Einstein Filho
Mangue Baja team's code to frontal ECU
Revision 0:12fb9cbcabcc, committed 2019-07-24
- Comitter:
- einsteingustavo
- Date:
- Wed Jul 24 20:03:52 2019 +0000
- Commit message:
- Mangue Baja team's code to frontal ECU
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Wed Jul 24 20:03:52 2019 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BAJADefs/definitions.h Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,48 @@
+#ifndef DEFINITIONS_H
+#define DEFINITIONS_H
+
+#ifndef MBED_H
+ #include "mbed.h"
+ #define MBED_H
+#endif
+
+#define CAN_IER (*((volatile unsigned long *)0x40006414))
+
+#define BUFFER_SIZE 50
+#define THROTTLE_MID 0x00
+#define THROTTLE_RUN 0x01
+#define THROTTLE_CHOKE 0x02
+
+#define SYNC_ID 0x001 // message for bus sync
+#define THROTTLE_ID 0x100 // 1by = throttle state (0x00, 0x01 or 0x02)
+#define FLAGS_ID 0x101 // 1by
+#define IMU_ACC_ID 0x200 // 8by = accelerometer data (3D) + timestamp
+#define IMU_DPS_ID 0x201 // 8by = gyroscope data (3D) + timestamp
+#define SPEED_ID 0x300 // 4by = speed + timestamp
+#define RPM_ID 0x304 // 4by = rpm + timestamp
+#define TEMPERATURE_ID 0x400 // 4by = engine temp. + cvt temp. + timestamp
+#define FUEL_ID 0x500 // 3by = fuel level + timestamp
+
+
+typedef struct
+{
+ int16_t acc_x;
+ int16_t acc_y;
+ int16_t acc_z;
+ int16_t dps_x;
+ int16_t dps_y;
+ int16_t dps_z;
+} imu_t;
+
+typedef struct
+{
+ imu_t imu[4];
+ uint16_t rpm;
+ uint16_t speed;
+ uint8_t temperature;
+ uint8_t flags; // MSB - BOX | BUFFER FULL | NC | NC | FUEL_LEVEL | SERVO_ERROR | CHK | RUN - LSB
+ uint32_t timestamp;
+} packet_t;
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CANMsg/CANMsg.h Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,67 @@
+#ifndef CANMSG_H
+#define CANMSG_H
+
+/* CAN message container.
+ * Provides "<<" (append) and ">>" (extract) operators to simplyfy
+ * adding/getting data items to/from a CAN message.
+ * Usage is similar to the C++ io-stream operators.
+ * Data length of CAN message is automatically updated when using "<<" or ">>" operators.
+ *
+ * See Wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Hello/> for demo.
+ */
+#include "CAN.h"
+
+class CANMsg : public CANMessage
+{
+public:
+ /** Creates empty CAN message.
+ */
+ CANMsg() :
+ CANMessage(){ }
+
+ /** Creates CAN message with specific content.
+ */
+ CANMsg(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) :
+ CANMessage(_id, _data, _len, _type, _format){ }
+
+ /** Creates CAN remote message.
+ */
+ CANMsg(int _id, CANFormat _format = CANStandard) :
+ CANMessage(_id, _format){ }
+
+ /** Clears CAN message content
+ */
+ void clear(int new_id) {
+ len = 0;
+ type = CANData;
+ format = CANStandard;
+ id = new_id;
+ memset(data, 0, 8);
+ };
+
+ /** Append operator: Appends data (value) to CAN message
+ */
+ template<class T>
+ CANMsg &operator<<(const T val) {
+ MBED_ASSERT(len + sizeof(T) <= 8);
+ //*reinterpret_cast<T*>(&data[len]) = val; // This used to work but now it hangs at run time.
+ memcpy(&data[len], &val, sizeof(T));
+ len += sizeof(T);
+ return *this;
+ }
+
+ /** Extract operator: Extracts data (value) from CAN message
+ */
+ template<class T>
+ CANMsg &operator>>(T& val) {
+ MBED_ASSERT(sizeof(T) <= len);
+ val = *reinterpret_cast<T*>(&data[0]);
+ len -= sizeof(T);
+ memcpy(data, data + sizeof(T), len);
+ return *this;
+ }
+};
+
+#endif // CANMSG_H
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Kalman/Kalman.cpp Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,94 @@
+/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
+
+ This software may be distributed and modified under the terms of the GNU
+ General Public License version 2 (GPL2) as published by the Free Software
+ Foundation and appearing in the file GPL2.TXT included in the packaging of
+ this file. Please note that GPL2 Section 2[b] requires that all works based
+ on this software must also be made publicly available under the terms of
+ the GPL2 ("Copyleft").
+
+ Contact information
+ -------------------
+
+ Kristian Lauszus, TKJ Electronics
+ Web : http://www.tkjelectronics.com
+ e-mail : kristianl@tkjelectronics.com
+ */
+
+#include "Kalman.h"
+
+Kalman::Kalman() {
+ /* We will set the variables like so, these can also be tuned by the user */
+ Q_angle = 0.001f;
+ Q_bias = 0.003f;
+ R_measure = 0.03f;
+
+ angle = 0.0f; // Reset the angle
+ bias = 0.0f; // Reset bias
+
+ P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
+ P[0][1] = 0.0f;
+ P[1][0] = 0.0f;
+ P[1][1] = 0.0f;
+};
+
+// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
+float Kalman::getAngle(float newAngle, float newRate, float dt) {
+ // KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145
+ // Modified by Kristian Lauszus
+ // See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it
+
+ // Discrete Kalman filter time update equations - Time Update ("Predict")
+ // Update xhat - Project the state ahead
+ /* Step 1 */
+ rate = newRate - bias;
+ angle += dt * rate;
+
+ // Update estimation error covariance - Project the error covariance ahead
+ /* Step 2 */
+ P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle);
+ P[0][1] -= dt * P[1][1];
+ P[1][0] -= dt * P[1][1];
+ P[1][1] += Q_bias * dt;
+
+ // Discrete Kalman filter measurement update equations - Measurement Update ("Correct")
+ // Calculate Kalman gain - Compute the Kalman gain
+ /* Step 4 */
+ float S = P[0][0] + R_measure; // Estimate error
+ /* Step 5 */
+ float K[2]; // Kalman gain - This is a 2x1 vector
+ K[0] = P[0][0] / S;
+ K[1] = P[1][0] / S;
+
+ // Calculate angle and bias - Update estimate with measurement zk (newAngle)
+ /* Step 3 */
+ float y = newAngle - angle; // Angle difference
+ /* Step 6 */
+ angle += K[0] * y;
+ bias += K[1] * y;
+
+ // Calculate estimation error covariance - Update the error covariance
+ /* Step 7 */
+ float P00_temp = P[0][0];
+ float P01_temp = P[0][1];
+
+ P[0][0] -= K[0] * P00_temp;
+ P[0][1] -= K[0] * P01_temp;
+ P[1][0] -= K[1] * P00_temp;
+ P[1][1] -= K[1] * P01_temp;
+
+ return angle;
+}
+
+void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle
+float Kalman::getRate() { return this->rate; }; // Return the unbiased rate
+
+/* These are used to tune the Kalman filter */
+void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; };
+void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; };
+void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; };
+
+float Kalman::getQangle() { return this->Q_angle; };
+float Kalman::getQbias() { return this->Q_bias; };
+float Kalman::getRmeasure() { return this->R_measure; };
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Kalman/Kalman.h Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,60 @@
+/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
+
+ This software may be distributed and modified under the terms of the GNU
+ General Public License version 2 (GPL2) as published by the Free Software
+ Foundation and appearing in the file GPL2.TXT included in the packaging of
+ this file. Please note that GPL2 Section 2[b] requires that all works based
+ on this software must also be made publicly available under the terms of
+ the GPL2 ("Copyleft").
