Skad00sh
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Revision 43:a6d20109b2f2, committed 2019-03-20
- Comitter:
- CallumAlder
- Date:
- Wed Mar 20 19:53:12 2019 +0000
- Parent:
- 42:121148278dae
- Child:
- 44:990b5aaf5198
- Child:
- 45:402a8a9423b9
- Commit message:
- y u no print
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Mar 20 16:41:44 2019 +0000
+++ b/main.cpp Wed Mar 20 19:53:12 2019 +0000
@@ -2,7 +2,7 @@
Change:
Indx
newCmd
- MAXCMDLENGTH
+ _MAXCMDLENGTH
move the global variables to a class because we arent paeasents - Mission Failed
use jack's motor motor position
fix class variable naming
@@ -88,24 +88,23 @@
public:
- RawSerial pc;
- Thread t_comm_out;
- bool _RUN;
+ volatile bool _outMining;
+ volatile float _targetVel, _targetRot;
- int8_t modeBitfield; // 0,0,0,... <=> Torque,Rotation,Velocity
- volatile uint8_t inCharIndex, cmdIndx, MAXCMDLENGTH; //
- volatile uint32_t motorPower; // Motor Toque
- volatile uint64_t newKey; // hash key
- Mutex newKey_mutex; // Restrict access to prevent deadlock.
+ volatile int8_t _modeBitField; // 0,0,0,... <=> Melody,Torque,Rotation,Velocity
+ const uint8_t _MAXCMDLENGTH; //
+ volatile uint8_t _inCharIndex, _cmdIndex; //
+ volatile uint32_t _motorTorque; // Motor Toque
+ volatile uint64_t _newKey; // hash key
+ Mutex _newKeyMutex; // Restrict access to prevent deadlock.
+
+ RawSerial _pc;
+ Thread _t_comm_out;
+ bool _RUN;
- volatile float targetVel, targetRot;
- volatile bool outMining;
-
- static const char MsgChar[11];
-
- enum msgType { motorState, posIn, velIn, posOut, velOut,
+ enum msgType { motorState, posIn, velIn, posOut, velOut,
hashRate, keyAdded, nonceMatch,
- torque, rotations,
+ torque, rotations, melody,
error};
typedef struct {
@@ -118,60 +117,60 @@
//public:
//--------- Default Constructor With Inheritance From RawSerial Constructor ---------//
- Comm(): pc(SERIAL_TX, SERIAL_RX), t_comm_out(osPriorityAboveNormal, 1024){
+ Comm(): _pc(SERIAL_TX, SERIAL_RX), _t_comm_out(osPriorityAboveNormal, 1024), _MAXCMDLENGTH(18){
- pc.printf("%s\n\r", "Welcome" );
- MAXCMDLENGTH = 18;
+ _pc.printf("\n\r%s\n\r", "Welcome" );
+ // _MAXCMDLENGTH = 18;
- pc.putc('>');
- for (int i = 0; i < MAXCMDLENGTH; ++i) { // reset buffer
- inCharQ[i] = '.'; // MbedOS prints 'Embedded Systems are fun and do awesome things!'
- pc.putc('.'); // if you print a null terminator
+ _pc.putc('>');
+ for (int i = 0; i < _MAXCMDLENGTH; ++i) { // reset buffer
+ inCharQ[i] = (char)'.'; // MbedOS prints 'Embedded Systems are fun and do awesome things!'
