PROJ515
Twisting jig experiment.
Dependencies: TextLCD
Revision 0:273dc75dc8fa, committed 2018-12-21
- Comitter:
- yphilippou
- Date:
- Fri Dec 21 15:38:53 2018 +0000
- Commit message:
- Buttons for experiment steps added.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Fri Dec 21 15:38:53 2018 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Fri Dec 21 15:38:53 2018 +0000 @@ -0,0 +1,164 @@ +# Getting started example for Mbed OS + +This guide reviews the steps required to get Blinky with the addition of dynamic OS statistics working on an Mbed OS platform. + +Please install [mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli). + +## Import the example application + +From the command-line, import the example: + +``` +mbed import mbed-os-example-blinky +cd mbed-os-example-blinky +``` + +### Now compile + +Invoke `mbed compile`, and specify the name of your platform and your favorite toolchain (`GCC_ARM`, `ARM`, `IAR`). For example, for the ARM Compiler 5: + +``` +mbed compile -m K64F -t ARM +``` + +Your PC may take a few minutes to compile your code. At the end, you see the following result: + +``` +[snip] ++----------------------------+-------+-------+------+ +| Module | .text | .data | .bss | +|--------------------|-----------|----------|----------| +| [fill] | 98(+0) | 0(+0) | 2211(+0) | +| [lib]/c.a | 27835(+0) | 2472(+0) | 89(+0) | +| [lib]/gcc.a | 3168(+0) | 0(+0) | 0(+0) | +| [lib]/misc | 248(+0) | 8(+0) | 28(+0) | +| [lib]/nosys.a | 32(+0) | 0(+0) | 0(+0) | +| main.o | 924(+0) | 0(+0) | 12(+0) | +| mbed-os/components | 134(+0) | 0(+0) | 0(+0) | +| mbed-os/drivers | 56(+0) | 0(+0) | 0(+0) | +| mbed-os/features | 42(+0) | 0(+0) | 184(+0) | +| mbed-os/hal | 2087(+0) | 8(+0) | 152(+0) | +| mbed-os/platform | 3633(+0) | 260(+0) | 209(+0) | +| mbed-os/rtos | 9370(+0) | 168(+0) | 6053(+0) | +| mbed-os/targets | 9536(+0) | 12(+0) | 382(+0) | +| Subtotals | 57163(+0) | 2928(+0) | 9320(+0) | +Total Static RAM memory (data + bss): 12248(+0) bytes +Total Flash memory (text + data): 60091(+0) bytes + +Image: ./BUILD/K64F/GCC_ARM/mbed-os-example-blinky.bin +``` + +### Program your board + +1. Connect your mbed device to the computer over USB. +1. Copy the binary file to the mbed device. +1. Press the reset button to start the program. + +The LED on your platform turns on and off. The main thread will additionally take a snapshot of the device's runtime statistics and display it over serial to your PC. The snapshot includes: + +* System Information: + * Mbed OS Version: Will currently default to 999999 + * Compiler ID + * ARM = 1 + * GCC_ARM = 2 + * IAR = 3 + * [CPUID Register Information](#cpuid-register-information) + * [Compiler Version](#compiler-version) +* CPU Statistics + * Percentage of runtime that the device has spent awake versus in sleep +* Heap Statistics + * Current heap size + * Max heap size which refers to the largest the heap has grown to +* Thread Statistics + * Provides information on all running threads in the OS including + * Thread ID + * Thread Name + * Thread State + * Thread Priority + * Thread Stack Size + * Thread Stack Space + +#### Compiler Version + +| Compiler | Version Layout | +| -------- | -------------- | +| ARM | PVVbbbb (P = Major; VV = Minor; bbbb = build number) | +| GCC | VVRRPP (VV = Version; RR = Revision; PP = Patch) | +| IAR | VRRRPPP (V = Version; RRR = Revision; PPP = Patch) | + +#### CPUID Register