Koen Lotze / Includes_kinematic_model

kinematic model included

Dependencies:   Encoder MODSERIAL biquadFilter

f8f7934e8460/README.md@0:ef7fd98bf091, 2017-10-26 (annotated)

Committer:
Tetragonia
Date:
Thu Oct 26 14:20:40 2017 +0000
Revision:
0:ef7fd98bf091
Implementation kinematic model

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tetragonia 0:ef7fd98bf091 1 # Getting started with Blinky on mbed OS
Tetragonia 0:ef7fd98bf091 2
Tetragonia 0:ef7fd98bf091 3 This guide reviews the steps required to get Blinky working on an mbed OS platform.
Tetragonia 0:ef7fd98bf091 4
Tetragonia 0:ef7fd98bf091 5 Please install [mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli).
Tetragonia 0:ef7fd98bf091 6
Tetragonia 0:ef7fd98bf091 7 ## Import the example application
Tetragonia 0:ef7fd98bf091 8
Tetragonia 0:ef7fd98bf091 9 From the command-line, import the example:
Tetragonia 0:ef7fd98bf091 10
Tetragonia 0:ef7fd98bf091 11 ```
Tetragonia 0:ef7fd98bf091 12 mbed import mbed-os-example-blinky
Tetragonia 0:ef7fd98bf091 13 cd mbed-os-example-blinky
Tetragonia 0:ef7fd98bf091 14 ```
Tetragonia 0:ef7fd98bf091 15
Tetragonia 0:ef7fd98bf091 16 ### Now compile
Tetragonia 0:ef7fd98bf091 17
Tetragonia 0:ef7fd98bf091 18 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:
Tetragonia 0:ef7fd98bf091 19
Tetragonia 0:ef7fd98bf091 20 ```
Tetragonia 0:ef7fd98bf091 21 mbed compile -m K64F -t ARM
Tetragonia 0:ef7fd98bf091 22 ```
Tetragonia 0:ef7fd98bf091 23
Tetragonia 0:ef7fd98bf091 24 Your PC may take a few minutes to compile your code. At the end, you see the following result:
Tetragonia 0:ef7fd98bf091 25
Tetragonia 0:ef7fd98bf091 26 ```
Tetragonia 0:ef7fd98bf091 27 [snip]
Tetragonia 0:ef7fd98bf091 28 +----------------------------+-------+-------+------+
Tetragonia 0:ef7fd98bf091 29 | Module | .text | .data | .bss |
Tetragonia 0:ef7fd98bf091 30 +----------------------------+-------+-------+------+
Tetragonia 0:ef7fd98bf091 31 | Misc | 13939 | 24 | 1372 |
Tetragonia 0:ef7fd98bf091 32 | core/hal | 16993 | 96 | 296 |
Tetragonia 0:ef7fd98bf091 33 | core/rtos | 7384 | 92 | 4204 |
Tetragonia 0:ef7fd98bf091 34 | features/FEATURE_IPV4 | 80 | 0 | 176 |
Tetragonia 0:ef7fd98bf091 35 | frameworks/greentea-client | 1830 | 60 | 44 |
Tetragonia 0:ef7fd98bf091 36 | frameworks/utest | 2392 | 512 | 292 |
Tetragonia 0:ef7fd98bf091 37 | Subtotals | 42618 | 784 | 6384 |
Tetragonia 0:ef7fd98bf091 38 +----------------------------+-------+-------+------+
Tetragonia 0:ef7fd98bf091 39 Allocated Heap: unknown
Tetragonia 0:ef7fd98bf091 40 Allocated Stack: unknown
Tetragonia 0:ef7fd98bf091 41 Total Static RAM memory (data + bss): 7168 bytes
Tetragonia 0:ef7fd98bf091 42 Total RAM memory (data + bss + heap + stack): 7168 bytes
Tetragonia 0:ef7fd98bf091 43 Total Flash memory (text + data + misc): 43402 bytes
Tetragonia 0:ef7fd98bf091 44 Image: .\.build\K64F\ARM\mbed-os-example-blinky.bin
Tetragonia 0:ef7fd98bf091 45 ```
Tetragonia 0:ef7fd98bf091 46
Tetragonia 0:ef7fd98bf091 47 ### Program your board
Tetragonia 0:ef7fd98bf091 48
Tetragonia 0:ef7fd98bf091 49 1. Connect your mbed device to the computer over USB.
Tetragonia 0:ef7fd98bf091 50 1. Copy the binary file to the mbed device.
Tetragonia 0:ef7fd98bf091 51 1. Press the reset button to start the program.
Tetragonia 0:ef7fd98bf091 52
Tetragonia 0:ef7fd98bf091 53 The LED on your platform turns on and off.
Tetragonia 0:ef7fd98bf091 54
Tetragonia 0:ef7fd98bf091 55 ## Export the project to Keil MDK, and debug your application
Tetragonia 0:ef7fd98bf091 56
Tetragonia 0:ef7fd98bf091 57 From the command-line, run the following command:
Tetragonia 0:ef7fd98bf091 58
Tetragonia 0:ef7fd98bf091 59 ```
Tetragonia 0:ef7fd98bf091 60 mbed export -m K64F -i uvision
Tetragonia 0:ef7fd98bf091 61 ```
Tetragonia 0:ef7fd98bf091 62
Tetragonia 0:ef7fd98bf091 63 To debug the application:
Tetragonia 0:ef7fd98bf091 64
Tetragonia 0:ef7fd98bf091 65 1. Start uVision.
Tetragonia 0:ef7fd98bf091 66 1. Import the uVision project generated earlier.
Tetragonia 0:ef7fd98bf091 67 1. Compile your application, and generate an `.axf` file.
Tetragonia 0:ef7fd98bf091 68 1. Make sure uVision is configured to debug over CMSIS-DAP (From the Project menu > Options for Target '...' > Debug tab > Use CMSIS-DAP Debugger).
Tetragonia 0:ef7fd98bf091 69 1. Set breakpoints, and start a debug session.
Tetragonia 0:ef7fd98bf091 70
Tetragonia 0:ef7fd98bf091 71 ![Image of uVision](img/uvision.png)
Tetragonia 0:ef7fd98bf091 72
Tetragonia 0:ef7fd98bf091 73 ## Troubleshooting
Tetragonia 0:ef7fd98bf091 74
Tetragonia 0:ef7fd98bf091 75 1. Make sure `mbed-cli` is working correctly and its version is `>1.0.0`
Tetragonia 0:ef7fd98bf091 76
Tetragonia 0:ef7fd98bf091 77 ```
Tetragonia 0:ef7fd98bf091 78 mbed --version
Tetragonia 0:ef7fd98bf091 79 ```
Tetragonia 0:ef7fd98bf091 80
Tetragonia 0:ef7fd98bf091 81 If not, you can update it:
Tetragonia 0:ef7fd98bf091 82
Tetragonia 0:ef7fd98bf091 83 ```
Tetragonia 0:ef7fd98bf091 84 pip install mbed-cli --upgrade
Tetragonia 0:ef7fd98bf091 85 ```
Tetragonia 0:ef7fd98bf091 86
Tetragonia 0:ef7fd98bf091 87 2. If using Keil MDK, make sure you have a license installed. [MDK-Lite](http://www.keil.com/arm/mdk.asp) has a 32 KB restriction on code size.