Luccas Eagles / TEST_EMBEDDED_LUCCAS

fork of what I have been writing

Dependencies:   Crypto

ES_CW2_Starter_STARFISH/main.cpp@3:8443825642d1, 2020-02-28 (annotated)

Committer:
kubitz
Date:
Fri Feb 28 18:02:50 2020 +0000
Revision:
3:8443825642d1
Parent:
2:60ec222456b6
Child:
4:377264732a24
added mail thread;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kubitz 0:19fd8c1944fb 1 #include "mbed.h"
kubitz 0:19fd8c1944fb 2 #include "SHA256.h"
kubitz 2:60ec222456b6 3 #include "rtos.h"
kubitz 0:19fd8c1944fb 4
kubitz 0:19fd8c1944fb 5 Timer timer_nonce;
kubitz 0:19fd8c1944fb 6
kubitz 1:e9be8b2c8c69 7 typedef struct {
kubitz 2:60ec222456b6 8 uint8_t hash[32]; /* hash of successful nonce */
kubitz 1:e9be8b2c8c69 9 } mail_t;
kubitz 1:e9be8b2c8c69 10
kubitz 1:e9be8b2c8c69 11 Mail<mail_t, 16> mail_box;
kubitz 0:19fd8c1944fb 12
kubitz 3:8443825642d1 13 Thread thread_crypto;#
kubitz 3:8443825642d1 14
kubitz 0:19fd8c1944fb 15 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
kubitz 0:19fd8c1944fb 16 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
kubitz 0:19fd8c1944fb 17 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
kubitz 0:19fd8c1944fb 18 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
kubitz 0:19fd8c1944fb 19 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
kubitz 0:19fd8c1944fb 20 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
kubitz 0:19fd8c1944fb 21 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
kubitz 0:19fd8c1944fb 22 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
kubitz 1:e9be8b2c8c69 23
kubitz 0:19fd8c1944fb 24 uint64_t* key = (uint64_t*)&sequence[48];
kubitz 0:19fd8c1944fb 25 uint64_t* nonce = (uint64_t*)&sequence[56];
kubitz 0:19fd8c1944fb 26 uint32_t successful_nonce = 0;
kubitz 0:19fd8c1944fb 27 uint32_t last_nonce_number = 0;
kubitz 0:19fd8c1944fb 28 uint8_t hash[32];
kubitz 0:19fd8c1944fb 29 uint32_t previous_time;
kubitz 1:e9be8b2c8c69 30
kubitz 1:e9be8b2c8c69 31
kubitz 0:19fd8c1944fb 32 //Photointerrupter input pins
kubitz 0:19fd8c1944fb 33 #define I1pin D3
kubitz 0:19fd8c1944fb 34 #define I2pin D6
kubitz 0:19fd8c1944fb 35 #define I3pin D5
kubitz 0:19fd8c1944fb 36
kubitz 0:19fd8c1944fb 37 //Incremental encoder input pins
kubitz 0:19fd8c1944fb 38 #define CHApin D12
kubitz 0:19fd8c1944fb 39 #define CHBpin D11
kubitz 0:19fd8c1944fb 40
kubitz 0:19fd8c1944fb 41 //Motor Drive output pins //Mask in output byte
kubitz 0:19fd8c1944fb 42 #define L1Lpin D1 //0x01
kubitz 0:19fd8c1944fb 43 #define L1Hpin A3 //0x02
kubitz 0:19fd8c1944fb 44 #define L2Lpin D0 //0x04
kubitz 0:19fd8c1944fb 45 #define L2Hpin A6 //0x08
kubitz 0:19fd8c1944fb 46 #define L3Lpin D10 //0x10
kubitz 0:19fd8c1944fb 47 #define L3Hpin D2 //0x20
