Skad00sh
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Revision 20:c60f4785b556, committed 2019-03-14
- Comitter:
- adehadd
- Date:
- Thu Mar 14 23:28:20 2019 +0000
- Parent:
- 19:805c87360b55
- Child:
- 21:b296db05483d
- Commit message:
- threads working, serial output better (has a bug on first run that is unsolved). Up to Part 2 of Labs.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Mar 14 16:08:50 2019 +0000
+++ b/main.cpp Thu Mar 14 23:28:20 2019 +0000
@@ -1,7 +1,7 @@
#include "SHA256.h"
#include "mbed.h"
-#include <iostream>
-#include "rtos.h"
+// #include <iostream>
+// #include "rtos.h"
/*TODO:
Change
@@ -64,28 +64,25 @@
InterruptIn I3(I3pin);
//Motor Drive outputs
-PwmOut L1L(L1Lpin);
+DigitalOut L1L(L1Lpin);
DigitalOut L1H(L1Hpin);
-PwmOut L2L(L2Lpin);
+DigitalOut L2L(L2Lpin);
DigitalOut L2H(L2Hpin);
-PwmOut L3L(L3Lpin);
+DigitalOut L3L(L3Lpin);
DigitalOut L3H(L3Hpin);
-//Declare and start threads
+/*//Declare and start threads
class T_{
- protected:
-
- uint32_t motorPower; // motor toque
- float targetVel;
- float targetRot;
+ // protected:
+ public:
Thread *p_comm_in;
Thread *p_comm_out;
Thread *p_motor_ctrl;
- public:
+
T_(){
//(priority, stack size,
@@ -96,10 +93,6 @@
p_comm_in = &comm_in;
p_comm_out = &comm_out;
p_motor_ctrl = &motor_ctrl;
-
- motorPower = 300;
- targetVel = 45.0;
- targetRot = 459.0;
}
@@ -111,105 +104,32 @@
if (p_motor_ctrl->get_state() == 2)
p_motor_ctrl->terminate();
}
-};
-
-
-class Motor : public T_{
+};*/
- private:
- int32_t MAXPWM;
- int8_t orState; // Rotor offset at motor state 0
- int8_t intStateOld; // Motor old state, may change in ISR
-
- int32_t motorPos;
-
-
+class Comm /*: public T_*/{
+
public:
- Motor(){
- MAXPWM = 1000;
- orState = 0;
- intStateOld = 0;
- }
-
-
- //~~~~~~~~~~~~Set a given drive state~~~~~~~~~~~~
- void motorOut(int8_t driveState, uint32_t pw){
-
- //Lookup the output byte from the drive state.
- int8_t driveOut = driveTable[driveState & 0x07];
-
- //Turn off first
- if (~driveOut & 0x01) L1L.pulsewidth_us(0);
- if (~driveOut & 0x02) L1H = 1;
- if (~driveOut & 0x04) L2L.pulsewidth_us(0);
- if (~driveOut & 0x08) L2H = 1;
- if (~driveOut & 0x10) L3L.pulsewidth_us(0);
- if (~driveOut & 0x20) L3H = 1;
-
- //Then turn on
- if (driveOut & 0x01) L1L.pulsewidth_us(pw);
- if (driveOut & 0x02) L1H = 0;
- if (driveOut & 0x04) L2L.pulsewidth_us(pw);
- if (driveOut & 0x08) L2H = 0;
- if (driveOut & 0x10) L3L.pulsewidth_us(pw);
- if (driveOut & 0x20) L3H = 0;
- }
-
- inline int8_t readRotorState(){
- return stateMap[I1 + 2*I2 + 4*I3];
- }
-
- int8_t motorHome() {
- //Put the motor in drive state 0 and wait for it to stabilise
- motorOut(0, MAXPWM); // set to max PWM
- wait(2.0);
-
- //Get the rotor state
- return readRotorState();
- }
-
- void motorISR() {
- static int8_t oldRotorState;
- int8_t rotorState = readRotorState();
-
- motorOut((rotorState-orState+lead+6)%6,motorPower);
-
- // update motorPosition and oldRotorState
- if (rotorState - oldRotorState == 5) motorPos--;
- else if (rotorState - oldRotorState == -5) motorPos++;
- else motorPos += (rotorState - oldRotorState);
- oldRotorState = rotorState;
- }
-
- void stateUpdate(int8_t *params[]) { // () { // **params
- *params[0] = readRotorState();
- int8_t currentState = *params[0];
- int8_t offset = *params[1];
-
- motorOut((currentState - offset + lead + 6) % 6, MAXPWM);
- }
-};
-
-
-class Comm : public T_{
-
- private:
+ Thread t_comm_in;
+ Thread t_comm_out;
+ // Thread *p_motor_ctrl;
+
bool _RUN;
RawSerial pc;
- Queue<void, 8> inCharQ; // Input Character Queue
-
- volatile uint64_t newKey; // hash key
- Mutex newKey_mutex; // Restrict access to prevent deadlock.
