Skad00sh
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Revision 23:ab1cb51527d1, committed 2019-03-16
- Comitter:
- iachinweze1
- Date:
- Sat Mar 16 14:06:41 2019 +0000
- Parent:
- 22:efa60ca0bfb7
- Child:
- 24:be5fef3dace1
- Commit message:
- Ticker added
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sat Mar 16 13:27:17 2019 +0000
+++ b/main.cpp Sat Mar 16 14:06:41 2019 +0000
@@ -4,7 +4,7 @@
// #include "rtos.h"
/*TODO:
-Change
+Change
Indx
newCmd
MAXCMDLENGTH
@@ -49,7 +49,7 @@
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[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
//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
@@ -74,26 +74,26 @@
PwmOut pwmCtrl(PWMpin);
/*//Declare and start threads
class T_{
-
+
// protected:
public:
Thread *p_comm_in;
Thread *p_comm_out;
Thread *p_motor_ctrl;
-
-
-
+
+
+
T_(){
- //(priority, stack size,
+ //(priority, stack size,
Thread comm_in(osPriorityAboveNormal, 1024);
Thread comm_out(osPriorityAboveNormal, 1024);
Thread motor_ctrl(osPriorityAboveNormal, 1024);
-
+
p_comm_in = &comm_in;
p_comm_out = &comm_out;
p_motor_ctrl = &motor_ctrl;
-
+
}
~T_(){
@@ -107,300 +107,316 @@
};*/
class Comm /*: public T_*/{
-
- public:
+
+public:
+
+ Thread t_comm_out;
+ Thread t_motor_ctrl;
+ // Thread *p_motor_ctrl;
- Thread t_comm_in;
- Thread t_comm_out;
- // Thread *p_motor_ctrl;
-
- bool _RUN;
+ bool _RUN;
+
+ RawSerial pc;
+ // Queue<void, 8> inCharQ; // Input Character Queue
+
+
+ static const char MsgChar[11];
- RawSerial pc;
- // Queue<void, 8> inCharQ; // Input Character Queue
-
+ uint8_t MAXCMDLENGTH;
+
+ volatile uint8_t cmdIndx;
+ volatile uint8_t inCharQIdx;
- static const char MsgChar[11];
-
- uint8_t MAXCMDLENGTH;
-
- volatile uint8_t cmdIndx;
- volatile uint8_t inCharQIdx;
+ volatile uint32_t motorPower; // motor toque
+ volatile float targetVel;
+ volatile float targetRot;
- volatile uint32_t motorPower; // motor toque
- volatile float targetVel;
- volatile float targetRot;
+ enum msgType {motorState, posIn, velIn, posOut, velOut,
+
+ hashRate, keyAdded, nonceMatch,
+
+ torque, rotations,
- enum msgType {motorState, posIn, velIn, posOut, velOut,
-
- hashRate, keyAdded, nonceMatch,
-
- torque, rotations,
-
- error};
+ error};
+
+ typedef struct {
+ msgType type;
+ uint32_t message;
+ } msg;
+
+ Mail<msg, 32> mailStack;
+
+ void serialISR(){
+ if (pc.readable()) {
+ char newChar = pc.getc();
+ // inCharQ.put((void*)newChar); // void* = pointer to an unknown type that cannot be dereferenced
- typedef struct {
- msgType type;
- uint32_t message;
- } msg;
-
- Mail<msg, 32> mailStack;
-
- void serialISR(){
- if (pc.readable()) {
- char newChar = pc.getc();
- // inCharQ.put((void*)newChar); // void* = pointer to an unknown type that cannot be dereferenced
-
- if (inCharQIdx == (MAXCMDLENGTH)) {
- inCharQ[MAXCMDLENGTH] = '\0'; // force the string to have an end character
- putMessage(error, 1);
- inCharQIdx = 0; // reset buffer index
- // pc.putc('\r'); // carriage return moves to the start of the line
- // for (int i = 0; i < MAXCMDLENGTH; ++i)
- // {
- // inCharQ[i] = ' ';
- // pc.putc(' ');
- // }
-
- // pc.putc('\r'); // carriage return moves to the start of the line
+ if (inCharQIdx == (MAXCMDLENGTH)) {
+ inCharQ[MAXCMDLENGTH] = '\0'; // force the string to have an end character
