
kubitz 0:19fd8c1944fb 52 7 - - -
kubitz 0:19fd8c1944fb 53 */
kubitz 0:19fd8c1944fb 54 //Drive state to output table
kubitz 9:4135d0c8dc10 55 const int8_t driveTable[] = {0x12, 0x18, 0x09, 0x21, 0x24, 0x06, 0x00, 0x00};
kubitz 0:19fd8c1944fb 56
kubitz 0:19fd8c1944fb 57 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
kubitz 9:4135d0c8dc10 58 const int8_t stateMap[] = {0x07, 0x05, 0x03, 0x04, 0x01, 0x00, 0x02, 0x07};
kubitz 0:19fd8c1944fb 59 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
kubitz 0:19fd8c1944fb 60
kubitz 0:19fd8c1944fb 61 //Phase lead to make motor spin
kubitz 9:4135d0c8dc10 62 const int8_t lead = 2; //2 for forwards, -2 for backwards
kubitz 0:19fd8c1944fb 63
kubitz 0:19fd8c1944fb 64 //Status LED
kubitz 0:19fd8c1944fb 65 DigitalOut led1(LED1);
kubitz 0:19fd8c1944fb 66
kubitz 0:19fd8c1944fb 67 //Photointerrupter inputs
kubitz 0:19fd8c1944fb 68 InterruptIn I1(I1pin);
kubitz 0:19fd8c1944fb 69 InterruptIn I2(I2pin);
kubitz 0:19fd8c1944fb 70 InterruptIn I3(I3pin);
kubitz 0:19fd8c1944fb 71
kubitz 0:19fd8c1944fb 72 //Motor Drive outputs
kubitz 0:19fd8c1944fb 73 DigitalOut L1L(L1Lpin);
kubitz 0:19fd8c1944fb 74 DigitalOut L1H(L1Hpin);
kubitz 0:19fd8c1944fb 75 DigitalOut L2L(L2Lpin);
kubitz 0:19fd8c1944fb 76 DigitalOut L2H(L2Hpin);
kubitz 0:19fd8c1944fb 77 DigitalOut L3L(L3Lpin);
kubitz 0:19fd8c1944fb 78 DigitalOut L3H(L3Hpin);
kubitz 0:19fd8c1944fb 79
kubitz 0:19fd8c1944fb 80 DigitalOut TP1(TP1pin);
kubitz 0:19fd8c1944fb 81 PwmOut MotorPWM(PWMpin);
kubitz 0:19fd8c1944fb 82
kubitz 9:4135d0c8dc10 83 int8_t orState = 0; //Rotot offset at motor state 0
kubitz 0:19fd8c1944fb 84 int8_t intState = 0;
kubitz 0:19fd8c1944fb 85 int8_t intStateOld = 0;
kubitz 0:19fd8c1944fb 86
kubitz 0:19fd8c1944fb 87 //Set a given drive state
kubitz 9:4135d0c8dc10 88 void motorOut(int8_t driveState)
kubitz 9:4135d0c8dc10 89 {
kubitz 9:4135d0c8dc10 90
kubitz 0:19fd8c1944fb 91 //Lookup the output byte from the drive state.
kubitz 0:19fd8c1944fb 92 int8_t driveOut = driveTable[driveState & 0x07];
kubitz 9:4135d0c8dc10 93
kubitz 0:19fd8c1944fb 94 //Turn off first
kubitz 9:4135d0c8dc10 95 if (~driveOut & 0x01)
kubitz 9:4135d0c8dc10 96 L1L = 0;
kubitz 9:4135d0c8dc10 97 if (~driveOut & 0x02)
kubitz 9:4135d0c8dc10 98 L1H = 1;
kubitz 9:4135d0c8dc10 99 if (~driveOut & 0x04)
kubitz 9:4135d0c8dc10 100 L2L = 0;
kubitz 9:4135d0c8dc10 101 if (~driveOut & 0x08)
kubitz 9:4135d0c8dc10 102 L2H = 1;
kubitz 9:4135d0c8dc10 103 if (~driveOut & 0x10)
kubitz 9:4135d0c8dc10 104 L3L = 0;
kubitz 9:4135d0c8dc10 105 if (~driveOut & 0x20)
kubitz 9:4135d0c8dc10 106 L3H = 1;
kubitz 9:4135d0c8dc10 107
kubitz 0:19fd8c1944fb 108 //Then turn on
kubitz 9:4135d0c8dc10 109 if (driveOut & 0x01)
kubitz 9:4135d0c8dc10 110 L1L = 1;
kubitz 9:4135d0c8dc10 111 if (driveOut & 0x02)
kubitz 9:4135d0c8dc10 112 L1H = 0;
kubitz 9:4135d0c8dc10 113 if (driveOut & 0x04)
kubitz 9:4135d0c8dc10 114 L2L = 1;
kubitz 9:4135d0c8dc10 115 if (driveOut & 0x08)
kubitz 9:4135d0c8dc10 116 L2H = 0;
kubitz 9:4135d0c8dc10 117 if (driveOut & 0x10)
kubitz 9:4135d0c8dc10 118 L3L = 1;
kubitz 9:4135d0c8dc10 119 if (driveOut & 0x20)
kubitz 9:4135d0c8dc10 120 L3H = 0;
kubitz 9:4135d0c8dc10 121 }
kubitz 0:19fd8c1944fb 122
kubitz 9:4135d0c8dc10 123 //Convert photointerrupter inputs to a rotor state
kubitz 9:4135d0c8dc10 124 inline int8_t readRotorState()
kubitz 9:4135d0c8dc10 125 {
kubitz 9:4135d0c8dc10 126 return stateMap[I1 + 2 * I2 + 4 * I3];
