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Offline romickTopic starter

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AXON 2 rebooting constantly
« on: October 29, 2013, 02:15:09 AM »
I've made a simple program for AXON II, simulating servo controller. It actually works, but there is a problem that Axon keeps rebooting after a couple of seconds, or so.

Code: [Select]
#define UART_RX_BUFFER_SIZE = 160;

#include "hardware.h"

#include <string.h>
// Initialise the hardware

//Data protocol is trying to be SSC32 servo controller compatible.
//At the moment only the following commands implemented:
//    - servo group movement
//For the protocol details please refer to SSC32 protocol description: http://www.lynxmotion.com/images/html/build136.htm

#define SERVOS_NUMBER 11 
//actually 12 counting 0 as first
#define SSC_RESOLUTION 1000
#define DEBUG_SESSION 1
#define MY_DRIVE_SPEED_MIN 500
#define MY_DRIVE_SPEED_MAX 2500
#define MY_DRIVE_SPEED_AVERAGE 1500

Servo* servos[SERVOS_NUMBER];

uint8_t VERBOSE = 1;

struct command {
        uint8_t has_changed[SERVOS_NUMBER];
        float servo_target_positions[SERVOS_NUMBER];
        float servo_current_positions[SERVOS_NUMBER];
        float servo_speeds[SERVOS_NUMBER];
        float servo_speed_per_tick[SERVOS_NUMBER];
        int16_t time;
};

struct command command_receiving;

struct command command_in_process;

char r_curr_subcommand;
int8_t r_curr_servo;

TICK_COUNT last_loop_time;

void initialize_command (struct command* command) {
        (*command).time = 1;
        for(int16_t i=0;i<=SERVOS_NUMBER;i++) {
                (*command).has_changed[i]=0;
                (*command).servo_target_positions[i]=MY_DRIVE_SPEED_AVERAGE;
                (*command).servo_current_positions[i]=MY_DRIVE_SPEED_AVERAGE;
                (*command).servo_speeds[i]=10;
                (*command).servo_speed_per_tick[i]=100;
        }
}


void print_command (struct command* command, TICK_COUNT loop_number) {
        if (loop_number) {
                cout << "Loop " << loop_number << "\n";
        }
        cout << "command:\nTime to execute: " << (*command).time << "\r\n";
        int8_t ia;
        for (ia=0; ia <= SERVOS_NUMBER; ia++) {
                cout << "#" << ia << " Changed?:" << (*command).has_changed[ia] << " Trgt: " << (*command).servo_target_positions[ia] << "\n";    //: Current pos: " << (*command).servo_current_positions[ia] << " Speed: " << (*command).servo_speeds[ia] << " Spt: " << (*command).servo_speed_per_tick[ia] << "\n";
        }
}


int to_int (char chr) {
        int i = chr - '0';
        if (VERBOSE==1) {
                cout << "\n To_int'd number:" << i << "\n";
        }
        return i;
}




// Initialise the hardware
void appInitHardware(void) {
        initHardware();
        servos[0] = &servo;
        servos[1] = &servo2;
        servos[2] = &servo3;
        servos[3] = &servo4;
        servos[4] = &servo5;
        servos[5] = &servo6;
        servos[6] = &servo7;
        servos[7] = &servo8;
        servos[8] = &servo9;
        servos[9] = &servo10;
        servos[10] = &servo11;
        servos[11] = &servo12;
        initialize_command(&command_receiving);
        initialize_command(&command_in_process);
}
// Initialise the software
TICK_COUNT appInitSoftware(TICK_COUNT loopStart){
        cout << "RESTART!!!\nRESTART!!!\nRESTART!!!\nRESTART!!!\n";
        return 0;

}

// This is the main loop
TICK_COUNT appControl(LOOP_COUNT loopCount, TICK_COUNT loopStart) {

        int early_break = 0;
        while ((uart1.isRxBufferEmpty()==FALSE) && (early_break == 0)) {
                char data = uart1.read();
                //if (data != EOF) {
                        cout << data;
                //}
                switch (data) {
                        case '?':
                        {
                               