+
+ Contact information
+ -------------------
+
+ Kristian Lauszus, TKJ Electronics
+ Web : http://www.tkjelectronics.com
+ e-mail : kristianl@tkjelectronics.com
+ */
+
+#ifndef KALMAN_H
+#define KALMAN_H
+
+class Kalman {
+public:
+ Kalman();
+
+ // The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
+ float getAngle(float newAngle, float newRate, float dt);
+
+ void setAngle(float angle); // Used to set angle, this should be set as the starting angle
+ float getRate(); // Return the unbiased rate
+
+ /* These are used to tune the Kalman filter */
+ void setQangle(float Q_angle);
+ /**
+ * setQbias(float Q_bias)
+ * Default value (0.003f) is in Kalman.cpp.
+ * Raise this to follow input more closely,
+ * lower this to smooth result of kalman filter.
+ */
+ void setQbias(float Q_bias);
+ void setRmeasure(float R_measure);
+
+ float getQangle();
+ float getQbias();
+ float getRmeasure();
+
+private:
+ /* Kalman filter variables */
+ float Q_angle; // Process noise variance for the accelerometer
+ float Q_bias; // Process noise variance for the gyro bias
+ float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise
+
+ float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector
+ float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector
+ float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate
+
+ float P[2][2]; // Error covariance matrix - This is a 2x2 matrix
+};
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DS3/LSM6DS3.cpp Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,418 @@
+#include "LSM6DS3.h"
+
+LSM6DS3::LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr)
+{
+ _sda = sda;
+ _scl = scl;
+
+ i2c = new I2C(_sda, _scl);
+ // xgAddress will store the 7-bit I2C address, if using i2c.
+ i2c->frequency(100000);
+ xgAddress = xgAddr;
+}
+
+uint16_t LSM6DS3::begin(gyro_scale gScl, accel_scale aScl,
+ gyro_odr gODR, accel_odr aODR)
+{
+ // Store the given scales in class variables. These scale variables
+ // are used throughout to calculate the actual g's, DPS,and Gs's.
+ gScale = gScl;
+ aScale = aScl;
+
+ // Once we have the scale values, we can calculate the resolution
+ // of each sensor. That's what these functions are for. One for each sensor
+ calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
+ calcaRes(); // Calculate g / ADC tick, stored in aRes variable
+
+ delete i2c;
+
+ i2c = new I2C(_sda, _scl);
+ // xgAddress will store the 7-bit I2C address, if using i2c.
+ i2c->frequency(100000);
+
+ // To verify communication, we can read from the WHO_AM_I register of
+ // each device. Store those in a variable so we can return them.
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ WHO_AM_I_REG,
+ 0
+ };
+
+ // Write the address we are going to read from and don't end the transaction
+ bool nack = i2c->write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ nack = nack ? 1 : i2c->read(xgAddress, cmd+1, 1);
+ uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I
+
+ // Gyro initialization stuff:
+ nack = nack ? 1 : initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
+ nack = nack ? 1 : setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
+ nack = nack ? 1 : setGyroScale(gScale); // Set the gyro range
+
+ // Accelerometer initialization stuff:
+ nack = nack ? 1 : initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
+ nack = nack ? 1 : setAccelODR(aODR); // Set the accel data rate.
+ nack = nack ? 1 : setAccelScale(aScale); // Set the accel range.
+
+ // Interrupt initialization stuff;
+ nack = nack ? 1 : initIntr();
+
+ // Once everything is initialized, return the WHO_AM_I registers we read:
+ return xgTest;
+}
+
+bool LSM6DS3::initGyro()
+{
+ char cmd[4] = {
+ CTRL2_G,
+ gScale | G_ODR_104,
+ 0, // Default data out and int out
+ 0 // Default power mode and high pass settings
+ };
+
+ // Write the data to the gyro control registers
+ bool nack = i2c->write(xgAddress, cmd, 4);
+
+ return nack;
+}
+
+bool LSM6DS3::initAccel()
+{
+ char cmd[4] = {
+ CTRL1_XL,
+ 0x38, // Enable all axis and don't decimate data in out Registers
+ (A_ODR_104 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE), // 119 Hz ODR, set scale, and auto BW
+ 0 // Default resolution mode and filtering settings
+ };
+
+ // Write the data to the accel control registers
+ bool nack = i2c->write(xgAddress, cmd, 4);
+
+ return nack;
+}
+
+bool LSM6DS3::initIntr()
+{
+ char cmd[2];
+
+ cmd[0] = TAP_CFG;
+ cmd[1] = 0x0E;
+ bool nack = i2c->write(xgAddress, cmd, 2);
+ cmd[0] = TAP_THS_6D;
+ cmd[1] = 0x03;
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 2);
+ cmd[0] = INT_DUR2;
+ cmd[1] = 0x7F;
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 2);
+ cmd[0] = WAKE_UP_THS;
+ cmd[1] = 0x80;
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 2);
+ cmd[0] = MD1_CFG;
+ cmd[1] = 0x48;
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 2);
+
+ return nack;
+}
+
+bool LSM6DS3::readAccel()
+{
+ // The data we are going to read from the accel
+ char data[6];
+
+ // Set addresses
+ char subAddressXL = OUTX_L_XL;
+ char subAddressXH = OUTX_H_XL;
+ char subAddressYL = OUTY_L_XL;
+ char subAddressYH = OUTY_H_XL;
+ char subAddressZL = OUTZ_L_XL;
+ char subAddressZH = OUTZ_H_XL;
+
+ // Write the address we are going to read from and don't end the transaction
+ bool nack = i2c->write(xgAddress, &subAddressXL, 1, true);
+ // Read in register containing the axes data and alocated to the correct index
+ nack = nack ? 1 : i2c->read(xgAddress, data, 1);
+
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressXH, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 1), 1);
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressYL, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 2), 1);
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressYH, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 3), 1);
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressZL, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 4), 1);
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressZH, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 5), 1);
+
+ // Reassemble the data and convert to g
+ ax_raw = data[0] | (data[1] << 8);
