Skad00sh
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Revision 38:a3713a09c828, committed 2019-03-20
- Comitter:
- iachinweze1
- Date:
- Wed Mar 20 08:30:45 2019 +0000
- Parent:
- 37:71adabab284a
- Child:
- 39:05a021718517
- Commit message:
- 19/03
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Mar 18 20:04:34 2019 +0000
+++ b/main.cpp Wed Mar 20 08:30:45 2019 +0000
@@ -92,10 +92,12 @@
volatile uint8_t cmdIndx;
volatile uint8_t inCharQIdx;
- volatile float motorPower; // motor toque
+ volatile uint16_t motorPower; // motor toque
volatile float targetVel;
volatile float targetRot;
+ volatile bool outMining;
+
enum msgType {motorState, posIn, velIn, posOut, velOut,
hashRate, keyAdded, nonceMatch,
@@ -175,9 +177,17 @@
putMessage(posIn, targetRot); //Print it out
break;
case 'T': //(MsgChar[torque])://
- sscanf(newCmd, "T%d", &motorPower); //Find desired target torque
+ sscanf(newCmd, "T%u", &motorPower); //Find desired target torque
putMessage(torque, motorPower); //Print it out
break;
+ case 'M': //(MsgChar[torque])://
+ int8_t miningTest;
+ sscanf(newCmd, "M%d", &miningTest); //Find desired target torque
+ if (miningTest == 1)
+ outMining = true;
+ else
+ outMining = false;
+ break;
default: break;
}
}
@@ -194,12 +204,17 @@
pc.printf("\r>%s< The motor is currently in state %x\n\r", inCharQ, pMessage->message);
break;
case hashRate:
- pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message);
- returnCursor();
+ if (outMining) {
+ pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message);
+ returnCursor();
+ outMining = false;
+ }
break;
case nonceMatch:
- pc.printf("\r>%s< Nonce found: %x\r", inCharQ, pMessage->message);
+ // if (outMining) {
+ pc.printf("\r>%s< Nonce found: %x\n\r", inCharQ, pMessage->message);
returnCursor();
+ // }
break;
case keyAdded:
pc.printf("\r>%s< New Key Added:\t0x%016x\n\r", inCharQ, pMessage->message);
@@ -271,7 +286,7 @@
inCharQIdx = 0;
// inCharQIdx = MAXCMDLENGTH-1;
-
+ outMining = false;
pc.attach(callback(this, &Comm::serialISR));
// Thread t_comm_in(osPriorityAboveNormal, 1024);
@@ -352,39 +367,40 @@
//Run the motor synchronisation
float dutyC; // 1 = 100%
- float mtrPeriod; // motor period
+ uint16_t mtrPeriod; // motor period
uint8_t stateCount[3]; // State Counter
uint8_t theStates[3]; // The Key states
Thread t_motor_ctrl; // Thread for motor Control
- float MAXPWM;
+ uint16_t MAXPWM_PRD;
public:
- Motor() : t_motor_ctrl(osPriorityAboveNormal, 1024)
+ Motor() : t_motor_ctrl(osPriorityAboveNormal2, 1024)
{
// Set Power to maximum to drive motorHome()
- dutyC = 1;
- mtrPeriod = 2e-3; // motor period
- pwmCtrl.period(mtrPeriod);
- pwmCtrl.pulsewidth(mtrPeriod*dutyC);
+ dutyC = 1.0f;
+ mtrPeriod = 2e3; // motor period
+ pwmCtrl.period_us(mtrPeriod);
+ pwmCtrl.pulsewidth_us(mtrPeriod);
orState = motorHome(); //Rotot offset at motor state 0
currentState = readRotorState(); //Current Rotor State
// stateList[6] = {0,0,0, 0,0,0}; //All possible rotor states stored
lead = 2; //2 for forwards, -2 for backwards
- theStates[0] = orState;
- theStates[1] = (orState + lead) % 6;
- theStates[2] = (orState + (lead*2)) % 6;
+ // It skips the origin state and it's 'lead' increments?
