The latest S110 v7 softdevice uses 88 kB flash and 8 kB of static RAM for S110 leaving 168 kB of flash and 8 kB of RAM for the application (for the 256k chip). Also note that S110 v7 can use over 1.5 kB of stack, so you must make sure that your stack is big enough to accomodate both this and your application’s requirement. 

Lastly, when you use the S110, it also restricts many of the Programmable Peripheral Interconnect (PPI) channels, leaving on 8 channels free for the application code. This restricts how you implemet peripherals such as PWM and I2C.

Today, I scratched around some more and finally decided I had to ask for help.  This was just soaking up a lot of time, doing random things that I thought might be the cause of the problem. i.e. not based on any real evidence.

So I tooled a message for David to send to Leo.

Thank heavens, that David had the good sense to read my drivel before he sent it.  It appears Leo actually sent us a revised IDE installation document last week.

Hi David
The attached Eclipse doc is the latest.
Is that not the one I gave you?
Regards,
Leo Theunissen

David figured, I hadn’t noticed it and sent me a nudge.   It’s not easy being so stupid.  What a waste of bloody time.
—————
So I printed off a new version of the document and carefully went through all the installation steps. It’s a lot, lot better, but there are still issues.

43 files compiled with mere warnings, but it finally ground to a halt with some “Assembler messages”.  Who knows what this means?

‘Building file: ../Libraries/CMSIS/CM3/CoreSupport/core_cm3.c’
‘Invoking: Cross ARM C Compiler’
arm-none-eabi-gcc -mcpu=cortex-m3 -mthumb -O0 -fmessage-length=0 -fsigned-char -ffunction-sections -fdata-sections -w  -g3 -DSTM32F10X_CL -DUSE_STDPERIPH_DRIVER -I”C:UserslammingworkspaceDecaRangingMPEVBLibrariesSTM32F10x_StdPeriph_Driverinc” -I”C:UserslammingworkspaceDecaRangingMPEVBLibrariesSTM32F10x_StdPeriph_Driversrc” -I”C:UserslammingworkspaceDecaRangingMPEVBLibrariesCMSISCM3CoreSupport” -I”C:UserslammingworkspaceDecaRangingMPEVBLibrariesCMSISCM3DeviceSupportSTSTM32F10x” -I”C:UserslammingworkspaceDecaRangingMPEVBsrcapplication” -I”C:UserslammingworkspaceDecaRangingMPEVBsrccompiler” -I”C:UserslammingworkspaceDecaRangingMPEVBsrcdecadriver” -I”C:UserslammingworkspaceDecaRangingMPEVBsrcplatform” -I”C:UserslammingworkspaceDecaRangingMPEVBsrcsys” -std=gnu11 -MMD -MP -MF”Libraries/CMSIS/CM3/CoreSupport/core_cm3.d” -MT”Libraries/CMSIS/CM3/CoreSupport/core_cm3.o” -c -o “Libraries/CMSIS/CM3/CoreSupport/core_cm3.o” “../Libraries/CMSIS/CM3/CoreSupport/core_cm3.c”
C:UserslammingAppDataLocalTempccKeD9Ks.s: Assembler messages:
C:UserslammingAppDataLocalTempccKeD9Ks.s:772: Error: registers may not be the same — `strexb r3,r2,[r3]’
C:UserslammingAppDataLocalTempccKeD9Ks.s:818: Error: registers may not be the same — `strexh r3,r2,[r3]’
cs-make: *** [Libraries/CMSIS/CM3/CoreSupport/core_cm3.o] Error 1

Aha!  http://www.atollic.com/index.php/kb/1-kb_building/117-kb_error_in_strexb

In the tool chain included in TrueSTUDIO up to version 5.0 there where a bug in gcc for optimization level -O0 that would allow the code to compile with that optimization.

Hot to change to a lower optimization level for STREXB and STREX:

Find the functions __STREXB and STREXH. They are located in the CMSIS libraries. The exact position for the libraries depends on the project organization.

Change the function prototypes for these two function to set a lower optimization level with [optimize(“O0”)].

But I already have optimization “O0”  and the precise fix they recommend doesn’t match my source.

—————

So the software that they suggest you download from ST is out-of-date.  It seems pretty clear tome that nobody has run through the DW instructions.

