Skad00sh / Mbed OS ES_CW2_Dev

Callum and Adel's changes on 12/02/19

Dependencies:   Crypto

main.cpp@56:0e7f794d2676, 2019-05-07 (annotated)

Committer:
adehadd
Date:
Tue May 07 13:34:58 2019 +0000
Revision:
56:0e7f794d2676
Parent:
55:e8b15b4b875f 
fixed some errors that prevented compilation (!)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 2 /*
estott 0:de4320f74764 3 State L1 L2 L3
estott 0:de4320f74764 4 0 H - L
estott 0:de4320f74764 5 1 - H L
estott 0:de4320f74764 6 2 L H -
estott 0:de4320f74764 7 3 L - H
estott 0:de4320f74764 8 4 - L H
estott 0:de4320f74764 9 5 H L -
estott 0:de4320f74764 10 6 - - -
estott 0:de4320f74764 11 7 - - -
estott 0:de4320f74764 12 */
CallumAlder 42:121148278dae 13
CallumAlder 42:121148278dae 14 //Header Files
CallumAlder 42:121148278dae 15 #include "SHA256.h"
CallumAlder 42:121148278dae 16 #include "mbed.h"
CallumAlder 42:121148278dae 17
CallumAlder 42:121148278dae 18 //Photointerrupter Input Pins
CallumAlder 42:121148278dae 19 #define I1pin D3
CallumAlder 42:121148278dae 20 #define I2pin D6
CallumAlder 42:121148278dae 21 #define I3pin D5
CallumAlder 42:121148278dae 22
CallumAlder 42:121148278dae 23 //Incremental Encoder Input Pins
CallumAlder 42:121148278dae 24 #define CHApin D12
CallumAlder 42:121148278dae 25 #define CHBpin D11
CallumAlder 42:121148278dae 26
CallumAlder 42:121148278dae 27 //Motor Drive High Pins //Mask in output byte
CallumAlder 42:121148278dae 28 #define L1Hpin A3 //0x02
CallumAlder 42:121148278dae 29 #define L2Hpin A6 //0x08
CallumAlder 42:121148278dae 30 #define L3Hpin D2 //0x20
CallumAlder 42:121148278dae 31
CallumAlder 42:121148278dae 32 //Motor Drive Low Pins
CallumAlder 42:121148278dae 33 #define L1Lpin D1 //0x01
CallumAlder 42:121148278dae 34 #define L2Lpin D0 //0x04
CallumAlder 42:121148278dae 35 #define L3Lpin D10 //0x10
CallumAlder 42:121148278dae 36
CallumAlder 42:121148278dae 37 //Motor Pulse Width Modulation (PWM) Pin
CallumAlder 42:121148278dae 38 #define PWMpin D9
CallumAlder 42:121148278dae 39
CallumAlder 42:121148278dae 40 //Motor current sense
CallumAlder 42:121148278dae 41 #define MCSPpin A1
CallumAlder 42:121148278dae 42 #define MCSNpin A0
CallumAlder 42:121148278dae 43
CallumAlder 42:121148278dae 44 // "Lacros" for utility
CallumAlder 47:21bf4096faa1 45 #define max(x,y) ( (x)>=(y) ? (x):(y) )
CallumAlder 47:21bf4096faa1 46 #define min(x,y) ( (x)>=(y) ? (y):(x) )
CallumAlder 47:21bf4096faa1 47 #define sgn(x) ( (x)>= 0 ? 1 :-1 )
CallumAlder 42:121148278dae 48
CallumAlder 42:121148278dae 49 //Status LED
CallumAlder 42:121148278dae 50 DigitalOut led1(LED1);
CallumAlder 42:121148278dae 51
CallumAlder 42:121148278dae 52 //Photointerrupter Inputs
CallumAlder 42:121148278dae 53 InterruptIn I1(I1pin);
CallumAlder 42:121148278dae 54 InterruptIn I2(I2pin);
CallumAlder 42:121148278dae 55 InterruptIn I3(I3pin);
CallumAlder 42:121148278dae 56
CallumAlder 42:121148278dae 57 //Motor Drive High Outputs
CallumAlder 42:121148278dae 58 DigitalOut L1H(L1Hpin);
CallumAlder 42:121148278dae 59 DigitalOut L2H(L2Hpin);
CallumAlder 42:121148278dae 60 DigitalOut L3H(L3Hpin);
CallumAlder 42:121148278dae 61
CallumAlder 42:121148278dae 62 //Motor Drive Low Outputs
CallumAlder 42:121148278dae 63 DigitalOut L1L(L1Lpin);
CallumAlder 42:121148278dae 64 DigitalOut L2L(L2Lpin);
CallumAlder 42:121148278dae 65 DigitalOut L3L(L3Lpin);
CallumAlder 42:121148278dae 66
CallumAlder 42:121148278dae 67 PwmOut pwmCtrl(PWMpin);
CallumAlder 42:121148278dae 68
adehadd 51:c03f63c6f930 69
adehadd 51:c03f63c6f930 70 //Encoder inputs
adehadd 51:c03f63c6f930 71 InterruptIn CHA(CHApin);
adehadd 51:c03f63c6f930 72 InterruptIn CHB(CHBpin);
adehadd 51:c03f63c6f930 73
adehadd 51:c03f63c6f930 74
adehadd 27:ce05fed3c1ea 75 //Drive state to output table
estott 0:de4320f74764 76 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 77
adehadd 27:ce05fed3c1ea 78 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
CallumAlder 47:21bf4096faa1 79 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
CallumAlder 47:21bf4096faa1 80 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
CallumAlder 47:21bf4096faa1 81
adehadd 49:ae8dedfe2d0f 82 #ifndef MAXCMDLENGTH
adehadd 49:ae8dedfe2d0f 83 #define MAXCMDLENGTH 18
adehadd 49:ae8dedfe2d0f 84 #endif
adehadd 49:ae8dedfe2d0f 85
adehadd 49:ae8dedfe2d0f 86 #ifndef MAXCMDLENGTH_HALF
adehadd 49:ae8dedfe2d0f 87 #define MAXCMDLENGTH_HALF 9
adehadd 49:ae8dedfe2d0f 88 #endif
adehadd 49:ae8dedfe2d0f 89
CallumAlder 42:121148278dae 90 class Comm{
CallumAlder 42:121148278dae 91
CallumAlder 42:121148278dae 92 public:
estott 0:de4320f74764 93
CallumAlder 43:a6d20109b2f2 94 volatile bool _outMining;
CallumAlder 43:a6d20109b2f2 95 volatile float _targetVel, _targetRot;
adehadd 49:ae8dedfe2d0f 96 volatile char _notes[MAXCMDLENGTH_HALF]; // Array of actual _notes
estott 0:de4320f74764 97
CallumAlder 47:21bf4096faa1 98 volatile int8_t _modeBitField; // 0,0,0,... <=> Melody,Torque,Rotation,Velocity
CallumAlder 47:21bf4096faa1 99 const uint8_t _MAXCMDLENGTH; //
adehadd 50:d1b983a0dd6f 100 volatile uint8_t _inCharIndex, _cmdIndex, _noteRep,
adehadd 49:ae8dedfe2d0f 101 _noteDur[MAXCMDLENGTH_HALF],_noteLen; // Array of note durations
CallumAlder 47:21bf4096faa1 102 volatile uint32_t _motorTorque; // Motor Toque
CallumAlder 47:21bf4096faa1 103 volatile uint64_t _newKey; // hash key
adehadd 49:ae8dedfe2d0f 104
adehadd 51:c03f63c6f930 105 volatile int32_t _motor_pos;
adehadd 51:c03f63c6f930 106
adehadd 49:ae8dedfe2d0f 107 char _inCharQ[MAXCMDLENGTH],
adehadd 49:ae8dedfe2d0f 108 _newCmd[MAXCMDLENGTH];
adehadd 49:ae8dedfe2d0f 109
CallumAlder 47:21bf4096faa1 110 RawSerial _pc;
adehadd 49:ae8dedfe2d0f 111 Thread _tCommOut, _tCommIn;
adehadd 49:ae8dedfe2d0f 112 Mutex _newKeyMutex; // Restrict access to prevent deadlock.
CallumAlder 47:21bf4096faa1 113 bool _RUN;
CallumAlder 42:121148278dae 114
CallumAlder 48:b2afe48ced0d 115 enum msgType { mot_orState, posIn, velIn, posOut, velOut,
CallumAlder 42:121148278dae 116 hashRate, keyAdded, nonceMatch,
CallumAlder 43:a6d20109b2f2 117 torque, rotations, melody,
CallumAlder 42:121148278dae 118 error};
adehadd 27:ce05fed3c1ea 119
CallumAlder 47:21bf4096faa1 120 typedef struct { msgType type;
adehadd 49:ae8dedfe2d0f 121 uint32_t message;} msg; // TODO: Maybe add a thing that stores the newCmd message as well
adehadd 27:ce05fed3c1ea 122
CallumAlder 47:21bf4096faa1 123 Mail<msg, 32> _msgStack;
adehadd 49:ae8dedfe2d0f 124 Mail<bool,32> _msgReceived;
CallumAlder 47:21bf4096faa1 125
iachinweze1 23:ab1cb51527d1 126
CallumAlder 48:b2afe48ced0d 127 //-- Default Constructor With Inheritance From RawSerial Constructor ------------------------------------------------//
adehadd 49:ae8dedfe2d0f 128 Comm(): _pc(SERIAL_TX, SERIAL_RX), _tCommOut(osPriorityNormal, 1024), _tCommIn(osPriorityAboveNormal, 1024), _MAXCMDLENGTH(MAXCMDLENGTH){
adehadd 27:ce05fed3c1ea 129
CallumAlder 47:21bf4096faa1 130 _cmdIndex = 0;
CallumAlder 47:21bf4096faa1 131 _inCharIndex = 0;
adehadd 45:402a8a9423b9 132
CallumAlder 47:21bf4096faa1 133 _outMining = false;
CallumAlder 47:21bf4096faa1 134 _motorTorque = 300;
CallumAlder 47:21bf4096faa1 135 _targetRot = 459.0;
CallumAlder 47:21bf4096faa1 136 _targetVel = 45.0;
iachinweze1 23:ab1cb51527d1 137
adehadd 51:c03f63c6f930 138 _motor_pos = 0;
adehadd 51:c03f63c6f930 139
CallumAlder 47:21bf4096faa1 140 _modeBitField = 0x01; // Default velocity mode
adehadd 45:402a8a9423b9 141
adehadd 49:ae8dedfe2d0f 142 _pc.printf("\n\r%s %d\n\r>", "Welcome", _MAXCMDLENGTH ); // Welcome
CallumAlder 47:21bf4096faa1 143 for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer
CallumAlder 48:b2afe48ced0d 144 _inCharQ[i] = (char)'.'; // If a null terminator is printed Mbed prints 'Embedded Systems are fun and do awesome things!'