Information + +| Bit Field | Field Description | Values | +| --------- | ----------------- | ------ | +|[31:24] | Implementer | 0x41 = ARM | +|[23:20] | Variant | Major revision 0x0 = Revision 0 | +|[19:16] | Architecture | 0xC = Baseline Architecture | +| | | 0xF = Constant (Mainline Architecture) | +|[15:4] | Part Number | 0xC20 = Cortex-M0 | +| | | 0xC60 = Cortex-M0+ | +| | | 0xC23 = Cortex-M3 | +| | | 0xC24 = Cortex-M4 | +| | | 0xC27 = Cortex-M7 | +| | | 0xD20 = Cortex-M23 | +| | | 0xD21 = Cortex-M33 | +|[3:0] | Revision | Minor revision: 0x1 = Patch 1 | + + + +You can view individual examples and additional API information of the statistics collection tools at the bottom of the page in the [related links section](#related-links). + + +### Output + +To view the serial output you can use any terminal client of your choosing such as [PuTTY](http://www.putty.org/) or [CoolTerm](http://freeware.the-meiers.org/). + +The default baud rate for this application is set to `115200` and may be modified in the `mbed_app.json` file. + +You can find more information on the Mbed OS configuration tools and serail communication in Mbed OS in the related [related links section](#related-links). + +The output should contain the following block transmitted at the blinking LED frequency (actual values may vary depending on your target, build profile, and toolchain): + +``` +=============================== SYSTEM INFO ================================ +Mbed OS Version: 999999 +CPU ID: 0x410fc241 +Compiler ID: 2 +Compiler Version: 60300 +================= CPU STATS ================= +Idle: 98% Usage: 2% +================ HEAP STATS ================= +Current heap: 1096 +Max heap size: 1096 +================ THREAD STATS =============== +ID: 0x20001eac +Name: main_thread +State: 2 +Priority: 24 +Stack Size: 4096 +Stack Space: 3296 + +ID: 0x20000f5c +Name: idle_thread +State: 1 +Priority: 1 +Stack Size: 512 +Stack Space: 352 + +ID: 0x20000f18 +Name: timer_thread +State: 3 +Priority: 40 +Stack Size: 768 +Stack Space: 664 + +``` + +## Troubleshooting + +If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it. + +## Related Links + +* [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html) +* [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html) +* [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html)
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SETUP.hpp Fri Dec 21 15:38:53 2018 +0000 @@ -0,0 +1,16 @@ +/* +Setup file for the main +*/ + +#ifndef SETUP_HPP//Header Guards Prevents Multiple includes +#define SETUP_HPP + +//Libraries and header includes +#include "rtos.h" + +#include "STEPPER_MOTOR.hpp" + +//Time definitions + +static STEPPER_MOTOR STEPPER_MOTOR_1(D15,D14,D13,D12); +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/STEPPER_MOTOR.cpp Fri Dec 21 15:38:53 2018 +0000
@@ -0,0 +1,281 @@
+#include "mbed.h" //Include the mbed libraries
+#include "STEPPER_MOTOR.hpp" //Include the header file, this acts like a series of forward declarations
+
+//Constructor
+STEPPER_MOTOR::STEPPER_MOTOR(PinName N1, PinName N2, PinName N3, PinName N4) : pin1(N1),pin2(N2),pin3(N3),pin4(N4)
+{
+ _dir = true;
+ _step = 0;
+}
+
+STEPPER_MOTOR::~STEPPER_MOTOR(){} //Destructor
+
+void STEPPER_MOTOR::Rotate_Steps(int Steps)
+{
+ #define STIME 1000
+
+ Steps = Steps*50;
+ //int correctionfactor;
+ //int timeofturn=correctinfactor*speed;
+
+ int mystep=0;