                                //subcommand "Toggle verbose TRUE/FALSE"
                                if (VERBOSE==0) {
                                        VERBOSE = 1;
                                        int8_t i;
                                        for (i=0; i <= SERVOS_NUMBER; i++) {
                                                cout << "Current speed:" << (*servos[i]).getSpeed() << "\n";
                                        }
                                } else {
                                        VERBOSE = 0;
                                }
                                break;
                        }
                        case '#':
                        {
                                //subcommand "Servo number"
                                r_curr_servo = 0;
                                r_curr_subcommand = data;
                                if (VERBOSE==1) {
                                        cout << "Received servo number command \n";
                                }
                                break;
                        }
                        case 'P':
                        {
                                //subcommand "Position"
                                command_receiving.servo_target_positions[r_curr_servo] = 0;
                                r_curr_subcommand = data;
                                if (VERBOSE==1) {
                                        cout << "Received position command \n";
                                }
                                break;
                        }
                        case 'S':
                        {
                                //subcommand "Speed"
                                command_receiving.servo_speeds[r_curr_servo] = 0;
                                r_curr_subcommand = data;
                                if (VERBOSE==1) {
                                        cout << "Received speed command \n";
                                }
                                break;
                        }
                        case 'T':
                        {
                                //subcommand "Time"
                                command_receiving.time = 0;
                                r_curr_subcommand = data;
                                if (VERBOSE==1) {
                                        cout << "Received time command \n";
                                }
                                break;
                        }
                        case '1':
                        case '2':
                        case '3':
                        case '4':
                        case '5':
                        case '6':
                        case '7':
                        case '8':
                        case '9':
                        case '0':
                        {
                                if (VERBOSE==1) {
                                        cout << "Received digit \n Current subcommand is " << r_curr_subcommand << "\n";
                                }
                                switch (r_curr_subcommand) {
                                        case '#':
                                        {
                                                r_curr_servo = r_curr_servo*10 + to_int(data);
                                                if (VERBOSE==1) {
                                                        cout << "Set current servo to:" << r_curr_servo << "\n";
                                                }
                                                break;
                                        }
                                        case 'P':
                                        {
                                                command_receiving.servo_target_positions[r_curr_servo] = command_receiving.servo_target_positions[r_curr_servo]*10 + to_int(data);
                                                command_receiving.has_changed[r_curr_servo] = 1;
                                                if (VERBOSE==1) {
                                                        cout << "Set current servo target position to:" << command_receiving.servo_target_positions[r_curr_servo] << "\n";
                                                }
                                                break;
                                        }
                                        case 'S':
                                        {
                                                command_receiving.servo_speeds[r_curr_servo] = command_receiving.servo_speeds[r_curr_servo]*10 + to_int(data);
                                                if (VERBOSE==1) {
                                                        cout << "Set current servo speed to:" << command_receiving.servo_speeds[r_curr_servo] << "\n";
                                                }
                                                break;
                                        }
                                        case 'T':
                                        {
                                                command_receiving.time = command_receiving.time*10 + to_int(data);
                                                if (VERBOSE==1) {
                                                        cout << "Set movement time to:" << command_receiving.time << "\n";
                                                }
                                                break;
                                        }
                                        default:
                                        {
                                                //err.print "reader: No current command defined!";
                                                break;
                                        }
                                }
                                break;
                        }
                        case ' ':
                        {
                                r_curr_subcommand = ' ';
                                break;
                        }
                        case '\r':
                        case '\n':
                        {
                                // execute command
                                r_curr_subcommand = ' ';
                               
                               
                                int8_t jl=0;
                                for (jl=0; jl <= SERVOS_NUMBER; jl++) {
                                        if (command_receiving.has_changed[jl] > 0) {
                                                command_in_process.has_changed[jl] = 1;
                                                command_in_process.servo_target_positions[jl] = command_receiving.servo_target_positions[jl];
                                        }
                                       
                                }


                                initialize_command(&command_receiving);
                               
                                if (VERBOSE==1) {
                                        cout << "After copy.\nReceived ";
                                        print_command(&command_receiving, NULL);
                                        cout << "In process ";
                                        print_command(&command_in_process, NULL);
                                }
                               
                                //Stop parsing RX buffer and go straight to command execution, the rest of buffer will be parsed in next main loop
                                early_break = TRUE;

                                break;
                        }
                        default:
                        {
                                break;
                        }
                }