kubitz 0:19fd8c1944fb 48
kubitz 0:19fd8c1944fb 49 #define PWMpin D9
kubitz 0:19fd8c1944fb 50
kubitz 0:19fd8c1944fb 51 //Motor current sense
kubitz 0:19fd8c1944fb 52 #define MCSPpin A1
kubitz 0:19fd8c1944fb 53 #define MCSNpin A0
kubitz 0:19fd8c1944fb 54
kubitz 0:19fd8c1944fb 55 //Test outputs
kubitz 0:19fd8c1944fb 56 #define TP0pin D4
kubitz 0:19fd8c1944fb 57 #define TP1pin D13
kubitz 0:19fd8c1944fb 58 #define TP2pin A2
kubitz 0:19fd8c1944fb 59
kubitz 0:19fd8c1944fb 60 //Mapping from sequential drive states to motor phase outputs
kubitz 0:19fd8c1944fb 61 /*
kubitz 0:19fd8c1944fb 62 State L1 L2 L3
kubitz 0:19fd8c1944fb 63 0 H - L
kubitz 0:19fd8c1944fb 64 1 - H L
kubitz 0:19fd8c1944fb 65 2 L H -
kubitz 0:19fd8c1944fb 66 3 L - H
kubitz 0:19fd8c1944fb 67 4 - L H
kubitz 0:19fd8c1944fb 68 5 H L -
kubitz 0:19fd8c1944fb 69 6 - - -
kubitz 0:19fd8c1944fb 70 7 - - -
kubitz 0:19fd8c1944fb 71 */
kubitz 0:19fd8c1944fb 72 //Drive state to output table
kubitz 0:19fd8c1944fb 73 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
kubitz 0:19fd8c1944fb 74
kubitz 0:19fd8c1944fb 75 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
kubitz 0:19fd8c1944fb 76 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
kubitz 0:19fd8c1944fb 77 //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 78
kubitz 0:19fd8c1944fb 79 //Phase lead to make motor spin
kubitz 0:19fd8c1944fb 80 const int8_t lead = 2; //2 for forwards, -2 for backwards
kubitz 0:19fd8c1944fb 81
kubitz 0:19fd8c1944fb 82 //Status LED
kubitz 0:19fd8c1944fb 83 DigitalOut led1(LED1);
kubitz 0:19fd8c1944fb 84
kubitz 0:19fd8c1944fb 85 //Photointerrupter inputs
kubitz 0:19fd8c1944fb 86 InterruptIn I1(I1pin);
kubitz 0:19fd8c1944fb 87 InterruptIn I2(I2pin);
kubitz 0:19fd8c1944fb 88 InterruptIn I3(I3pin);
kubitz 0:19fd8c1944fb 89
kubitz 0:19fd8c1944fb 90 //Motor Drive outputs
kubitz 0:19fd8c1944fb 91 DigitalOut L1L(L1Lpin);
kubitz 0:19fd8c1944fb 92 DigitalOut L1H(L1Hpin);
kubitz 0:19fd8c1944fb 93 DigitalOut L2L(L2Lpin);
kubitz 0:19fd8c1944fb 94 DigitalOut L2H(L2Hpin);
kubitz 0:19fd8c1944fb 95 DigitalOut L3L(L3Lpin);
kubitz 0:19fd8c1944fb 96 DigitalOut L3H(L3Hpin);
kubitz 0:19fd8c1944fb 97
kubitz 0:19fd8c1944fb 98 DigitalOut TP1(TP1pin);
kubitz 0:19fd8c1944fb 99 PwmOut MotorPWM(PWMpin);
kubitz 0:19fd8c1944fb 100
kubitz 0:19fd8c1944fb 101 int8_t orState = 0; //Rotot offset at motor state 0
kubitz 0:19fd8c1944fb 102 int8_t intState = 0;
kubitz 0:19fd8c1944fb 103 int8_t intStateOld = 0;
kubitz 0:19fd8c1944fb 104
kubitz 0:19fd8c1944fb 105
kubitz 0:19fd8c1944fb 106 //Set a given drive state
kubitz 0:19fd8c1944fb 107 void motorOut(int8_t driveState){
kubitz 0:19fd8c1944fb 108
kubitz 0:19fd8c1944fb 109 //Lookup the output byte from the drive state.