+ // Queue<void, 8> inCharQ; // Input Character Queue
+
static const char MsgChar[11];
uint8_t MAXCMDLENGTH;
- char newCmd[];
- uint8_t cmdIndx;
+
+ volatile uint8_t cmdIndx;
+ volatile uint8_t inCharQIdx;
-
+ volatile uint32_t motorPower; // motor toque
+ volatile float targetVel;
+ volatile float targetRot;
enum msgType {motorState, posIn, velIn, posOut, velOut,
@@ -219,7 +139,6 @@
error};
-
typedef struct {
msgType type;
uint32_t message;
@@ -228,16 +147,49 @@
Mail<msg, 32> mailStack;
void serialISR(){
- uint8_t newChar = pc.getc();
- inCharQ.put((void*)newChar);
+ 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
+ }
+ 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)
- pc.attach(callback(this, &Comm::serialISR));
+ /*void commInFn() {
+ // if (_RUN)
+
while (_RUN) {
osEvent newEvent = inCharQ.get();
- uint8_t newChar = ((uint8_t)(&newEvent.value.p));
+ 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;
@@ -255,25 +207,34 @@
}
}
}
+ }*/
+
+ 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':
+ 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':
+ case 'V': //(MsgChar[velIn])://
sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity
putMessage(velIn, targetVel); //Print it out
break;
- case 'R':
+ case 'R': //(MsgChar[posIn])://
sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation
putMessage(posIn, targetRot); //Print it out
break;
- case 'T':
+ case 'T': //(MsgChar[torque])://
sscanf(newCmd, "T%d", &motorPower); //Find desired target torque
putMessage(torque, motorPower); //Print it out
break;
@@ -285,7 +246,7 @@
void commOutFn() {
while (_RUN) {
osEvent newEvent = mailStack.get();
- msg *pMessage = (msg*)newEvent.value.p; // ADEL ??
+ msg *pMessage = (msg*)newEvent.value.p;
//Case switch to choose serial output based on incoming message
switch(pMessage->type) {
@@ -293,34 +254,38 @@
pc.printf("The motor is currently in state %x\n\r", pMessage->message);
break;
case hashRate:
- pc.printf("Mining at a rate of %.2f Hash/s\n\r", (int32_t)pMessage->message);
+ pc.printf("\r>%s< Mining: %.4u Hash/s\r", inCharQ, (uint32_t)pMessage->message);
+ returnCursor();
break;
case nonceMatch:
- pc.printf("Nonce found: %x\n\r", pMessage->message);
+ 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);
+ 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);
+ 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);
+ 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", \
+ 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", \
+ pc.printf("Current Position:\t%.2f\n\r", \
(float)((int32_t)pMessage->message / 6));
break;
case error:
- pc.printf("Debugging position:%x\n\r", pMessage->message);
+ 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);
@@ -334,17 +299,56 @@
//TODO: stop function, maybe use parent deconstructor
//void stop_comm{}
- public:
+ // public:
+
+ volatile uint64_t newKey; // hash key
+ Mutex newKey_mutex; // Restrict access to prevent deadlock.