CallumAlder 42:121148278dae 145
CallumAlder 47:21bf4096faa1 146 _inCharQ[_MAXCMDLENGTH] = (char)'\0';
CallumAlder 48:b2afe48ced0d 147 sprintf(_inCharQ, "%s", _inCharQ); // Handling of the correct string
CallumAlder 47:21bf4096faa1 148 strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH);
CallumAlder 19:805c87360b55 149
adehadd 49:ae8dedfe2d0f 150 _pc.printf("%s\n\r<", _inCharQ);
adehadd 49:ae8dedfe2d0f 151
CallumAlder 42:121148278dae 152 }
iachinweze1 23:ab1cb51527d1 153
adehadd 49:ae8dedfe2d0f 154 void commInFn() {
adehadd 49:ae8dedfe2d0f 155 _pc.attach(callback(this, &Comm::serialISR));
adehadd 49:ae8dedfe2d0f 156 char newChar;
CallumAlder 42:121148278dae 157
adehadd 49:ae8dedfe2d0f 158 while (_RUN) {
adehadd 49:ae8dedfe2d0f 159 osEvent newEvent = _msgReceived.get(); // Waits forever until it receives a thing
adehadd 49:ae8dedfe2d0f 160 _msgReceived.free((bool *)newEvent.value.p);
adehadd 49:ae8dedfe2d0f 161
CallumAlder 43:a6d20109b2f2 162 if (_inCharIndex == (_MAXCMDLENGTH)) {
CallumAlder 47:21bf4096faa1 163 _inCharQ[_MAXCMDLENGTH] = '\0'; // Force the string to have an end character
CallumAlder 42:121148278dae 164 putMessage(error, 1);
CallumAlder 47:21bf4096faa1 165 _inCharIndex = 0; // Reset buffer index
adehadd 27:ce05fed3c1ea 166 }
adehadd 27:ce05fed3c1ea 167 else{
adehadd 49:ae8dedfe2d0f 168 newChar = _inCharQ[_inCharIndex];
adehadd 49:ae8dedfe2d0f 169
adehadd 49:ae8dedfe2d0f 170 if(newChar != '\r'){ // While the command is not over,
CallumAlder 47:21bf4096faa1 171 _inCharIndex++; // Advance index
CallumAlder 43:a6d20109b2f2 172 _pc.putc(newChar);
CallumAlder 42:121148278dae 173 }
CallumAlder 42:121148278dae 174 else{
CallumAlder 47:21bf4096faa1 175 _inCharQ[_inCharIndex] = '\0'; // When the command is finally over,
CallumAlder 47:21bf4096faa1 176 strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH); // Will copy 18 characters from _inCharQ to _newCmd
CallumAlder 42:121148278dae 177
CallumAlder 47:21bf4096faa1 178 for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer
CallumAlder 47:21bf4096faa1 179 _inCharQ[i] = ' ';
adehadd 49:ae8dedfe2d0f 180
CallumAlder 47:21bf4096faa1 181 _inCharIndex = 0; // Reset index
adehadd 49:ae8dedfe2d0f 182 cmdParser();
CallumAlder 42:121148278dae 183 }
adehadd 27:ce05fed3c1ea 184 }
adehadd 27:ce05fed3c1ea 185 }
adehadd 27:ce05fed3c1ea 186 }
CallumAlder 19:805c87360b55 187
adehadd 49:ae8dedfe2d0f 188 //-- Interrupt Service Routine for Serial Port and Character Queue Handling -----------------------------------------//
adehadd 49:ae8dedfe2d0f 189 void serialISR() {
adehadd 49:ae8dedfe2d0f 190 if (_pc.readable()) {
adehadd 49:ae8dedfe2d0f 191 char newChar = _pc.getc();
adehadd 49:ae8dedfe2d0f 192 _inCharQ[_inCharIndex] = newChar; // Save input character
adehadd 49:ae8dedfe2d0f 193
adehadd 49:ae8dedfe2d0f 194 bool *new_msg = _msgReceived.alloc();
adehadd 49:ae8dedfe2d0f 195 *new_msg = true;
adehadd 49:ae8dedfe2d0f 196 _msgReceived.put(new_msg);
adehadd 49:ae8dedfe2d0f 197 }
adehadd 49:ae8dedfe2d0f 198 }
adehadd 49:ae8dedfe2d0f 199
CallumAlder 48:b2afe48ced0d 200 //-- Reset Cursor Position ------------------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 201 void returnCursor() {
CallumAlder 43:a6d20109b2f2 202 _pc.putc('>');
CallumAlder 43:a6d20109b2f2 203 for (int i = 0; i < _inCharIndex; ++i)
CallumAlder 47:21bf4096faa1 204 _pc.putc(_inCharQ[i]);
CallumAlder 42:121148278dae 205 }
CallumAlder 47:21bf4096faa1 206
CallumAlder 48:b2afe48ced0d 207 //-- Parse Incoming Data From Serial Port ---------------------------------------------------------------------------//
CallumAlder 48:b2afe48ced0d 208 void cmdParser() {
CallumAlder 47:21bf4096faa1 209 switch(_newCmd[0]) {
CallumAlder 47:21bf4096faa1 210 case 'K': // keyAdded
CallumAlder 47:21bf4096faa1 211 _newKeyMutex.lock(); // Ensure there is no deadlock
CallumAlder 47:21bf4096faa1 212 sscanf(_newCmd, "K%x", &_newKey); // Find desired the Key code
CallumAlder 47:21bf4096faa1 213 putMessage(keyAdded, _newKey); // Print it out
CallumAlder 43:a6d20109b2f2 214 _newKeyMutex.unlock();
CallumAlder 43:a6d20109b2f2 215 break;
CallumAlder 43:a6d20109b2f2 216
CallumAlder 47:21bf4096faa1 217 case 'V': // velIn
CallumAlder 47:21bf4096faa1 218 sscanf(_newCmd, "V%f", &_targetVel); // Find desired the target velocity
CallumAlder 47:21bf4096faa1 219 _modeBitField = 0x01; // Adjust bitfield pos 1
adehadd 51:c03f63c6f930 220 _motor_pos = 0;
adehadd 56:0e7f794d2676 221 if (&_targetVel < (void *)0) {
iachinweze1 53:89d16b398615 222 _targetRot = -100;
iachinweze1 53:89d16b398615 223 } else {
iachinweze1 53:89d16b398615 224 _targetRot = 100;
iachinweze1 53:89d16b398615 225 }
CallumAlder 47:21bf4096faa1 226 putMessage(velIn, _targetVel); // Print it out
CallumAlder 43:a6d20109b2f2 227 break;
CallumAlder 43:a6d20109b2f2 228
CallumAlder 47:21bf4096faa1 229 case 'R': // posIn
CallumAlder 47:21bf4096faa1 230 sscanf(_newCmd, "R%f", &_targetRot); // Find desired target rotation
CallumAlder 47:21bf4096faa1 231 _modeBitField = 0x02; // Adjust bitfield pos 2
adehadd 51:c03f63c6f930 232 _targetVel = 2e3;
adehadd 51:c03f63c6f930 233 _motor_pos = 0;
CallumAlder 47:21bf4096faa1 234 putMessage(posIn, _targetRot); // Print it out
CallumAlder 42:121148278dae 235 break;
iachinweze1 23:ab1cb51527d1 236
CallumAlder 47:21bf4096faa1 237 case 'x': // Torque
CallumAlder 47:21bf4096faa1 238 sscanf(_newCmd, "x%u", &_motorTorque); // Find desired target torque
CallumAlder 47:21bf4096faa1 239 _modeBitField = 0x04; // Adjust bitfield pos 3
CallumAlder 47:21bf4096faa1 240 putMessage(torque, _motorTorque); // Print it out
adehadd 27:ce05fed3c1ea 241 break;
CallumAlder 42:121148278dae 242
CallumAlder 47:21bf4096faa1 243 case 'M': // Mining display toggle
CallumAlder 47:21bf4096faa1 244 int8_t miningTest;
CallumAlder 47:21bf4096faa1 245 sscanf(_newCmd, "M%d", &miningTest); // Display if input is 1
CallumAlder 47:21bf4096faa1 246 miningTest == 1 ? _outMining = true : _outMining = false;
CallumAlder 47:21bf4096faa1 247 break;
CallumAlder 47:21bf4096faa1 248
CallumAlder 47:21bf4096faa1 249 case 'T': // Play tune
CallumAlder 47:21bf4096faa1 250 regexTune() ? putMessage(melody, 1) : putMessage(error, 2);
CallumAlder 47:21bf4096faa1 251 break; // Break from case 'T'
CallumAlder 47:21bf4096faa1 252
CallumAlder 47:21bf4096faa1 253 default: // Break from switch
adehadd 27:ce05fed3c1ea 254 break;
adehadd 27:ce05fed3c1ea 255 }
adehadd 27:ce05fed3c1ea 256 }
adehadd 27:ce05fed3c1ea 257
CallumAlder 48:b2afe48ced0d 258 //-- Read In Note Data From Serial Port and Parse Into Class Variables ----------------------------------------------//
CallumAlder 47:21bf4096faa1 259 bool regexTune() {
CallumAlder 47:21bf4096faa1 260
CallumAlder 47:21bf4096faa1 261 uint8_t len = 0;
CallumAlder 47:21bf4096faa1 262
