fork of what I have been writing
ES_CW2_Starter_STARFISH/main.cpp
- Committer:
- kubitz
- Date:
- 2020-03-04
- Revision:
- 10:3669e3d832ed
- Parent:
- 9:4135d0c8dc10
- Child:
- 11:038d3ba0d720
File content as of revision 10:3669e3d832ed:
#include "mbed.h" #include "SHA256.h" #include "rtos.h" #include <stdlib.h> #include <string> // Mail variables to pass data to threads Mail<uint64_t, 16> crypto_mail; Mail<uint8_t, 8> inCharQ; // Declaration of threads Thread thread_crypto; Thread thread_processor; Mutex NewKey_mutex; Mutex Speed_mutex; Mutex Music_mutex; Mutex Rotation_mutex; // Crypto mining variables 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 *)&sequence[48]; uint64_t *nonce = (uint64_t *)&sequence[56]; uint32_t successful_nonce = 0; uint32_t last_nonce_number = 0; uint8_t hash[32]; uint64_t NewKey; float NewRotation; float NewSpeed; // Timing variables for printing calculation rate Timer timer_nonce; uint32_t previous_time; // Serial port variables // Max size of serial input is 49 + Null character char serial_buffer[50]; std::string buffer_serial = ""; RawSerial pc(USBTX, USBRX); char command_category; char *trimmed_serial_buffer; uint64_t extracted_value_serial_hex; uint8_t idx; //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; } // Thread to print successful Hashes void thread_crypto_print() { while (true) { osEvent evt = crypto_mail.get(); if (evt.status == osEventMail) { uint64_t *matching_nonce = (uint64_t *)evt.value.p; pc.printf("Matching nonce found: %llu \n\r",(long long) *matching_nonce); crypto_mail.free(matching_nonce); } } } void decode_serial_buffer(std::string serial_buffer) { command_category = serial_buffer[0]; switch (command_category) { case 'R': // Rotation command - R-?\d{1,s4}(\.\d)? Rotation_mutex.lock(); sscanf(serial_buffer.c_str(), "%c-%f", &command_category, &NewRotation); pc.printf("You have a new rotation: %f \r\n", NewRotation); Rotation_mutex.unlock(); break; case 'V': // Speed command - V\d{1,3}(\.\d)? Speed_mutex.lock(); sscanf(serial_buffer.c_str(), "%c %f", &command_category, &NewSpeed); pc.printf("You have a new speed: %f \r\n", NewSpeed); Speed_mutex.unlock(); // to implement ! break; case 'K': // Bitcoin key command - K[0-9a-fA-F]{16} NewKey_mutex.lock(); sscanf(serial_buffer.c_str(), "%c %llx", &command_category, &NewKey); pc.printf("You have entered a new bitcoin key: %llu \r\n",(long long) NewKey); NewKey_mutex.unlock(); break; case 'T': // Melody command - T([A-G][#^]?[1-8]){1,16} Music_mutex.lock(); pc.printf("You have entered a new melody: --> TO IMPLEMENT <--- \r\n"); Music_mutex.unlock(); // to implement ! default: printf("Input value out of format - please try again! \r\n"); } } // Thread processor raw serial inputs: void thread_processor_callback() { while (true) { osEvent evt = inCharQ.get(); uint8_t *newChar = (uint8_t *)evt.value.p; buffer_serial += (*newChar); //Store the new character if (buffer_serial.back() == '\r') { buffer_serial += '\0'; decode_serial_buffer(buffer_serial); buffer_serial = ""; } inCharQ.free(newChar); } } // Put message in Mail box for Crypto printing void putMessageCrypto(uint64_t nonce) { uint64_t *mail = crypto_mail.alloc(); *mail = nonce; crypto_mail.put(mail); } // ISR routine to get charachter from Serial command void serialISR() { uint8_t *newChar = inCharQ.alloc(); *newChar = pc.getc(); inCharQ.put(newChar); } // Attach interrupt routine on serial port //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); // Initialize threads and timers timer_nonce.start(); thread_crypto.start(thread_crypto_print); thread_processor.start(thread_processor_callback); uint8_t hash[32]; while (1) { // Set main as lowest priority thread NewKey_mutex.lock(); *key = NewKey; NewKey_mutex.unlock(); SHA256::computeHash(hash, (uint8_t *)sequence, 64); *nonce = *nonce + 1; if ((hash[0] == 0) && (hash[1] == 0)) { last_nonce_number = successful_nonce; putMessageCrypto(*nonce); successful_nonce++; } 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(); } } return 0; }