Revision 33:c1cefad6d338, committed 2019-09-15

Comitter:

gidiana

Date:

Sun Sep 15 08:47:18 2019 +0000

Parent:

32:465e41868fe4

Commit message:

aaa

Changed in this revision

--- a/README.md	Fri Sep 13 09:24:19 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,164 +0,0 @@
-# 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.
-
-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 5:
-
-```
-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]
-+----------------------------+-------+-------+------+
-| Module             |     .text |    .data |     .bss |
-|--------------------|-----------|----------|----------|
-| [fill]             |    98(+0) |    0(+0) | 2211(+0) |
-| [lib]/c.a          | 27835(+0) | 2472(+0) |   89(+0) |
-| [lib]/gcc.a        |  3168(+0) |    0(+0) |    0(+0) |
-| [lib]/misc         |   248(+0) |    8(+0) |   28(+0) |
-| [lib]/nosys.a      |    32(+0) |    0(+0) |    0(+0) |
-| main.o             |   924(+0) |    0(+0) |   12(+0) |
-| mbed-os/components |   134(+0) |    0(+0) |    0(+0) |
-| mbed-os/drivers    |    56(+0) |    0(+0) |    0(+0) |
-| mbed-os/features   |    42(+0) |    0(+0) |  184(+0) |
-| mbed-os/hal        |  2087(+0) |    8(+0) |  152(+0) |
-| mbed-os/platform   |  3633(+0) |  260(+0) |  209(+0) |
-| mbed-os/rtos       |  9370(+0) |  168(+0) | 6053(+0) |
-| mbed-os/targets    |  9536(+0) |   12(+0) |  382(+0) |
-| Subtotals          | 57163(+0) | 2928(+0) | 9320(+0) |
-Total Static RAM memory (data + bss): 12248(+0) bytes
-Total Flash memory (text + data): 60091(+0) bytes
-
-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/).
-
-The default baud rate for this application is set to `115200` and may be modified in the `mbed_app.json` file.
-
-You can find more information on the Mbed OS configuration tools and serail 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
-================= 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)

--- a/main.cpp	Fri Sep 13 09:24:19 2019 +0000
+++ b/main.cpp	Sun Sep 15 08:47:18 2019 +0000
@@ -1,9 +1,10 @@
 #include "mbed.h"
 #include "L6208.h"
- 
+
 #define VREFA_PWM_PIN D3
 #define VREFB_PWM_PIN D9
-#define SEND_FREQUENCY 10 //Hz
+#define BAUDRATE 9600
+#define JOINT 2
 l6208_init_t init =
 {
   8000,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
@@ -19,221 +20,134 @@
   FALSE,           //Automatic HIZ STOP
   100000           //VREFA and VREFB PWM frequency (Hz)
 };
- 
-Thread cantxa(osPriorityNormal);
-Thread canrxa(osPriorityNormal);
- 
+
+
 // Utility
 //InterruptIn button(USER_BUTTON);
 DigitalOut led(LED1);
- 
+
 // Motor Control
 L6208 *motor;
- 
+
 InterruptIn end1(USER_BUTTON, PullUp);
 DigitalIn end0(PA_5, PullUp);
-InterruptIn enc(PC_12, PullUp);
- 
-typedef enum
-{
-  JOINT_SET_SPEED = 20,
-  JOINT_SET_POSITION,
-  JOINT_CURRENT_POSITION,
-  JOINT_CURRENT_SPEED,
-  JOINT_STATUS,
-  JOINT_ERROR,
-  JOINT_TORQUE,
-  JOINT_MAXTORQUE,
-  JOINT_ZERO,
-}CAN_COMMANDS;
- 
-typedef enum
-{
-  BASE=1,
-  SHOULDER,
-  ELBOW,
-  WRIST1,
-  WRIST2,
-  WRIST3,
-  END_EFFECTOR,
-  CAMERA1,
-  CAMERA2,
-}JOINT;
- 
+Serial serial(PA_2, PA_3); 
+
+
+
 float pose, current_pose;
 float speed, current_speed;
 void zero()
 {
-    printf("zero");
-    motor->run(StepperMotor::BWD);
-    while(!end0){
-        }
-    motor->hard_stop();
-    motor->set_home();
-    motor->go_to(0);
-    printf("END0: Pressed\n\rPOSITION: %d\n\r", motor->get_position());
+  printf("zero");
+  motor->run(StepperMotor::BWD);
+  while(!end0){
+  }
+  motor->hard_stop();
+  motor->set_home();
+  motor->go_to(0);
+  printf("END0: Pressed\n\rPOSITION: %d\n\r", motor->get_position());
 }
-    
-    
-uint32_t gen_can_id(CAN_COMMANDS message_id, JOINT can_id)
-{
-  uint32_t id = (uint32_t)can_id;     // LSB byte is the controller id.
-  id |= (uint32_t)message_id << 8;  // Next lowest byte is the packet id.
-  id |= 0x80000000;              // Send in Extended Frame Format.
-  return id;
-}
- 
-double to_rad(double angle)
-{
-  return angle*0.0174533;
-}
-double angle_deparse (long int pose, float offset)
-{
-  offset = offset * 0.00872664625;
-  double angle = pose *0.000487012987; //do something 0,0004791666667
-  angle = (angle - offset);
-  return angle;
-}
- void motor_error_handler(uint16_t error)
+
+void motor_error_handler(uint16_t error)
 {
   printf("ERROR: Motor Runtime\n\r");
-
+  
 }
- 
+
 void end1_int_handler()
 {
- // motor->hard_stop();
- 
+  // motor->hard_stop();
+  
   motor->run(StepperMotor::FWD);
- 
+  
   printf("END1: Pressed\n\rPOSITION: %d\n\r", motor->get_position());
 }
- 
- 
-// CAN
-CAN can1(PB_8, PB_9);     // RX, TX
- 
-CANMessage messageIn;
-CANMessage messageOut;
- 
-void cantx ()
+
+
+void serialrx()
 {
-    while(1)
+
+  int id, speed;
+  
+  
+    if(serial.readable() ) 
     {
+      serial.scanf("%d %d", &id, &speed );
+      printf("%d %d\n", id, speed);
+      if (id==JOINT)
+      {
+        led=!led;
+        current_speed=speed;
+      }
     