+ ay_raw = data[2] | (data[3] << 8);
+ az_raw = data[4] | (data[5] << 8);
+// ax = ax_raw * aRes;
+// ay = ay_raw * aRes;
+// az = az_raw * aRes;
+
+ return nack;
+}
+
+bool LSM6DS3::readIntr()
+{
+ char data[1];
+ char subAddress = TAP_SRC;
+
+ bool nack = i2c->write(xgAddress, &subAddress, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, data, 1);
+
+ intr = (float)data[0];
+
+ return nack;
+}
+
+bool LSM6DS3::readTemp()
+{
+ // The data we are going to read from the temp
+ char data[2];
+
+ // Set addresses
+ char subAddressL = OUT_TEMP_L;
+ char subAddressH = OUT_TEMP_H;
+
+ // Write the address we are going to read from and don't end the transaction
+ bool nack = i2c->write(xgAddress, &subAddressL, 1, true);
+ // Read in register containing the temperature data and alocated to the correct index
+ nack = nack ? 1 : i2c->read(xgAddress, data, 1);
+
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressH, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 1), 1);
+
+ // Temperature is a 12-bit signed integer
+ temperature_raw = data[0] | (data[1] << 8);
+
+ temperature_c = (float)temperature_raw / 16.0 + 25.0;
+ temperature_f = temperature_c * 1.8 + 32.0;
+
+ return nack;
+}
+
+
+bool LSM6DS3::readGyro()
+{
+ // The data we are going to read from the gyro
+ char data[6];
+
+ // Set addresses
+ char subAddressXL = OUTX_L_G;
+ char subAddressXH = OUTX_H_G;
+ char subAddressYL = OUTY_L_G;
+ char subAddressYH = OUTY_H_G;
+ char subAddressZL = OUTZ_L_G;
+ char subAddressZH = OUTZ_H_G;
+
+ // Write the address we are going to read from and don't end the transaction
+ bool nack = i2c->write(xgAddress, &subAddressXL, 1, true);
+ // Read in register containing the axes data and alocated to the correct index
+ nack = nack ? 1 : i2c->read(xgAddress, data, 1);
+
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressXH, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 1), 1);
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressYL, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 2), 1);
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressYH, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 3), 1);
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressZL, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 4), 1);
+ nack = nack ? 1 : i2c->write(xgAddress, &subAddressZH, 1, true);
+ nack = nack ? 1 : i2c->read(xgAddress, (data + 5), 1);
+
+ // Reassemble the data and convert to degrees/sec
+ gx_raw = data[0] | (data[1] << 8);
+ gy_raw = data[2] | (data[3] << 8);
+ gz_raw = data[4] | (data[5] << 8);
+// gx = gx_raw * gRes;
+// gy = gy_raw * gRes;
+// gz = gz_raw * gRes;
+
+ return nack;
+}
+
+bool LSM6DS3::setGyroScale(gyro_scale gScl)
+{
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ CTRL2_G,
+ 0
+ };
+
+ // Write the address we are going to read from and don't end the transaction
+ bool nack = i2c->write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ nack = nack ? 1 : i2c->read(xgAddress, cmd+1, 1);
+
+ // Then mask out the gyro scale bits:
+ cmd[1] &= 0xFF^(0x3 << 3);
+ // Then shift in our new scale bits:
+ cmd[1] |= gScl << 3;
+
+ // Write the gyroscale out to the gyro
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 2);
+
+ // We've updated the sensor, but we also need to update our class variables
+ // First update gScale:
+ gScale = gScl;
+ // Then calculate a new gRes, which relies on gScale being set correctly:
+ calcgRes();
+
+ return nack;
+}
+
+bool LSM6DS3::setAccelScale(accel_scale aScl)
+{
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ CTRL1_XL,
+ 0
+ };
+
+ // Write the address we are going to read from and don't end the transaction
+ bool nack = i2c->write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ nack = nack ? 1 : i2c->read(xgAddress, cmd+1, 1);
+
+ // Then mask out the accel scale bits:
+ cmd[1] &= 0xFF^(0x3 << 3);
+ // Then shift in our new scale bits:
+ cmd[1] |= aScl << 3;
+
+ // Write the accelscale out to the accel
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 2);
+
+ // We've updated the sensor, but we also need to update our class variables
+ // First update aScale:
+ aScale = aScl;
+ // Then calculate a new aRes, which relies on aScale being set correctly:
+ calcaRes();
+
+ return nack;
+}
+
+bool LSM6DS3::setGyroODR(gyro_odr gRate)
+{
+ bool nack = 0;
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ CTRL2_G,
+ 0
+ };
+
+ // Set low power based on ODR, else keep sensor on high performance
+ if(gRate == G_ODR_13_BW_0 | gRate == G_ODR_26_BW_2 | gRate == G_ODR_52_BW_16) {
+ char cmdLow[2] ={
+ CTRL7_G,
+ 1
+ };
+
+ nack = i2c->write(xgAddress, cmdLow, 2);
+ }
+ else {
+ char cmdLow[2] ={
+ CTRL7_G,
+ 0
+ };
+
+ nack = i2c->write(xgAddress, cmdLow, 2);
+ }
+
+ // Write the address we are going to read from and don't end the transaction
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ nack = nack ? 1 : i2c->read(xgAddress, cmd+1, 1);
+
+ // Then mask out the gyro odr bits:
+ cmd[1] &= (0x3 << 3);
+ // Then shift in our new odr bits:
+ cmd[1] |= gRate;
+
+ // Write the gyroodr out to the gyro
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 2);
+}
+
+bool LSM6DS3::setAccelODR(accel_odr aRate)
+{
+ bool nack = 0;
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ CTRL1_XL,
+ 0
+ };
+
+ // Set low power based on ODR, else keep sensor on high performance
+ if(aRate == A_ODR_13 | aRate == A_ODR_26 | aRate == A_ODR_52) {
+ char cmdLow[2] ={
+ CTRL6_C,
+ 1
+ };
+
+ nack = i2c->write(xgAddress, cmdLow, 2);
+ }
+ else {
+ char cmdLow[2] ={
+ CTRL6_C,
+ 0
+ };
+
+ nack = i2c->write(xgAddress, cmdLow, 2);
+ }
+
+ // Write the address we are going to read from and don't end the transaction
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ nack = nack ? 1 : i2c->read(xgAddress, cmd+1, 1);
+
+ // Then mask out the accel odr bits:
+ cmd[1] &= 0xFF^(0x7 << 5);
+ // Then shift in our new odr bits:
+ cmd[1] |= aRate << 5;
+
+ // Write the accelodr out to the accel
+ nack = nack ? 1 : i2c->write(xgAddress, cmd, 2);
+
+ return nack;
+}
+
+void LSM6DS3::calcgRes()
+{
+ // Possible gyro scales (and their register bit settings) are:
+ // 245 DPS (00), 500 DPS (01), 2000 DPS (10).