CallumAlder 47:21bf4096faa1 263 for (int i = 1; i < _MAXCMDLENGTH; ++i) // Find first #
CallumAlder 47:21bf4096faa1 264 if (_newCmd[i] == '#') {
CallumAlder 47:21bf4096faa1 265 len = i;
CallumAlder 47:21bf4096faa1 266 break; // Stop at first # found
CallumAlder 47:21bf4096faa1 267 }
CallumAlder 47:21bf4096faa1 268
CallumAlder 47:21bf4096faa1 269 if (len>0) { // Parse the input only if # found
adehadd 50:d1b983a0dd6f 270 uint8_t specLen = 2*(len+1) +1; // Add extra character for number of repeats, and +1 for the letter T
adehadd 50:d1b983a0dd6f 271 bool isChar = true; // After 'T' first is character note
adehadd 50:d1b983a0dd6f 272 char formatSpec[specLen];
CallumAlder 47:21bf4096faa1 273 formatSpec[0]='T';
adehadd 50:d1b983a0dd6f 274 for (int i = 1; i < specLen; i=i+2) { // Create a format spec based on length of input
CallumAlder 47:21bf4096faa1 275 formatSpec[i] = '%';
CallumAlder 47:21bf4096faa1 276 isChar ? formatSpec[i+1] = 'c' : \
CallumAlder 47:21bf4096faa1 277 formatSpec[i+1] = 'u' ;
CallumAlder 47:21bf4096faa1 278 isChar = !isChar;
CallumAlder 47:21bf4096faa1 279 }
CallumAlder 47:21bf4096faa1 280
adehadd 50:d1b983a0dd6f 281 formatSpec[specLen] = '\0';
CallumAlder 47:21bf4096faa1 282 sprintf(formatSpec, "%s", formatSpec); // Set string format correctly
CallumAlder 47:21bf4096faa1 283 // _pc.printf("%s\n", formatSpec );
CallumAlder 47:21bf4096faa1 284 sscanf(_newCmd, formatSpec, &_notes[0], &_noteDur[0],
adehadd 50:d1b983a0dd6f 285 &_notes[1], &_noteDur[1],
adehadd 50:d1b983a0dd6f 286 &_notes[2], &_noteDur[2],
adehadd 50:d1b983a0dd6f 287 &_notes[3], &_noteDur[3],
adehadd 50:d1b983a0dd6f 288 &_notes[4], &_noteDur[4],
adehadd 50:d1b983a0dd6f 289 &_notes[5], &_noteDur[5],
adehadd 50:d1b983a0dd6f 290 &_notes[6], &_noteDur[6],
adehadd 50:d1b983a0dd6f 291 &_notes[7], &_noteDur[7],
adehadd 50:d1b983a0dd6f 292 &_notes[8], &_noteDur[8]);
CallumAlder 47:21bf4096faa1 293
CallumAlder 47:21bf4096faa1 294
CallumAlder 47:21bf4096faa1 295 // Update _newCmd for putMessage print
CallumAlder 48:b2afe48ced0d 296 sprintf(_newCmd,formatSpec, _notes[0], _noteDur[0],\
CallumAlder 47:21bf4096faa1 297 _notes[1], _noteDur[1],\
CallumAlder 47:21bf4096faa1 298 _notes[2], _noteDur[2],\
CallumAlder 47:21bf4096faa1 299 _notes[3], _noteDur[3],\
CallumAlder 47:21bf4096faa1 300 _notes[4], _noteDur[4],\
CallumAlder 47:21bf4096faa1 301 _notes[5], _noteDur[5],\
CallumAlder 47:21bf4096faa1 302 _notes[6], _noteDur[6],\
CallumAlder 47:21bf4096faa1 303 _notes[7], _noteDur[7],\
CallumAlder 47:21bf4096faa1 304 _notes[8], _noteDur[8]);
adehadd 50:d1b983a0dd6f 305 _noteLen = (len-1)/2;
adehadd 50:d1b983a0dd6f 306 _modeBitField = 0x08;
adehadd 50:d1b983a0dd6f 307 _noteRep = _noteDur[(len-1)/2];
CallumAlder 47:21bf4096faa1 308 return true;
CallumAlder 47:21bf4096faa1 309 }
CallumAlder 47:21bf4096faa1 310 else {
CallumAlder 47:21bf4096faa1 311 return false;
CallumAlder 47:21bf4096faa1 312 }
CallumAlder 47:21bf4096faa1 313 }
CallumAlder 47:21bf4096faa1 314
CallumAlder 48:b2afe48ced0d 315 //-- Decode Messages to Print on Serial Port ------------------------------------------------------------------------//
CallumAlder 42:121148278dae 316 void commOutFn() {
CallumAlder 42:121148278dae 317 while (_RUN) {
CallumAlder 48:b2afe48ced0d 318
CallumAlder 47:21bf4096faa1 319 osEvent newEvent = _msgStack.get();
CallumAlder 42:121148278dae 320 msg *pMessage = (msg *) newEvent.value.p;
adehadd 27:ce05fed3c1ea 321
CallumAlder 47:21bf4096faa1 322 //Case switch to choose serial output based on incoming message enum
CallumAlder 42:121148278dae 323 switch (pMessage->type) {
CallumAlder 48:b2afe48ced0d 324 case mot_orState:
CallumAlder 47:21bf4096faa1 325 _pc.printf("\r>%s< The motor is currently in state %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 326 break;
CallumAlder 42:121148278dae 327 case hashRate:
CallumAlder 43:a6d20109b2f2 328 if (_outMining) {
CallumAlder 47:21bf4096faa1 329 _pc.printf("\r>%s< Mining: %.4u Hash/s\r", _inCharQ, (uint32_t) pMessage->message);
CallumAlder 42:121148278dae 330 returnCursor();
CallumAlder 43:a6d20109b2f2 331 _outMining = false;
CallumAlder 42:121148278dae 332 }
CallumAlder 42:121148278dae 333 break;
CallumAlder 42:121148278dae 334 case nonceMatch:
CallumAlder 47:21bf4096faa1 335 _pc.printf("\r>%s< Nonce found: %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 336 returnCursor();
CallumAlder 42:121148278dae 337 break;
CallumAlder 42:121148278dae 338 case keyAdded:
CallumAlder 47:21bf4096faa1 339 _pc.printf("\r>%s< New Key Added:\t0x%016x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 340 break;
CallumAlder 42:121148278dae 341 case torque:
CallumAlder 47:21bf4096faa1 342 _pc.printf("\r>%s< Motor Torque set to:\t%d\n\r", _inCharQ, (int32_t) pMessage->message);
CallumAlder 42:121148278dae 343 break;
CallumAlder 42:121148278dae 344 case velIn:
CallumAlder 47:21bf4096faa1 345 _pc.printf("\r>%s< Target Velocity set to:\t%.2f\n\r", _inCharQ, _targetVel);
CallumAlder 42:121148278dae 346 break;
CallumAlder 42:121148278dae 347 case velOut:
CallumAlder 47:21bf4096faa1 348 _pc.printf("\r>%s< Current Velocity:\t%.2f States/sec\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 349 break;
CallumAlder 42:121148278dae 350 case posIn:
CallumAlder 47:21bf4096faa1 351 _pc.printf("\r>%s< Target # Rotations:\t%.2f\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 352 break;
CallumAlder 42:121148278dae 353 case posOut:
CallumAlder 47:21bf4096faa1 354 _pc.printf("\r>%s< Current Position:\t%.2f\n\r", _inCharQ, (float) ((int32_t) pMessage->message));
CallumAlder 42:121148278dae 355 break;
CallumAlder 47:21bf4096faa1 356 case melody:
CallumAlder 47:21bf4096faa1 357 _pc.printf("\r>%s< New Tune:\t%s\n\r", _inCharQ, _newCmd);
CallumAlder 47:21bf4096faa1 358 break;
CallumAlder 42:121148278dae 359 case error:
CallumAlder 47:21bf4096faa1 360 switch (pMessage->message) {
CallumAlder 47:21bf4096faa1 361 case 1:
CallumAlder 47:21bf4096faa1 362 _pc.printf("\r>%s< Error:%s\n\r", _inCharQ, "Overfull Buffer Reset" );
CallumAlder 47:21bf4096faa1 363 break;
CallumAlder 47:21bf4096faa1 364 case 2:
CallumAlder 47:21bf4096faa1 365 _pc.printf("\r>%s< Error:%s\n\r", _inCharQ, "Invalid Melody" );
CallumAlder 47:21bf4096faa1 366 default:
CallumAlder 47:21bf4096faa1 367 break;
CallumAlder 47:21bf4096faa1 368 }
CallumAlder 47:21bf4096faa1 369 for (int i = 0; i < _MAXCMDLENGTH; ++i) // reset buffer
CallumAlder 47:21bf4096faa1 370 _inCharQ[i] = ' ';
CallumAlder 47:21bf4096faa1 371
CallumAlder 47:21bf4096faa1 372 _inCharIndex = 0;
CallumAlder 42:121148278dae 373 break;
CallumAlder 42:121148278dae 374 default:
CallumAlder 47:21bf4096faa1 375 _pc.printf("\r>%s< Unknown Error. Message: %x\n\r", _inCharQ, pMessage->message);
CallumAlder 42:121148278dae 376 break;
