fork of what I have been writing
ES_CW2_Starter_STARFISH/main.cpp
- Committer:
- kubitz
- Date:
- 2020-02-28
- Revision:
- 4:377264732a24
- Parent:
- 3:8443825642d1
- Child:
- 5:de6430aee646
File content as of revision 4:377264732a24:
#include "mbed.h" #include "SHA256.h" #include "rtos.h" Timer timer_nonce; typedef struct { uint8_t hash[32]; /* hash of successful nonce */ } mail_t; Mail<mail_t, 16> mail_box; Thread thread_crypto;# 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]; 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; } void print_crypto_thread() { while (true) { osEvent evt = mail_box.get(); if (evt.status == osEventMail) { mail_t *mail = (mail_t*)evt.value.p; for (int i = 0; i < 32; i++) printf("%d", mail->hash[i]); printf("/n"); mail_box.free(mail); } } void putMessage(uint8_t hash[32]){ mail_t *mail = mail_box.alloc(); mail->hash = hash; mail_box.put(mail); } //Main int main() { const int32_t PWM_PRD = 2500; MotorPWM.period_us(PWM_PRD); MotorPWM.pulsewidth_us(PWM_PRD); //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); I1.rise(&move); I1.fall(&move); I2.rise(&move); I2.fall(&move); I3.rise(&move); I3.fall(&move); timer_nonce.start(); previous_time = timer_nonce.read(); while(1==1){ uint8_t hash[32]; thread_crypto.start(print_crypto_thread); *nonce ++; SHA256::computeHash(hash, (uint8_t*)sequence, 64); mail_box.put(mail); if ((hash[0]==0)&&(hash[1]==0)){ last_nonce_number = successful_nonce; successful_nonce++; putMessage(hash); } if ((timer_nonce.read()-previous_time) > 1000){ printf("Computation Rate: %d computation /sec", (*nonce-last_nonce_number)); last_nonce_number = *nonce; } } return 0; }