+ switch (gScale)
+ {
+ case G_SCALE_245DPS:
+ gRes = 245.0 / 32768.0;
+ break;
+ case G_SCALE_500DPS:
+ gRes = 500.0 / 32768.0;
+ break;
+ case G_SCALE_2000DPS:
+ gRes = 2000.0 / 32768.0;
+ break;
+ }
+}
+
+void LSM6DS3::calcaRes()
+{
+ // Possible accelerometer scales (and their register bit settings) are:
+ // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100).
+ switch (aScale)
+ {
+ case A_SCALE_2G:
+ aRes = 2.0 / 32768.0;
+ break;
+ case A_SCALE_4G:
+ aRes = 4.0 / 32768.0;
+ break;
+ case A_SCALE_8G:
+ aRes = 8.0 / 32768.0;
+ break;
+ case A_SCALE_16G:
+ aRes = 16.0 / 32768.0;
+ break;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DS3/LSM6DS3.h Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,307 @@
+// Based on Eugene Gonzalez's version of LSM9DS1_Demo
+// Modified by Sherry Yang for LSM6DS3 sensor
+#ifndef LSM6DS3_H
+#define LSM6DS3_H
+
+#include "mbed.h"
+
+/////////////////////////////////////////
+// LSM6DS3 Accel/Gyro (XL/G) Registers //
+/////////////////////////////////////////
+#define RAM_ACCESS 0x01
+#define SENSOR_SYNC_TIME 0x04
+#define SENSOR_SYNC_EN 0x05
+#define FIFO_CTRL1 0x06
+#define FIFO_CTRL2 0x07
+#define FIFO_CTRL3 0x08
+#define FIFO_CTRL4 0x09
+#define FIFO_CTRL5 0x0A
+#define ORIENT_CFG_G 0x0B
+#define REFERENCE_G 0x0C
+#define INT1_CTRL 0x0D
+#define INT2_CTRL 0x0E
+#define WHO_AM_I_REG 0X0F
+#define CTRL1_XL 0x10
+#define CTRL2_G 0x11
+#define CTRL3_C 0x12
+#define CTRL4_C 0x13
+#define CTRL5_C 0x14
+#define CTRL6_C 0x15
+#define CTRL7_G 0x16
+#define CTRL8_XL 0x17
+#define CTRL9_XL 0x18
+#define CTRL10_C 0x19
+#define MASTER_CONFIG 0x1A
+#define WAKE_UP_SRC 0x1B
+#define TAP_SRC 0x1C
+#define D6D_SRC 0x1D
+#define STATUS_REG 0x1E
+#define OUT_TEMP_L 0x20
+#define OUT_TEMP_H 0x21
+#define OUTX_L_G 0x22
+#define OUTX_H_G 0x23
+#define OUTY_L_G 0x24
+#define OUTY_H_G 0x25
+#define OUTZ_L_G 0x26
+#define OUTZ_H_G 0x27
+#define OUTX_L_XL 0x28
+#define OUTX_H_XL 0x29
+#define OUTY_L_XL 0x2A
+#define OUTY_H_XL 0x2B
+#define OUTZ_L_XL 0x2C
+#define OUTZ_H_XL 0x2D
+#define SENSORHUB1_REG 0x2E
+#define SENSORHUB2_REG 0x2F
+#define SENSORHUB3_REG 0x30
+#define SENSORHUB4_REG 0x31
+#define SENSORHUB5_REG 0x32
+#define SENSORHUB6_REG 0x33
+#define SENSORHUB7_REG 0x34
+#define SENSORHUB8_REG 0x35
+#define SENSORHUB9_REG 0x36
+#define SENSORHUB10_REG 0x37
+#define SENSORHUB11_REG 0x38
+#define SENSORHUB12_REG 0x39
+#define FIFO_STATUS1 0x3A
+#define FIFO_STATUS2 0x3B
+#define FIFO_STATUS3 0x3C
+#define FIFO_STATUS4 0x3D
+#define FIFO_DATA_OUT_L 0x3E
+#define FIFO_DATA_OUT_H 0x3F
+#define TIMESTAMP0_REG 0x40
+#define TIMESTAMP1_REG 0x41
+#define TIMESTAMP2_REG 0x42
+#define STEP_COUNTER_L 0x4B
+#define STEP_COUNTER_H 0x4C
+#define FUNC_SR 0x53
+#define TAP_CFG 0x58
+#define TAP_THS_6D 0x59
+#define INT_DUR2 0x5A
+#define WAKE_UP_THS 0x5B
+#define WAKE_UP_DUR 0x5C
+#define FREE_FALL 0x5D
+#define MD1_CFG 0x5E
+#define MD2_CFG 0x5F
+
+// Possible I2C addresses for the accel/gyro
+#define LSM6DS3_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
+
+/**
+ * LSM6DS3 Class - driver for the 9 DoF IMU
+ */
+class LSM6DS3
+{
+public:
+
+ /// gyro_scale defines the possible full-scale ranges of the gyroscope:
+ enum gyro_scale
+ {
+ G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
+ G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
+ G_SCALE_1000DPS = 0x2 << 3, // 10 << 3: +/- 1000 dps
+ G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
+ };
+
+ /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
+ enum gyro_odr
+ { // ODR (Hz) --- Cutoff
+ G_POWER_DOWN = 0x00, // 0 0
+ G_ODR_13_BW_0 = 0x10, // 12.5 0.0081 low power
+ G_ODR_26_BW_2 = 0x20, // 26 2.07 low power
+ G_ODR_52_BW_16 = 0x30, // 52 16.32 low power
+ G_ODR_104 = 0x40, // 104
+ G_ODR_208 = 0x50, // 208
+ G_ODR_416 = 0x60, // 416
+ G_ODR_833 = 0x70, // 833
+ G_ODR_1660 = 0x80 // 1660
+ };
+
+ /// accel_scale defines all possible FSR's of the accelerometer:
+ enum accel_scale
+ {
+ A_SCALE_2G, // 00: +/- 2g
+ A_SCALE_16G,// 01: +/- 16g
+ A_SCALE_4G, // 10: +/- 4g
+ A_SCALE_8G // 11: +/- 8g
+ };
+
+ /// accel_oder defines all possible output data rates of the accelerometer:
+ enum accel_odr
+ {
+ A_POWER_DOWN, // Power-down mode (0x0)
+ A_ODR_13, // 12.5 Hz (0x1) low power
+ A_ODR_26, // 26 Hz (0x2) low power
+ A_ODR_52, // 52 Hz (0x3) low power
+ A_ODR_104, // 104 Hz (0x4) normal mode
+ A_ODR_208, // 208 Hz (0x5) normal mode
+ A_ODR_416, // 416 Hz (0x6) high performance
+ A_ODR_833, // 833 Hz (0x7) high performance
+ A_ODR_1660, // 1.66 kHz (0x8) high performance
+ A_ODR_3330, // 3.33 kHz (0x9) high performance
+ A_ODR_6660, // 6.66 kHz (0xA) high performance
+ };
+
+ // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
+ enum accel_bw
+ {
+ A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0)
+ A_BW_408 = 0x4, // 408 Hz (0x4)
+ A_BW_211 = 0x5, // 211 Hz (0x5)
+ A_BW_105 = 0x6, // 105 Hz (0x6)
+ A_BW_50 = 0x7 // 50 Hz (0x7)
+ };
+
+
+
+ // We'll store the gyro, and accel, readings in a series of
+ // public class variables. Each sensor gets three variables -- one for each
+ // axis. Call readGyro(), and readAccel() first, before using
+ // these variables!