CallumAlder 42:121148278dae 377 }
CallumAlder 42:121148278dae 378
CallumAlder 47:21bf4096faa1 379 _msgStack.free(pMessage);
CallumAlder 42:121148278dae 380 }
CallumAlder 42:121148278dae 381 }
CallumAlder 42:121148278dae 382
CallumAlder 48:b2afe48ced0d 383 //-- Put a Message On the Outgoing Message Stack --------------------------------------------------------------------//
CallumAlder 42:121148278dae 384 void putMessage(msgType type, uint32_t message){
CallumAlder 47:21bf4096faa1 385 msg *p_msg = _msgStack.alloc();
CallumAlder 42:121148278dae 386 p_msg->type = type;
CallumAlder 42:121148278dae 387 p_msg->message = message;
CallumAlder 47:21bf4096faa1 388 _msgStack.put(p_msg);
CallumAlder 42:121148278dae 389 }
CallumAlder 42:121148278dae 390
CallumAlder 48:b2afe48ced0d 391 //-- Attach CommOut Thread to the Outgoing Communication Function ---------------------------------------------------//
CallumAlder 42:121148278dae 392 void start_comm(){
CallumAlder 42:121148278dae 393 _RUN = true;
CallumAlder 47:21bf4096faa1 394 _tCommOut.start(callback(this, &Comm::commOutFn));
adehadd 49:ae8dedfe2d0f 395 _tCommIn.start(callback(this, &Comm::commInFn));
CallumAlder 42:121148278dae 396 }
iachinweze1 23:ab1cb51527d1 397
adehadd 49:ae8dedfe2d0f 398
CallumAlder 42:121148278dae 399 };
adehadd 46:b9081aa50bda 400
CallumAlder 42:121148278dae 401 class Motor {
adehadd 27:ce05fed3c1ea 402
CallumAlder 42:121148278dae 403 protected:
CallumAlder 48:b2afe48ced0d 404 volatile int8_t _orState, // Rotor offset at motor state 0, motor specific
CallumAlder 48:b2afe48ced0d 405 _currentState, // Current Rotor State
CallumAlder 48:b2afe48ced0d 406 _stateList[6], // All possible rotor states stored
CallumAlder 48:b2afe48ced0d 407 _lead; // Phase _lead to make motor spin
CallumAlder 42:121148278dae 408
iachinweze1 54:bd5b586aa2e1 409 int8_t old_rotor_state;
iachinweze1 54:bd5b586aa2e1 410
CallumAlder 48:b2afe48ced0d 411 uint8_t _theStates[3], // The Key states
iachinweze1 54:bd5b586aa2e1 412 _stateCount[3], // State Counter
iachinweze1 54:bd5b586aa2e1 413 encState;
iachinweze1 54:bd5b586aa2e1 414
adehadd 51:c03f63c6f930 415 uint32_t _mtrPeriod, // Motor period
adehadd 56:0e7f794d2676 416 _MAXPWM_PRD,
iachinweze1 54:bd5b586aa2e1 417 quadratureStates,
iachinweze1 54:bd5b586aa2e1 418 MINPWM_PRD,
iachinweze1 54:bd5b586aa2e1 419 maxEncCount,
iachinweze1 54:bd5b586aa2e1 420 encCount,
iachinweze1 54:bd5b586aa2e1 421 encTotal,
iachinweze1 54:bd5b586aa2e1 422 badEdges;
iachinweze1 54:bd5b586aa2e1 423
CallumAlder 48:b2afe48ced0d 424 float _dutyC; // 1 = 100%
CallumAlder 47:21bf4096faa1 425 bool _RUN;
adehadd 27:ce05fed3c1ea 426
CallumAlder 48:b2afe48ced0d 427 Comm* _pComm;
CallumAlder 48:b2afe48ced0d 428 Thread _tMotorCtrl; // Thread for motor Control
CallumAlder 42:121148278dae 429
adehadd 51:c03f63c6f930 430
CallumAlder 42:121148278dae 431 public:
CallumAlder 48:b2afe48ced0d 432 //-- Default Constructor With Thread Object Constructor -------------------------------------------------------------//
adehadd 51:c03f63c6f930 433 Motor() : _tMotorCtrl(osPriorityAboveNormal2, 2048){
CallumAlder 47:21bf4096faa1 434
CallumAlder 48:b2afe48ced0d 435 _dutyC = 1.0f; // Set Power to maximum to drive motorHome()
adehadd 51:c03f63c6f930 436 _mtrPeriod = 2e3; // Motor period
adehadd 51:c03f63c6f930 437 pwmCtrl.period_us(_mtrPeriod); // Initialise PWM
adehadd 51:c03f63c6f930 438 pwmCtrl.pulsewidth_us(_mtrPeriod);
CallumAlder 42:121148278dae 439
CallumAlder 48:b2afe48ced0d 440 _orState = motorHome(); // Rotor offset at motor state 0
adehadd 49:ae8dedfe2d0f 441 _currentState = readRotorState(); // Current Rotor State
CallumAlder 48:b2afe48ced0d 442 _lead = 2; // 2 for forwards, -2 for backwards
adehadd 51:c03f63c6f930 443 old_rotor_state = _orState; // Set old_rotor_state to the origin to begin with
adehadd 27:ce05fed3c1ea 444
CallumAlder 48:b2afe48ced0d 445 _theStates[0] = _orState +1; // Initialise repeatable states, for us this is state 1
CallumAlder 48:b2afe48ced0d 446 _theStates[1] = (_orState + _lead) % 6 +1; // state 3
CallumAlder 48:b2afe48ced0d 447 _theStates[2] = (_orState + (_lead*2)) % 6 +1; // state 5
CallumAlder 42:121148278dae 448
CallumAlder 48:b2afe48ced0d 449 _stateCount[0] = 0; // Initialise
CallumAlder 48:b2afe48ced0d 450 _stateCount[1] = 0;
CallumAlder 48:b2afe48ced0d 451 _stateCount[2] = 0;
CallumAlder 42:121148278dae 452
CallumAlder 48:b2afe48ced0d 453 _pComm = NULL; // Initialise as NULL
CallumAlder 48:b2afe48ced0d 454 _RUN = false;
CallumAlder 42:121148278dae 455
CallumAlder 47:21bf4096faa1 456 _MAXPWM_PRD = 2e3;
CallumAlder 42:121148278dae 457
adehadd 51:c03f63c6f930 458 maxEncCount = 0;
adehadd 51:c03f63c6f930 459 encCount = 0;
adehadd 51:c03f63c6f930 460 encTotal = 0;
adehadd 51:c03f63c6f930 461 badEdges = 0;
adehadd 51:c03f63c6f930 462
adehadd 51:c03f63c6f930 463 quadratureStates = 1112;
adehadd 51:c03f63c6f930 464
CallumAlder 42:121148278dae 465 }
adehadd 27:ce05fed3c1ea 466
adehadd 51:c03f63c6f930 467 int findMinTorque() {
adehadd 51:c03f63c6f930 468 int8_t prevState = readRotorState();
adehadd 51:c03f63c6f930 469 uint32_t _mtPeriod = 700;
adehadd 51:c03f63c6f930 470 Timer testTimer;
adehadd 51:c03f63c6f930 471 testTimer.start();
adehadd 51:c03f63c6f930 472
adehadd 51:c03f63c6f930 473 _pComm->_pc.printf("PState:%i, CState:%i\n", prevState, readRotorState());
adehadd 51:c03f63c6f930 474
adehadd 51:c03f63c6f930 475 // stateUpdate();
adehadd 51:c03f63c6f930 476
adehadd 51:c03f63c6f930 477 while (readRotorState() == prevState) {
adehadd 51:c03f63c6f930 478 testTimer.reset();
adehadd 51:c03f63c6f930 479 // pwmCtrl.period_us(2e3);
adehadd 51:c03f63c6f930 480 pwmCtrl.pulsewidth_us(_mtPeriod);
adehadd 51:c03f63c6f930 481 stateUpdate();
adehadd 51:c03f63c6f930 482
adehadd 51:c03f63c6f930 483 while (testTimer.read_ms() < 500) {}
adehadd 51:c03f63c6f930 484 // prevState = readRotorState();
adehadd 51:c03f63c6f930 485 _mtPeriod += 10;
adehadd 51:c03f63c6f930 486 _mtPeriod = _mtPeriod >= 1000 ? 700 : _mtPeriod;
adehadd 51:c03f63c6f930 487 }
adehadd 51:c03f63c6f930 488
adehadd 51:c03f63c6f930 489 _pComm->_pc.printf("Min Torque:%i\n", _mtPeriod);
adehadd 51:c03f63c6f930 490 return _mtPeriod;
adehadd 51:c03f63c6f930 491 }
adehadd 51:c03f63c6f930 492
adehadd 51:c03f63c6f930 493
CallumAlder 48:b2afe48ced0d 494 //-- Start Motor and Attach State Update Function to Rise/Fall Interrupts -------------------------------------------//
CallumAlder 42:121148278dae 495 void motorStart(Comm *comm) {
CallumAlder 42:121148278dae 496
CallumAlder 48:b2afe48ced0d 497 I1.fall(callback(this, &Motor::stateUpdate)); // Establish Photo Interrupter Service Routines (auto choose next state)