        }

        //if (loopStart > (last_loop_time + SSC_RESOLUTION)) {   
                last_loop_time = loopStart;

                int8_t jk=0;
                for (jk=0; jk <= SERVOS_NUMBER; jk++) {
                        DRIVE_SPEED speed = interpolate((int16_t)command_in_process.servo_target_positions[jk], MY_DRIVE_SPEED_MIN, MY_DRIVE_SPEED_MAX, DRIVE_SPEED_MIN,DRIVE_SPEED_MAX);
                        (*servos[jk]).setSpeed(speed); 
                        command_in_process.has_changed[jk] = 0;
                        //command_in_process.servo_current_positions = (*servos[jk]).getSpeed();
                                // cout << "#" << jk << " Chgd?:" << command_in_process.has_changed[jk] << " Trgt:" << speed << "\n";
                }
               
        //}
        return 0;
}

The whole project is located here: https://github.com/romick/tetry-robot/tree/master/bug4

Could someone give a clue how to debug this kind of problems? Is it mostly hardware or software issue?

Offline jwatte

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Re: AXON 2 rebooting constantly
« Reply #1 on: October 29, 2013, 08:25:56 PM »
1. Using cout, or printf, in embedded controllers is a major waste of space.
2. How big are your structures? Are you sure you don't run out of RAM?

Once you're sure that's not the problem, try powering the servos with a different power source than the Axon.
My guess is that your power source is not strong enough to drive 12 servos at the same time, and thus undervolts the Axon.
Another option is that the servos generate enough spikes on the power rail to reset the Axon, in which case a second power source or a filter would fix it.

Offline romickTopic starter

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Re: AXON 2 rebooting constantly
« Reply #2 on: November 02, 2013, 12:15:21 PM »
1. What else is advised to be used to debug ebedded program instead?
2. Actually the isuue was caused by too big Tx and Rx buffers. Is there any way to measure memory used in run-time?

Offline Webbot

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Re: AXON 2 rebooting constantly
« Reply #3 on: November 03, 2013, 11:07:12 AM »
1. What else is advised to be used to debug ebedded program instead?
2. Actually the isuue was caused by too big Tx and Rx buffers. Is there any way to measure memory used in run-time?

Assuming you are using the makefile from WebbotLib/ProjectDesigner then it should tell you how much program (flash) memory and RAM are used. However: you have to remember that the stack also grows downwards from the top of available memory (to keep track of interrupt calls, parameters and local variables etc). Whereas your data grows up from the bottom of memory. If the two cross over then the stack could overwrite your RAM or your RAM variables could overwrite the stack. Either case is V. BAD.
So make sure you leave 'enough' available RAM for the stack. Of course 'enough' will vary from one program to another.

Your code is currently consuming a lot of RAM because all of those text strings are being held in RAM.
So consider channging:-
  cout << "Hello World";
to
  cout.print_P( PSTR("Hello World") );
The latter case will only store the text in program memory.
You can also concatenate the calls ie:
  cout.print_P( PSTR("The year is ")).print(2013);
Check the manual for the various print commands available to a stream.
Webbot Home: http://webbot.org.uk/
WebbotLib online docs: http://webbot.org.uk/WebbotLibDocs
If your in the neighbourhood: http://www.hovinghamspa.co.uk

Offline jwatte

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Re: AXON 2 rebooting constantly
« Reply #4 on: November 03, 2013, 02:36:37 PM »
Quote
1. What else is advised to be used to debug ebedded program instead?

First, if you have a JTAG or SWD or similar interface, use that with a source-level debugger.

Second, if you don't have that, there are various options:
1) Set/clear particular output pins as high/low, and look at them with a logic analyzer or oscilloscope.
2) Put in assertions around the code you suspect, and have the asserts stop and blink a LED when failing. Remove the assertions once you understand the problem.
3) Raw serial output, where you output a byte or two for the particular state you're interested in.

Another tip for embedded development: Never use malloc() or operator new.
Statically/globally allocate everything.
Only use stack (local) variables if they are 16 bytes or less.
Never use deep recursion.

For a software system with millions of lines of code, that would be terrible to maintain, but for systems where bytes matter (the AVR has 2 kilobytes total for all your variables and stacks!) then that's actually a much better way. Different tools for different situations!


 


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