-    int _pose;
-    messageOut.format = CANExtended;
-    messageOut.id=gen_can_id(JOINT_CURRENT_POSITION, BASE);
-    pose=angle_deparse(motor->get_position(), 0);
-    _pose=pose*100;
-    messageOut.data[3]=_pose;
-    messageOut.data[2]=_pose >>8;
-    messageOut.data[1]=_pose >>16;
-    messageOut.data[0]=_pose >>24;
- 
-    int status = can1.write(messageOut);
-    led=!status;
-    printf("CAN send CURRENT POSITION Joint status %d : pose %f\t\n",status, pose);
-    }
     
- 
- 
- 
+  }
 }
-void cantx_ISR()
-{
-    cantx();
-    osDelay(1/SEND_FREQUENCY*1000);
-}
- 
- 
-void canrx()
-{
-  while(1)
+  
+  void fmotor()
   {
-   // printf("receive\t\n");
-    if(can1.read(messageIn)&&messageIn.id==gen_can_id(JOINT_SET_SPEED,BASE))
-    {
-      speed=messageIn.data[3] + (messageIn.data[2] << 8) + (messageIn.data[1] << 16) + (messageIn.data[0] << 24);
-      printf("CAN: mess %d\n\r", speed);
-      current_speed=speed;
- 
- 
+  
+      
       if (current_speed>0)
       {
-        motor->set_max_speed(current_speed*80);
-        motor->run(StepperMotor::FWD);
+        printf("run FWD\n");
+        motor->set_max_speed(abs(current_speed*80));
+        motor->run(StepperMotor::BWD);
       }
       else if (current_speed<0)
       {
-        motor->set_max_speed(current_speed*80);
-        motor->run(StepperMotor::BWD);
+        printf("run BWD\n");
+        motor->set_max_speed(abs(current_speed*80));
+        motor->run(StepperMotor::FWD);
       }
- 
+      
       else
       {
-        motor->soft_stop();
+        motor->hard_stop();
         current_pose= motor->get_position();
         motor->go_to(current_pose);
       }
-    }
-    
-    if(can1.read(messageIn)&&messageIn.id==gen_can_id(JOINT_ZERO,BASE))
-    {
-      if((messageIn.data[3] + (messageIn.data[2] << 8) + (messageIn.data[1] << 16) + (messageIn.data[0] << 24))==1)
-      {
-        zero();
-        motor->wait_while_active();
-      }
-    }
+      
+      
+      
     
   }
-}
-void canrx_ISR()
-{
-    canrx();
-    osDelay(10);
-}
- 
-/* Main ----------------------------------------------------------------------*/
- 
-int main()
-{
+  
+  
+  /* Main ----------------------------------------------------------------------*/
   
-  can1.frequency(125000);
-   
-  // Motor Initialization
-  motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
-  motor->set_step_mode(StepperMotor::STEP_MODE_1_16);
-  if (motor->init(&init) != COMPONENT_OK)
+  int main()
   {
-    printf("ERROR: vvMotor Init\n\r");
-    exit(EXIT_FAILURE);
-  }
- 
-  motor->attach_error_handler(&motor_error_handler);
- 
- 
-  end1.rise(&end1_int_handler);
- 
-  printf("DONE: Motor Init\n\r");
- 
-  // CAN Initialization
+    led=1;
+    serial.baud(BAUDRATE);
+    
+    // Motor Initialization
+    motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
+    motor->set_step_mode(StepperMotor::STEP_MODE_1_16);
+    if (motor->init(&init) != COMPONENT_OK)
+    {
+      printf("ERROR: vvMotor Init\n\r");
+      exit(EXIT_FAILURE);
+    }
+    
+    motor->attach_error_handler(&motor_error_handler);
     
     
-  canrxa.start(canrx_ISR);
-  //cantxa.start(cantx_ISR);
-  
-  printf("DONE: CAN Init\n\r");
- 
- 
- 
-  printf("Running!\n\r");
-  
-  //zero();
-  
-  while(true)
-  {
-    wait(1000);
-  }
-}
\ No newline at end of file
+   // end1.rise(&end1_int_handler);
+    
+    printf("DONE: Motor Init\n\r");
+    
+    
+    printf("Running!\n\r");
+    
+    //zero();
+    
+    while(true)
+    {
+      serialrx();
+      //wait (0.001);
+      fmotor();
+      
+    }
+  }
\ No newline at end of file

--- a/mbed-os.lib	Fri Sep 13 09:24:19 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://github.com/ARMmbed/mbed-os/#2fd0c5cfbd83fce62da6308f9d64c0ab64e1f0d6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Sep 15 08:47:18 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- a/mbed_app.json	Fri Sep 13 09:24:19 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,12 +0,0 @@
-{
-    "target_overrides": {
-        "*": {
-            "platform.stdio-baud-rate": 115200,
-            "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
-        }
-    }
-}

--- a/stats_report.h	Fri Sep 13 09:24:19 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,121 +0,0 @@
-/* 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);
-    }
-
-    ~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