Skad00sh
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Revision 26:fb6151e5907d, committed 2019-03-16
- Comitter:
- adehadd
- Date:
- Sat Mar 16 18:19:08 2019 +0000
- Parent:
- 25:995865498aee
- Child:
- 27:ce05fed3c1ea
- Commit message:
- proposed PID controls 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 17:39:22 2019 +0000
+++ b/main.cpp Sat Mar 16 18:19:08 2019 +0000
@@ -1,37 +1,54 @@
-#include "SHA256.h"
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~INCLUDES~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#include "mbed.h"
-// #include <iostream>
-// #include "rtos.h"
+#include "Crypto.h" // Library used for Bitcoin mining.
+#include "rtos.h" // Real time operating system library for threads etc.
+
+
+
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~DEFINITIONS~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-/*TODO:
-Change
-Indx
-newCmd
-MAXCMDLENGTH
-*/
+//~~~~~~~~~~~~~~Photointerrupter pins~~~~~~~~~~~~~~
+#define I1pin D2
+#define I2pin D11
+#define I3pin D12
-//Photointerrupter input pins
-#define I1pin D3
-#define I2pin D6
-#define I3pin D5
+
+////~~~~~~~~~~Incremental encoder pins//~~~~~~~~~~~
+#define CHA D7
+#define CHB D8
+
-//Incremental encoder input pins
-#define CHApin D12
-#define CHBpin D11
+//~~Motor Drive output pins~/Mask in output byte~~~
+#define L1Lpin D4 //0x01
+#define L1Hpin D5 //0x02
+#define L2Lpin D3 //0x04
+#define L2Hpin D6 //0x08
+#define L3Lpin D9 //0x10
+#define L3Hpin D10 //0x20
+
+
+//~~~~~~~~Maximum command length accepted~~~~~~~~~~~
+#define MAXCMDLENGTH 18
+
-//Motor Drive output pins //Mask in output byte
-#define L1Lpin D1 //0x01
-#define L1Hpin A3 //0x02
-#define L2Lpin D0 //0x04
-#define L2Hpin A6 //0x08
-#define L3Lpin D10 //0x10
-#define L3Hpin D2 //0x20
+//~~~~~~~~Maximum PWM allowed due to 50% restriction
+#define MAXPWM 1000
+
+
+//~~~~~~~Enumeration of message identifiers~~~~~~~~~
+enum MsgCode {Msg_motorState, Msg_hashRate, Msg_nonceMatch, Msg_keyAdded, Msg_velocityOut, Msg_velocityIn, Msg_positionIn, Msg_positionOut, Msg_rotations, Msg_torque, Msg_error};
+
-#define PWMpin D9
+//~~~~~~~New data type to carry the messages~~~~~~~~
+typedef struct {
+ MsgCode code;
+ uint32_t data;
+} message_t;
-//Motor current sense
-#define MCSPpin A1
-#define MCSNpin A0
+
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Global Variables~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Mapping from sequential drive states to motor phase outputs
/*
@@ -45,546 +62,451 @@
6 - - -
7 - - -
*/
-//Drive state to output table
+
+
+//~~~~~~~~~~~Drive state to output table~~~~~~~~~~~~
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[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
+
+//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};
+//Alternative if phase order of input or drive is reversed.