+ putMessage(error, 1);
+ inCharQIdx = 0; // reset buffer index
+ // pc.putc('\r'); // carriage return moves to the start of the line
+ // for (int i = 0; i < MAXCMDLENGTH; ++i)
+ // {
+ // inCharQ[i] = ' ';
+ // pc.putc(' ');
+ // }
+
+ // pc.putc('\r'); // carriage return moves to the start of the line
+ }
+ else{
+ if(newChar != '\r'){ //While the command is not over,
+ inCharQ[inCharQIdx] = newChar; //save input character and
+ inCharQIdx++; //advance index
+ pc.putc(newChar);
}
else{
- if(newChar != '\r'){ //While the command is not over,
- inCharQ[inCharQIdx] = newChar; //save input character and
- inCharQIdx++; //advance index
- pc.putc(newChar);
- }
- else{
- inCharQ[inCharQIdx] = '\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
- inCharQ[i] = ' ';
- inCharQIdx = 0; // reset index
- }
- }
- }
-
-
- }
-
- /*void commInFn() {
- // if (_RUN)
-
- while (_RUN) {
- osEvent newEvent = inCharQ.get();
- uint8_t newChar = (uint8_t)(newEvent.value.p); // size_t to type cast the 64bit pointer properly
- pc.putc(newChar);
- if(cmdIndx >= MAXCMDLENGTH){ //Make sure there is no overflow in comand.
- cmdIndx = 0;
- putMessage(error, 1);
+ inCharQ[inCharQIdx] = '\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
+ inCharQ[i] = ' ';
+ inCharQIdx = 0; // reset index
}
- else{
- if(newChar != '\r'){ //While the command is not over,
- newCmd[cmdIndx] = newChar; //save input character and
- cmdIndx++; //advance index
- }
- else{
- newCmd[cmdIndx] = '\0'; //When the command is finally over,
- cmdIndx = 0; //reset index and
- cmdParser(); //parse the command for decoding.
- }
- }
- }
- }*/
-
- void returnCursor() {
- pc.putc('>');
- for (int i = 0; i < inCharQIdx; ++i) // reset cursor position
- pc.putc(inCharQ[i]);
- // for (int i = inCharQIdx; i < MAXCMDLENGTH; ++i) // fill remaining with blanks
- // pc.putc(' ');
- // pc.putc('<');
- }
-
- 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();
- break;
- case 'V': //(MsgChar[velIn])://
- sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity
- putMessage(velIn, targetVel); //Print it out
- break;
- case 'R': //(MsgChar[posIn])://
- sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation
- putMessage(posIn, targetRot); //Print it out
- break;
- case 'T': //(MsgChar[torque])://
- sscanf(newCmd, "T%d", &motorPower); //Find desired target torque
- putMessage(torque, motorPower); //Print it out
- break;
- default: break;
}
}
- //~~~~~Decode messages to print on serial port~~~~~
- void commOutFn() {
- while (_RUN) {
- osEvent newEvent = mailStack.get();
- msg *pMessage = (msg*)newEvent.value.p;
+
+ }
+
+ /*void commInFn() {
+ // if (_RUN)
+
+ while (_RUN) {
+ osEvent newEvent = inCharQ.get();
+ uint8_t newChar = (uint8_t)(newEvent.value.p); // size_t to type cast the 64bit pointer properly
+ pc.putc(newChar);
+ if(cmdIndx >= MAXCMDLENGTH){ //Make sure there is no overflow in comand.
+ cmdIndx = 0;
+ putMessage(error, 1);
+ }
+ else{
+ if(newChar != '\r'){ //While the command is not over,
+ newCmd[cmdIndx] = newChar; //save input character and
+ cmdIndx++; //advance index
+ }
+ else{
+ newCmd[cmdIndx] = '\0'; //When the command is finally over,
+ cmdIndx = 0; //reset index and
+ cmdParser(); //parse the command for decoding.