+ printf("START!!! step value is=%d\n\r",mystep);
+ for(int x =0 ; x <= Steps; x++)
+ {
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 0;
+ this->pin2 = 1;
+ this->pin3 = 0;
+ this->pin4 = 1;
+ mystep=1;
+ wait_us(666);
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 0;
+ this->pin2 = 1;
+ this->pin3 = 1;
+ this->pin4 = 0;
+ mystep=2;
+ wait_us(666);
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 1;
+ this->pin2 = 0;
+ this->pin3 = 1;
+ this->pin4 = 0;
+ mystep=3;
+ wait_us(666);
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 1;
+ this->pin2 = 0;
+ this->pin3 = 0;
+ this->pin4 = 1;
+ mystep=4;
+ wait_us(666);;
+ /* printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 0;
+ this->pin2 = 1;
+ this->pin3 = 0;
+ this->pin4 = 0;
+ mystep=5;
+ wait_ms(0.6);
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 1;
+ this->pin2 = 1;
+ this->pin3 = 0;
+ this->pin4 = 0;
+ mystep=6;
+ wait_ms(0.6);
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 1;
+ this->pin2 = 0;
+ this->pin3 = 0;
+ this->pin4 = 0;
+ mystep=7;
+ wait_ms(0.6);
+
+ this->pin1 = 1;
+ this->pin2 = 0;
+ this->pin3 = 0;
+ this->pin4 = 1;
+ mystep=0;
+ wait_ms(0.6);
+
+ this->pin1 = 0;
+ this->pin2 = 0;
+ this->pin3 = 0;
+ this->pin4 = 0;
+ mystep=0;
+ wait_ms(0.6);*/
+ }
+}
+
+ /*
+ switch(mystep){
+ case 0:{
+
+ break;
+ case 1:{
+
+ break;
+ case 2:
+
+ break;
+ case 3:
+
+ break;
+ case 4:
+
+ break;
+ case 5:
+
+ break;
+ case 6:
+
+ break;
+ case 7:
+
+ break;
+ default:
+
+ break;
+ }
+
+ if(_dir){
+ _step++;
+ }else{
+ _step--;
+ }
+ if(_step>7){
+ _step=0;
+ }
+ if(_step<0){
+ _step=7;
+ }
+ */
+ //wait_ms(1);
+
+
+void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
+{
+ switch(_step){
+ case 0:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 1;
+ break;
+ case 1:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 1;
+ pin4 = 1;
+ break;
+ case 2:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 1;
+ pin4 = 0;
+ break;
+ case 3:
+ pin1 = 0;
+ pin2 = 1;
+ pin3 = 1;
+ pin4 = 0;
+ break;
+ case 4:
+ pin1 = 0;
+ pin2 = 1;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 5:
+ pin1 = 1;
+ pin2 = 1;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 6:
+ pin1 = 1;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 7:
+ pin1 = 1;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 1;
+ break;
+ default:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ }
+ if(_dir){
+ _step++;
+ }else{
+ _step--;
+ }
+ if(_step>7){
+ _step=0;
+ }
+ if(_step<0){
+ _step=7;
+ }
+}
+
+void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
+{
+
+ //Rotate
+ switch(_step){
+ case 0:
+ pin1 = 1;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 1;
+ break;
+ case 1:
+ pin1 = 1;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 2:
+ pin1 = 1;
+ pin2 = 1;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 3:
+ pin1 = 0;
+ pin2 = 1;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 4:
+ pin1 = 0;
+ pin2 = 1;
+ pin3 = 1;
+ pin4 = 0;
+ break;
+ case 5:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 1;
+ pin4 = 0;
+ break;
+ case 6:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 1;
+ pin4 = 1;
+ break;
+ case 7:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 1;
+ break;
+ default:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ }
+ if(_dir){
+ _step++;
+ }else{
+ _step--;
+ }
+ if(_step>7){
+ _step=0;
+ }
+ if(_step<0){
+ _step=7;
+ }