+//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07};
+
-//Phase lead to make motor spin
-const int8_t lead = 2; //2 for forwards, -2 for backwards
+////~~~~~~~~~Phase lead to make motor spin~~~~~~~~~
+int8_t lead = 2; //2 for forwards, -2 for backwards
+
-//Status LED
+//~~~~~~~~~~~~~~~~~~Rotor states~~~~~~~~~~~~~~~~~~~
+int8_t orState = 0; // Rotor offset at motor state 0
+volatile int8_t intStateOld = 0; // Motor old state. Type is volatile since
+ // its value may change in ISR
+
+//~~~~~~~~~~~~~~~~~~~Status LED~~~~~~~~~~~~~~~~~~~~
DigitalOut led1(LED1);
-//Photointerrupter inputs
+
+//~~~~~~~~~~~~~Photointerrupter inputs~~~~~~~~~~~~~
InterruptIn I1(I1pin);
InterruptIn I2(I2pin);
InterruptIn I3(I3pin);
-//Motor Drive outputs
-DigitalOut L1L(L1Lpin);
+
+//~~~~~~~~~~~~~~Motor Drive outputs~~~~~~~~~~~~~~~~
+PwmOut L1L(L1Lpin);
DigitalOut L1H(L1Hpin);
-DigitalOut L2L(L2Lpin);
+PwmOut L2L(L2Lpin);
DigitalOut L2H(L2Hpin);
-DigitalOut L3L(L3Lpin);
+PwmOut L3L(L3Lpin);
DigitalOut L3H(L3Hpin);
-PwmOut pwmCtrl(PWMpin);
-uint8_t stateCount[3];
-uint8_t theStates[3];
-
-class Comm /*: public T_*/{
-
-public:
-
- Thread t_comm_out;
- Thread t_motor_ctrl;
- // Thread *p_motor_ctrl;
-
- bool _RUN;
-
- RawSerial pc;
- // Queue<void, 8> inCharQ; // Input Character Queue
+//~Dats structure to pass information between threads~
+Mail<message_t,16> outMessages;
- static const char MsgChar[11];
-
- uint8_t MAXCMDLENGTH;
+//~~~~~~~~~~~~~~~~~~~~Queue~~~~~~~~~~~~~~~~~~~~~~~~
+Queue<void, 8> inCharQ;
- 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,
- hashRate, keyAdded, nonceMatch,
-
- torque, rotations,
-
- error};
+//~~~~~~~~~~~~Serial command buffer~~~~~~~~~~~~~~~
+char newCmd[MAXCMDLENGTH];
+volatile uint8_t cmdIndx = 0;
- 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
+//~~~~~~~~~~Key to be passed for mining~~~~~~~~~~~
+volatile uint64_t newKey; // Key
+Mutex newKey_mutex; // Restrict access to prevent deadlock.
- 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
- }
- }
- }
+//~~~~~~~~~~~~~~Initial conditions~~~~~~~~~~~~~~~~
+volatile uint32_t motorPower = 300; // motor toque
+volatile float targetVel = 45.0;
+volatile float targetRot = 459.0;
- }
-
- /*void commInFn() {
- // if (_RUN)
+//~~~~~~~~~~~Motor position variable~~~~~~~~~~~~~~
+volatile int32_t motorPos; // Motor position updated by interrupt.
- 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('<');
- }
+//~~~~~~~~~~Serial port connection~~~~~~~~~~~~~~~~
+RawSerial pc(SERIAL_TX, SERIAL_RX);
- 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;
- //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);
- }
- }
+
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Threads~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- // attach_us -> runs funtion every 100ms
- void motorCtrlFn() {
- Ticker motorCtrlTicker;
- motorCtrlTicker.attach_us(callback(this,&Comm::motorCtrlTick), 1e5);
- uint8_t cpyStateCount[3];
- uint8_t cpyCurrentState;
- while (_RUN) {
- t_motor_ctrl.signal_wait((int32_t)0x1);
- core_util_critical_section_enter();
- //Access shared variables here
- std::copy(stateCount, stateCount+3, cpyStateCount);
- // TODO: A thing yes
- cpyCurrentState = 0;
- for (int i = 0; i < 3; ++i) {
- stateCount[i] = 0;
- }
- core_util_critical_section_exit();
-
- uint8_t iterElementMax = std::max_element(cpyStateCount, cpyStateCount+3) - cpyStateCount;
-
- int16_t ting[2] = {5,1}; // 360,60 (for degrees), 5,1 (for states)
- int16_t totalDegrees = ting[0] * cpyStateCount[iterElementMax];
- int16_t stateDiff = theStates[iterElementMax]-cpyCurrentState;
- if (stateDiff >= 0) {
- totalDegrees = totalDegrees + (ting[1]* stateDiff);
- } else {
- totalDegrees = totalDegrees + (ting[1]*stateDiff*-1);
- }
- pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
-
- //~~~~~Speed controller~~~~~~
- /*
- sError = (targetVel * 6) - abs(totalDegrees)*10; //Read global variable targetVel updated by interrupt and calculate error between target and reality
- int32_t Ys; //Initialise controller output Ys
- if (sError == -abs(velocity)) { //Check if user entered V0,
- Ys = MAXPWM; //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,
- }
- */
- }
-
- }
-
- void motorCtrlTick(){
- t_motor_ctrl.signal_set(0x1);
- }
+Thread commOutT(osPriorityAboveNormal,1024); // Output to serial port.
