Abhishek Deokar
example code
Revision 95:a82ac1cd5f6a, committed 2019-11-18
- Comitter:
- abdeokar23
- Date:
- Mon Nov 18 17:24:39 2019 +0000
- Parent:
- 94:ef34de021f40
- Commit message:
- example code
Changed in this revision
--- a/CONTRIBUTING.md Thu Apr 11 15:00:04 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).
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Mon Nov 18 17:24:39 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/prabhuvd/code/HCSR04/#71da0dbf4400
--- a/README.md Thu Apr 11 15:00:04 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.
--- a/main.cpp Thu Apr 11 15:00:04 2019 +0100
+++ b/main.cpp Mon Nov 18 17:24:39 2019 +0000
@@ -1,32 +1,82 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2018 ARM Limited
- * SPDX-License-Identifier: Apache-2.0
- */
+#include "mbed.h"
+#include "hcsr04.h"
+
+Serial pc(USBTX,USBRX);
+
+HCSR04 csensor(A0, A1); //Trigger, Echo
+HCSR04 lsensor(A2, A3); //Trigger, Echo
+HCSR04 rsensor(A4, A5); //Trigger, Echo
+
+PwmOut motor_l1(D13);
+PwmOut motor_l2(D12);
+PwmOut motor_r1(D11);
+PwmOut motor_r2(D10);
+
+unsigned int dist;
+
+void initialise()
+{
+ motor_l1.write(0);
+ motor_r1.write(0);
+}
-#include "mbed.h"
-#include "stats_report.h"
+void forward()
+{
+ motor_l1.period_ms(50);
+ motor_l1.write(0.75f);
+ motor_l2.write(0);
+ motor_l2.period_ms(50);
+ motor_r1.write(0.75f);
+ motor_r2.write(0);
+}
+void stop()
+{
+ motor_l1.write(0);
+ motor_l2.write(0);
+ motor_r1.write(0);
+ motor_r2.write(0);
+}
-DigitalOut led1(LED1);
-
-#define SLEEP_TIME 500 // (msec)
-#define PRINT_AFTER_N_LOOPS 20
+int cping()
+{
+ csensor.start();
+ wait_ms(200);
+ return(csensor.get_dist_cm());
+}
+int lping()
+{
+ lsensor.start();
+ wait_ms(200);
+ return(lsensor.get_dist_cm());
+}
+int rping()
+{
+ rsensor.start();
+ wait_ms(200);
+ return(rsensor.get_dist_cm());
+}
// main() runs in its own thread in the OS
int main()
{
- SystemReport sys_state( SLEEP_TIME * PRINT_AFTER_N_LOOPS /* Loop delay time in ms */);
-
- int count = 0;
- while (true) {
- // Blink LED and wait 0.5 seconds
- led1 = !led1;
- wait_ms(SLEEP_TIME);
-
- 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 cdistance, ldistance, rdistance; //Variable to store distance from an object
+ initialise();
+ while (true)
+ {
+ cdistance = cping(); // ping function
+ ldistance = lping(); // ping function
+ rdistance = rping(); // ping function
+ if (cdistance <20 || ldistance <20 || rdistance <20)
+ {
+ pc.printf("\n c-cm:%ld, l-cm:%ld, r-cm:%ld\n halting",cdistance, ldistance, rdistance);
+ wait_ms(100);
+ stop();
}
- ++count;
+ else
+ {
+ pc.printf("\n no object");
+ forward();
+ wait_ms(100);
+ }
}
-}
+}
\ No newline at end of file
--- a/mbed-os.lib Thu Apr 11 15:00:04 2019 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://github.com/ARMmbed/mbed-os/#0063e5de32fc575f061244c96ac60c41c07bd2e6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Nov 18 17:24:39 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4f6c30876dfa \ No newline at end of file
--- a/mbed_app.json Thu Apr 11 15:00:04 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
- }
- }
-}
--- a/stats_report.h Thu Apr 11 15:00:04 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