Skad00sh
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Revision 49:ae8dedfe2d0f, committed 2019-03-22
- Comitter:
- adehadd
- Date:
- Fri Mar 22 16:50:54 2019 +0000
- Parent:
- 48:b2afe48ced0d
- Child:
- 50:d1b983a0dd6f
- Commit message:
- New communication thread system that works with mutex
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Mar 21 23:54:18 2019 +0000
+++ b/main.cpp Fri Mar 22 16:50:54 2019 +0000
@@ -93,26 +93,36 @@
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
-Mutex _newKeyMutex; // Restrict access to prevent deadlock.
-bool YES = false;
+#ifndef MAXCMDLENGTH
+ #define MAXCMDLENGTH 18
+#endif
+
+#ifndef MAXCMDLENGTH_HALF
+ #define MAXCMDLENGTH_HALF 9
+#endif
+
class Comm{
public:
volatile bool _outMining;
volatile float _targetVel, _targetRot;
- volatile char _notes[9]; // Array of actual _notes
+ volatile char _notes[MAXCMDLENGTH_HALF]; // Array of actual _notes
volatile int8_t _modeBitField; // 0,0,0,... <=> Melody,Torque,Rotation,Velocity
const uint8_t _MAXCMDLENGTH; //
volatile uint8_t _inCharIndex, _cmdIndex,
- _noteDur[9],_noteLen; // Array of note durations
+ _noteDur[MAXCMDLENGTH_HALF],_noteLen; // Array of note durations
volatile uint32_t _motorTorque; // Motor Toque
volatile uint64_t _newKey; // hash key
+
-
+ char _inCharQ[MAXCMDLENGTH],
+ _newCmd[MAXCMDLENGTH];
+
RawSerial _pc;
- Thread _tCommOut;
+ Thread _tCommOut, _tCommIn;
+ Mutex _newKeyMutex; // Restrict access to prevent deadlock.
bool _RUN;
enum msgType { mot_orState, posIn, velIn, posOut, velOut,
@@ -121,13 +131,14 @@
error};
typedef struct { msgType type;
- uint32_t message;} msg;
+ uint32_t message;} msg; // TODO: Maybe add a thing that stores the newCmd message as well
Mail<msg, 32> _msgStack;
+ Mail<bool,32> _msgReceived;
//-- Default Constructor With Inheritance From RawSerial Constructor ------------------------------------------------//
- Comm(): _pc(SERIAL_TX, SERIAL_RX), _tCommOut(osPriorityAboveNormal, 1024), _MAXCMDLENGTH(18){
+ Comm(): _pc(SERIAL_TX, SERIAL_RX), _tCommOut(osPriorityNormal, 1024), _tCommIn(osPriorityAboveNormal, 1024), _MAXCMDLENGTH(MAXCMDLENGTH){
_cmdIndex = 0;
_inCharIndex = 0;
@@ -139,7 +150,7 @@
_modeBitField = 0x01; // Default velocity mode
- _pc.printf("\n\r%s\n\r>", "Welcome" ); // Welcome
+ _pc.printf("\n\r%s %d\n\r>", "Welcome", _MAXCMDLENGTH ); // Welcome
for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer
_inCharQ[i] = (char)'.'; // If a null terminator is printed Mbed prints 'Embedded Systems are fun and do awesome things!'