+Thread commInT(osPriorityAboveNormal,1024); // Input from serial port.
+Thread motorCtrlT(osPriorityNormal,1024); // Motor control thread.
- //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.
- Comm() : pc(SERIAL_TX, SERIAL_RX),
- t_comm_out(osPriorityAboveNormal, 1024),
- t_motor_ctrl(osPriorityAboveNormal2, 1024)
- { // inherit from the RawSerial constructor
-
- pc.printf("%s\n\r", "Welcome" );
- MAXCMDLENGTH = 18;
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Function declarations~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- // 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');
+void motorOut(int8_t driveState, uint32_t pw);
+inline int8_t readRotorState();
+int8_t motorHome();
+void motorISR();
+void cmdParser();
+void commOutFn();
+void putMessage(MsgCode code, uint32_t data);
+void serialISR();
+void commInFn();
+void motorCtrlFn();
+void motorCtrlTick();
- inCharQ[MAXCMDLENGTH] = '\0';
- strncpy(newCmd, inCharQ, MAXCMDLENGTH);
-
- cmdIndx = 0;
-
- inCharQIdx = 0;
- // inCharQIdx = MAXCMDLENGTH-1;
- pc.attach(callback(this, &Comm::serialISR));
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Main~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- // Thread t_comm_in(osPriorityAboveNormal, 1024);
- // Thread t_comm_out(osPriorityAboveNormal, 1024);
- // Thread t_motor_ctrl(osPriorityAboveNormal, 1024);
+int main() {
+ //~~~~~~~~~~~~~Initial serial prints~~~~~~~~~~~~~
+ pc.printf("\n\r\n\r Hello \n\r");
+ pc.printf("\n\r\n\rGroup: IndiCorp \n\r");
+ pc.printf("Initial hardcoded conditions:\n\r");
+ pc.printf("\tVelocity:\t%f\n\r", targetVel);
+ pc.printf("\tRotation:\t%f\n\r", targetRot);
+
- motorPower = 300;
- targetVel = 45.0;
- targetRot = 459.0;
-
-
-
- /*MsgChar = {'m', 'R', 'V', 'r', 'v',
-
- 'h', 'K', 'n',
+ //~~~~~~~~~~~~~~~Start all threads~~~~~~~~~~~~~~~
+ commOutT.start(commOutFn);
+ commInT.start(commInFn);
+ motorCtrlT.start(motorCtrlFn);
+
+
+ //~~~~~~~~~~~~~~Attach ISR to serial~~~~~~~~~~~~
+ pc.attach(&serialISR);
+
+
+ //~~~~~~~~Attach ISR to photointerrupters~~~~~~~
+ I1.rise(&motorISR);
+ I1.fall(&motorISR);
+ I2.rise(&motorISR);
+ I2.fall(&motorISR);
+ I3.rise(&motorISR);
+ I3.fall(&motorISR);
+
- 'T', 'r',
-
- 'e'};*/
- }
-
+ //~~~~~~~~~Declare Bitcoin Variables~~~~~~~~~~~
+ SHA256 sha256Inst;
+ 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,\
+ 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,\
+ 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,\
+ 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,\
+ 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,\
+ 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00
+ };
+ uint64_t* key = (uint64_t*)((int)sequence + 48);
+ uint64_t* nonce = (uint64_t*)((int)sequence + 56);
+ uint8_t hash[32];
+ uint32_t sequenceLength = 64;
+ uint32_t hashCounter = 0;
+ Timer bitcoinTimer;
- void putMessage(msgType type, uint32_t message){
- msg *p_msg = mailStack.alloc();
- p_msg->type = type;
- p_msg->message = message;
- mailStack.put(p_msg);
- }
+
+ //Set PWM period to max 2000 due to hardware limitations
+ L1L.period_us(2000);
+ L2L.period_us(2000);
+ L3L.period_us(2000);
+
- void start_comm(){
- _RUN = true;
+ /* Run the motor synchronisation: orState is subtracted from future rotor
+ state inputs to align rotor and motor states */
+ orState = motorHome();
+ pc.printf("Rotor origin: %x\n\r", orState); //Print state for debugging purposes.
