ST
Range with a (green) VL53L1X Satellite board connected directly to the motherboard, without Expansion board support.
Dependencies: VL53L1X_mbed
Revision 0:6b7696e7df5e, committed 2019-05-17
- Comitter:
- johnAlexander
- Date:
- Fri May 17 10:44:38 2019 +0000
- Child:
- 1:e5cce6b28b6f
- Commit message:
- Simple ranging example using Mbed OS 5.x
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Fri May 17 10:44:38 2019 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CONTRIBUTING.md Fri May 17 10:44:38 2019 +0000 @@ -0,0 +1,5 @@ +# Contributing to Mbed OS + +Mbed OS is an open-source, device software platform for the Internet of Things. Contributions are an important part of the platform, and our goal is to make it as simple as possible to become a contributor. + +To encourage productive collaboration, as well as robust, consistent and maintainable code, we have a set of guidelines for [contributing to Mbed OS](https://os.mbed.com/docs/mbed-os/latest/contributing/index.html).
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Fri May 17 10:44:38 2019 +0000 @@ -0,0 +1,152 @@ +# Getting started example for Mbed OS + +This guide reviews the steps required to get Blinky with the addition of dynamic OS statistics working on an Mbed OS platform. (Note: To see a rendered example you can import into the Arm Online Compiler, please see our [quick start](https://os.mbed.com/docs/mbed-os/latest/quick-start/online-with-the-online-compiler.html#importing-the-code).) + +Please install [Mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli). + +## Import the example application + +From the command-line, import the example: + +``` +mbed import mbed-os-example-blinky +cd mbed-os-example-blinky +``` + +### Now compile + +Invoke `mbed compile`, and specify the name of your platform and your favorite toolchain (`GCC_ARM`, `ARM`, `IAR`). For example, for the Arm Compiler: + +``` +mbed compile -m K64F -t ARM +``` + +Your PC may take a few minutes to compile your code. At the end, you see the following result: + +``` +[snip] + +Image: ./BUILD/K64F/GCC_ARM/mbed-os-example-blinky.bin +``` + +### Program your board + +1. Connect your Mbed device to the computer over USB. +1. Copy the binary file to the Mbed device. +1. Press the reset button to start the program. + +The LED on your platform turns on and off. The main thread will additionally take a snapshot of the device's runtime statistics and display it over serial to your PC. The snapshot includes: + +* System Information: + * Mbed OS Version: Will currently default to 999999 + * Compiler ID + * ARM = 1 + * GCC_ARM = 2 + * IAR = 3 + * [CPUID Register Information](#cpuid-register-information) + * [Compiler Version](#compiler-version) +* CPU Statistics + * Percentage of runtime that the device has spent awake versus in sleep +* Heap Statistics + * Current heap size + * Max heap size which refers to the largest the heap has grown to +* Thread Statistics + * Provides information on all running threads in the OS including + * Thread ID + * Thread Name + * Thread State + * Thread Priority + * Thread Stack Size + * Thread Stack Space + +#### Compiler Version + +| Compiler | Version Layout | +| -------- | -------------- | +| ARM | PVVbbbb (P = Major; VV = Minor; bbbb = build number) | +| GCC | VVRRPP (VV = Version; RR = Revision; PP = Patch) | +| IAR | VRRRPPP (V = Version; RRR = Revision; PPP = Patch) | + +#### CPUID Register Information + +| Bit Field | Field Description | Values | +| --------- | ----------------- | ------ | +|[31:24] | Implementer | 0x41 = ARM | +|[23:20] | Variant | Major revision 0x0 = Revision 0 | +|[19:16] | Architecture | 0xC = Baseline Architecture | +| | | 0xF = Constant (Mainline Architecture) | +|[15:4] | Part Number | 0xC20 = Cortex-M0 | +| | | 