fork of what I have been writing
Diff: ES_CW2_Starter_STARFISH/main.cpp
- Revision:
- 12:38afe92e67d0
- Parent:
- 11:038d3ba0d720
- Child:
- 13:f6e37c21d31d
--- a/ES_CW2_Starter_STARFISH/main.cpp Fri Mar 06 14:27:16 2020 +0000 +++ b/ES_CW2_Starter_STARFISH/main.cpp Mon Mar 09 15:02:47 2020 +0000 @@ -1,170 +1,28 @@ - -#include "import.h" +#include "mbed.h" +#include "SHA256.h" +#include "rtos.h" +#include <stdlib.h> +#include <string> +#include "mutexes.h" +#include "SerialCommunication.h" +#include "CryptoMining.h" +#include "MotorControl.h" // Declaration of threads Thread thread_crypto; Thread thread_processor; - // Timing variables for printing calculation rate Timer timer_nonce; uint32_t previous_time; -//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 - -//Motor current sense -#define MCSPpin A1 -#define MCSNpin A0 - -//Test outputs -#define TP0pin D4 -#define TP1pin D13 -#define TP2pin A2 - -//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 -const int8_t lead = 2; //2 for forwards, -2 for backwards - -//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); - -DigitalOut TP1(TP1pin); -PwmOut MotorPWM(PWMpin); - -int8_t orState = 0; //Rotot offset at motor state 0 -int8_t intState = 0; -int8_t intStateOld = 0; - -//Set a given drive state -void motorOut(int8_t driveState) -{ - - //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; -} - -//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(); -} - -void move() -{ - intState = readRotorState(); - motorOut((intState - orState + lead + 6) % 6); //+6 to make sure the remainder is positive - intStateOld = intState; -} - - //Main int main() { pc.attach(&serialISR); - const int32_t PWM_PRD = 2500; - MotorPWM.period_us(PWM_PRD); - MotorPWM.pulsewidth_us(PWM_PRD); - pc.printf("Hello\n\r"); - - //Run the motor synchronisation - orState = motorHome(); - pc.printf("Rotor origin: %x\n\r", orState); - - I1.rise(&move); - I1.fall(&move); - I2.rise(&move); - I2.fall(&move); - I3.rise(&move); - I3.fall(&move); + thread_motorCtrl.start(motorCtrlFn); // Initialize threads and timers timer_nonce.start(); @@ -172,26 +30,23 @@ thread_processor.start(thread_processor_callback); uint8_t hash[32]; - while (1) - { + while (1) { // Set main as lowest priority thread NewKey_mutex.lock(); - *key = NewKey; + *key = NewKey; NewKey_mutex.unlock(); SHA256::computeHash(hash, (uint8_t *)sequence, 64); *nonce = *nonce + 1; - if ((hash[0] == 0) && (hash[1] == 0)) - { + if ((hash[0] == 0) && (hash[1] == 0)) { last_nonce_number = successful_nonce; putMessageCrypto(*nonce); successful_nonce++; } - if ((timer_nonce.read_ms() - previous_time) > 1000) - { + if ((timer_nonce.read_ms() - previous_time) > 1000) { //pc.printf("Computation Rate: %lu computation /sec\n\r", (*nonce - last_nonce_number)); last_nonce_number = *nonce; previous_time = timer_nonce.read_ms(); @@ -199,4 +54,4 @@ } return 0; -} +} \ No newline at end of file