+
+
+ //~~~~~~Give the motor a kick to begin~~~~~~~~
+ motorISR();
+
- // 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('.');
+ //~~~~~~~~~~~~~~~~Mining loop~~~~~~~~~~~~~~~~~
+ bitcoinTimer.start(); // start timer
+ while (1) {
+ newKey_mutex.lock();
+ (*key) = newKey;
+ newKey_mutex.unlock();
+ sha256Inst.computeHash(hash, sequence, sequenceLength);
+ hashCounter++;
+ if ((hash[0]==0) && (hash[1]==0)){
+ putMessage(Msg_nonceMatch, *nonce); // matching nonce 7
}
- 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));
- t_motor_ctrl.start(callback(this, &Comm::motorCtrlFn));
-
-
- }
+ (*nonce)++;
- char newCmd[]; // because unallocated must be defined at the bottom of the class
- char inCharQ[];
-};
+ if (bitcoinTimer.read() >= 1){
+ putMessage(Msg_hashRate, hashCounter); // 5
+ hashCounter=0;
+ bitcoinTimer.reset();
+ }
+ }
+}
-
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Functions Definitions~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-//Set a given drive state
-void motorOut(int8_t driveState){
+//~~~~~~~~~~~~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 = 0;
+ if (~driveOut & 0x01) L1L.pulsewidth_us(0);
if (~driveOut & 0x02) L1H = 1;
- if (~driveOut & 0x04) L2L = 0;
+ if (~driveOut & 0x04) L2L.pulsewidth_us(0);
if (~driveOut & 0x08) L2H = 1;
- if (~driveOut & 0x10) L3L = 0;
+ if (~driveOut & 0x10) L3L.pulsewidth_us(0);
if (~driveOut & 0x20) L3H = 1;
-
+
//Then turn on
- if (driveOut & 0x01) L1L = 1;
+ if (driveOut & 0x01) L1L.pulsewidth_us(pw);
if (driveOut & 0x02) L1H = 0;
- if (driveOut & 0x04) L2L = 1;
+ if (driveOut & 0x04) L2L.pulsewidth_us(pw);
if (driveOut & 0x08) L2H = 0;
- if (driveOut & 0x10) L3L = 1;
+ if (driveOut & 0x10) L3L.pulsewidth_us(pw);
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 motor synchronisation routine~~~~~~
int8_t motorHome() {
//Put the motor in drive state 0 and wait for it to stabilise
- motorOut(0);
+ motorOut(0, MAXPWM); // set to max PWM
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];
+//~~~~~~~~~Motor ISR (photointerrupters)~~~~~~~~~
+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;
+}
+
+
+//~~~~~Decode messages to print on serial port~~~~~
+void commOutFn() {
+ while(1) {
+ osEvent newEvent = outMessages.get();
+ message_t *pMessage = (message_t*)newEvent.value.p;
- switch (currentState) {
- case 1:
- stateCount[0]++;
- break;
- case (1 + lead):
- stateCount[1]++;
- break;
- case (1 + (lead*2)):
- stateCount[2]++;
- break;
+ //Case switch to choose serial output based on incoming message
+ switch(pMessage->code) {
+ case Msg_motorState:
+ pc.printf("The motor is currently in state %x\n\r", pMessage->data);
+ break;
+ case Msg_hashRate:
+ pc.printf("Mining at a rate of %.2f Hash/s\n\r", (int32_t)pMessage->data);
+ break;
+ case Msg_nonceMatch:
+ pc.printf("Nonce found: %x\n\r", pMessage->data);
+ break;
+ case Msg_keyAdded:
+ pc.printf("New key added:\t0x%016x\n\r", pMessage->data);
+ break;
+ case Msg_torque:
+ pc.printf("Motor torque set to:\t%d\n\r", pMessage->data);
+ break;
+ case Msg_velocityIn:
+ pc.printf("Target velocity set to:\t%.2f\n\r", targetVel);
+ break;
+ case Msg_velocityOut:
+ pc.printf("Current Velocity:\t%.2f\n\r", \