kubitz 9:4135d0c8dc10 127 }
kubitz 9:4135d0c8dc10 128
kubitz 9:4135d0c8dc10 129 //Basic synchronisation routine
kubitz 9:4135d0c8dc10 130 int8_t motorHome()
kubitz 9:4135d0c8dc10 131 {
kubitz 0:19fd8c1944fb 132 //Put the motor in drive state 0 and wait for it to stabilise
kubitz 0:19fd8c1944fb 133 motorOut(0);
kubitz 0:19fd8c1944fb 134 wait(2.0);
kubitz 9:4135d0c8dc10 135
kubitz 0:19fd8c1944fb 136 //Get the rotor state
kubitz 0:19fd8c1944fb 137 return readRotorState();
kubitz 0:19fd8c1944fb 138 }
kubitz 0:19fd8c1944fb 139
kubitz 9:4135d0c8dc10 140 void move()
kubitz 9:4135d0c8dc10 141 {
kubitz 0:19fd8c1944fb 142 intState = readRotorState();
kubitz 9:4135d0c8dc10 143 motorOut((intState - orState + lead + 6) % 6); //+6 to make sure the remainder is positive
kubitz 0:19fd8c1944fb 144 intStateOld = intState;
kubitz 0:19fd8c1944fb 145 }
kubitz 0:19fd8c1944fb 146
kubitz 6:5f4a954cb8bc 147
kubitz 0:19fd8c1944fb 148 //Main
kubitz 9:4135d0c8dc10 149 int main()
kubitz 9:4135d0c8dc10 150 {
kubitz 9:4135d0c8dc10 151 pc.attach(&serialISR);
kubitz 0:19fd8c1944fb 152 const int32_t PWM_PRD = 2500;
kubitz 0:19fd8c1944fb 153 MotorPWM.period_us(PWM_PRD);
kubitz 0:19fd8c1944fb 154 MotorPWM.pulsewidth_us(PWM_PRD);
kubitz 9:4135d0c8dc10 155
kubitz 0:19fd8c1944fb 156 pc.printf("Hello\n\r");
kubitz 9:4135d0c8dc10 157
kubitz 0:19fd8c1944fb 158 //Run the motor synchronisation
kubitz 0:19fd8c1944fb 159 orState = motorHome();
kubitz 9:4135d0c8dc10 160 pc.printf("Rotor origin: %x\n\r", orState);
kubitz 9:4135d0c8dc10 161
kubitz 0:19fd8c1944fb 162 I1.rise(&move);
kubitz 0:19fd8c1944fb 163 I1.fall(&move);
kubitz 0:19fd8c1944fb 164 I2.rise(&move);
kubitz 0:19fd8c1944fb 165 I2.fall(&move);
kubitz 0:19fd8c1944fb 166 I3.rise(&move);
kubitz 0:19fd8c1944fb 167 I3.fall(&move);
kubitz 8:c30a4106d08c 168
kubitz 9:4135d0c8dc10 169 // Initialize threads and timers
kubitz 9:4135d0c8dc10 170 timer_nonce.start();
kubitz 7:aef5b29d7a7c 171 thread_crypto.start(thread_crypto_print);
kubitz 9:4135d0c8dc10 172 thread_processor.start(thread_processor_callback);
kubitz 9:4135d0c8dc10 173 uint8_t hash[32];
kubitz 5:de6430aee646 174
kubitz 9:4135d0c8dc10 175 while (1)
kubitz 9:4135d0c8dc10 176 {
kubitz 10:3669e3d832ed 177 // Set main as lowest priority thread
kubitz 10:3669e3d832ed 178
kubitz 10:3669e3d832ed 179 NewKey_mutex.lock();
kubitz 10:3669e3d832ed 180 *key = NewKey;
kubitz 10:3669e3d832ed 181 NewKey_mutex.unlock();
kubitz 10:3669e3d832ed 182
kubitz 9:4135d0c8dc10 183 SHA256::computeHash(hash, (uint8_t *)sequence, 64);
kubitz 5:de6430aee646 184 *nonce = *nonce + 1;
kubitz 5:de6430aee646 185
kubitz 9:4135d0c8dc10 186 if ((hash[0] == 0) && (hash[1] == 0))
kubitz 9:4135d0c8dc10 187 {
kubitz 0:19fd8c1944fb 188 last_nonce_number = successful_nonce;
kubitz 10:3669e3d832ed 189 putMessageCrypto(*nonce);
kubitz 0:19fd8c1944fb 190 successful_nonce++;
kubitz 9:4135d0c8dc10 191 }
kubitz 9:4135d0c8dc10 192
kubitz 9:4135d0c8dc10 193 if ((timer_nonce.read_ms() - previous_time) > 1000)
kubitz 9:4135d0c8dc10 194 {
kubitz 9:4135d0c8dc10 195 //pc.printf("Computation Rate: %lu computation /sec\n\r", (*nonce - last_nonce_number));
kubitz 0:19fd8c1944fb 196 last_nonce_number = *nonce;
kubitz 5:de6430aee646 197 previous_time = timer_nonce.read_ms();
kubitz 0:19fd8c1944fb 198 }
kubitz 0:19fd8c1944fb 199 }
kubitz 0:19fd8c1944fb 200
kubitz 9:4135d0c8dc10 201 return 0;
kubitz 9:4135d0c8dc10 202 }