+ _pc.putc('.'); // if you print a null terminator
}
- pc.putc('<');
- pc.putc('\r');
+ _pc.putc('<'); _pc.putc('\r'); _pc.putc('>');
- inCharQ[MAXCMDLENGTH] = '\0';
- strncpy(newCmd, inCharQ, MAXCMDLENGTH);
+ inCharQ[_MAXCMDLENGTH] = (char)'\0';
+ sprintf(inCharQ, "%s", inCharQ); // sorts out the correct string correctly
+ strncpy(newCmd, inCharQ, _MAXCMDLENGTH);
- cmdIndx = 0;
+ _cmdIndex = 0;
- inCharIndex = 0;
- outMining = false;
- pc.attach(callback(this, &Comm::serialISR));
+ _inCharIndex = 0;
+ _outMining = false;
+ _pc.attach(callback(this, &Comm::serialISR));
- motorPower = 300;
- targetVel = 45.0;
- targetRot = 459.0;
+ _motorTorque = 300;
+ _targetVel = 45.0;
+ _targetRot = 459.0;
- modeBitfield = 0x01; // Default is velocity mode
+ _modeBitField = 0x01; // Default is velocity mode
}
//--------- Interrupt Service Routine for Serial Port and Character Queue Handling ---------//
void serialISR(){
- if (pc.readable()) {
- char newChar = pc.getc();
+ if (_pc.readable()) {
+ char newChar = _pc.getc();
- if (inCharIndex == (MAXCMDLENGTH)) {
- inCharQ[MAXCMDLENGTH] = '\0'; // force the string to have an end character
+ if (_inCharIndex == (_MAXCMDLENGTH)) {
+ inCharQ[_MAXCMDLENGTH] = '\0'; // force the string to have an end character
putMessage(error, 1);
- inCharIndex = 0; // reset buffer index
+ _inCharIndex = 0; // reset buffer index
}
else{
if(newChar != '\r'){ //While the command is not over,
- inCharQ[inCharIndex] = newChar; //save input character and
- inCharIndex++; //advance index
- pc.putc(newChar);
+ inCharQ[_inCharIndex] = newChar; //save input character and
+ _inCharIndex++; //advance index
+ _pc.putc(newChar);
}
else{
- inCharQ[inCharIndex] = '\0'; //When the command is finally over,
- strncpy(newCmd, inCharQ, MAXCMDLENGTH); // Will copy 18 characters from inCharQ to newCmd
+ inCharQ[_inCharIndex] = '\0'; //When the command is finally over,
+ strncpy(newCmd, inCharQ, _MAXCMDLENGTH); // Will copy 18 characters from inCharQ to newCmd
cmdParser();
//parse the command for decoding.
- for (int i = 0; i < MAXCMDLENGTH; ++i) // reset buffer
+ for (int i = 0; i < _MAXCMDLENGTH; ++i) // reset buffer
inCharQ[i] = ' ';
- inCharIndex = 0; // reset index
+ _inCharIndex = 0; // reset index
}
}
}
@@ -179,46 +178,105 @@
//--------- Reset Cursor Position ---------//
void returnCursor() {
- pc.putc('>');
- for (int i = 0; i < inCharIndex; ++i)
- pc.putc(inCharQ[i]);
+ _pc.putc('>');
+ for (int i = 0; i < _inCharIndex; ++i)
+ _pc.putc(inCharQ[i]);
}
//--------- Parse Incomming Data From Serial Port ---------//
void cmdParser(){
switch(newCmd[0]) {
- case 'K': //(MsgChar[keyAdded])
- newKey_mutex.lock(); //Ensure there is no deadlock
- sscanf(newCmd, "K%x", &newKey); //Find desired the Key code
- putMessage(keyAdded, newKey); //Print it out
- newKey_mutex.unlock();
+ case 'K': //keyAdded
+ _newKeyMutex.lock(); //Ensure there is no deadlock