+ }
+ }
+ }
+ }*/
+
+ void returnCursor() {
+ pc.putc('>');
+ for (int i = 0; i < inCharQIdx; ++i) // reset cursor position
+ pc.putc(inCharQ[i]);
+ // for (int i = inCharQIdx; i < MAXCMDLENGTH; ++i) // fill remaining with blanks
+ // pc.putc(' ');
+ // pc.putc('<');
+ }
+
+ 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();
+ break;
+ case 'V': //(MsgChar[velIn])://
+ sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity
+ putMessage(velIn, targetVel); //Print it out
+ break;
+ case 'R': //(MsgChar[posIn])://
+ sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation
+ putMessage(posIn, targetRot); //Print it out
+ break;
+ case 'T': //(MsgChar[torque])://
+ sscanf(newCmd, "T%d", &motorPower); //Find desired target torque
+ putMessage(torque, motorPower); //Print it out
+ break;
+ default: break;
+ }
+ }
- //Case switch to choose serial output based on incoming message
- switch(pMessage->type) {
- case motorState:
- pc.printf("The motor is currently in state %x\n\r", pMessage->message);
- break;
- case hashRate:
- pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t)pMessage->message);
- returnCursor();
- break;
- case nonceMatch:
- pc.printf("\r>%s< Nonce found: %x\r", inCharQ, pMessage->message);
- returnCursor();
- break;
- case keyAdded:
- pc.printf("New Key Added:\t0x%016x\n\r", pMessage->message);
- break;
- case torque:
- pc.printf("Motor Torque set to:\t%d\n\r", pMessage->message);
- break;
- case velIn:
- pc.printf("Target Velocity set to:\t%.2f\n\r", targetVel);
- break;
- case velOut:
- pc.printf("Current Velocity:\t%.2f\n\r", \
- (float)((int32_t)pMessage->message / 6));
- break;
- case posIn:
- pc.printf("Target Rotation set to:\t%.2f\n\r", \
- (float)((int32_t)pMessage->message / 6));
- break;
- case posOut:
- pc.printf("Current Position:\t%.2f\n\r", \
- (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
- inCharQ[i] = ' ';
- break;
- default:
- pc.printf("Unknown Error. Message: %x\n\r", pMessage->message);
- break;
- }
- mailStack.free(pMessage);
+ //~~~~~Decode messages to print on serial port~~~~~
+ void commOutFn() {
+ while (_RUN) {
+ osEvent newEvent = mailStack.get();
+ msg *pMessage = (msg *) newEvent.value.p;
+
+ //Case switch to choose serial output based on incoming message
+ switch (pMessage->type) {
+ case motorState:
+ pc.printf("The motor is currently in state %x\n\r", pMessage->message);
+ break;
+ case hashRate:
+ pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t) pMessage->message);
+ returnCursor();
+ break;
+ case nonceMatch:
+ pc.printf("\r>%s< Nonce found: %x\r", inCharQ, pMessage->message);
+ returnCursor();
+ break;
+ case keyAdded:
+ pc.printf("New Key Added:\t0x%016x\n\r", pMessage->message);
+ break;
+ case torque:
+ pc.printf("Motor Torque set to:\t%d\n\r", pMessage->message);
+ break;
+ case velIn:
+ pc.printf("Target Velocity set to:\t%.2f\n\r", targetVel);
+ break;
+ case velOut:
+ pc.printf("Current Velocity:\t%.2f\n\r", \
+ (float) ((int32_t) pMessage->message / 6));
+ break;
+ case posIn:
+ pc.printf("Target Rotation set to:\t%.2f\n\r", \
+ (float) ((int32_t) pMessage->message / 6));
+ break;
+ case posOut:
+ pc.printf("Current Position:\t%.2f\n\r", \
+ (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
+ inCharQ[i] = ' ';
+ break;
+ default:
+ pc.printf("Unknown Error. Message: %x\n\r", pMessage->message);
+ break;
}
- }
-
-
- //TODO: stop function, maybe use parent deconstructor
- //void stop_comm{}
-
- // public:
-
- volatile uint64_t newKey; // hash key
- Mutex newKey_mutex; // Restrict access to prevent deadlock.
