embedded
190605
Dependencies: WS2812 RemoteIR PixelArray Adafruit_GFX
Revision 97:bad45e2dc7e1, committed 2019-06-05
- Comitter:
- jinyoung_KIL
- Date:
- Wed Jun 05 04:49:58 2019 +0000
- Parent:
- 96:ec3a2da01f40
- Child:
- 98:ac298f47375b
- Commit message:
- line_tracing
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_GFX.lib Wed Jun 05 04:49:58 2019 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/kaizen/code/Adafruit_GFX/#510758220ecc
--- a/CONTRIBUTING.md Fri May 31 13:00:04 2019 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,5 +0,0 @@ -# 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).
--- a/README.md Fri May 31 13:00:04 2019 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,152 +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. (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/RemoteIR.lib Wed Jun 05 04:49:58 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/shintamainjp/code/RemoteIR/#96209c979a7f
--- a/main.cpp Fri May 31 13:00:04 2019 +0100
+++ b/main.cpp Wed Jun 05 04:49:58 2019 +0000
@@ -1,32 +1,344 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2018 ARM Limited
- * SPDX-License-Identifier: Apache-2.0
- */
+#include "mbed.h"
+//#include "motor.h"
+#include "ReceiverIR.h"
+#include "Adafruit_SSD1306.h" // OLED
+#define NUM_SENSORS 5
+
+//Motor motor(D6, D5, PA_0, PA_1, PB_0, PA_4, 0.3);
+ReceiverIR motor(D4, 0.2, D6, D5, PA_0, PA_1, PB_0, PA_4);
+SPI spi(D11, D12, D13);
+DigitalOut spi_cs(D10, 1);
+Serial pc(SERIAL_TX, SERIAL_RX, 115200);
+I2C i2c(D14, D15); // D14, D15
+Adafruit_SSD1306_I2c myOled(i2c, D9, 0x78, 64, 128); // D9, (D8: D/C - data/command change)
+DigitalOut DataComm(D8);
+
+Thread TR_thread;
+Thread remote_thread;
+Thread oled_thread;
+
+unsigned long avg = 0;
+unsigned int sum = 0;
+
+unsigned int sensor_values[NUM_SENSORS];
+unsigned int max_sensor_values[NUM_SENSORS];
+unsigned int min_sensor_values[NUM_SENSORS];
-#include "mbed.h"
-#include "stats_report.h"
+unsigned int *calibratedMin;
+unsigned int *calibratedMax;
-DigitalOut led1(LED1);
+int value;
+float bat;
+int on_line = 0;
+static int pos = 0;
+unsigned int last_proportional = 0;
+long integral = 0;
+
+volatile int flag = 0;
+volatile int start = 0;
-#define SLEEP_TIME 500 // (msec)
-#define PRINT_AFTER_N_LOOPS 20
+int ch;
-// main() runs in its own thread in the OS
+int readLine(unsigned int *sensor_values);
+void tr_ready(void);
+void calibration(void);
+void init(void);
+void tracing(void);
+//void tracing_pid(void);
+void set_ir_val(void);
+void get_pos(void);
+int receive(RemoteIR::Format *format, uint8_t *buf, int bufsiz, int timeout = 100);
+void remote_ctrl(void);
+void oled_disp(void);
+
int main()
-{
- SystemReport sys_state( SLEEP_TIME * PRINT_AFTER_N_LOOPS /* Loop delay time in ms */);
+{
+ pc.printf("start\r\n");
+ spi.format(16, 0);
+ spi.frequency(2000000);
+
+ init();
+
+ oled_thread.start(&oled_disp);
+ remote_thread.start(&remote_ctrl);
+ while(!motor.start);
+
+ calibration();
+
+ while(!flag);
+
+ TR_thread.start(&tr_ready);
+
+
+ while(!start);
+
+ pc.printf("motor forward\r\n");
+ motor.forward();
+
+ while (1);
+}
+
+void remote_ctrl(void){
+
+ while(1){
+ uint8_t buf1[32];
+ uint8_t buf2[32];
+ int bitlength1;
+ RemoteIR::Format format;