+ sscanf(newCmd, "K%x", &_newKey); //Find desired the Key code
+ putMessage(keyAdded, _newKey); //Print it out
+ _newKeyMutex.unlock();
+ break;
+
+ case 'V': //velIn
+ sscanf(newCmd, "V%f", &_targetVel); //Find desired the target velocity
+ _modeBitField = 0x01; //Adjust bitfield pos 1
+ putMessage(velIn, _targetVel); //Print it out
break;
- case 'V': //(MsgChar[velIn])://
- sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity
- modeBitfield = 0x01; //Adjust bitfield pos 1
- putMessage(velIn, targetVel); //Print it out
+ case 'R': //posIn
+ sscanf(newCmd, "R%f", &_targetRot); //Find desired target rotation
+ _modeBitField = 0x02; //Adjust bitfield pos 2
+ putMessage(posIn, _targetRot); //Print it out
+ break;
+
+ case 'x': //torque
+ sscanf(newCmd, "x%u", &_motorTorque); //Find desired target torque
+ _modeBitField = 0x04; //Adjust bitfield pos 3
+ putMessage(torque, _motorTorque); //Print it out
+ break;
+
+ case 'M': //mining display toggle
+ int8_t miningTest;
+ sscanf(newCmd, "M%d", &miningTest); //display if input is 1
+ if (miningTest == 1)
+ _outMining = true;
+ else
+ _outMining = false;
break;
- case 'R': //(MsgChar[posIn])://
- sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation
- modeBitfield = 0x02; //Adjust bitfield pos 2
- putMessage(posIn, targetRot); //Print it out
- break;
+ // This guy ugly, maybe use a function
+ case 'T': // Tune/ melody
+ uint8_t dur[9]; // Note Durations
+ char notes[9]; // Actual notes
+ uint8_t len = 0; // Length of notes
+
+ for (int i = 1; i < _MAXCMDLENGTH; ++i) { // Find first #
+ if (newCmd[i] == '#') {
+ len = i;
+ break; // stop at first # found
+ }
+ }
+
+ if (len>0) { // Parse the input only if # found
+ uint8_t newLen = 2*(len+1)+1;
+ bool isChar = true;
+ char formatSpec[newLen];
+ formatSpec[0]='T';
+ for (int i = 1; i < newLen; i=i+2) { // Create a format spec based on length of input
+ formatSpec[i] = '%';
+ if (isChar) // if character
+ formatSpec[i+1] = 'c';
+ else
+ formatSpec[i+1] = 'u';
+ isChar = !isChar;
+ }
- case 'T': //(MsgChar[torque])://
- sscanf(newCmd, "T%u", &motorPower); //Find desired target torque
- modeBitfield = 0x04; //Adjust bitfield pos 3
- 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;
+ formatSpec[newLen] = '\0';
+ sprintf(formatSpec, "%s", formatSpec); // Set string format correctly
+ _pc.printf("%s\n", formatSpec );
+ sscanf(newCmd, formatSpec, ¬es[0], &dur[0],
+ ¬es[1], &dur[1],
+ ¬es[2], &dur[2],
+ ¬es[3], &dur[3],
+ ¬es[4], &dur[4],
+ ¬es[5], &dur[5],
+ ¬es[6], &dur[6],
+ ¬es[7], &dur[7],
+ ¬es[8], &dur[8]
+ );
+ _modeBitField = 0x08;
+ // putMessage(melody, newCmd); //Print it out
+ _pc.printf(formatSpec, notes[0], dur[0], \
+ notes[1], dur[1], \
+ notes[2], dur[2], \
+ notes[3], dur[3], \
+ notes[4], dur[4], \
+ notes[5], dur[5], \
+ notes[6], dur[6], \
+ notes[7], dur[7], \
+ notes[8], dur[8] \
+ );
+ }
else