kubitz 0:19fd8c1944fb 110 int8_t driveOut = driveTable[driveState & 0x07];
kubitz 0:19fd8c1944fb 111
kubitz 0:19fd8c1944fb 112 //Turn off first
kubitz 0:19fd8c1944fb 113 if (~driveOut & 0x01) L1L = 0;
kubitz 0:19fd8c1944fb 114 if (~driveOut & 0x02) L1H = 1;
kubitz 0:19fd8c1944fb 115 if (~driveOut & 0x04) L2L = 0;
kubitz 0:19fd8c1944fb 116 if (~driveOut & 0x08) L2H = 1;
kubitz 0:19fd8c1944fb 117 if (~driveOut & 0x10) L3L = 0;
kubitz 0:19fd8c1944fb 118 if (~driveOut & 0x20) L3H = 1;
kubitz 0:19fd8c1944fb 119
kubitz 0:19fd8c1944fb 120 //Then turn on
kubitz 0:19fd8c1944fb 121 if (driveOut & 0x01) L1L = 1;
kubitz 0:19fd8c1944fb 122 if (driveOut & 0x02) L1H = 0;
kubitz 0:19fd8c1944fb 123 if (driveOut & 0x04) L2L = 1;
kubitz 0:19fd8c1944fb 124 if (driveOut & 0x08) L2H = 0;
kubitz 0:19fd8c1944fb 125 if (driveOut & 0x10) L3L = 1;
kubitz 0:19fd8c1944fb 126 if (driveOut & 0x20) L3H = 0;
kubitz 0:19fd8c1944fb 127 }
kubitz 0:19fd8c1944fb 128
kubitz 0:19fd8c1944fb 129 //Convert photointerrupter inputs to a rotor state
kubitz 0:19fd8c1944fb 130 inline int8_t readRotorState(){
kubitz 0:19fd8c1944fb 131 return stateMap[I1 + 2*I2 + 4*I3];
kubitz 0:19fd8c1944fb 132 }
kubitz 0:19fd8c1944fb 133
kubitz 0:19fd8c1944fb 134 //Basic synchronisation routine
kubitz 0:19fd8c1944fb 135 int8_t motorHome() {
kubitz 0:19fd8c1944fb 136 //Put the motor in drive state 0 and wait for it to stabilise
kubitz 0:19fd8c1944fb 137 motorOut(0);
kubitz 0:19fd8c1944fb 138 wait(2.0);
kubitz 0:19fd8c1944fb 139
kubitz 0:19fd8c1944fb 140 //Get the rotor state
kubitz 0:19fd8c1944fb 141 return readRotorState();
kubitz 0:19fd8c1944fb 142 }
kubitz 0:19fd8c1944fb 143
kubitz 0:19fd8c1944fb 144 void move() {
kubitz 0:19fd8c1944fb 145 intState = readRotorState();
kubitz 0:19fd8c1944fb 146 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
kubitz 0:19fd8c1944fb 147 intStateOld = intState;
kubitz 0:19fd8c1944fb 148 }
kubitz 0:19fd8c1944fb 149
kubitz 1:e9be8b2c8c69 150 void print_crypto_thread() {
kubitz 1:e9be8b2c8c69 151 while (true) {
kubitz 1:e9be8b2c8c69 152 osEvent evt = mail_box.get();
kubitz 1:e9be8b2c8c69 153 if (evt.status == osEventMail) {
kubitz 1:e9be8b2c8c69 154 mail_t *mail = (mail_t*)evt.value.p;
kubitz 2:60ec222456b6 155
kubitz 2:60ec222456b6 156 printf("Number of cycles: %u\n\r", mail->hash);
kubitz 1:e9be8b2c8c69 157 mail_box.free(mail);
kubitz 1:e9be8b2c8c69 158 }
kubitz 1:e9be8b2c8c69 159 }