CallumAlder 42:121148278dae 498 I2.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 499 I3.fall(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 500 I1.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 501 I2.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 502 I3.rise(callback(this, &Motor::stateUpdate));
CallumAlder 42:121148278dae 503
CallumAlder 48:b2afe48ced0d 504 motorOut((_currentState-_orState+_lead+6)%6); // Push digitally so static motor will start moving
CallumAlder 42:121148278dae 505
CallumAlder 48:b2afe48ced0d 506
CallumAlder 48:b2afe48ced0d 507 _dutyC = 0.8; // Default a lower duty cycle
adehadd 51:c03f63c6f930 508 pwmCtrl.period_us((uint32_t)_mtrPeriod);
adehadd 51:c03f63c6f930 509 pwmCtrl.pulsewidth_us((uint32_t)(_mtrPeriod*_dutyC));
CallumAlder 42:121148278dae 510
CallumAlder 48:b2afe48ced0d 511 _pComm = comm;
CallumAlder 42:121148278dae 512 _RUN = true;
iachinweze1 53:89d16b398615 513 MINPWM_PRD = 920;
adehadd 51:c03f63c6f930 514
CallumAlder 42:121148278dae 515
CallumAlder 48:b2afe48ced0d 516 _tMotorCtrl.start(callback(this, &Motor::motorCtrlFn)); // Start motor control thread
CallumAlder 48:b2afe48ced0d 517 _pComm->_pc.printf("origin=%i, _theStates=[%i,%i,%i]\n\r", _orState, _theStates[0], _theStates[1], _theStates[2]); // Print information to terminal
CallumAlder 42:121148278dae 518
CallumAlder 42:121148278dae 519 }
CallumAlder 42:121148278dae 520
CallumAlder 48:b2afe48ced0d 521 //-- Set a Predetermined Drive State -------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 522 void motorOut(int8_t driveState) {
iachinweze1 23:ab1cb51527d1 523
CallumAlder 48:b2afe48ced0d 524 int8_t driveOut = driveTable[driveState & 0x07]; //Lookup the output byte from the drive state
CallumAlder 42:121148278dae 525
CallumAlder 48:b2afe48ced0d 526 if (~driveOut & 0x01) L1L = 0; //Turn off first
CallumAlder 42:121148278dae 527 if (~driveOut & 0x02) L1H = 1;
CallumAlder 42:121148278dae 528 if (~driveOut & 0x04) L2L = 0;
CallumAlder 42:121148278dae 529 if (~driveOut & 0x08) L2H = 1;
CallumAlder 42:121148278dae 530 if (~driveOut & 0x10) L3L = 0;
CallumAlder 42:121148278dae 531 if (~driveOut & 0x20) L3H = 1;
CallumAlder 42:121148278dae 532
CallumAlder 48:b2afe48ced0d 533 if (driveOut & 0x01) L1L = 1; //Then turn on
CallumAlder 48:b2afe48ced0d 534 if (driveOut & 0x02) L1H = 0;
CallumAlder 48:b2afe48ced0d 535 if (driveOut & 0x04) L2L = 1;
CallumAlder 48:b2afe48ced0d 536 if (driveOut & 0x08) L2H = 0;
CallumAlder 48:b2afe48ced0d 537 if (driveOut & 0x10) L3L = 1;
CallumAlder 48:b2afe48ced0d 538 if (driveOut & 0x20) L3H = 0;
CallumAlder 42:121148278dae 539 }
CallumAlder 42:121148278dae 540
CallumAlder 48:b2afe48ced0d 541 //-- Inline Conversion of Photointerrupts to a Rotor State ----------------------------------------------------------//
adehadd 49:ae8dedfe2d0f 542 inline int8_t readRotorState() {
CallumAlder 42:121148278dae 543 return stateMap[I1 + 2*I2 + 4*I3];
CallumAlder 42:121148278dae 544 }
CallumAlder 42:121148278dae 545
CallumAlder 48:b2afe48ced0d 546 //-- Basic Motor Stabilisation and Synchronisation ------------------------------------------------------------------//
CallumAlder 42:121148278dae 547 int8_t motorHome() {
CallumAlder 48:b2afe48ced0d 548
CallumAlder 48:b2afe48ced0d 549 motorOut(0); //Put the motor in drive state 0 and wait for it to stabilise
CallumAlder 42:121148278dae 550 wait(3.0);
CallumAlder 42:121148278dae 551
adehadd 49:ae8dedfe2d0f 552 return readRotorState(); //Get the rotor state
CallumAlder 42:121148278dae 553 }
iachinweze1 23:ab1cb51527d1 554
CallumAlder 48:b2afe48ced0d 555 //-- Motor State Log, Circumvents Issues From Occasionally Skipping Certain States ----------------------------------//
CallumAlder 42:121148278dae 556 void stateUpdate() { // () { // **params
adehadd 49:ae8dedfe2d0f 557 _currentState = readRotorState(); // Get current state
adehadd 27:ce05fed3c1ea 558
CallumAlder 48:b2afe48ced0d 559 motorOut((_currentState - _orState + _lead + 6) % 6); // Send the next state to the motor
iachinweze1 23:ab1cb51527d1 560
adehadd 51:c03f63c6f930 561 if (_currentState == 1) {
adehadd 51:c03f63c6f930 562 //if (encCount > maxEncCount) maxEncCount = encCount;
adehadd 51:c03f63c6f930 563 //if (encCount < minEncCount) minEncCount = encCount;
adehadd 51:c03f63c6f930 564 //if (badEdges > maxBadEdges) maxBadEdges = badEdges;
adehadd 51:c03f63c6f930 565
adehadd 51:c03f63c6f930 566 //revCount++;
adehadd 51:c03f63c6f930 567 encTotal += encCount;
adehadd 51:c03f63c6f930 568 encCount = 0;
adehadd 51:c03f63c6f930 569 badEdges = 0;
adehadd 51:c03f63c6f930 570 }
adehadd 51:c03f63c6f930 571
adehadd 51:c03f63c6f930 572 if (_currentState - old_rotor_state == 5) {
adehadd 51:c03f63c6f930 573 _pComm->_motor_pos--;
adehadd 51:c03f63c6f930 574 } else if (_currentState - old_rotor_state == -5) {
adehadd 51:c03f63c6f930 575 _pComm->_motor_pos++;
adehadd 51:c03f63c6f930 576 } else {
adehadd 51:c03f63c6f930 577 _pComm->_motor_pos += (_currentState - old_rotor_state);
adehadd 51:c03f63c6f930 578 }
adehadd 51:c03f63c6f930 579
adehadd 51:c03f63c6f930 580 old_rotor_state = _currentState;
adehadd 51:c03f63c6f930 581 }
adehadd 51:c03f63c6f930 582
adehadd 51:c03f63c6f930 583 // A Rise
adehadd 51:c03f63c6f930 584 void encISR0() {
adehadd 51:c03f63c6f930 585 if (encState == 3) {encCount++;}
adehadd 51:c03f63c6f930 586 else badEdges++;
adehadd 51:c03f63c6f930 587 encState = 0;
adehadd 51:c03f63c6f930 588 }
adehadd 51:c03f63c6f930 589
adehadd 51:c03f63c6f930 590 // B Rise
adehadd 51:c03f63c6f930 591 void encISR1() {
adehadd 51:c03f63c6f930 592 if (encState == 0) {encCount++;}
adehadd 51:c03f63c6f930 593 else badEdges++;
adehadd 51:c03f63c6f930 594 encState = 1;
adehadd 51:c03f63c6f930 595 }
adehadd 51:c03f63c6f930 596
adehadd 51:c03f63c6f930 597 // A Fall
adehadd 51:c03f63c6f930 598 void encISR2() {
adehadd 51:c03f63c6f930 599 if (encState == 1) {encCount++;}
adehadd 51:c03f63c6f930 600 else badEdges++;
adehadd 51:c03f63c6f930 601 encState = 2;
adehadd 51:c03f63c6f930 602 }
adehadd 51:c03f63c6f930 603
adehadd 51:c03f63c6f930 604 // B Fall
adehadd 51:c03f63c6f930 605 void encISR3() {
adehadd 51:c03f63c6f930 606 if (encState == 2) {encCount++;}
adehadd 51:c03f63c6f930 607 else badEdges++;
adehadd 51:c03f63c6f930 608 encState = 3;
CallumAlder 42:121148278dae 609 }
CallumAlder 19:805c87360b55 610
CallumAlder 48:b2afe48ced0d 611 //-- Motor PID Control ---------------------------------------------------------------------------------------------//
CallumAlder 42:121148278dae 612 void motorCtrlFn() {
CallumAlder 42:121148278dae 613 Ticker motorCtrlTicker;
CallumAlder 42:121148278dae 614 Timer m_timer;
CallumAlder 42:121148278dae 615 motorCtrlTicker.attach_us(callback(this,&Motor::motorCtrlTick), 1e5);
iachinweze1 23:ab1cb51527d1 616
CallumAlder 42:121148278dae 617 // Init some things