+ (float)((int32_t)pMessage->data / 6));
+ break;
+ case Msg_positionIn:
+ pc.printf("Target rotation set to:\t%.2f\n\r", \
+ (float)((int32_t)pMessage->data / 6));
+ break;
+ case Msg_positionOut:
+ pc.printf("Current position:\t%.2f\n\r", \
+ (float)((int32_t)pMessage->data / 6));
+ break;
+ case Msg_error:
+ pc.printf("Debugging position:%x\n\r", pMessage->data);
+ break;
+ default:
+ pc.printf("Unknown Error. Data: %x\n\r", pMessage->data);
+ break;
+ }
+ outMessages.free(pMessage);
}
+}
- motorOut((currentState - offset + lead + 6) % 6);
+
+//~~~~~~~~~Put message in Mail queue~~~~~~~~~~~
+void putMessage(MsgCode code, uint32_t data){
+ message_t *pMessage = outMessages.alloc();
+ pMessage->code = code;
+ pMessage->data = data;
+ outMessages.put(pMessage);
+}
+
+
+//~~~~Receive & decode serial input command~~~~~
+void commInFn() {
+ while (1) {
+ osEvent newEvent = inCharQ.get();
+ uint8_t newChar = *((uint8_t*)(&newEvent.value.p));
+ pc.putc(newChar);
+ if(cmdIndx >= MAXCMDLENGTH){ //Make sure there is no overflow in comand.
+ cmdIndx = 0;
+ putMessage(Msg_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.
+ }
+ }
+ }
}
-//Main
-int main() {
- // 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,
- 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
- 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
- 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
- uint64_t* key = (uint64_t*)((int)sequence + 48);
- uint64_t* nonce = (uint64_t*)((int)sequence + 56);
- uint8_t hash[32];
- uint32_t length64 = 64;
- uint32_t hashCounter = 0;
- Timer timer;
-
- float dutyC = 1; // 100%
- float mtrPeriod = 2e-3; // motor period
-
- pwmCtrl.period(mtrPeriod);
- pwmCtrl.pulsewidth(mtrPeriod*dutyC);
-
- 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
- orState = motorHome();
-
- theStates[0] = orState;
- theStates[1] = (orState + lead) % 6;
- theStates[2] = (orState + (lead*2)) % 6;
-
- // Add callbacks
- // I1.fall(&stateUpdate);
- // I2.fall(&stateUpdate);
- // I3.fall(&stateUpdate);
- int8_t* params[2];
- params[0] = ¤tState;
- params[1] = &orState;
+//~~~~~~~~~~~~~Decode the command~~~~~~~~~~~
+void cmdParser(){
+ switch(newCmd[0]) {
+ case 'K':
+ newKey_mutex.lock(); //Ensure there is no deadlock
+ sscanf(newCmd, "K%x", &newKey); //Find desired the Key code
+ putMessage(Msg_keyAdded, newKey); //Print it out
+ newKey_mutex.unlock();
+ break;
+ case 'V':
+ sscanf(newCmd, "V%f", &targetVel); //Find desired the target velocity
+ putMessage(Msg_velocityIn, targetVel); //Print it out
+ break;
+ case 'R':
+ sscanf(newCmd, "R%f", &targetRot); //Find desired target rotation
+ putMessage(Msg_positionIn, targetRot); //Print it out
+ break;
+ case 'T':
+ sscanf(newCmd, "T%d", &motorPower); //Find desired target torque
+ putMessage(Msg_torque, motorPower); //Print it out
+ break;
+ default: break;
+ }
+}
- 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
- // }
+//~~~~~~~~~~~~~Serial ISR~~~~~~~~~~~~
+void serialISR() {
+ uint8_t newChar = pc.getc();
+ inCharQ.put((void*)newChar);
+}
- dutyC = 0.8;
- pwmCtrl.pulsewidth(mtrPeriod*dutyC);
+
+//~~~~~~ISR triggered by Ticker~~~~~~
+void motorCtrlTick(){