+ // These values are the RAW signed 16-bit readings from the sensors.
+ int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
+ int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
+ int16_t temperature_raw;
+
+ // floating-point values of scaled data in real-world units
+ float gx, gy, gz;
+ float ax, ay, az;
+ float temperature_c, temperature_f; // temperature in celcius and fahrenheit
+ float intr;
+
+
+ /** LSM6DS3 -- LSM6DS3 class constructor
+ * The constructor will set up a handful of private variables, and set the
+ * communication mode as well.
+ * Input:
+ * - interface = Either MODE_SPI or MODE_I2C, whichever you're using
+ * to talk to the IC.
+ * - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
+ * If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
+ */
+ LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS3_AG_I2C_ADDR(1));
+
+ /** begin() -- Initialize the gyro, and accelerometer.
+ * This will set up the scale and output rate of each sensor. It'll also
+ * "turn on" every sensor and every axis of every sensor.
+ * Input:
+ * - gScl = The scale of the gyroscope. This should be a gyro_scale value.
+ * - aScl = The scale of the accelerometer. Should be a accel_scale value.
+ * - gODR = Output data rate of the gyroscope. gyro_odr value.
+ * - aODR = Output data rate of the accelerometer. accel_odr value.
+ * Output: The function will return an unsigned 16-bit value. The most-sig
+ * bytes of the output are the WHO_AM_I reading of the accel/gyro.
+ * All parameters have a defaulted value, so you can call just "begin()".
+ * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
+ * gyro, 119 Hz for accelerometer.
+ * Use the return value of this function to verify communication.
+ */
+ uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
+ accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104,
+ accel_odr aODR = A_ODR_104);
+
+ /** readGyro() -- Read the gyroscope output registers.
+ * This function will read all six gyroscope output registers.
+ * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
+ * those _after_ calling readGyro().
+ */
+ bool readGyro();
+
+ /** readAccel() -- Read the accelerometer output registers.
+ * This function will read all six accelerometer output registers.
+ * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
+ * those _after_ calling readAccel().
+ */
+ bool readAccel();
+
+ /** readTemp() -- Read the temperature output register.
+ * This function will read two temperature output registers.
+ * The combined readings are stored in the class' temperature variables. Read
+ * those _after_ calling readTemp().
+ */
+ bool readTemp();
+
+ /** Read Interrupt **/
+ bool readIntr();
+
+ /** setGyroScale() -- Set the full-scale range of the gyroscope.
+ * This function can be called to set the scale of the gyroscope to
+ * 245, 500, or 2000 degrees per second.
+ * Input:
+ * - gScl = The desired gyroscope scale. Must be one of three possible
+ * values from the gyro_scale enum.
+ */
+ bool setGyroScale(gyro_scale gScl);
+
+ /** setAccelScale() -- Set the full-scale range of the accelerometer.
+ * This function can be called to set the scale of the accelerometer to
+ * 2, 4, 8, or 16 g's.
+ * Input:
+ * - aScl = The desired accelerometer scale. Must be one of five possible
+ * values from the accel_scale enum.
+ */
+ bool setAccelScale(accel_scale aScl);
+
+ /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
+ * Input:
+ * - gRate = The desired output rate and cutoff frequency of the gyro.
+ * Must be a value from the gyro_odr enum (check above).
+ */
+ bool setGyroODR(gyro_odr gRate);
+
+ /** setAccelODR() -- Set the output data rate of the accelerometer
+ * Input:
+ * - aRate = The desired output rate of the accel.
+ * Must be a value from the accel_odr enum (check above).
+ */
+ bool setAccelODR(accel_odr aRate);
+
+
+private:
+ /** xgAddress store the I2C address
+ * for each sensor.
+ */
+ uint8_t xgAddress;
+
+ // I2C bus
+ I2C *i2c;
+ PinName _sda;
+ PinName _scl;
+ /** gScale, and aScale store the current scale range for each
+ * sensor. Should be updated whenever that value changes.
+ */
+ gyro_scale gScale;
+ accel_scale aScale;
+
+ /** gRes, and aRes store the current resolution for each sensor.
+ * Units of these values would be DPS (or g's or Gs's) per ADC tick.
+ * This value is calculated as (sensor scale) / (2^15).
+ */
+ float gRes, aRes;
+
+ /** initGyro() -- Sets up the gyroscope to begin reading.
+ * This function steps through all three gyroscope control registers.
+ */
+ bool initGyro();
+
+ /** initAccel() -- Sets up the accelerometer to begin reading.
+ * This function steps through all accelerometer related control registers.
+ */
+ bool initAccel();
+
+ /** Setup Interrupt **/
+ bool initIntr();
+
+ /** calcgRes() -- Calculate the resolution of the gyroscope.
+ * This function will set the value of the gRes variable. gScale must
+ * be set prior to calling this function.
+ */
+ void calcgRes();
+
+ /** calcaRes() -- Calculate the resolution of the accelerometer.
+ * This function will set the value of the aRes variable. aScale must
+ * be set prior to calling this function.