- outMining = false;
+ putMessage(error, 2); // bad times
+ break;
+
break;
default:
@@ -235,44 +293,44 @@
//Case Switch to Choose Serial Output Based on Incoming Message Enum
switch (pMessage->type) {
case motorState:
- pc.printf("\r>%s< The motor is currently in state %x\n\r", inCharQ, pMessage->message);
+ _pc.printf("\r>%s< The motor is currently in state %x\n\r", inCharQ, pMessage->message);
break;
case hashRate:
- if (outMining) {
- pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message);
+ if (_outMining) {
+ _pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message);
returnCursor();
- outMining = false;
+ _outMining = false;
}
break;
case nonceMatch:
- pc.printf("\r>%s< Nonce found: %x\n\r", inCharQ, pMessage->message);
+ _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);
+ _pc.printf("\r>%s< New Key Added:\t0x%016x\n\r", inCharQ, pMessage->message);
break;
case torque:
- pc.printf("\r>%s< Motor Torque set to:\t%d\n\r", inCharQ, (int32_t) pMessage->message);
+ _pc.printf("\r>%s< Motor Torque set to:\t%d\n\r", inCharQ, (int32_t) pMessage->message);
break;
case velIn:
- pc.printf("\r>%s< Target Velocity set to:\t%.2f\n\r", inCharQ, targetVel);
+ _pc.printf("\r>%s< Target Velocity set to:\t%.2f\n\r", inCharQ, _targetVel);
break;
case velOut:
- pc.printf("\r>%s< Current Velocity:\t%.2f States/sec\n\r", inCharQ, (float) ((int32_t) pMessage->message));
+ _pc.printf("\r>%s< Current Velocity:\t%.2f States/sec\n\r", inCharQ, (float) ((int32_t) pMessage->message));
break;
case posIn:
- pc.printf("\r>%s< Target # Rotations:\t%.2f\n\r", inCharQ, (float) ((int32_t) pMessage->message));
+ _pc.printf("\r>%s< Target # Rotations:\t%.2f\n\r", inCharQ, (float) ((int32_t) pMessage->message));
break;
case posOut:
- pc.printf("\r>%s< Current Position:\t%.2f\n\r", inCharQ, (float) ((int32_t) pMessage->message /*/ 6*/));
+ _pc.printf("\r>%s< Current Position:\t%.2f\n\r", inCharQ, (float) ((int32_t) pMessage->message /*/ 6*/));
break;
case error:
- pc.printf("\r>%s< Debugging position:%x\n\r", inCharQ, pMessage->message);
- for (int i = 0; i < MAXCMDLENGTH; ++i) // reset buffer
+ _pc.printf("\r>%s< Debugging position:%x\n\r", inCharQ, pMessage->message);
+ for (int i = 0; i < _MAXCMDLENGTH; ++i) // reset buffer
inCharQ[i] = ' ';
break;
default:
- pc.printf("\r>%s< Unknown Error. Message: %x\n\r", inCharQ, pMessage->message);
+ _pc.printf("\r>%s< Unknown Error. Message: %x\n\r", inCharQ, pMessage->message);
break;
}
@@ -290,29 +348,15 @@
void start_comm(){
_RUN = true;
-
- // reset buffer
- // MbedOS prints 'Embedded Systems are fun and do awesome things!'
- // if you print a null terminator
- pc.putc('>');
- for (int i = 0; i < MAXCMDLENGTH; ++i) {
- inCharQ[i] = '.';
- pc.putc('.');
+ for (int i = 0; i < _MAXCMDLENGTH; ++i) { // reset buffer
+ inCharQ[i] = (char)'.'; // MbedOS prints 'Embedded Systems are fun and do awesome things!'