@@ -147,24 +158,27 @@
sprintf(_inCharQ, "%s", _inCharQ); // Handling of the correct string
strncpy(_newCmd, _inCharQ, _MAXCMDLENGTH);
- _pc.printf("%s\n\r", _inCharQ);
- _pc.putc('<');
- _pc.attach(callback(this, &Comm::serialISR));
+ _pc.printf("%s\n\r<", _inCharQ);
+
}
- //-- Interrupt Service Routine for Serial Port and Character Queue Handling -----------------------------------------//
- void serialISR() {
- if (_pc.readable()) {
- char newChar = _pc.getc();
+ void commInFn() {
+ _pc.attach(callback(this, &Comm::serialISR));
+ char newChar;
+ while (_RUN) {
+ osEvent newEvent = _msgReceived.get(); // Waits forever until it receives a thing
+ _msgReceived.free((bool *)newEvent.value.p);
+
if (_inCharIndex == (_MAXCMDLENGTH)) {
_inCharQ[_MAXCMDLENGTH] = '\0'; // Force the string to have an end character
putMessage(error, 1);
_inCharIndex = 0; // Reset buffer index
}
else{
- if(newChar != '\r'){ // While the command is not over,
- _inCharQ[_inCharIndex] = newChar; // Save input character and
+ newChar = _inCharQ[_inCharIndex];
+
+ if(newChar != '\r'){ // While the command is not over,
_inCharIndex++; // Advance index
_pc.putc(newChar);
}
@@ -174,15 +188,28 @@
for (int i = 0; i < _MAXCMDLENGTH; ++i) // Reset buffer
_inCharQ[i] = ' ';
-
+
_inCharIndex = 0; // Reset index
- YES = true;
- // cmdParser(); // Parse the command for decoding
+ cmdParser();
+
+ // _tCommIn.signal_wait(0x01);
}
}
}
}
+ //-- Interrupt Service Routine for Serial Port and Character Queue Handling -----------------------------------------//
+ void serialISR() {
+ if (_pc.readable()) {
+ char newChar = _pc.getc();
+ _inCharQ[_inCharIndex] = newChar; // Save input character
+
+ bool *new_msg = _msgReceived.alloc();
+ *new_msg = true;
+ _msgReceived.put(new_msg);
+ }
+ }
+
//-- Reset Cursor Position ------------------------------------------------------------------------------------------//
void returnCursor() {
_pc.putc('>');
@@ -283,7 +310,6 @@
_noteLen = len;
return true;
}
-
else {
return false;
}
@@ -293,9 +319,6 @@
void commOutFn() {
while (_RUN) {
- if (YES){ // waiiiiiittt
- cmdParser(); // Parse the command for decoding
-
osEvent newEvent = _msgStack.get();
msg *pMessage = (msg *) newEvent.value.p;
@@ -356,11 +379,7 @@
break;
}
-
-
_msgStack.free(pMessage);
- YES = false;
- }
}
}
@@ -376,12 +395,12 @@
void start_comm(){
_RUN = true;
_tCommOut.start(callback(this, &Comm::commOutFn));
+ _tCommIn.start(callback(this, &Comm::commInFn));
}
- char _newCmd[]; // Unallocated must be defined at the bottom of the class
- static char _inCharQ[];
+
};
-char Comm::_inCharQ[] = {'.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','\0'}; // Static member must be defined outside class
+// char Comm::_inCharQ[] = {'.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','\0'}; // Static member must be defined outside class
//Mutex Comm::_newKeyMutex;
class Motor {
@@ -412,7 +431,7 @@
pwmCtrl.pulsewidth_us(mtrPeriod);
_orState = motorHome(); // Rotor offset at motor state 0
- _currentState = readRot_orState(); // Current Rotor State
+ _currentState = readRotorState(); // Current Rotor State
_lead = 2; // 2 for forwards, -2 for backwards
_theStates[0] = _orState +1; // Initialise repeatable states, for us this is state 1
@@ -477,7 +496,7 @@
}
//-- Inline Conversion of Photointerrupts to a Rotor State ----------------------------------------------------------//
- inline int8_t readRot_orState() {
+ inline int8_t readRotorState() {
return stateMap[I1 + 2*I2 + 4*I3];
}
@@ -487,12 +506,12 @@
motorOut(0); //Put the motor in drive state 0 and wait for it to stabilise
wait(3.0);
- return readRot_orState(); //Get the rotor state
+ return readRotorState(); //Get the rotor state
}
//-- Motor State Log, Circumvents Issues From Occasionally Skipping Certain States ----------------------------------//
void stateUpdate() { // () { // **params
- _currentState = readRot_orState(); // Get current state
+ _currentState = readRotorState(); // Get current state
if (_currentState == _theStates[0]) // Cumulative state counter (1 for our group's motor)
_stateCount[0]++;
@@ -553,6 +572,7 @@
while (_RUN) {
_tMotorCtrl.signal_wait((int32_t)0x1);
+ // _pComm->_tCommIn.signal_set(0x01);
core_util_critical_section_enter(); // Access shared variables here
cpyModeBitfield = _pComm->_modeBitField;
@@ -589,7 +609,7 @@
// Ts = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity
// Check if user entered V0 and set the output to maximum as specified
- sError == -abs(cur_speed) ? Ts = _MAXPWM_PRD : \
+ sError == -abs(cur_speed) ? Ts = _MAXPWM_PRD : \
Ts = (Kp1 * sError); // If the user didn't enter V0 implement controller transfer function:
@@ -669,9 +689,9 @@
//try{
// Mutex For Access Control
- _newKeyMutex.lock();
+ comm_port._newKeyMutex.lock();
*key = comm_port._newKey;
- _newKeyMutex.unlock();
+ comm_port._newKeyMutex.unlock();
// Compute Hash and Counter
miner.computeHash(hash, sequence, length64);