Mbed runtime for abmt

• This is an example runtime that shows how abmt can be used for embedded devices.
• This runtime / code is made to be modified.
• Many usecases may need modifications. Feel free to take this as base for your runtime.
• Example nodes for this runtime can be downloaded at https://github.com/abmt-community/mbed_nodes

Notes

• Fastest raster can be 1ms (1ms clock) or async.
• Saving parameters is not supported. After reset they have the default value
• Some Serial to USB convertes have a higer latency. You can try echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer

Installation

• Go to workspace
  • git clone https://github.com/abmt-community/rt_mbed.git
  • git clone https://github.com/abmt-community/mbed_nodes.git
• sudo apt-get install pip wget openocd zip
• pip install mbed-cli jinja2 pyyaml jsonschema mbed_ls mbed_host_tests mbed_greentea pyelftools pycryptodome pyusb cmsis_pack_manager psutil cryptography click cbor
• restart console for PATH update

Mbed sources

• https://api.github.com/repos/ARMmbed/mbed-os/tarball/mbed-os-6.16.0
• https://github.com/arduino/mbed-os/archive/refs/heads/extrapatches-6.16.0.zip

Example flash commands

• NOTE: The strings '_ELF_FILE_' and '_BIN_FILE_' in the flash command will be replaces by the actual binary created by mbed.
• openocd -f interface/stlink.cfg -f target/stm32f1x.cfg -c 'program _ELF_FILE_ verify reset exit'
• openocd -f interface/cmsis-dap.cfg -f target/stm32f1x.cfg -c 'program _ELF_FILE_ verify reset exit'
• pyocd flash _ELF_FILE_ -e chip -t stm32f103rc
• st-flash --reset --flash=128k write _BIN_FILE_ 0x8000000
• stm32flash -b 576000 -w _BIN_FILE_ -v -g 0x0 /dev/ttyUSB0
• test -f /media/<username>/RPI-RP2/INFO_UF2.TXT && /path_to_elf2uf2/elf2uf2 BUILD/$TARGET/GCC_ARM/*.elf /media/<username>/RPI-RP2/mbed.uf2
• pyocd flash BUILD/$TARGET/GCC_ARM/*.elf -t rp2040

Debug

• There are many ways, this is only one.

• Go to build-directory

• build with debug options 'mbed compile --profile ./mbed-os/tools/profiles/debug.json'

• Flash the new binary (in 'BUILD/TARGET/TOOLCHAIN-DEBUG/some_name.bin')

• Start debugger ('st-util' or 'pyocd')

• Open eclipse: - Create new C++ Project in the build directory - Create new Debug configuration

  • Select Binary
  • Select gdb-port

• Debug...

Tips

• pyocd can decode threads
• The build-directory contains a debug.sh that might help
• mbeds hard fault handler has a blinking pattern. You could try to increase the stack size.
• You can use pyocd to flash. STM32F103 need a full chip erase. pyocd flash --target stm32f103rc -e chip path/to/bin_hex_or_elf
• When mbed crashes it dumps some info on the serial port (Pins: CONSOLE_RX/-TX).

Raspbery Pi Pico Notes

• mbed port not finished yet (Feb 23)...
• mbed: https://github.com/arduino/mbed-os/archive/refs/heads/extrapatches-6.16.0.zip
• Target: RASPBERRY_PI_PICO
• elf2uf2: https://github.com/rej696/elf2uf2
• tip: enable auto-mount

Konwn Issues

• Don't use header files with names that match standard header files (eg "math.h") your nodes. MBED would shadow the default ones.
• There are some deprecated warnings regarding the need to use std::chrono, which is not used for compability reasons with mbed5. Unfortunatly mbed6 droped the support for a lot of easy accessible hardware...