+ */
+ void calcaRes();
+};
+
+#endif // _LSM6DS3_H //
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Other_things/CONTRIBUTING.md Wed Jul 24 20:03:52 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/Other_things/README.md Wed Jul 24 20:03:52 2019 +0000 @@ -0,0 +1,171 @@ +# 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 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/). 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/Other_things/mbed_app.json Wed Jul 24 20:03:52 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/Other_things/stats_report.h Wed Jul 24 20:03:52 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/frontdefs.h Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,27 @@
+#ifndef FRONTDEFS_H
+#define FRONTDEFS_H
+
+/* Conversion definitions */
+#define WHEEL_DIAMETER 0.5842 // m
+#define PI 3.1416
+#define RAD_TO_DEGREE 180.0/PI
+#define TO_G 2.0/32768.0
+#define TO_DPS 245.0/32768.0
+#define WHEEL_HOLES_NUMBER 24
+#define HORN_PERIOD 2
+#define DEBOUNCE_TIME 0.1 // s
+#define IMU_TRIES 10
+
+typedef enum
+{
+ IDLE_ST, // wait
+ SLOWACQ_ST, // acquire battery level data
+ IMU_ST, // acquire accelerometer and gyroscope data
+ SPEED_ST, // calculate speed
+ THROTTLE_ST, // check throttle position (from user button)
+ DISPLAY_ST, // send data for display over serial port
+ DEBUG_ST // send data for debug
+} state_t;
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,500 @@
+#include "mbed.h"
+#include "stats_report.h"
+/* User libraries */
+#include "definitions.h"
+#include "frontdefs.h"
+#include "CANMsg.h"
+#include "LSM6DS3.h"
+#include "Kalman.h"
+
+#define MB1
+//#define MB2
+
+/* Communication protocols */
+CAN can(PB_8, PB_9, 1000000);
+Serial serial(PA_2, PA_3, 115200);
+LSM6DS3 LSM6DS3(PB_7, PB_6);
+
+/* I/O pins */
+InterruptIn freq_sensor(PB_10, PullNone);
+InterruptIn choke_switch(PA_5, PullUp); // servomotor CHOKE mode
+InterruptIn run_switch(PA_7, PullUp); // servomotor RUN mode
+InterruptIn horn_button(PB_1, PullUp);
+InterruptIn headlight_switch(PB_0, PullUp);
+DigitalOut horn(PB_11);
+DigitalOut headlight(PA_1);
+/* Debug pins */
+DigitalOut led(PC_13);
+PwmOut signal(PA_6);
+DigitalOut dbg1(PC_14);
+DigitalOut dbg2(PC_15);
+DigitalOut dbg3(PA_4);
+
+/* Interrupt services routine */
+void canISR();
+void servoSwitchISR();
+void ticker2HzISR();
+void ticker5HzISR();
+void ticker20HzISR();
+void tickerTrottleISR();
+void frequencyCounterISR();
+void hornISR();
+void headlightISR();
+/* Interrupt handlers */
+void canHandler();
+void throttleDebounceHandler();
+void hornDebounceHandler();
+void headlightDebounceHandler();
+/* General functions*/
+void setupInterrupts();
+void filterMessage(CANMsg msg);
+void calcAngles(int16_t accx, int16_t accy, int16_t accz, int16_t grx, int16_t gry, int16_t grz, int16_t dt);
+void displayData(uint16_t vel, uint16_t Hz, uint16_t temp, bool comb, \
+ bool b, bool tl, bool fl, int16_t gp, int16_t gr, bool box);
+
+/* Debug variables */
+Timer t;
+bool buffer_full = false;
+unsigned int t0, t1;
+/* Mbed OS tools */
+Thread eventThread;
+EventQueue queue(1024);
+Ticker ticker2Hz;
+Ticker ticker5Hz;
+Ticker ticker20Hz;
+Ticker tickerTrottle;
+Timeout debounce_throttle;
+Timeout debounce_horn;
+Timeout debounce_headlight;
+// Timeout horn_limiter; // stop sound of horn after a determined period
+CircularBuffer <state_t, BUFFER_SIZE> state_buffer;
+/* Global variables */
+bool switch_clicked = false;
+uint8_t switch_state = 0x00, flags = 0x00, pulse_counter = 0, temp_motor = 0;
+state_t current_state = IDLE_ST;
+uint64_t current_period = 0, last_count = 0, last_acq = 0;
+uint8_t imu_failed = 0; // number of times before a new connection attempt with imu
+float speed_hz = 0;
+uint16_t rpm_hz = 0, speed_display = 0, speed_radio = 0, dt = 0;
+int16_t angle_roll = 0, angle_pitch = 0;
+packet_t data;
+
+int main()
+{
+ /* Main variables */
+ CANMsg txMsg;
+ /* Initialization */
+ t.start();
+ horn = horn_button.read(); // horn OFF
+ headlight = headlight_switch.read(); // headlight OFF
+ led = 1; // led OFF
+ eventThread.start(callback(&queue, &EventQueue::dispatch_forever));
+ t0 = t.read_us();
+ uint16_t lsm_addr = LSM6DS3.begin(LSM6DS3.G_SCALE_245DPS, LSM6DS3.A_SCALE_2G, LSM6DS3.G_ODR_26_BW_2, LSM6DS3.A_ODR_26);
+ t1 = t.read_us();
+// serial.printf("%d\r\n", (t1 - t0));
+ setupInterrupts();
+
+ while (true) {
+ if (state_buffer.full())
+ {
+ buffer_full = true;
+ led = 0;
+ state_buffer.pop(current_state);
+ }
+ else
+ {
+ led = 1;
+ buffer_full = false;
+ if (!state_buffer.empty())
+ state_buffer.pop(current_state);
+ else
+ current_state = IDLE_ST;
+ }
+
+ switch (current_state)
+ {
+ case IDLE_ST:
+// Thread::wait(2);
+ break;
+ case SLOWACQ_ST:
+ break;
+ case IMU_ST:
+ t0 = t.read_us();
+ dbg1 = !dbg1;
+ if (lsm_addr)
+ {
+ bool nack = LSM6DS3.readAccel(); // read accelerometer data into LSM6DS3.aN_raw
+ if (!nack)
+ nack = LSM6DS3.readGyro(); // " gyroscope data into LSM6DS3.gN_raw
+
+ if (nack)
+ {
+ lsm_addr = 0;
+ LSM6DS3.ax_raw = 0;
+ LSM6DS3.ay_raw = 0;
+ LSM6DS3.az_raw = 0;
+ LSM6DS3.gx_raw = 0;