CallumAlder 48:b2afe48ced0d 618 uint8_t cpyStateCount[3];
CallumAlder 48:b2afe48ced0d 619 uint8_t cpyCurrentState;
CallumAlder 48:b2afe48ced0d 620 int8_t cpyModeBitfield;
CallumAlder 42:121148278dae 621
CallumAlder 48:b2afe48ced0d 622 int32_t ting[2] = {6,1}; // 360,60 (for degrees), 5,1 (for states)
CallumAlder 48:b2afe48ced0d 623 uint8_t iterElementMax;
CallumAlder 48:b2afe48ced0d 624 int32_t totalDegrees;
CallumAlder 48:b2afe48ced0d 625 int32_t stateDiff;
adehadd 27:ce05fed3c1ea 626
adehadd 51:c03f63c6f930 627 // int32_t cur_speed; // Variable for local velocity calculation
adehadd 51:c03f63c6f930 628 // int32_t locMotorPos; // Local copy of motor position
CallumAlder 47:21bf4096faa1 629 volatile int32_t torque; // Local variable to set motor torque
CallumAlder 48:b2afe48ced0d 630 static int32_t oldTorque =0;
CallumAlder 48:b2afe48ced0d 631 float sError, // Velocity error between target and reality
adehadd 51:c03f63c6f930 632 rError,
adehadd 51:c03f63c6f930 633 eError = 0; // Rotation error between target and reality
CallumAlder 48:b2afe48ced0d 634 static float rErrorOld; // Old rotation error used for calculation
adehadd 51:c03f63c6f930 635 float encRemain = 0;
adehadd 51:c03f63c6f930 636 bool attached = true;
adehadd 51:c03f63c6f930 637 bool declared = false;
CallumAlder 42:121148278dae 638
CallumAlder 42:121148278dae 639 //~~~Controller constants~~~~
iachinweze1 53:89d16b398615 640 int32_t Kp1=88; //22, 27 //Proportional controller constants
iachinweze1 53:89d16b398615 641 int32_t Kp2=26; //12 //Calculated by trial and error to give optimal accuracy
iachinweze1 53:89d16b398615 642 float Kd =34.5; // 40, 14.75
adehadd 51:c03f63c6f930 643 float Kis = 10.0f; // 50
adehadd 51:c03f63c6f930 644 int32_t Kir = 0.0f;
adehadd 51:c03f63c6f930 645 float sIntegral = 0.0f;
adehadd 51:c03f63c6f930 646 float rIntegral = 0.0f;
CallumAlder 42:121148278dae 647
CallumAlder 48:b2afe48ced0d 648 int32_t Ts; // Initialise controller output Ts (s=speed)
CallumAlder 48:b2afe48ced0d 649 int32_t Tr; // Initialise controller output Tr (r=rotations)
CallumAlder 42:121148278dae 650
adehadd 51:c03f63c6f930 651 int32_t old_pos = 0,
iachinweze1 53:89d16b398615 652 cur_pos = 0,
iachinweze1 53:89d16b398615 653 sign = 1;
adehadd 27:ce05fed3c1ea 654
adehadd 51:c03f63c6f930 655 float cur_err = 0.0f,
adehadd 51:c03f63c6f930 656 old_err = 0.0f,
adehadd 51:c03f63c6f930 657 err_diff,
adehadd 51:c03f63c6f930 658 time_diff,
adehadd 51:c03f63c6f930 659 hold_pos = 0,
adehadd 51:c03f63c6f930 660 cur_time = 0.0f,
adehadd 51:c03f63c6f930 661 old_time = 0.0f,
adehadd 51:c03f63c6f930 662 cur_speed = 0.0f;
CallumAlder 42:121148278dae 663
CallumAlder 42:121148278dae 664
adehadd 50:d1b983a0dd6f 665
adehadd 50:d1b983a0dd6f 666 enum { // To nearest Hz
adehadd 50:d1b983a0dd6f 667 NOTE_C = 261, // C4
adehadd 50:d1b983a0dd6f 668 NOTE_D = 293, // D4
adehadd 50:d1b983a0dd6f 669 NOTE_E = 330, // E4
adehadd 50:d1b983a0dd6f 670 NOTE_F = 349, // F4
adehadd 50:d1b983a0dd6f 671 NOTE_G = 392, // G4
adehadd 50:d1b983a0dd6f 672 NOTE_A = 440, // A4
adehadd 50:d1b983a0dd6f 673 NOTE_B = 494 // B4
adehadd 50:d1b983a0dd6f 674 };
adehadd 50:d1b983a0dd6f 675
CallumAlder 42:121148278dae 676 m_timer.start();
CallumAlder 42:121148278dae 677
CallumAlder 42:121148278dae 678 while (_RUN) {
CallumAlder 48:b2afe48ced0d 679 _tMotorCtrl.signal_wait((int32_t)0x1);
iachinweze1 23:ab1cb51527d1 680
CallumAlder 48:b2afe48ced0d 681 core_util_critical_section_enter(); // Access shared variables here
iachinweze1 53:89d16b398615 682 cpyModeBitfield = _pComm->_modeBitField;
CallumAlder 42:121148278dae 683 core_util_critical_section_exit();
adehadd 20:c60f4785b556 684
iachinweze1 53:89d16b398615 685 if ((cpyModeBitfield & 0x01) | (cpyModeBitfield & 0x02)) {// Speed, torque control and PID
adehadd 51:c03f63c6f930 686 if (abs(cur_speed) <= 120 && (!attached)) {
adehadd 51:c03f63c6f930 687 eError = 1.0f;
adehadd 51:c03f63c6f930 688 attached = true;
adehadd 51:c03f63c6f930 689
adehadd 51:c03f63c6f930 690 CHA.rise(callback(this, &Motor::encISR0));
adehadd 51:c03f63c6f930 691 CHB.fall(callback(this, &Motor::encISR3));
adehadd 51:c03f63c6f930 692 CHB.rise(callback(this, &Motor::encISR1));
adehadd 51:c03f63c6f930 693 CHA.fall(callback(this, &Motor::encISR2));
adehadd 51:c03f63c6f930 694
adehadd 51:c03f63c6f930 695 encCount = 0;
adehadd 51:c03f63c6f930 696 encTotal = 0;
adehadd 51:c03f63c6f930 697 encRemain = old_err * quadratureStates; // Number of encs remaining
adehadd 51:c03f63c6f930 698 }
adehadd 51:c03f63c6f930 699
adehadd 51:c03f63c6f930 700 else if (abs(cur_speed) > 120 && (attached)) {
adehadd 51:c03f63c6f930 701 eError = 0.0f;
adehadd 51:c03f63c6f930 702 attached = false;
adehadd 51:c03f63c6f930 703
adehadd 51:c03f63c6f930 704 CHA.rise(NULL);
adehadd 51:c03f63c6f930 705 CHB.fall(NULL);
adehadd 51:c03f63c6f930 706 CHB.rise(NULL);
adehadd 51:c03f63c6f930 707 CHA.fall(NULL);
adehadd 51:c03f63c6f930 708
adehadd 51:c03f63c6f930 709 encCount = 0;
adehadd 51:c03f63c6f930 710 encTotal = 0;
adehadd 51:c03f63c6f930 711 eError = 0;
adehadd 51:c03f63c6f930 712
adehadd 51:c03f63c6f930 713 // Store the number of rotations that have been done up to the point where the channels are activated
adehadd 51:c03f63c6f930 714 hold_pos = (cur_pos / 6.0f);
adehadd 51:c03f63c6f930 715 _pComm->_pc.printf("HPos:%f\n", hold_pos);
adehadd 51:c03f63c6f930 716
adehadd 51:c03f63c6f930 717 }
CallumAlder 42:121148278dae 718
adehadd 51:c03f63c6f930 719 // read state & timestamp
adehadd 51:c03f63c6f930 720 if (cur_pos < 2) {
adehadd 51:c03f63c6f930 721 rIntegral = 0.0f;
iachinweze1 53:89d16b398615 722 sIntegral = 0.0f;
iachinweze1 53:89d16b398615 723 sign = sgn(_pComm->_targetRot);
adehadd 51:c03f63c6f930 724 }
iachinweze1 53:89d16b398615 725 cur_pos = (_pComm->_motor_pos)*sign; // USE
adehadd 51:c03f63c6f930 726 cur_time = m_timer.read();
adehadd 51:c03f63c6f930 727
adehadd 51:c03f63c6f930 728 // compute speed
adehadd 51:c03f63c6f930 729 time_diff = cur_time - old_time;
adehadd 51:c03f63c6f930 730 cur_speed = (cur_pos - old_pos) / time_diff;
adehadd 51:c03f63c6f930 731
adehadd 51:c03f63c6f930 732 // prep values for next time through loop
adehadd 51:c03f63c6f930 733 old_time = cur_time;
adehadd 51:c03f63c6f930 734 old_pos = cur_pos;
adehadd 51:c03f63c6f930 735
adehadd 51:c03f63c6f930 736 // Position error
adehadd 51:c03f63c6f930 737 // if (!attached) {
adehadd 51:c03f63c6f930 738 rError = (_pComm->_targetRot) - (cur_pos/6.0f);
adehadd 51:c03f63c6f930 739 // }
adehadd 51:c03f63c6f930 740 // else{
adehadd 51:c03f63c6f930 741 // rErrorOld = RError;
adehadd 51:c03f63c6f930 742 // rError = (_pComm->_targetRot) - (hold_pos + ((encRemain - encTotal)/quadratureStates));
adehadd 51:c03f63c6f930 743 // }
adehadd 51:c03f63c6f930 744
adehadd 51:c03f63c6f930 745