0xC60 = Cortex-M0+ | +| | | 0xC23 = Cortex-M3 | +| | | 0xC24 = Cortex-M4 | +| | | 0xC27 = Cortex-M7 | +| | | 0xD20 = Cortex-M23 | +| | | 0xD21 = Cortex-M33 | +|[3:0] | Revision | Minor revision: 0x1 = Patch 1 | + + + +You can view individual examples and additional API information of the statistics collection tools at the bottom of the page in the [related links section](#related-links). + + +### Output + +To view the serial output you can use any terminal client of your choosing such as [PuTTY](http://www.putty.org/) or [CoolTerm](http://freeware.the-meiers.org/). Unless otherwise specified, printf defaults to a baud rate of 9600 on Mbed OS. + +You can find more information on the Mbed OS configuration tools and serial communication in Mbed OS in the related [related links section](#related-links). + +The output should contain the following block transmitted at the blinking LED frequency (actual values may vary depending on your target, build profile, and toolchain): + +``` +=============================== SYSTEM INFO ================================ +Mbed OS Version: 999999 +CPU ID: 0x410fc241 +Compiler ID: 2 +Compiler Version: 60300 +RAM0: Start 0x20000000 Size: 0x30000 +RAM1: Start 0x1fff0000 Size: 0x10000 +ROM0: Start 0x0 Size: 0x100000 +================= CPU STATS ================= +Idle: 98% Usage: 2% +================ HEAP STATS ================= +Current heap: 1096 +Max heap size: 1096 +================ THREAD STATS =============== +ID: 0x20001eac +Name: main_thread +State: 2 +Priority: 24 +Stack Size: 4096 +Stack Space: 3296 + +ID: 0x20000f5c +Name: idle_thread +State: 1 +Priority: 1 +Stack Size: 512 +Stack Space: 352 + +ID: 0x20000f18 +Name: timer_thread +State: 3 +Priority: 40 +Stack Size: 768 +Stack Space: 664 + +``` + +## Troubleshooting + +If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it. + +## Related Links + +* [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html) +* [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html) +* [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html) + +### License and contributions + +The software is provided under Apache-2.0 license. Contributions to this project are accepted under the same license. Please see contributing.md for more info. + +This project contains code from other projects. The original license text is included in those source files. They must comply with our license guide.
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_53L1A1_mbed.lib Fri May 17 10:44:38 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L1A1_mbed/#24a73ef7469f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri May 17 10:44:38 2019 +0000
@@ -0,0 +1,123 @@
+/*
+ * This VL53L1X Expansion board test application performs range measurements
+ * using the onboard embedded centre sensor.
+ *
+ * Measured ranges are ouput on the Serial Port, running at 115200 baud.
+ *
+ * The User Blue button stops the current measurement and entire program,
+ * releasing all resources.
+ *
+ * The Black Reset button is used to restart the program.
+ *
+ * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
+ * the X-NUCELO-53L0A1 expansion board are not made/OFF.
+ * These links must be made to allow interrupts from the Satellite boards
+ * to be received.
+ * U11 and U18 must be made/ON to allow interrupts to be received from the
+ * INT_L & INT_R positions; or
+ * U10 and U15 must be made/ON to allow interrupts to be received from the
+ * Alternate INT_L & INT_R positions.
+ * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
+ * positions.
+ * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
+ * Alternate INT_L is on CN5 Connector pin 2 as D8.
+ * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
+ * Alternate INT_R is on CN9 Connector pin 5 as D2.
+ * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
+ */
+
+#include <stdio.h>
+
+#include "mbed.h"
+#include "XNucleo53L1A1.h"
+#include "vl53L1x_I2c.h"
+
+#define VL53L1_I2C_SDA D14
+#define VL53L1_I2C_SCL D15
+
+static XNucleo53L1A1 *board=NULL;
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+
+ int status = 0;
+ uint8_t ready_centre = 0;
+ uint8_t ready_left = 0;
+ uint8_t ready_right = 0;
+ uint16_t distance_centre = 0;
+ uint16_t distance_left = 0;
+ uint16_t distance_right = 0;
+
+ printf("Hello world!\r\n");
+
+ vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+
+ printf("I2C device created!\r\n");
+
+ /* creates the 53L1A1 expansion board singleton obj */
+ board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2);
+ printf("board created!\r\n");
+
+ /* init the 53L1A1 expansion board with default values */
+ status = board->init_board();
+ if (status != 0) {
+ printf("Failed to init board!\r\n");
+ return status;
+ }
+
+ printf("board initiated! - %d\r\n", status);
+
+ /* Start ranging on the centre sensor */
+ status = board->sensor_centre->VL53L1X_StartRanging();
+ if (status != 0) {
+ printf("Centre sensor failed to start ranging!\r\n");
+ return status;
+ }
+
+ /* Start ranging on the left sensor */
+ status = board->sensor_left->VL53L1X_StartRanging();
+ if (status != 0) {
+ printf("Left sensor failed to start ranging!\r\n");
+ return status;
+ }
+
+ /* Start ranging on the right sensor */
+ status = board->sensor_right->VL53L1X_StartRanging();
+ if (status != 0) {
+ printf("Right sensor failed to start ranging!\r\n");
+ return status;
+ }
+
+ /* Ranging loop
+ * Checks each sensor for data ready
+ */
+ while (1)
+ {
+ board->sensor_centre->VL53L1X_CheckForDataReady(&ready_centre);
+ board->sensor_left->VL53L1X_CheckForDataReady(&ready_left);
+ board->sensor_right->VL53L1X_CheckForDataReady(&ready_right);
+
+ if (ready_centre) {
+ board->sensor_centre->VL53L1X_GetRangeStatus(&ready_centre);
+ board->sensor_centre->VL53L1X_GetDistance(&distance_centre);
+ }
+ if (ready_left) {
+ board->sensor_centre->VL53L1X_GetRangeStatus(&ready_left);
+ board->sensor_centre->VL53L1X_GetDistance(&distance_left);
+ }
+ if (ready_right) {
+ board->sensor_centre->VL53L1X_GetRangeStatus(&ready_right);
+ board->sensor_centre->VL53L1X_GetDistance(&distance_right);
+ }
+
+ printf("%d\t", distance_centre);
+ printf("%d\t", distance_left);
+ printf("%d\t", distance_right);
+ }
+
+ return status;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Fri May 17 10:44:38 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#0063e5de32fc575f061244c96ac60c41c07bd2e6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_app.json Fri May 17 10:44:38 2019 +0000
@@ -0,0 +1,11 @@
+{
+ "target_overrides": {
+ "*": {
+ "platform.stack-stats-enabled": true,
+ "platform.heap-stats-enabled": true,
+ "platform.cpu-stats-enabled": true,
+ "platform.thread-stats-enabled": true,
+ "platform.sys-stats-enabled": true
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/stats_report.h Fri May 17 10:44:38 2019 +0000
@@ -0,0 +1,132 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2018 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef STATS_REPORT_H
+#define STATS_REPORT
+
+#include "mbed.h"
+
+/**
+ * System Reporting library. Provides runtime information on device:
+ * - CPU sleep, idle, and wake times
+ * - Heap and stack usage
+ * - Thread information
+ * - Static system information
+ */
+class SystemReport {
+ mbed_stats_heap_t heap_stats;
+ mbed_stats_cpu_t cpu_stats;
+ mbed_stats_sys_t sys_stats;
+
+ mbed_stats_thread_t *thread_stats;
+ uint8_t thread_count;
+ uint8_t max_thread_count;
+ uint32_t sample_time_ms;
+
+public:
+ /**
+ * SystemReport - Sample rate in ms is required to handle the CPU percent awake logic
+ */
+ SystemReport(uint32_t sample_rate) : max_thread_count(8), sample_time_ms(sample_rate)
+ {
+ thread_stats = new mbed_stats_thread_t[max_thread_count];
+
+ // Collect the static system information
+ mbed_stats_sys_get(&sys_stats);
+