+ //wait_ms(1);
+}
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/STEPPER_MOTOR.hpp Fri Dec 21 15:38:53 2018 +0000
@@ -0,0 +1,34 @@
+/*
+This is the stepper motor class and is used to control all of the motors individually
+*/
+
+#ifndef STEPPER_MOTOR_HPP//Header Guards Prevents Multiple includes
+#define STEPPER_MOTOR_HPP
+
+//Libraries and header includes
+#include "mbed.h"
+#include "rtos.h"
+class STEPPER_MOTOR //This creates a class called Led
+{
+public:
+
+ STEPPER_MOTOR(PinName N1, PinName N2, PinName N3, PinName N4); //Constructor
+ ~STEPPER_MOTOR(); //Destructor
+ void Permanent_Rotate();
+ void Permanent_Rotate_clock_wise();
+ void Permanent_Rotate_anti_clock_wise();
+ void Rotate_90();
+ void Rotate_Steps(int Steps);
+private:
+ //Private member variables to prevent them being accessed externally
+ //Data Pins
+ bool _dir;
+ int _step;
+ int _Number_of_steps;
+ DigitalOut pin1; //Pin 1
+ DigitalOut pin2; //Pin 2
+ DigitalOut pin3; //Pin 3
+ DigitalOut pin4; //Pin 4
+
+};
+#endif//STEPPER_MOTOR_HPP
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Fri Dec 21 15:38:53 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/TextLCD/#308d188a2d3a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Dec 21 15:38:53 2018 +0000
@@ -0,0 +1,84 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "SETUP.hpp"
+
+
+//#include <iostream>
+
+//using namespace std;
+//Serial pc(USBTX, USBRX); //define serial namespace so the serial comms can be printed to
+//TextLCD lcd(D0,D1,D4,D5,D6,D7); // rs, e, d4-d7
+
+DigitalOut myled(LED1);
+DigitalIn B1(PE_15);
+DigitalIn B2(PE_14);
+DigitalIn B3(PE_12);
+DigitalIn B4(PE_10);
+
+int main() {
+
+ //pc.baud(9600);
+
+ printf("Putty test\n"); //request command in the terminal
+
+ //lcd.printf("Hello World!\n");
+
+
+ printf("Please input a number of rotations\n");
+
+ // Spin the motor
+
+ while(1) {
+ myled = 1; // LED is ON
+ wait(1);
+ if(B1)
+ {
+ myled = 0; // LED is OFF
+ printf("20 Turns\n");
+ STEPPER_MOTOR_1.Rotate_Steps(22);
+ myled = 1; // LED is ON
+ wait(1); //
+ myled = 0; // LED is OFF
+ wait(1); // 1 sec
+ printf("Turning Complete\n");
+ }
+ else if(B2)
+ {
+ myled = 0; // LED is OFF
+ printf("30 Turns\n");
+ STEPPER_MOTOR_1.Rotate_Steps(23);
+ myled = 1; // LED is ON
+ wait(1); //
+ myled = 0; // LED is OFF
+ wait(1); // 1 sec
+ printf("Turning Complete\n");
+ }
+ else if(B3)
+ {
+ myled = 0; // LED is OFF
+ printf("40 Turns\n");
+ STEPPER_MOTOR_1.Rotate_Steps(24);
+ myled = 1; // LED is ON
+ wait(1); //
+ myled = 0; // LED is OFF
+ wait(1); // 1 sec
+ printf("Turning Complete\n");
+ }
+ else if(B4)
+ {
+ myled = 0; // LED is OFF
+ printf("50 Turns\n");
+ STEPPER_MOTOR_1.Rotate_Steps(25);
+ myled = 1; // LED is ON
+ wait(1); //
+ myled = 0; // LED is OFF
+ wait(1); // 1 sec
+ printf("Turning Complete\n");
+ }
+ else {
+ myled = 1; // LED is ON
+ }
+ }
+
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Fri Dec 21 15:38:53 2018 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#bf6f2c3c6434a6de9eb9511feffa5948b3d1f20f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_app.json Fri Dec 21 15:38:53 2018 +0000
@@ -0,0 +1,12 @@
+{
+ "target_overrides": {
+ "*": {
+ "platform.stdio-baud-rate": 115200,
+ "platform.stack-stats-enabled": true,
+ "platform.heap-stats-enabled": true,
+ "platform.cpu-stats-enabled": true,
+ "platform.thread-stats-enabled": true,
+ "platform.sys-stats-enabled": true