kubitz 2:60ec222456b6 160
kubitz 2:60ec222456b6 161 void putMessage(uint8_t hash[32]){
kubitz 2:60ec222456b6 162 mail_t *mail = mail_box.alloc();
kubitz 2:60ec222456b6 163 mail->hash = hash;
kubitz 2:60ec222456b6 164 mail_box.put(mail);
kubitz 2:60ec222456b6 165 }
kubitz 0:19fd8c1944fb 166
kubitz 0:19fd8c1944fb 167 //Main
kubitz 0:19fd8c1944fb 168 int main() {
kubitz 0:19fd8c1944fb 169
kubitz 0:19fd8c1944fb 170 const int32_t PWM_PRD = 2500;
kubitz 0:19fd8c1944fb 171 MotorPWM.period_us(PWM_PRD);
kubitz 0:19fd8c1944fb 172 MotorPWM.pulsewidth_us(PWM_PRD);
kubitz 0:19fd8c1944fb 173
kubitz 0:19fd8c1944fb 174 //Initialise the serial port
kubitz 0:19fd8c1944fb 175 Serial pc(SERIAL_TX, SERIAL_RX);
kubitz 0:19fd8c1944fb 176 pc.printf("Hello\n\r");
kubitz 0:19fd8c1944fb 177
kubitz 0:19fd8c1944fb 178 //Run the motor synchronisation
kubitz 0:19fd8c1944fb 179 orState = motorHome();
kubitz 0:19fd8c1944fb 180 pc.printf("Rotor origin: %x\n\r",orState);
kubitz 0:19fd8c1944fb 181
kubitz 0:19fd8c1944fb 182 I1.rise(&move);
kubitz 0:19fd8c1944fb 183 I1.fall(&move);
kubitz 0:19fd8c1944fb 184 I2.rise(&move);
kubitz 0:19fd8c1944fb 185 I2.fall(&move);
kubitz 0:19fd8c1944fb 186 I3.rise(&move);
kubitz 0:19fd8c1944fb 187 I3.fall(&move);
kubitz 0:19fd8c1944fb 188 timer_nonce.start();
kubitz 0:19fd8c1944fb 189 previous_time = timer_nonce.read();
kubitz 0:19fd8c1944fb 190
kubitz 0:19fd8c1944fb 191 while(1==1){
kubitz 0:19fd8c1944fb 192 uint8_t hash[32];
kubitz 3:8443825642d1 193 thread_crypto.start(print_crypto_thread);
kubitz 0:19fd8c1944fb 194 *nonce ++;
kubitz 0:19fd8c1944fb 195 SHA256::computeHash(hash, (uint8_t*)sequence, 64);
kubitz 2:60ec222456b6 196 mail_box.put(mail);
kubitz 0:19fd8c1944fb 197
kubitz 0:19fd8c1944fb 198 if ((hash[0]==0)&&(hash[1]==0)){
kubitz 0:19fd8c1944fb 199 last_nonce_number = successful_nonce;
kubitz 0:19fd8c1944fb 200 successful_nonce++;
kubitz 2:60ec222456b6 201 putMessage(hash);
kubitz 0:19fd8c1944fb 202 }
kubitz 0:19fd8c1944fb 203
kubitz 0:19fd8c1944fb 204 if ((timer_nonce.read()-previous_time) > 1000){
kubitz 0:19fd8c1944fb 205 printf("Computation Rate: %d computation /sec", (*nonce-last_nonce_number));
kubitz 0:19fd8c1944fb 206 last_nonce_number = *nonce;
kubitz 0:19fd8c1944fb 207 }
kubitz 0:19fd8c1944fb 208
kubitz 0:19fd8c1944fb 209 }
kubitz 0:19fd8c1944fb 210
kubitz 0:19fd8c1944fb 211 return 0;
kubitz 0:19fd8c1944fb 212
kubitz 0:19fd8c1944fb 213 }
kubitz 0:19fd8c1944fb 214