I managed to find a more modern version out on the web.  

https://code.google.com/p/stm32p107-freertos/source/browse/STM32F10x_StdPeriph_Lib#STM32F10x_StdPeriph_Lib%2FLibraries%2FCMSIS

I downloaded it and patched in the new core_cm3.c and tried to rebuid.   Got exactly the same error.   This time I opened up the code and it seems to match the reported buggy code.  So I made the suggested alteration to the new code described here:  http://www.coocox.org/forum/topic.php?id=943

I think there is an error in core_cm3.c file at CoIDE 1.7.1.
I had the same issue with Sourcery CodeBench gcc 4.7.2 and it was resolved after editing cmsiscore_cm3.c file in my project’s directory.According to this thread you should edit functions __STREXB and __STREXH by changing “=r” to “=&r”.
You’ll see code:
__ASM volatile (“strexb %0, %2, [%1]” : “=r” (result) : “r” (addr), “r” (value) );
Should be:
__ASM volatile (“strexb %0, %2, [%1]” : “=&r” (result) : “r” (addr), “r” (value) );

I ended up with two edited lines in ___STREXB and __STREXH

(line 736) __ASM volatile (“strexb %0, %2, [%1]” : “=&r” (result) : “r” (addr), “r” (value) );
(line 753) __ASM volatile (“strexh %0, %2, [%1]” : “=&r” (result) : “r” (addr), “r” (value) );

I saved and recompiled.

Yay… it compiles now!

The important statistics we have been waiting to see are:

   text   data    bss    dec    hex filename
  67992   1552   4992  74536  12328 DecaRangingMPEVB.elf

• text is basically the code that lives in flash.  Initializers for variables that live in RAM will be placed here too, but don’t contribute to the text size.
• data is pre-initialized variables, that lives in RAM.  The initializers will be in flash, and will get copied to ram before the main routine is called.
• bss is un-initialized variable storage that lives in RAM.
• dec and hex are the total size of everything expressed in decimal and hex.  It’s not useful unless you are worried about storing/transmitting the image for subsequent download.

Yay… it downloads now.

Yay… it runs.

 

Well this hasn’t got off to a flying start.  The code is riddled with warnings, and syntax errors, which probably indicates that some compiler settings are wrong.

Oh Jeez… a cascade of shit.

Building file: ../src/sys/syscalls.c

Invoking: Cross ARM C Compiler

This is getting beyond frustrating.

I’ve been thinking about drones which are in the news again.

Objectives recap

Topology mapping recap

I espouse the idea that we can do a lot without making a map.  I think it’s still critical to be able to do things without a map.

If we had an easy way to add a map then it could enable a lot of extra capabilities.

One thing I’m pretty sure we can do is sense the position of an object to within a meter, or less.  So I can imagine having a tiny, and very inexpensive drone with a TV camera that could follow you around the house.

Take the drone out of the box, and remove the paper strip maked “Remove me first”.   Set the drone on the floor in front of you.  Put on your wrist band.  Wave your hand over the top of the drone <somehow> until the red light on the drone comes on. Now walk away from the drone, and sit still somewhere you can see the whole room.  In a few seconds the drone will start, and slowly rise into the air.  It will slowly hover around around the room taking pictures.  Don’t move until it lands again.

Walk into another room, and the drone will follow you.  Sit down and the drone will survey this room.

Move to each room in turn until you are done, and then walk towards the drone and wave your hand over it.  You are done.  Put the drone back in it’s little box, and put it way somewhere safe. 

The drone builds a 3D map using techniques like these.
Project Tango

Today, was just a clean-up day, before I launch into trying to get the DW code running on DW hardware.  I have managed to get Eclipse to compile runnable trivial programs for five different targets: Windows, Nordic’s EVK, our TS06.1, Decawave’s EVB1000, and ST’s Discovery board, and two different languages: C and Java (both on the PC).

The instructions require an STLINK/V2 ($21 and less off the web) which I don’t have of course.

So can I use the JLink EDU.   First challenge is getting the connector right.  Which is pin #1?

I’ve written the canonical LED flasher program, but now I’m trying to figure out what port.pin the LEDs are on.   Back to the Schematic…

timer_start(); blink_led_init();
// Infinite loop while (1)  {  blink_led_on();  timer_sleep(BLINK_ON_TICKS);  blink_led_off();  timer_sleep(BLINK_OFF_TICKS);  }

STM32F10X_CLTRACEOS_USE_TRACE_SEMIHOSTING_DEBUGUSE_STDPERIPH_DRIVERHSE_VALUE=8000000