+
+ memset(buf1, 0x00, sizeof(buf1));
+ memset(buf2, 0x00, sizeof(buf2));
+
+ bitlength1 = receive(&format, buf1, sizeof(buf1));
+ if (bitlength1 < 0) {
+ continue;
+ }
+
+ //display_status("RECV", bitlength1);
+ //display_data(buf1, bitlength1);
+ //display_format(format);
+
+ }
+}
- int count = 0;
- while (true) {
- // Blink LED and wait 0.5 seconds
- led1 = !led1;
- wait_ms(SLEEP_TIME);
+void init(void){
+ DataComm = 0;
+
+ calibratedMin = (unsigned int*)malloc(sizeof(unsigned int) * NUM_SENSORS);
+ calibratedMax = (unsigned int*)malloc(sizeof(unsigned int) * NUM_SENSORS);
+
+ for(int i=0; i < NUM_SENSORS; i++)
+ {
+ calibratedMin[i] = 1023;
+ calibratedMax[i] = 0;
+ }
+}
+
+void oled_disp(void){
+ myOled.begin();
+ while(1){
+ myOled.clearDisplay();
+ myOled.printf("%.3f, %.3f, %d\r", motor.Speed_L, motor.Speed_R, pos);
+ myOled.display();
+ }
+}
- if ((0 == count) || (PRINT_AFTER_N_LOOPS == count)) {
- // Following the main thread wait, report on the current system status
- sys_state.report_state();
- count = 0;
+int receive(RemoteIR::Format *format, uint8_t *buf, int bufsiz, int timeout) {
+ int cnt = 0;
+ while (motor.getState() != ReceiverIR::Received) {
+ cnt++;
+ if (timeout < cnt) {
+ return -1;
}
- ++count;
+ }
+ return motor.getData(format, buf, bufsiz * 8);
+}
+
+
+void read_ir(void){
+ ch = 0;
+
+ spi_cs = 0;
+ wait_us(2);
+ value = spi.write(ch << 12);
+ spi_cs = 1;
+
+ wait_us(21);
+
+ for(int i = 0; i < 5; i++){
+
+ ch += 1;
+
+ spi_cs = 0;
+ wait_us(2);
+ value = spi.write(ch << 12);
+ spi_cs = 1;
+
+ wait_us(21);
+
+ value = value >> 6;
+ value = value * 3300 / 0x3FF;
+
+ sensor_values[i] = value;
}
}
+
+void calibration(void){
+ pc.printf("calibration start \r\n");
+
+ for(int i = 0; i < 10; i++){
+ read_ir();
+ for(int j = 0; j < NUM_SENSORS; j++){
+ if(i == 0 || max_sensor_values[j] < sensor_values[j]){
+ max_sensor_values[j] = sensor_values[j];
+ }
+
+ if(i == 0 || min_sensor_values[j] > sensor_values[j]){
+ min_sensor_values[j] = sensor_values[j];
+ }
+ }
+ wait(0.5);
+ }
+
+ for(int i = 0; i < NUM_SENSORS; i++){
+ if(min_sensor_values[i] < calibratedMin[i])
+ calibratedMin[i] = min_sensor_values[i];
+ if(max_sensor_values[i] > calibratedMax[i])
+ calibratedMax[i] = max_sensor_values[i];
+ }
+ pc.printf("calibration complete\r\n");
+ flag =1;
+}
+
+void tr_ready(void){
+
+ while(1){
+ // read current IR 1 ~ IR 5
+ read_ir();
+
+ // set range under 1000
+ set_ir_val();
+
+ // get current position
+ get_pos();
+
+// pc.printf("pos = %d\r\n", pos);
+ // start tracing_pid_pid
+ //tracing_pid();
+ tracing();
+// pc.printf("pos = %d\r\n", pos);
+// pc.printf("on_line = %d\r\n", on_line);
+
+// wait(1);
+ }
+}
+
+void set_ir_val(){
+ for(int i=0; i < NUM_SENSORS; i++)
+ {
+ unsigned int denominator;
+
+ denominator = calibratedMax[i] - calibratedMin[i];
+
+ signed int x = 0;
+ if(denominator != 0)
+ x = (((signed long)sensor_values[i]) - calibratedMin[i]) * 1000 / denominator;
+ if(x < 0) x = 0;
+ else if(x > 1000) x = 1000;
+
+ sensor_values[i] = x;
+ }
+// for(int i = 0; i <NUM_SENSORS; i++){
+// pc.printf("sensor_Values[%d] : %d\r\n", i, sensor_values[i]);
+// }
+}
+
+void get_pos(){
+ on_line = 0;
+ avg = 0;
+ sum = 0;
+
+ for(int i = 0; i < NUM_SENSORS; i++){
