This project includes the code for the second coursework of the module Embedded Systems at Imperial College. The goal was to implement a motor controller which controlled a brushless motor. This is an example of a real time task and therefore the aim was to make efficient code. This is why we did bitcoin mining alongside controlling the motor. For this project we have used the NUCLEO L432KC hardware component.

Due to the COVID-19 outbreak in Europe both Colaborators (alexwillie and TimoThans33) had to go back to their home countries, respectively Sweden and The Netherlands. This unfortunately forced us to work on the last part of the code without the motor. Specifically playing the melody has not been tested on the motor and therefore we can not guarantee that it works.

Main functions of this code:

• Spin for a defined number of rotations and stop without overshooting
• Spin at a defined angular velocity
• Execute a bitcoin mining kernel in the background capped at 5000 hashrate
• Make the motor play a tune as it works

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This code takes in some serial commands the format of these serial commands is as follows. All the commands have to finish with an enter.

• R-{?} (This will rotate backwards for ? rotations)
• V{?} (Changes the velocity up to a maximum of 20)
• T{?} (Takes in a melody of four notes in 5 different octaves and plays every note for 0.4 seconds)
• K{16} (Defines a new key for the hashing algorithm)

├── Pictures
     └── output_serial.png
├── src
     ├── controller.cpp
     ├── decode.cpp
     ├── main.cpp
     └── message.cpp
 └── Readme.md

We have used the mbed cli as IDE because this was more efficient for testing code. Here are the install instructions. Assuming you have pip and python installed already. It is advised to install and build the project in a virtual environment.

sudo apt install mercurial

pip install mbed-cli

Install the GCC_ARM compiler

sudo apt-get install gcc-arm-none-eabi binutils-arm-none-eabi gdb-arm-none-eabi openocd

Then to make this directory active you might get away with

mbed deploy
mbed new .

If that does not work try this

mbed new your_own_env
cd your_own_env
mbed add http://os.mbed.com/users/Geremia/code/Crypto
cp Embedded-CW2/* your_own_env

Plug in the L432KC board and configure your mbed workspace

mbed target detect
mbed toolchain GCC_ARM

Now you are ready for launch.... just run below and the data from the board is shown in the terminal

mbed compile -f --sterm

Alternatively you can use screen from Linux after compiling

screen your_device 9600