adehadd 51:c03f63c6f930 746 if ((cur_speed != 0)) {
adehadd 51:c03f63c6f930 747 rIntegral += rError * time_diff;
adehadd 51:c03f63c6f930 748 }
adehadd 51:c03f63c6f930 749 err_diff = rError - old_err;
adehadd 51:c03f63c6f930 750 old_err = rError;
adehadd 51:c03f63c6f930 751
adehadd 51:c03f63c6f930 752 // Speed error - Convert curr_speed from states per time to rotations per time
adehadd 51:c03f63c6f930 753 // TODO: Check the direction that CPos goes in when _targetVel < 0
adehadd 51:c03f63c6f930 754 sError = (_pComm->_targetVel) - (abs(cur_speed/6.0f)); //Read global variable _targetVel updated by interrupt and calculate error between target and reality
adehadd 51:c03f63c6f930 755 if ((cur_speed != 0) && (torque != _MAXPWM_PRD)) {
adehadd 51:c03f63c6f930 756 sIntegral += sError * time_diff;
adehadd 51:c03f63c6f930 757 if (abs(sIntegral * Kis) >= 2000) {
adehadd 51:c03f63c6f930 758 sIntegral -= sError * time_diff;
adehadd 51:c03f63c6f930 759 }
adehadd 51:c03f63c6f930 760 }
adehadd 51:c03f63c6f930 761
iachinweze1 53:89d16b398615 762 Ts = (int32_t)(((Kp1 * sError * sign) + (Kis * sIntegral * sign))); // * sgn(cur_pos));
iachinweze1 53:89d16b398615 763 Tr = (int32_t)((Kp2*rError*sign) + (Kd/time_diff) * err_diff * sign);
CallumAlder 42:121148278dae 764
adehadd 51:c03f63c6f930 765 if (cpyModeBitfield & 0x01) {
adehadd 51:c03f63c6f930 766 // Speed control
adehadd 51:c03f63c6f930 767 if (_pComm->_targetVel == 0) { //Check if user entered V0,
adehadd 51:c03f63c6f930 768 torque = _MAXPWM_PRD; //and set the output to maximum as specified
adehadd 51:c03f63c6f930 769 }
adehadd 51:c03f63c6f930 770
adehadd 51:c03f63c6f930 771 else {
adehadd 51:c03f63c6f930 772 // select minimum absolute value torque
iachinweze1 53:89d16b398615 773 // if (cur_speed < 0) {
iachinweze1 53:89d16b398615 774 // torque = max(Ts, Tr);
iachinweze1 53:89d16b398615 775 // }
adehadd 51:c03f63c6f930 776
iachinweze1 53:89d16b398615 777 // else {
iachinweze1 53:89d16b398615 778 // torque = min(Ts, Tr);
iachinweze1 53:89d16b398615 779 // }
adehadd 51:c03f63c6f930 780
adehadd 51:c03f63c6f930 781 torque = Ts;
adehadd 51:c03f63c6f930 782 if (abs(sError) > 0.6) {
adehadd 51:c03f63c6f930 783 // torque = abs(Tr) < 1000 ? 1000*sgn(Tr) : Tr;
adehadd 51:c03f63c6f930 784 torque = abs(torque) < MINPWM_PRD ? MINPWM_PRD*sgn(torque) : torque;
iachinweze1 53:89d16b398615 785 // _pComm->_pc.printf("Speed:%f\r\n", (cur_speed/6.0f));
adehadd 51:c03f63c6f930 786 } else {
adehadd 51:c03f63c6f930 787 torque = 0;
adehadd 51:c03f63c6f930 788 }
adehadd 51:c03f63c6f930 789
iachinweze1 53:89d16b398615 790 torque = abs(torque) < MINPWM_PRD ? MINPWM_PRD*sgn(torque) : torque;
adehadd 51:c03f63c6f930 791 }
adehadd 51:c03f63c6f930 792 }
adehadd 51:c03f63c6f930 793
adehadd 51:c03f63c6f930 794 else if (cpyModeBitfield & 0x02) {
adehadd 51:c03f63c6f930 795 // select minimum absolute value torque
adehadd 51:c03f63c6f930 796 if (_pComm->_targetRot == 0) {
adehadd 51:c03f63c6f930 797 // Not spinning at max speed
adehadd 51:c03f63c6f930 798 torque = 0.7 * _MAXPWM_PRD;
adehadd 51:c03f63c6f930 799 }
CallumAlder 42:121148278dae 800
adehadd 51:c03f63c6f930 801 else {
iachinweze1 53:89d16b398615 802 // select minimum absolute value torque
iachinweze1 53:89d16b398615 803 // if (cur_speed < 0) {
iachinweze1 53:89d16b398615 804 // torque = max(Ts, Tr);
iachinweze1 53:89d16b398615 805 // } else {
iachinweze1 53:89d16b398615 806 // torque = min(Ts, Tr);
iachinweze1 53:89d16b398615 807 // }
adehadd 51:c03f63c6f930 808
iachinweze1 53:89d16b398615 809 torque = Tr;
iachinweze1 53:89d16b398615 810 if (abs(rError) > 0.3) {
adehadd 51:c03f63c6f930 811 torque = abs(torque) < MINPWM_PRD ? MINPWM_PRD*sgn(torque) : torque;
adehadd 51:c03f63c6f930 812 } else {
adehadd 51:c03f63c6f930 813 torque = 0;
adehadd 51:c03f63c6f930 814 if (!declared) {
adehadd 51:c03f63c6f930 815 _pComm->_pc.printf("Remaining Turns:%f\n", rError);
adehadd 51:c03f63c6f930 816 declared = true;
adehadd 51:c03f63c6f930 817 }
adehadd 51:c03f63c6f930 818 //attached = false;
adehadd 51:c03f63c6f930 819 }
adehadd 51:c03f63c6f930 820
adehadd 51:c03f63c6f930 821 }
adehadd 51:c03f63c6f930 822 }
adehadd 51:c03f63c6f930 823
adehadd 51:c03f63c6f930 824 if (torque < 0) {
adehadd 51:c03f63c6f930 825 torque = -torque;
adehadd 51:c03f63c6f930 826 _lead = -2;
adehadd 51:c03f63c6f930 827 } else {
adehadd 51:c03f63c6f930 828 _lead = 2;
adehadd 51:c03f63c6f930 829 }
adehadd 51:c03f63c6f930 830
adehadd 51:c03f63c6f930 831 torque = torque > _MAXPWM_PRD ? _MAXPWM_PRD : torque; // Set a cap on torque
adehadd 51:c03f63c6f930 832 _pComm->_motorTorque = torque;
adehadd 51:c03f63c6f930 833 pwmCtrl.pulsewidth_us(torque);
adehadd 51:c03f63c6f930 834 // _pComm->_pc.printf("EError:%.4f, tot:%d, encRemain:%.4f || RError:%.4f || SError:%.4f, CSpeed:%f, Torque:%i\r\n", eError, encTotal, encRemain, rError, sError, (cur_speed/6.0f), torque);
adehadd 51:c03f63c6f930 835 //_pComm->_pc.printf("EError:%.4f, remain:%.4f, tot%d || RError:%.4f || Torque:%i \r\n", eError, encRemain, encTotal, rError, torque);
iachinweze1 54:bd5b586aa2e1 836 // _pComm->_pc.printf("RError:%.4f\r\n", rError);
adehadd 51:c03f63c6f930 837
adehadd 51:c03f63c6f930 838
adehadd 51:c03f63c6f930 839 // Give the motor a kick
adehadd 51:c03f63c6f930 840 stateUpdate();
CallumAlder 47:21bf4096faa1 841
CallumAlder 47:21bf4096faa1 842 }
CallumAlder 47:21bf4096faa1 843 else if (cpyModeBitfield & 0x04) { // If it is in torque mode, do no PID math, just set pulsewidth
CallumAlder 48:b2afe48ced0d 844 torque = (int32_t)_pComm->_motorTorque;
CallumAlder 47:21bf4096faa1 845 if (oldTorque != torque) {
CallumAlder 48:b2afe48ced0d 846 _pComm->putMessage((Comm::msgType)8, torque);
CallumAlder 47:21bf4096faa1 847 oldTorque = torque;
CallumAlder 42:121148278dae 848 }
CallumAlder 47:21bf4096faa1 849 }
adehadd 50:d1b983a0dd6f 850 else if (cpyModeBitfield & 0x08) { // If it is in Melody mode
adehadd 51:c03f63c6f930 851 uint32_t oldMtrPeriod = _mtrPeriod; // Backup of current motor period
adehadd 50:d1b983a0dd6f 852 float oldDutyC = _dutyC; // Backup of current duty cycle
adehadd 50:d1b983a0dd6f 853 uint32_t noteFreq, newDur, newPeriod =0,
adehadd 51:c03f63c6f930 854 oldPeriod = _mtrPeriod;
adehadd 50:d1b983a0dd6f 855
adehadd 50:d1b983a0dd6f 856 Timer testTimer;
adehadd 50:d1b983a0dd6f 857 testTimer.start();
adehadd 50:d1b983a0dd6f 858 _pComm->_pc.printf("rep:%i, len:%i \n\r", _pComm->_noteRep, _pComm->_noteLen);
adehadd 50:d1b983a0dd6f 859 for (int k = 0; k < _pComm->_noteRep; ++k) {
adehadd 50:d1b983a0dd6f 860
adehadd 50:d1b983a0dd6f 861 for (int i = 0; i < _pComm->_noteLen; ++i) {
adehadd 50:d1b983a0dd6f 862
adehadd 50:d1b983a0dd6f 863 noteFreq = 0;
adehadd 50:d1b983a0dd6f 864 newDur = (uint32_t)_pComm->_noteDur[i]*1e3; // ms
adehadd 50:d1b983a0dd6f 865