-
- Comm() : pc(SERIAL_TX, SERIAL_RX),
- t_comm_out(osPriorityAboveNormal, 1024)
- { // inherit from the RawSerial constructor
-
- pc.printf("%s\n\r", "Welcome" );
- MAXCMDLENGTH = 18;
+ mailStack.free(pMessage);
+ }
+ }
- // 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('.');
- }
- pc.putc('<');
- pc.putc('\r');
-
- inCharQ[MAXCMDLENGTH] = '\0';
- strncpy(newCmd, inCharQ, MAXCMDLENGTH);
+ // attach_us -> runs funtion every 100ms
+ void motorCtrlFn() {
+ Ticker motorCtrlTicker;
+ motorCtrlTicker.attach_us(callback(this,&Comm::motorCtrlTick), 1e5);
+ while (1) {
+ t_motor_ctrl.signal_wait((int32_t)0x1);
+ pc.printf("B4115");
+ }
+ }
- cmdIndx = 0;
-
- inCharQIdx = 0;
- // inCharQIdx = MAXCMDLENGTH-1;
-
+ void motorCtrlTick(){
+ t_motor_ctrl.signal_set(0x1);
+ }
- pc.attach(callback(this, &Comm::serialISR));
+ //TODO: stop function, maybe use parent de-constructor
+ //void stop_comm{}
+
+ // public:
+
+ volatile uint64_t newKey; // hash key
+ Mutex newKey_mutex; // Restrict access to prevent deadlock.
- // Thread t_comm_in(osPriorityAboveNormal, 1024);
- // Thread t_comm_out(osPriorityAboveNormal, 1024);
- // Thread t_motor_ctrl(osPriorityAboveNormal, 1024);
-
- motorPower = 300;
- targetVel = 45.0;
- targetRot = 459.0;
+ Comm() : pc(SERIAL_TX, SERIAL_RX),
+ t_comm_out(osPriorityAboveNormal, 1024),
+ t_motor_ctrl(osPriorityAboveNormal, 1024)
+ { // inherit from the RawSerial constructor
-
+ pc.printf("%s\n\r", "Welcome" );
+ MAXCMDLENGTH = 18;
- /*MsgChar = {'m', 'R', 'V', 'r', 'v',
-
- 'h', 'K', 'n',
-
- 'T', 'r',
-
- 'e'};*/
+ // 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('.');
}
-
-
- void putMessage(msgType type, uint32_t message){
- msg *p_msg = mailStack.alloc();
- p_msg->type = type;
- p_msg->message = message;
- mailStack.put(p_msg);
- }
-
- void start_comm(){
- _RUN = true;
+ pc.putc('<');
+ pc.putc('\r');
+
+ inCharQ[MAXCMDLENGTH] = '\0';
+ strncpy(newCmd, inCharQ, MAXCMDLENGTH);
+
+ cmdIndx = 0;
+
+ inCharQIdx = 0;
+ // inCharQIdx = MAXCMDLENGTH-1;
+
+
+
+ pc.attach(callback(this, &Comm::serialISR));
+
+ // Thread t_comm_in(osPriorityAboveNormal, 1024);
+ // Thread t_comm_out(osPriorityAboveNormal, 1024);
+ // Thread t_motor_ctrl(osPriorityAboveNormal, 1024);
+
+ motorPower = 300;
+ targetVel = 45.0;
+ targetRot = 459.0;
+
- // 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('.');
- }
- pc.putc('<');
- pc.putc('\r');
-
- inCharQ[MAXCMDLENGTH] = '\0';
- strncpy(newCmd, inCharQ, MAXCMDLENGTH);
+ /*MsgChar = {'m', 'R', 'V', 'r', 'v',
+
+ 'h', 'K', 'n',
+
+ 'T', 'r',
+
+ 'e'};*/
+ }
+
+
+ void putMessage(msgType type, uint32_t message){
+ msg *p_msg = mailStack.alloc();
+ p_msg->type = type;
+ p_msg->message = message;
+ mailStack.put(p_msg);
+ }
+
+ void start_comm(){
+ _RUN = true;
+
- // returnCursor();
-
- // t_comm_in.start(callback(this, &Comm::commInFn));
- // this::thread::wait()
- // wait(1.0);
- t_comm_out.start(callback(this, &Comm::commOutFn));
+ // 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('.');
+ }
+ pc.putc('<');
+ pc.putc('\r');
+
+ inCharQ[MAXCMDLENGTH] = '\0';
+ strncpy(newCmd, inCharQ, MAXCMDLENGTH);
-
- }
+ // returnCursor();
- char newCmd[]; // because unallocated must be defined at the bottom of the class
- char inCharQ[];
+ // t_comm_in.start(callback(this, &Comm::commInFn));
+ // this::thread::wait()
+ // wait(1.0);
+ t_comm_out.start(callback(this, &Comm::commOutFn));
+ t_motor_ctrl.start(callback(this, &Comm::motorCtrlFn));
+
+
+ }
+
+ char newCmd[]; // because unallocated must be defined at the bottom of the class