+ int val = sensor_values[i];
+
+ // determine "on_line" or "out_line"
+ if(val < 800){
+ on_line = 1;
+ }
+
+ // under
+ if(val > 5){
+ avg += (long)(val) * (i * 1000);
+ sum += val;
+ }
+ }
+
+ // out_line
+ if(!on_line){
+ if(pos < (NUM_SENSORS - 1) * 1000 / 2) { // left -> out-line (under 2000)
+ pos = 0; // last_vlaue = 0
+ }
+ else{ // right -> out-line (over 2000)
+ pos = (NUM_SENSORS - 1) * 1000; // pos = 4000
+ }
+ }
+ // on_line
+ else{
+ pos = avg / sum;
+ }
+ pc.printf("position: %d\r\n", pos);
+ start = 1;
+}
+
+void tracing(){
+ // totally right
+ if(pos == 4000){
+ motor.speedup_r(3);
+ }
+ // detect IR1 on line
+ else if(pos >= 2300){
+ motor.speedup_r(3);
+ }
+ // detect IR2 on line
+ else if(pos >= 2100){
+ motor.speedup_r(1);
+ }
+ // detect IR3 on line
+ else if(pos >= 1900){
+ motor.speed_r(0.09);
+ motor.speed_l(0.085);
+ }
+ // detect IR4 on line
+ else if(pos >= 1700){
+ motor.speedup_l(1);
+ }
+ // detect IR5 on line
+ else if(pos >= 1200){
+ motor.speedup_l(3);
+ }
+ // totally left
+ else if(pos == 0){
+ motor.speedup_l(3);
+ }
+ else {
+ pc.printf("error pos: %d\r\n", pos);
+ pc.printf("error\r\n");
+ }
+ wait(0.001);
+
+}
+
+void tracing_pid(void){
+
+ int proportional = pos - 2000;
+
+ int derivative = proportional - last_proportional;
+ integral += proportional;
+
+ last_proportional = proportional;
+
+ int power_difference = proportional / 20 + integral / 10000 + derivative * 10;
+// int power_difference = proportional / ;
+
+ const int max = 150;
+
+ if(power_difference > max)
+ power_difference = max;
+
+ if(power_difference < -max)
+ power_difference = -max;
+
+ if(power_difference < 0){
+ motor.speed_l((max + power_difference)/255);
+ motor.speed_r(max/255);
+ }
+ else{
+ motor.speed_l(max/255);
+ motor.speed_r((max - power_difference)/255);
+ }
+
+ pc.printf("proportional: %d\r\n", proportional);
+ pc.printf("power_difference: %d\r\n", power_difference);
+ pc.printf("derivative: %d\r\n", derivative);
+ pc.printf("integral: %d\r\n",integral);
+}
--- a/mbed-os.lib Fri May 31 13:00:04 2019 +0100 +++ b/mbed-os.lib Wed Jun 05 04:49:58 2019 +0000 @@ -1,1 +1,1 @@ -https://github.com/ARMmbed/mbed-os/#0063e5de32fc575f061244c96ac60c41c07bd2e6 +https://github.com/ARMmbed/mbed-os/#51d55508e8400b60af467005646c4e2164738d48
--- a/mbed_app.json Fri May 31 13:00:04 2019 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,11 +0,0 @@
-{
- "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/motor.lib Wed Jun 05 04:49:58 2019 +0000 @@ -0,0 +1,1 @@ +motor#72fcb2468532
--- a/stats_report.h Fri May 31 13:00:04 2019 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,132 +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);
-
- 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
--- a/tests/README.md Fri May 31 13:00:04 2019 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,12 +0,0 @@ -# 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). -
--- a/tests/blinky.log Fri May 31 13:00:04 2019 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,29 +0,0 @@ -=============================== SYSTEM INFO ================================ -Mbed OS Version: -CPU ID: 0x[0-9a-fA-F]+ -Compiler ID: \d+ -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+