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/stats_report.h Fri Dec 21 15:38:53 2018 +0000
@@ -0,0 +1,121 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2018 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef STATS_REPORT_H
+#define STATS_REPORT
+
+#include "mbed.h"
+
+/**
+ * System Reporting library. Provides runtime information on device:
+ * - CPU sleep, idle, and wake times
+ * - Heap and stack usage
+ * - Thread information
+ * - Static system information
+ */
+class SystemReport {
+ mbed_stats_heap_t heap_stats;
+ mbed_stats_cpu_t cpu_stats;
+ mbed_stats_sys_t sys_stats;
+
+ mbed_stats_thread_t *thread_stats;
+ uint8_t thread_count;
+ uint8_t max_thread_count;
+ uint32_t sample_time_ms;
+
+public:
+ /**
+ * SystemReport - Sample rate in ms is required to handle the CPU percent awake logic
+ */
+ SystemReport(uint32_t sample_rate) : max_thread_count(8), sample_time_ms(sample_rate)
+ {
+ thread_stats = new mbed_stats_thread_t[max_thread_count];
+
+ // Collect the static system information
+ mbed_stats_sys_get(&sys_stats);
+
+ printf("=============================== SYSTEM INFO ================================\r\n");
+ printf("Mbed OS Version: %ld \r\n", sys_stats.os_version);
+ printf("CPU ID: 0x%lx \r\n", sys_stats.cpu_id);
+ printf("Compiler ID: %d \r\n", sys_stats.compiler_id);
+ printf("Compiler Version: %ld \r\n", sys_stats.compiler_version);
+ }
+
+ ~SystemReport(void)
+ {
+ free(thread_stats);
+ }
+
+ /**
+ * Report on each Mbed OS Platform stats API
+ */
+ void report_state(void)
+ {
+ report_cpu_stats();
+ report_heap_stats();
+ report_thread_stats();
+
+ // Clear next line to separate subsequent report logs
+ printf("\r\n");
+ }
+
+ /**
+ * Report CPU idle and awake time in terms of percentage
+ */
+ void report_cpu_stats(void)
+ {
+ static uint64_t prev_idle_time = 0;
+
+ printf("================= CPU STATS =================\r\n");
+
+ // Collect and print cpu stats
+ mbed_stats_cpu_get(&cpu_stats);
+
+ uint64_t diff = (cpu_stats.idle_time - prev_idle_time);
+ uint8_t idle = (diff * 100) / (sample_time_ms * 1000); // usec;
+ uint8_t usage = 100 - ((diff * 100) / (sample_time_ms * 1000)); // usec;;
+ prev_idle_time = cpu_stats.idle_time;
+
+ printf("Idle: %d%% Usage: %d%% \r\n", idle, usage);
+ }
+
+ /**
+ * Report current heap stats. Current heap refers to the current amount of
+ * allocated heap. Max heap refers to the highest amount of heap allocated
+ * since reset.
+ */
+ void report_heap_stats(void)
+ {
+ printf("================ HEAP STATS =================\r\n");
+
+ // Collect and print heap stats
+ mbed_stats_heap_get(&heap_stats);
+
+ printf("Current heap: %lu\r\n", heap_stats.current_size);
+ printf("Max heap size: %lu\r\n", heap_stats.max_size);
+ }
+
+ /**
+ * Report active thread stats
+ */
+ void report_thread_stats(void)
+ {
+ printf("================ THREAD STATS ===============\r\n");
+
+ // Collect and print running thread stats
+ int count = mbed_stats_thread_get_each(thread_stats, max_thread_count);
+
+ for (int i = 0; i < count; i++) {
+ printf("ID: 0x%lx \r\n", thread_stats[i].id);
+ printf("Name: %s \r\n", thread_stats[i].name);
+ printf("State: %ld \r\n", thread_stats[i].state);
+ printf("Priority: %ld \r\n", thread_stats[i].priority);
+ printf("Stack Size: %ld \r\n", thread_stats[i].stack_size);
+ printf("Stack Space: %ld \r\n", thread_stats[i].stack_space);
+ }
+ }
+};
+
+#endif // STATS_REPORT_H