+ char inCharQ[];
};
//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;
@@ -408,7 +424,7 @@
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;
@@ -416,41 +432,41 @@
if (driveOut & 0x08) L2H = 0;
if (driveOut & 0x10) L3L = 1;
if (driveOut & 0x20) L3H = 0;
- }
-
- //Convert photointerrupter inputs to a rotor state
+}
+
+//Convert photointerrupter inputs to a rotor state
inline int8_t readRotorState(){
return stateMap[I1 + 2*I2 + 4*I3];
- }
+}
-//Basic synchronisation routine
+//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 stateUpdate(int8_t *params[]) { // () { // **params
- *params[0] = readRotorState();
+ *params[0] = readRotorState();
int8_t currentState = *params[0];
int8_t offset = *params[1];
-
+
motorOut((currentState - offset + lead + 6) % 6);
}
//Main
int main() {
- // std::ios::sync_with_stdio(false);
- Comm comm_plz;
+ // std::ios::sync_with_stdio(false);
+ Comm comm_plz;
// comm_plz.pc.printf("%s\n", "do i work bruh" ); // using printf of class is calm
SHA256 Miner;
-
+
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,
@@ -464,8 +480,8 @@
uint8_t hash[32];
uint32_t length64 = 64;
uint32_t hashCounter = 0;
- Timer timer;
-
+ Timer timer;
+
float dutyC = 1; // 100%
float mtrPeriod = 2e-3; // motor period
@@ -480,36 +496,36 @@
int8_t stateList[6]; //Rotot offset at motor state 0
//Run the motor synchronisation
orState = motorHome();
-
+
// Add callbacks
- // I1.fall(&stateUpdate);
- // I2.fall(&stateUpdate);
- // I3.fall(&stateUpdate);
+ // I1.fall(&stateUpdate);
+ // I2.fall(&stateUpdate);
+ // I3.fall(&stateUpdate);
int8_t* params[2];
params[0] = ¤tState;
params[1] = &orState;
-
+
I1.fall(callback(&stateUpdate,params));
I2.fall(callback(&stateUpdate,params));
I3.fall(callback(&stateUpdate,params));
-
+
I1.rise(callback(&stateUpdate,params));
I2.rise(callback(&stateUpdate,params));
I3.rise(callback(&stateUpdate,params));
-
+
// Push motor to move
currentState = readRotorState();
motorOut((currentState-orState+lead+6)%6); // We push it digitally
-
+
// pc.printf("Rotor origin: %x\n\r",orState);
// orState is subtracted from future rotor state inputs to align rotor and motor states
// intState = readRotorState();
//if (intState != intStateOld) {
- // pc.printf("old:%d \t new:%d \t next:%d \n\r",intStateOld, intState, (intState-orState+lead+6)%6);
- // intStateOld = intState;
- // motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
- // }
-
+ // pc.printf("old:%d \t new:%d \t next:%d \n\r",intStateOld, intState, (intState-orState+lead+6)%6);
+ // intStateOld = intState;
+ // motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
+ // }
+
dutyC = 0.8;
pwmCtrl.pulsewidth(mtrPeriod*dutyC);
@@ -518,10 +534,10 @@
timer.start(); // start timer
int stateCount = 0;
while (1) {
- // pc.printf("Current:%d \t Next:%d \n\r", currentState, (currentState-orState+lead+6)%6);
- comm_plz.newKey_mutex.lock();
+ // pc.printf("Current:%d \t Next:%d \n\r", currentState, (currentState-orState+lead+6)%6);
+ comm_plz.newKey_mutex.lock();
*key = comm_plz.newKey;
- comm_plz.newKey_mutex.unlock();
+ comm_plz.newKey_mutex.unlock();
Miner.computeHash(hash, sequence, length64);
hashCounter++;
if ((hash[0]==0) && (hash[1]==0)){
@@ -538,9 +554,9 @@
else {
//pc.printf("states");
//for(int i = 0; i < 6; ++i)
- //pc.printf("%02i,", stateList[i]);
- //pc.printf("\n\r");
- stateCount = 0;
+ //pc.printf("%02i,", stateList[i]);
+ //pc.printf("\n\r");
+ stateCount = 0;
}
// Per Second i.e. when greater or equal to 1
@@ -551,5 +567,5 @@
timer.reset();
}
}
-
+
}
\ No newline at end of file