+ LSM6DS3.gy_raw = 0;
+ LSM6DS3.gz_raw = 0;
+ }
+ }
+ else if (imu_failed == IMU_TRIES)
+ {
+ lsm_addr = LSM6DS3.begin(LSM6DS3.G_SCALE_245DPS, LSM6DS3.A_SCALE_2G, LSM6DS3.G_ODR_26_BW_2, LSM6DS3.A_ODR_26);
+ t1 = t.read_us();
+ imu_failed = 0;
+// serial.printf("%d\r\n", (t1 - t0));
+ }
+ else
+ {
+ imu_failed++;
+ }
+
+ last_acq = t.read_ms();
+// serial.printf("accz = %d\r\n", LSM6DS3.gz_raw);
+ calcAngles(LSM6DS3.ax_raw, LSM6DS3.ay_raw, LSM6DS3.az_raw, LSM6DS3.gx_raw, LSM6DS3.gy_raw, LSM6DS3.gz_raw, dt);
+ /* Send accelerometer data */
+ txMsg.clear(IMU_ACC_ID);
+ txMsg << LSM6DS3.ax_raw << LSM6DS3.ay_raw << LSM6DS3.az_raw;
+ if(can.write(txMsg))
+ {
+ /* Send gyroscope data only if accelerometer data succeeds */
+ txMsg.clear(IMU_DPS_ID);
+ txMsg << LSM6DS3.gx_raw << LSM6DS3.gy_raw << LSM6DS3.gz_raw << dt;
+ can.write(txMsg);
+ }
+ break;
+ case SPEED_ST:
+// serial.printf("speed ok\r\n");
+ dbg2 = !dbg2;
+ freq_sensor.fall(NULL); // disable interrupt
+ if (current_period != 0)
+ {
+ speed_hz = 1000000*((float)pulse_counter/current_period); //calculates frequency in Hz
+ }
+ else
+ {
+ speed_hz = 0;
+ }
+ speed_display = ((float)(PI*WHEEL_DIAMETER*speed_hz)/WHEEL_HOLES_NUMBER); // make conversion hz to km/h
+ speed_radio = ((float)((speed_display)/60.0)*65535);
+ pulse_counter = 0;
+ current_period = 0; //|-> reset pulses related variables
+ last_count = t.read_us();
+ freq_sensor.fall(&frequencyCounterISR); // enable interrupt
+ /* Send speed data */
+ txMsg.clear(SPEED_ID);
+ txMsg << speed_radio;
+ can.write(txMsg);
+// state_buffer.push(DEBUG_ST); // debug
+ break;
+ case THROTTLE_ST:
+// serial.printf("throttle ok\r\n");
+ dbg3 = !dbg3;
+ if (switch_clicked)
+ {
+ switch_state = !choke_switch.read() << 1 | !run_switch.read() << 0;
+ //serial.printf("switch_state = %d\r\n", switch_state);
+ /* Send CAN message */
+ txMsg.clear(THROTTLE_ID);
+ txMsg << switch_state;
+// serial.printf("can ok\r/n"); // append data (8 bytes max)
+ can.write(txMsg);
+
+ switch_clicked = false;
+ }
+ break;
+ case DISPLAY_ST:
+// serial.printf("rpm_hz=%d\r\n", rpm_hz);
+ displayData(speed_display, rpm_hz, temp_motor, (flags & 0x08), false, true, false, angle_pitch, angle_roll, (flags & 0x80));
+// state_buffer.push(DEBUG_ST);
+ break;
+ case DEBUG_ST:
+// serial.printf("r= %d, p=%d\r\n", angle_roll, angle_pitch);
+// serial.printf("imu acc x =%d\r\n", LSM6DS3.ax_raw);
+// serial.printf("imu acc y =%d\r\n", LSM6DS3.ay_raw);
+// serial.printf("imu acc z =%d\r\n", LSM6DS3.az_raw);
+// serial.printf("imu dps x =%d\r\n", LSM6DS3.gx_raw);
+// serial.printf("imu dps y =%d\r\n", LSM6DS3.gy_raw);
+// serial.printf("imu dps z =%d\r\n", LSM6DS3.gz_raw);
+ break;
+ default:
+ break;
+ }
+ }
+}
+
+/* Interrupt services routine */
+void canISR()
+{
+ CAN_IER &= ~CAN_IER_FMPIE0; // disable RX interrupt
+ queue.call(&canHandler); // add canHandler() to events queue
+}
+
+void servoSwitchISR()
+{
+ choke_switch.rise(NULL); // throttle interrupt in both edges dettach
+ run_switch.rise(NULL); // throttle interrupt in both edges dettach
+ choke_switch.fall(NULL); // throttle interrupt in both edges dettach
+ run_switch.fall(NULL); // throttle interrupt in both edges dettach
+ switch_clicked = true;
+ debounce_throttle.attach(&throttleDebounceHandler, 0.1);
+}
+
+void ticker2HzISR()
+{
+ state_buffer.push(DISPLAY_ST);
+}
+
+void ticker5HzISR()
+{
+ state_buffer.push(SPEED_ST);
+ state_buffer.push(DISPLAY_ST);
+}
+
+void ticker20HzISR()
+{
+ state_buffer.push(IMU_ST);
+}
+
+void frequencyCounterISR()
+{
+ pulse_counter++;
+ current_period += t.read_us() - last_count;
+ last_count = t.read_us();
+}
+
+//void hornISR()
+//{
+// debounce_horn.attach(&hornDebounceHandler, DEBOUNCE_TIME);
+//}
+
+void headlightISR()
+{
+ debounce_headlight.attach(&headlightDebounceHandler, DEBOUNCE_TIME);
+}
+
+/* Interrupt handlers */
+void canHandler()
+{
+ CANMsg rxMsg;
+
+ can.read(rxMsg);
+ filterMessage(rxMsg);
+ CAN_IER |= CAN_IER_FMPIE0; // enable RX interrupt
+}
+
+void throttleDebounceHandler()
+{
+ state_buffer.push(THROTTLE_ST);
+ choke_switch.rise(&servoSwitchISR); // trigger throttle interrupt in both edges
+ run_switch.rise(&servoSwitchISR); // trigger throttle interrupt in both edges
+ choke_switch.fall(&servoSwitchISR); // trigger throttle interrupt in both edges
+ run_switch.fall(&servoSwitchISR); // trigger throttle interrupt in both edges
+}
+
+//void hornDebounceHandler()
+//{
+// horn = horn_button.read();
+//}
+
+void headlightDebounceHandler()
+{
+ headlight = headlight_switch.read();
+}
+
+/* General functions */
+void setupInterrupts()
+{
+ can.attach(&canISR, CAN::RxIrq);
+ choke_switch.rise(&servoSwitchISR); // trigger throttle interrupt in both edges
+ choke_switch.fall(&servoSwitchISR); // trigger throttle interrupt in both edges
+ run_switch.rise(&servoSwitchISR); // trigger throttle interrupt in both edges
+ run_switch.fall(&servoSwitchISR); // trigger throttle interrupt in both edges
+// horn_button.rise(&hornISR);
+// horn_button.fall(&hornISR);
+ headlight_switch.rise(&headlightISR);
+ headlight_switch.fall(&headlightISR);