adehadd 50:d1b983a0dd6f 866 switch (_pComm->_notes[i]) {
adehadd 50:d1b983a0dd6f 867 case 'C':
adehadd 50:d1b983a0dd6f 868 noteFreq = NOTE_C;
adehadd 50:d1b983a0dd6f 869 break;
adehadd 50:d1b983a0dd6f 870 case 'D':
adehadd 50:d1b983a0dd6f 871 noteFreq = NOTE_D;
adehadd 50:d1b983a0dd6f 872 break;
adehadd 50:d1b983a0dd6f 873 case 'E':
adehadd 50:d1b983a0dd6f 874 noteFreq = NOTE_E;
adehadd 50:d1b983a0dd6f 875 break;
adehadd 50:d1b983a0dd6f 876 case 'F':
adehadd 50:d1b983a0dd6f 877 noteFreq = NOTE_F;
adehadd 50:d1b983a0dd6f 878 break;
adehadd 50:d1b983a0dd6f 879 case 'G':
adehadd 50:d1b983a0dd6f 880 noteFreq = NOTE_G;
adehadd 50:d1b983a0dd6f 881 break;
adehadd 50:d1b983a0dd6f 882 case 'A':
adehadd 50:d1b983a0dd6f 883 noteFreq = NOTE_A;
adehadd 50:d1b983a0dd6f 884 break;
adehadd 50:d1b983a0dd6f 885 case 'B':
adehadd 50:d1b983a0dd6f 886 noteFreq = NOTE_B;
adehadd 50:d1b983a0dd6f 887 break;
adehadd 50:d1b983a0dd6f 888 default:
adehadd 50:d1b983a0dd6f 889 break;
adehadd 50:d1b983a0dd6f 890 }
adehadd 50:d1b983a0dd6f 891
adehadd 51:c03f63c6f930 892 if (noteFreq == 0) {break;} // leave the loop if we get a wrong character
adehadd 51:c03f63c6f930 893
adehadd 50:d1b983a0dd6f 894 newPeriod = (uint32_t)(1e6/(uint32_t)noteFreq); // us
adehadd 50:d1b983a0dd6f 895
adehadd 50:d1b983a0dd6f 896 if (newPeriod>oldPeriod) { // Change Period First
iachinweze1 55:e8b15b4b875f 897 // _pComm->_pc.printf("Period:changed \n" );
adehadd 50:d1b983a0dd6f 898 pwmCtrl.period_us(newPeriod); //set frequency of PWM
adehadd 50:d1b983a0dd6f 899 pwmCtrl.pulsewidth_us((uint32_t)(newPeriod*0.8));
adehadd 50:d1b983a0dd6f 900 } else { // Change Pulse WidthFirst
adehadd 50:d1b983a0dd6f 901 pwmCtrl.pulsewidth_us((uint32_t)(newPeriod*0.8));
adehadd 50:d1b983a0dd6f 902 pwmCtrl.period_us(newPeriod); //set frequency of PWM
adehadd 50:d1b983a0dd6f 903 }
adehadd 50:d1b983a0dd6f 904 // stateUpdate();
adehadd 50:d1b983a0dd6f 905 oldPeriod = newPeriod;
adehadd 50:d1b983a0dd6f 906 testTimer.reset();
adehadd 50:d1b983a0dd6f 907 while (testTimer.read_ms() < newDur ) {} // Do nothing
iachinweze1 55:e8b15b4b875f 908 // _pComm->_pc.printf("Period:%d Dur:%d \n",newPeriod, newDur );
adehadd 50:d1b983a0dd6f 909 }
adehadd 50:d1b983a0dd6f 910
adehadd 50:d1b983a0dd6f 911 _pComm->_modeBitField = 0x04; // stop melody mode
adehadd 50:d1b983a0dd6f 912
adehadd 50:d1b983a0dd6f 913 }
adehadd 50:d1b983a0dd6f 914 // After playing notes, go back to the old speed
adehadd 50:d1b983a0dd6f 915 torque = (int32_t)_pComm->_motorTorque;
adehadd 50:d1b983a0dd6f 916 pwmCtrl.pulsewidth_us((uint32_t)(torque*0.8));
adehadd 50:d1b983a0dd6f 917 // And reset the motor period and duty cycle
adehadd 50:d1b983a0dd6f 918
adehadd 50:d1b983a0dd6f 919 }
CallumAlder 47:21bf4096faa1 920 else{
CallumAlder 47:21bf4096faa1 921 torque = _MAXPWM_PRD * 0.5; // Run at 50% duty cycle if argument not properly defined
adehadd 27:ce05fed3c1ea 922
CallumAlder 42:121148278dae 923 }
CallumAlder 42:121148278dae 924 }
CallumAlder 42:121148278dae 925 }
CallumAlder 42:121148278dae 926
CallumAlder 42:121148278dae 927 void motorCtrlTick(){
CallumAlder 48:b2afe48ced0d 928 _tMotorCtrl.signal_set(0x1);
CallumAlder 42:121148278dae 929 }
CallumAlder 42:121148278dae 930 };
CallumAlder 42:121148278dae 931
CallumAlder 42:121148278dae 932
adehadd 27:ce05fed3c1ea 933 int main() {
adehadd 26:fb6151e5907d 934
CallumAlder 42:121148278dae 935 // Declare Objects
CallumAlder 42:121148278dae 936 Comm comm_port;
CallumAlder 42:121148278dae 937 SHA256 miner;
CallumAlder 42:121148278dae 938 Motor motor;
adehadd 27:ce05fed3c1ea 939
CallumAlder 42:121148278dae 940 // Start Motor and Comm Port
CallumAlder 42:121148278dae 941 motor.motorStart(&comm_port);
CallumAlder 42:121148278dae 942 comm_port.start_comm();
adehadd 27:ce05fed3c1ea 943
CallumAlder 42:121148278dae 944 // Declare Hash Variables
CallumAlder 47:21bf4096faa1 945 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
CallumAlder 47:21bf4096faa1 946 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
CallumAlder 47:21bf4096faa1 947 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
CallumAlder 47:21bf4096faa1 948 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
CallumAlder 47:21bf4096faa1 949 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
CallumAlder 47:21bf4096faa1 950 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
CallumAlder 47:21bf4096faa1 951 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
CallumAlder 47:21bf4096faa1 952 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
CallumAlder 47:21bf4096faa1 953 uint8_t hash[32];
CallumAlder 47:21bf4096faa1 954 uint32_t length64 = 64;
CallumAlder 47:21bf4096faa1 955 uint32_t hashCounter = 0;
CallumAlder 47:21bf4096faa1 956 uint64_t* nonce = (uint64_t*)((int)sequence + 56);
adehadd 27:ce05fed3c1ea 957 uint64_t* key = (uint64_t*)((int)sequence + 48);
iachinweze1 23:ab1cb51527d1 958
CallumAlder 42:121148278dae 959 // Begin Main Timer
CallumAlder 42:121148278dae 960 Timer timer;
CallumAlder 42:121148278dae 961 timer.start();
adehadd 27:ce05fed3c1ea 962
CallumAlder 47:21bf4096faa1 963 // Loop Program
CallumAlder 42:121148278dae 964 while (1) {
adehadd 26:fb6151e5907d 965
CallumAlder 47:21bf4096faa1 966 //try{
CallumAlder 47:21bf4096faa1 967
CallumAlder 47:21bf4096faa1 968 // Mutex For Access Control
adehadd 49:ae8dedfe2d0f 969 comm_port._newKeyMutex.lock();
CallumAlder 47:21bf4096faa1 970 *key = comm_port._newKey;
adehadd 49:ae8dedfe2d0f 971 comm_port._newKeyMutex.unlock();
adehadd 20:c60f4785b556 972
CallumAlder 47:21bf4096faa1 973 // Compute Hash and Counter
CallumAlder 47:21bf4096faa1 974 miner.computeHash(hash, sequence, length64);
CallumAlder 47:21bf4096faa1 975 hashCounter++;
CallumAlder 47:21bf4096faa1 976
CallumAlder 47:21bf4096faa1 977 // Enum Casting and Condition
CallumAlder 47:21bf4096faa1 978 if (hash[0]==0 && hash[1]==0)
CallumAlder 47:21bf4096faa1 979 comm_port.putMessage((Comm::msgType)7, *nonce);
adehadd 20:c60f4785b556 980
CallumAlder 47:21bf4096faa1 981 // Try Nonce
CallumAlder 47:21bf4096faa1 982 (*nonce)++;
adehadd 26:fb6151e5907d 983
CallumAlder 47:21bf4096faa1 984 // Display via Comm Port
CallumAlder 47:21bf4096faa1 985 if (timer.read() >= 1){
CallumAlder 47:21bf4096faa1 986 comm_port.putMessage((Comm::msgType)5, hashCounter);
CallumAlder 47:21bf4096faa1 987 hashCounter=0;
CallumAlder 47:21bf4096faa1 988 timer.reset();
CallumAlder 47:21bf4096faa1 989 }
CallumAlder 47:21bf4096faa1 990 //}
adehadd 26:fb6151e5907d 991
CallumAlder 47:21bf4096faa1 992 //catch(...){
CallumAlder 47:21bf4096faa1 993 // break;
CallumAlder 47:21bf4096faa1 994 //}
CallumAlder 47:21bf4096faa1 995
CallumAlder 15:2f95f2fb68e3 996 }
CallumAlder 42:121148278dae 997
CallumAlder 42:121148278dae 998 return 0;
adehadd 27:ce05fed3c1ea 999 }