+ printf("=============================== SYSTEM INFO ================================\r\n");
+ printf("Mbed OS Version: %ld \r\n", sys_stats.os_version);
+ printf("CPU ID: 0x%lx \r\n", sys_stats.cpu_id);
+ printf("Compiler ID: %d \r\n", sys_stats.compiler_id);
+ printf("Compiler Version: %ld \r\n", sys_stats.compiler_version);
+
+ for (int i = 0; i < MBED_MAX_MEM_REGIONS; i++) {
+ if (sys_stats.ram_size[i] != 0) {
+ printf("RAM%d: Start 0x%lx Size: 0x%lx \r\n", i, sys_stats.ram_start[i], sys_stats.ram_size[i]);
+ }
+ }
+ for (int i = 0; i < MBED_MAX_MEM_REGIONS; i++) {
+ if (sys_stats.rom_size[i] != 0) {
+ printf("ROM%d: Start 0x%lx Size: 0x%lx \r\n", i, sys_stats.rom_start[i], sys_stats.rom_size[i]);
+ }
+ }
+ }
+
+ ~SystemReport(void)
+ {
+ free(thread_stats);
+ }
+
+ /**
+ * Report on each Mbed OS Platform stats API
+ */
+ void report_state(void)
+ {
+ report_cpu_stats();
+ report_heap_stats();
+ report_thread_stats();
+
+ // Clear next line to separate subsequent report logs
+ printf("\r\n");
+ }
+
+ /**
+ * Report CPU idle and awake time in terms of percentage
+ */
+ void report_cpu_stats(void)
+ {
+ static uint64_t prev_idle_time = 0;
+
+ printf("================= CPU STATS =================\r\n");
+
+ // Collect and print cpu stats
+ mbed_stats_cpu_get(&cpu_stats);
+
+ uint64_t diff = (cpu_stats.idle_time - prev_idle_time);
+ uint8_t idle = (diff * 100) / (sample_time_ms * 1000); // usec;
+ uint8_t usage = 100 - ((diff * 100) / (sample_time_ms * 1000)); // usec;;
+ prev_idle_time = cpu_stats.idle_time;
+
+ printf("Idle: %d%% Usage: %d%% \r\n", idle, usage);
+ }
+
+ /**
+ * Report current heap stats. Current heap refers to the current amount of
+ * allocated heap. Max heap refers to the highest amount of heap allocated
+ * since reset.
+ */
+ void report_heap_stats(void)
+ {
+ printf("================ HEAP STATS =================\r\n");
+
+ // Collect and print heap stats
+ mbed_stats_heap_get(&heap_stats);
+
+ printf("Current heap: %lu\r\n", heap_stats.current_size);
+ printf("Max heap size: %lu\r\n", heap_stats.max_size);
+ }
+
+ /**
+ * Report active thread stats
+ */
+ void report_thread_stats(void)
+ {
+ printf("================ THREAD STATS ===============\r\n");
+
+ // Collect and print running thread stats
+ int count = mbed_stats_thread_get_each(thread_stats, max_thread_count);
+
+ for (int i = 0; i < count; i++) {
+ printf("ID: 0x%lx \r\n", thread_stats[i].id);
+ printf("Name: %s \r\n", thread_stats[i].name);
+ printf("State: %ld \r\n", thread_stats[i].state);
+ printf("Priority: %ld \r\n", thread_stats[i].priority);
+ printf("Stack Size: %ld \r\n", thread_stats[i].stack_size);
+ printf("Stack Space: %ld \r\n", thread_stats[i].stack_space);
+ }
+ }
+};
+
+#endif // STATS_REPORT_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/README.md Fri May 17 10:44:38 2019 +0000 @@ -0,0 +1,12 @@ +# Testing examples + +Examples are tested using tool [htrun](https://github.com/ARMmbed/mbed-os-tools/tree/master/packages/mbed-host-tests) and templated print log. + +To run the test, use following command after you build the example: +``` +mbedhtrun -d D: -p COM4 -m K64F -f .\BUILD\K64F\GCC_ARM\blinky.bin --compare-log tests\blinky.log +``` + + +More details about `htrun` are [here](https://github.com/ARMmbed/mbed-os-tools/tree/master/packages/mbed-host-tests#testing-mbed-os-examples). +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/blinky.log Fri May 17 10:44:38 2019 +0000 @@ -0,0 +1,29 @@ +=============================== SYSTEM INFO ================================ +Mbed OS Version: +CPU ID: 0x[0-9a-fA-F]+ +Compiler ID: 1 +Compiler Version: +================= CPU STATS ================= +Idle: \d+% Usage: \d+% +================ HEAP STATS ================= +Current heap: \d+ +Max heap size: \d+ +================ THREAD STATS =============== +ID: 0x[0-9a-fA-F]+ +Name: main +State: \d+ +Priority: \d+ +Stack Size: \d+ +Stack Space: \d+ +ID: 0x[0-9a-fA-F]+ +Name: rtx_idle +State: \d+ +Priority: \d+ +Stack Size: \d+ +Stack Space: \d+ +ID: 0x[0-9a-fA-F]+ +Name: rtx_timer +State: \d+ +Priority: \d+ +Stack Size: \d+ +Stack Space: \d+