}
- pc.putc('<');
- pc.putc('\r');
- inCharQ[MAXCMDLENGTH] = '\0';
- strncpy(newCmd, inCharQ, MAXCMDLENGTH);
-
- // returnCursor();
+ inCharQ[_MAXCMDLENGTH] = (char)'\0';
+ sprintf(inCharQ, "%s", inCharQ); // sorts out the correct string correctly
+ strncpy(newCmd, inCharQ, _MAXCMDLENGTH);
- // t_comm_in.start(callback(this, &Comm::commInFn));
- // this::thread::wait()
- // wait(1.0);
- t_comm_out.start(callback(this, &Comm::commOutFn));
-
-
+ _t_comm_out.start(callback(this, &Comm::commOutFn));
}
@@ -400,7 +444,7 @@
// Start motor control thread
t_motor_ctrl.start(callback(this, &Motor::motorCtrlFn));
- p_comm->pc.printf("origin=%i, theStates=[%i,%i,%i]\n", orState, theStates[0], theStates[1], theStates[2]);
+ p_comm->_pc.printf("origin=%i, theStates=[%i,%i,%i]\n\r", orState, theStates[0], theStates[1], theStates[2]);
}
@@ -514,8 +558,8 @@
t_motor_ctrl.signal_wait((int32_t)0x1);
core_util_critical_section_enter();
- cpyModeBitfield = p_comm->modeBitfield;
- // p_comm->modeBitfield = 0; // nah
+ cpyModeBitfield = p_comm->_modeBitField;
+ // p_comm->_modeBitField = 0; // nah
//Access shared variables here
std::copy(stateCount, stateCount+3, cpyStateCount);
cpyCurrentState = currentState;
@@ -548,12 +592,12 @@
else {
totalDegrees = totalDegrees + (ting[1]*stateDiff*-1);
}
- //p_comm->pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
+ //p_comm->_pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
if ((cpyModeBitfield & 0x01) | (cpyModeBitfield & 0x02)) {
//~~~~~Speed controller~~~~~~
cur_speed = totalDegrees / time_diff;
- sError = (p_comm->targetVel * 6) - abs(cur_speed); //Read global variable targetVel updated by interrupt and calculate error between target and reality
+ sError = (p_comm->_targetVel * 6) - abs(cur_speed); //Read global variable _targetVel updated by interrupt and calculate error between target and reality
if (sError == -abs(cur_speed)) { //Check if user entered V0,
Ys = MAXPWM_PRD; //and set the output to maximum as specified
@@ -565,7 +609,7 @@
// } else if (cpyModeBitfield & 0x02) {
//~~~~~Rotation control~~~~~~
- rError = (p_comm->targetRot)*6 - totalDegrees; //Read global variable targetRot updated by interrupt and calculate the rotation error.
+ rError = (p_comm->_targetRot)*6 - totalDegrees; //Read global variable _targetRot updated by interrupt and calculate the rotation error.
Yr = Kp2*rError + Kd*(rError - rErrorOld); //Implement controller transfer function Ys= Kp*Er + Kd* (dEr/dt)
rErrorOld = rError; //Update rotation error
// if(rError < 0) //Use the sign of the error to set controller wrt direction of rotation
@@ -591,12 +635,12 @@
torque = MAXPWM_PRD; //Set it to our max.
}
- p_comm->motorPower = torque;
- pwmCtrl.pulsewidth_us(p_comm->motorPower);
+ p_comm->_motorTorque = torque;
+ pwmCtrl.pulsewidth_us(p_comm->_motorTorque);
}
if (cpyModeBitfield & 0x04) { // if it is in torque mode, do no math, just set pulsewidth
- torque = (int32_t)p_comm->motorPower;
+ torque = (int32_t)p_comm->_motorTorque;
if (oldTorque != torque) {
if(torque < 0){ //Variable torque cannot be negative since it sets the PWM
torque = -torque; //Hence we make the value positive,
@@ -609,7 +653,7 @@
}
p_comm->putMessage((Comm::msgType)8, torque);
- p_comm->motorPower = torque;
+ p_comm->_motorTorque = torque;
pwmCtrl.pulsewidth_us(torque);
oldTorque = torque;
}
@@ -617,10 +661,10 @@
//else { // if not Torque mode
//balls
//}
- // 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));
+ // pwmCtrl.write((float)(p_comm->_motorTorque/MAXPWM_PRD));
+ // p_comm->_motorTorque = torque; //Lastly, update global variable _motorTorque 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));
}
}
@@ -664,9 +708,9 @@
while (1) {
// Mutex For Access Control
- comm_port.newKey_mutex.lock();
- *key = comm_port.newKey;
- comm_port.newKey_mutex.unlock();
+ comm_port._newKeyMutex.lock();
+ *key = comm_port._newKey;
+ comm_port._newKeyMutex.unlock();
// Compute Hash and Counter
miner.computeHash(hash, sequence, length64);