+ theStates[0] = orState +1;
+ theStates[1] = (orState + lead) % 6 +1;
+ theStates[2] = (orState + (lead*2)) % 6 +1;
stateCount[0] = 0; stateCount[1] = 0; stateCount[2] = 0;
p_comm = NULL; // null pointer for now
_RUN = false;
- MAXPWM = mtrPeriod*dutyC;
+ MAXPWM_PRD = 2e3;
}
@@ -404,8 +420,8 @@
// Default a lower duty cylce
dutyC = 0.8;
- pwmCtrl.period(mtrPeriod);
- pwmCtrl.pulsewidth(mtrPeriod*dutyC);
+ pwmCtrl.period_us((uint16_t)mtrPeriod);
+ pwmCtrl.pulsewidth_us((uint16_t)mtrPeriod*dutyC);
p_comm = comm;
_RUN = true;
@@ -413,8 +429,7 @@
// Start motor control thread
t_motor_ctrl.start(callback(this, &Motor::motorCtrlFn));
- MAXPWM = mtrPeriod*dutyC;
-
+ p_comm->pc.printf("origin=%i, theStates=[%i,%i,%i]\n", orState, theStates[0], theStates[1], theStates[2]);
}
@@ -450,7 +465,7 @@
int8_t motorHome() {
//Put the motor in drive state 0 and wait for it to stabilise
motorOut(0);
- wait(2.0);
+ wait(3.0);
//Get the rotor state
return readRotorState();
@@ -492,9 +507,9 @@
int32_t velocity; //Variable for local velocity calculation
int32_t locMotorPos; //Local copy of motor position
- static int32_t oldMotorPos = 0; //Old motor position used for calculations
- static uint8_t motorCtrlCounter = 0; //Counter to be reset every 10 iterations to get velocity calculation in seconds
- float torque; //Local variable to set motor torque
+ // static int32_t oldMotorPos = 0; //Old motor position used for calculations
+ // static uint8_t motorCtrlCounter = 0; //Counter to be reset every 10 iterations to get velocity calculation in seconds
+ int16_t torque; //Local variable to set motor torque
float sError; //Velocity error between target and reality
float rError; //Rotation error between target and reality
static float rErrorOld; //Old rotation error used for calculation
@@ -534,9 +549,9 @@
sError = (p_comm->targetVel * 6) - abs(velocity); //Read global variable targetVel updated by interrupt and calculate error between target and reality
int32_t Ys; //Initialise controller output Ys (s=speed)
if (sError == -abs(velocity)) { //Check if user entered V0,
- Ys = MAXPWM; //and set the output to maximum as specified
+ Ys = MAXPWM_PRD; //and set the output to maximum as specified
} else {
- Ys = (int)(Kp1 * sError); //If the user didn't enter V0 implement controller transfer function: Ys = Kp * (s -|v|) where,
+ Ys = (int32_t)(Kp1 * sError); //If the user didn't enter V0 implement controller transfer function: Ys = Kp * (s -|v|) where,
} //Ys = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity
//~~~~~Rotation control~~~~~~
@@ -559,13 +574,14 @@
} else {
lead = 2;
}
- if(torque > MAXPWM){ //In case the calculated PWM is higher than our maximum 50% allowance,
- torque = MAXPWM; //Set it to our max.
+ if(torque > MAXPWM_PRD){ //In case the calculated PWM is higher than our maximum 50% allowance,
+ torque = MAXPWM_PRD; //Set it to our max.
}
- pwmCtrl.pulsewidth(torque);
- p_comm->motorPower = torque; //Lastly, update global variable motorPower which is updated by interrupt
- p_comm->pc.printf("%f, %i, %i \r", torque, Ys, Yr);
+ pwmCtrl.pulsewidth_us(p_comm->motorPower);
+ // pwmCtrl.write((float)(p_comm->motorPower/MAXPWM_PRD));
+ // p_comm->motorPower = torque; //Lastly, update global variable motorPower which is updated by interrupt
+ // p_comm->pc.printf("\t\t\t\t\t\t %i, %i, %i \r", torque, Ys, Yr);
//p_comm->pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
}
}