+// ticker2Hz.attach(&ticker2HzISR, 0.4);
+ ticker5Hz.attach(&ticker5HzISR, 0.2);
+ ticker20Hz.attach(&ticker20HzISR, 0.05);
+ signal.period_ms(2);
+ signal.write(0.5f);
+}
+
+void filterMessage(CANMsg msg)
+{
+ // serial.printf("id: %d\r\n", msg.id);
+
+ if(msg.id == RPM_ID)
+ {
+ msg >> rpm_hz;
+ }
+
+ else if(msg.id == TEMPERATURE_ID)
+ {
+ msg >> temp_motor;
+ }
+
+ else if (msg.id == FLAGS_ID)
+ {
+ msg >> flags;
+ }
+}
+
+/* Function adapted from Kristian Lauszus library example, source: https://github.com/TKJElectronics/KalmanFilter*/
+void calcAngles(int16_t accx, int16_t accy, int16_t accz, int16_t grx, int16_t gry, int16_t grz, int16_t dt){
+ static Kalman kalmanX, kalmanY;
+ float kalAngleX, kalAngleY;
+ float pitch, roll;
+ float gyroXrate, gyroYrate;
+ float ax, ay, az;
+ static bool first_execution = true;
+
+ ax = (float) accx * TO_G;
+ ay = (float) accy * TO_G;
+ az = (float) accz * TO_G;
+ pitch = atan2(ay, az) * RAD_TO_DEGREE;
+ roll = atan(-ax / sqrt(ay * ay + az * az)) * RAD_TO_DEGREE;
+ gyroXrate = grx / TO_DPS; // Convert to deg/s
+ gyroYrate = gry / TO_DPS; // Convert to deg/s
+
+ if (first_execution)
+ {
+ // set starting angle if first execution
+ first_execution = false;
+ kalmanX.setAngle(roll);
+ kalmanY.setAngle(pitch);
+ }
+ // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees
+ if((roll < -90 && kalAngleX > 90) || (roll > 90 && kalAngleX < -90))
+ {
+ kalmanX.setAngle(roll);
+ kalAngleX = roll;
+ }
+ else
+ {
+ kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter
+ }
+
+ if(abs(kalAngleX) > 90)
+ {
+ gyroYrate = -gyroYrate; // Invert rate, so it fits the restriced accelerometer reading
+ }
+ kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt);
+
+ angle_roll = roll;
+ angle_pitch = pitch;
+}
+
+void displayData(uint16_t vel, uint16_t Hz, uint16_t temp, bool comb, \
+ bool b, bool tl, bool fl, int16_t gp, int16_t gr, bool box)
+{
+ static uint16_t vel2 = -1, Hz2 = -1, temp2 = -1;
+ static int16_t gr2 = -1, gp2 = -1;
+ static bool box2 = false;
+ static bool comb2 = true, b2 = true, tl2 = false, fl2 = false;
+
+ char str[512];
+ int aux=0;
+ strcpy(str,"");
+
+ if(box!=box2)
+ sprintf(str + strlen(str), "page1.box.val=%d%c%c%c",box,0xff,0xff,0xff);
+ if(vel!=vel2)
+ sprintf(str + strlen(str), "page1.v.val=%d%c%c%c",vel,0xff,0xff,0xff);
+ if(Hz!=Hz2)
+ {
+ int r = (Hz*6000)/(5000.0);
+ sprintf(str + strlen(str), "page1.r.val=%d%c%c%c",r,0xff,0xff,0xff);
+ }
+ if(comb!=comb2)
+ {
+ if (!comb)
+ sprintf(str + strlen(str),"page1.c.val=%d%c%c%c",25,0xff,0xff,0xff);
+ else
+ sprintf(str + strlen(str),"page1.c.val=%d%c%c%c",100,0xff,0xff,0xff);
+ }
+ if(temp!=temp2)
+ {
+ int tp = (100*temp)/120;
+ sprintf(str + strlen(str),"page1.tp.val=%d%c%c%c",tp,0xff,0xff,0xff);
+ }
+ if(b!=b2)
+ sprintf(str + strlen(str),"page1.b.val=%d%c%c%c",b,0xff,0xff,0xff);
+ if(tl!=tl2)
+ sprintf(str + strlen(str),"page1.tl.val=%d%c%c%c",tl,0xff,0xff,0xff);
+ if(fl!=fl2)
+ sprintf(str + strlen(str),"page1.fl.val=%d%c%c%c",fl,0xff,0xff,0xff);
+ if(gp!=gp2)
+ {
+ int gpn = 7;
+ if(gp<=-35){gpn=0;}
+ else if(gp>=-30&&gp<-25){gpn=1;}
+ else if(gp>=-25&&gp<-20){gpn=2;}
+ else if(gp>=-20&&gp<-15){gpn=3;}
+ else if(gp>=-15&&gp<-10){gpn=4;}
+ else if(gp>=-10&&gp<-5){gpn=5;}
+ else if(gp>=-5&&gp<0){gpn=6;}
+ else if(gp==0){gpn=7;}
+ else if(gp>0&&gp<=5){gpn=8;}
+ else if(gp>5&&gp<=10){gpn=9;}
+ else if(gp>10&&gp<=15){gpn=10;}
+ else if(gp>15&&gp<=20){gpn=11;}
+ else if(gp>20&&gp<=25){gpn=12;}
+ else if(gp>25&&gp<=30){gpn=13;}
+ else if(gp>=35){gpn=14;}
+ #ifdef MB2
+ sprintf(str + strlen(str),"page3.gr.val=%d%c%c%c",gpn,0xff,0xff,0xff);
+ sprintf(str + strlen(str),"page3.gr_n.val=%d%c%c%c",gp*(-1),0xff,0xff,0xff);
+ #endif
+ #ifdef MB1
+ sprintf(str + strlen(str),"page2.gp.val=%d%c%c%c",gpn,0xff,0xff,0xff);
+ sprintf(str + strlen(str),"page2.gp_n.val=%d%c%c%c",gp,0xff,0xff,0xff);
+ #endif
+ }
+ if(gr!=gr2)
+ {
+ int grn = 7;
+ if(gr<=-35){grn=0;}
+ else if(gr>=-30&&gr<-25){grn=1;}
+ else if(gr>=-25&&gr<-20){grn=2;}
+ else if(gr>=-20&&gr<-15){grn=3;}
+ else if(gr>=-15&&gr<-10){grn=4;}
+ else if(gr>=-10&&gr<-5){grn=5;}
+ else if(gr>=-5&&gr<0){grn=6;}
+ else if(gr==0){grn=7;}
+ else if(gr>0&&gr<=5){grn=8;}
+ else if(gr>5&&gr<=10){grn=9;}
+ else if(gr>10&&gr<=15){grn=10;}
+ else if(gr>15&&gr<=20){grn=11;}
+ else if(gr>20&&gr<=25){grn=12;}
+ else if(gr>25&&gr<=30){grn=13;}
+ else if(gr>=35){grn=14;}
+ #ifdef MB2
+ sprintf(str + strlen(str),"page3.gp.val=%d%c%c%c",grn,0xff,0xff,0xff);
+ sprintf(str + strlen(str),"page3.gp_n.val=%d%c%c%c",gr,0xff,0xff,0xff);
+ #endif
+ #ifdef MB1
+ sprintf(str + strlen(str),"page2.gr.val=%d%c%c%c",grn,0xff,0xff,0xff);
+ sprintf(str + strlen(str),"page2.gr_n.val=%d%c%c%c",gr,0xff,0xff,0xff);
+ #endif
+ }
+
+ while(str[aux]!='\0')
+ {
+ serial.putc(str[aux]);
+ aux++;
+ }
+ box2 = box;
+ vel2 = vel;
+ Hz2 = Hz;
+ temp2 = temp;
+ gr2=gr;
+ gp2=gp;
+ comb2 = comb;
+ b2=b;
+ tl2=tl;
+ fl2=fl;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Wed Jul 24 20:03:52 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#51d55508e8400b60af467005646c4e2164738d48