- Comm(): pc(SERIAL_TX, SERIAL_RX), T_(){ // inherit from the RawSerial constructor
-
+ Comm() : pc(SERIAL_TX, SERIAL_RX) { // inherit from the RawSerial constructor
+
+ pc.printf("%s\n\r", "Welcome" );
MAXCMDLENGTH = 18;
- newCmd[MAXCMDLENGTH] = '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);
+
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;
+
+
+
+ /*MsgChar = {'m', 'R', 'V', 'r', 'v',
+
+ 'h', 'K', 'n',
+
+ 'T', 'r',
+
+ 'e'};*/
}
@@ -356,19 +360,94 @@
}
void start_comm(){
- p_comm_in->start(callback(this, &Comm::commInFn));
- p_comm_out->start(callback(this, &Comm::commOutFn));
+ _RUN = true;
+
- _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('.');
+ }
+ pc.putc('<');
+ pc.putc('\r');
+
+ inCharQ[MAXCMDLENGTH] = '\0';
+ strncpy(newCmd, inCharQ, MAXCMDLENGTH);
+
+ // returnCursor();
+
+ // t_comm_in.start(callback(this, &Comm::commInFn));
+ // this::thread::wait()
+ // wait(1.0);
+ t_comm_out.start(callback(this, &Comm::commOutFn));
+
+
}
+
+ 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;
+ if (~driveOut & 0x04) L2L = 0;
+ 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;
+ if (driveOut & 0x04) L2L = 1;
+ if (driveOut & 0x08) L2H = 0;
+ if (driveOut & 0x10) L3L = 1;
+ if (driveOut & 0x20) L3H = 0;
+ }
+
+ //Convert photointerrupter inputs to a rotor state
+inline int8_t readRotorState(){
+ return stateMap[I1 + 2*I2 + 4*I3];
+ }
+
+//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();
+ 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);
- SHA256::SHA256 Miner;
+ 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,
@@ -385,16 +464,14 @@
uint32_t hashCounter = 0;
Timer timer;
+ comm_plz.start_comm();
+
// Motor States
int8_t orState = 0; //Rotot offset at motor state 0
int8_t currentState = 0; //Rotot offset at motor state 0
int8_t stateList[6]; //Rotot offset at motor state 0
//Run the motor synchronisation
-
-
- Motor motor;
- Motor* p_motor = &motor;
- orState = p_motor->motorHome();
+ orState = motorHome();
// Add callbacks
// I1.fall(&stateUpdate);
@@ -404,7 +481,7 @@
params[0] = ¤tState;
params[1] = &orState;
- I1.fall(callback(*(p_motor->stateUpdate),params));
+ I1.fall(callback(&stateUpdate,params));
I2.fall(callback(&stateUpdate,params));
I3.fall(callback(&stateUpdate,params));
@@ -416,31 +493,31 @@
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("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
+ // }
// Keep the program running indefinitely
timer.start(); // start timer
int stateCount = 0;
while (1) {
- pc.printf("Current:%d \t Next:%d \n\r", currentState, (currentState-orState+lead+6)%6);
+ // 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();
Miner.computeHash(hash, sequence, length64);
hashCounter++;
if ((hash[0]==0) && (hash[1]==0)){
- //pc.printf("hash: ");
- //for(int i = 0; i < 32; ++i)
- //pc.printf("%02x", hash[i]);
- //pc.printf("\n\r");
+ comm_plz.putMessage((Comm::msgType)7, *nonce);
}
- // // Try a new nonce
+ // Try a new nonce
(*nonce)++;
if (stateCount<6){
@@ -455,8 +532,9 @@
stateCount = 0;
}
- // // Per Second i.e. when greater or equal to 1
+ // Per Second i.e. when greater or equal to 1
if (timer.read() >= 1){
+ comm_plz.putMessage((Comm::msgType)5, hashCounter);
//pc.printf("HashRate = %02u \n\r",hashCounter);
hashCounter=0;
timer.reset();