+ motorCtrlT.signal_set(0x1); //Set signal to motor control thread which carries out calculations to avoid CPU blocking
+}
- // 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);
- 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)){
- comm_plz.putMessage((Comm::msgType)7, *nonce);
+//~~~~~~~~~~~~~Motor control function with proportional controller~~~~~~~~~~~
+void motorCtrlFn() {
+
+ //~~~~~~~~~~~~~Variables~~~~~~~~~~~~~~~~
+ Ticker motorCtrlTicker; //Ticker to ba attached to callback function
+ 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
+ int32_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
+
+ //~~~Controller constants~~~~
+ int32_t Kp1=22; //Proportional controller constants
+ int32_t Kp2=22; //Calculated by trial and error to give optimal accuracy
+ float Kd=15.5;
+
+
+ //Attach ticker to callback function that will run every 100 ms
+ motorCtrlTicker.attach_us(&motorCtrlTick,100000);
+
+
+
+ while(1) {
+ motorCtrlT.signal_wait(0x1); // Wait for thread signal.
+
+ //Initial velocity calculation and report
+ locMotorPos = motorPos; //Read global variable motorPos which is updated by interrupt and store it in local variable
+ velocity = (locMotorPos - oldMotorPos) * 10; //Proceed with calculation
+ oldMotorPos = locMotorPos; //Update old motor position
+ motorCtrlCounter++; //Advance counter
+ if (motorCtrlCounter >= 10) { //Every 10th iteration
+ motorCtrlCounter = 0; //Reset counter
+ putMessage(Msg_velocityOut, velocity); //Report the current velocity
+ putMessage(Msg_positionOut, locMotorPos); //Report the current position
+ }
+ /*
+ //~~~~~Speed controller~~~~~~
+ sError = (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
+ if (sError == -abs(velocity)) { //Check if user entered V0,
+ Ys = MAXPWM; //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 = controller output, Kp = prop controller constant, s = target velocity and v is the measured velocity
+
+ //~~~~~Rotation control~~~~~~
+ rError = targetRot - (locMotorPos/6); //Read global variable targetRot updated by interrupt and calculate the rotation error.
+ int32_t Yr; //Initialise controller output Yr
+ 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
+ Ys = -Ys;
}
- // Try a new nonce
- (*nonce)++;
-
- if (stateCount<6){
- stateList[stateCount] = currentState;
- stateCount++;
+ if((velocity>=0 && Ys<Yr) || (velocity<0 && Ys>Yr)){ //Choose Ys or Yr based on distance from target value so that it takes
+ torque = Ys; //appropriate steps in the right direction to reach target value
+ }
+ else{
+ torque = Yr;
+ }
+ if(torque < 0){ //Variable torque cannot be negative since it sets the PWM
+ torque = -torque; //Hence we make the value positive,
+ lead = -2; //and instead set the direction to the opposite one
}
- else {
- //pc.printf("states");
- //for(int i = 0; i < 6; ++i)
- //pc.printf("%02i,", stateList[i]);
- //pc.printf("\n\r");
- stateCount = 0;
+ else{
+ lead = 2;
}
-
- // 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();
- }
+ if(torque > MAXPWM){ //In case the calculated PWM is higher than our maximum 50% allowance,
+ torque = MAXPWM; //Set it to our max.
+ }
+ motorPower = torque; //Lastly, update global variable motorPower which is updated by interrupt
+ */
}
-}
\ No newline at end of file
+}