New C18 3.0+ Compatible FRC Code

[Lafleur]

Kevin:

An idea...

A quick and dirty utilizations counter...

Add a global long integer to you project called "cycle". At the end of the while(TRUE) in main.c, do a cycle++ to build a loop counter, this will tell you how many time you have been in the while(TRUE) loop.

In the 26.4ms loop, read the cycle counter, clear it and divide by (264k clock cycles, the number of clock cycles in 26.4ms - the number of cycles used in the while(TRUE) ) This will give you a crude % utilization of the CPU that the teams can use to check on there code efficiency...


also, the counter could be scaled so that one could use an unsigned int

[Loki1989]

how exactically are we supposed to build in 7.21 with the c18 3.10 and now i can't just push F10 to build.

edit:

also when I open it it does not open correctly when I try to open the project files.

[Lafleur]

Originally Posted by Lafleur

Kevin:

An idea...

A quick and dirty utilizations counter...

Add a global long integer to you project called "cycle". At the end of the while(TRUE) in main.c, do a cycle++ to build a loop counter, this will tell you how many time you have been in the while(TRUE) loop.

In the 26.4ms loop, read the cycle counter, clear it and divide by (264k clock cycles, the number of clock cycles in 26.4ms - the number of cycles used in the while(TRUE) ) This will give you a crude % utilization of the CPU that the teams can use to check on there code efficiency...



also, the counter could be scaled so that one could use an unsigned int

an error in my logic....

you also need to take the number of loops and multiply by the number of cycles in the loop and use this to subtract from the total number of cycles in the 26ms...


tom lafleur

This is the code I did in a TEST module with only the ATD and Serial ports, I have a timer that interrupts me ever 100ms. I disable all interrupts and use the MPLAB simulator to measure the number of cycles in the main loop. In my case it was 42 cycles. Note, division is only by 10,000 and not 1,000,000 to give a % with out the need to multiply by 100, saving some cycles.

int util;
long int cycle = 0; is a global in the code, it needs to be long because of the multiplication need a long

in the main loop I have a cycle++;

// here we will calculate the % of the CPU we are using
// we are here every 100ms, that 1,000,000 cycles of the processor at 40MHz
// utilization = the number of times in the do nothing loop, * the number of cycles in
// the main loop. 42 is current number of cycles in main loop

util = 100 - ((cycle * 42)/10000);
cycle = 0;

[Kevin Watson]

Originally Posted by Lafleur

Kevin:

An idea...

A quick and dirty utilizations counter...

Add a global long integer to you project called "cycle". At the end of the while(TRUE) in main.c, do a cycle++ to build a loop counter, this will tell you how many time you have been in the while(TRUE) loop.

In the 26.4ms loop, read the cycle counter, clear it and divide by (264k clock cycles, the number of clock cycles in 26.4ms - the number of cycles used in the while(TRUE) ) This will give you a crude % utilization of the CPU that the teams can use to check on there code efficiency...


also, the counter could be scaled so that one could use an unsigned int

Cool. I've been thinking about adding a few cool features like a system clock (uS?, mS?, real time?) and scheduler. Perhaps I should start another thread for wish list items?

-Kevin

[wireties]

A Makefile (forced to call it Makefile.txt to upload) for Linux in included. I'm using cxoffice (a canned wine setup) but it can be easily altered to work with plain old wine or to run under Windoze. This compiled Kevin's latest stuff with no errors but with a bunch of signed/unsigned warnings. I have not run the code on the robot yet!


Enjoy

[bronxbomber92]

Hi,

EDIT - We've got a working install of mplab 8.00, but we can't seem to get 3.00 installed. We run through the installer fine, but it doesn't seem to actually install.. MPLAB is still using 2.40, and we can't find the installation directory of 3.00 - only 2.40.

I'm trying to install mplab 8.00 and the 3.0 compiler, I downloaded the software on the first post, and the tried running it over the install of mplab 7.20. It seemed to install, but now when ever we open mplab it says 8.00 is not enabled, but we can still use 7.20. How is the best way to install it and the compiler with pre-existing versions all ready installed?

[Lafleur]

CPU Utilization

In a quick test I did today, using a ATD sample rate of 200Hz, I had 19% utilizations of the processor. Changing only the ATD sample rate to 6400Hz, utilization went to 43%.

[Rindill]

Using new code with Eclipse? How to make the correct makefile? Help?

[Lafleur]

Kevin:

Is there a hard limit at 128 bytes in the Serial Queue's??

RX_1_QUEUE_SIZE 128 // Must be a power of two (i.e.,8,16,32,64,128)

[Kevin Watson]

Originally Posted by Lafleur

Kevin:

Is there a hard limit at 128 bytes in the Serial Queue's??

RX_1_QUEUE_SIZE 128 // Must be a power of two (i.e.,8,16,32,64,128)

Unless you want to hack the linker script, I suspect the upper limit would be 256. Just out of curiosity, why do you need such a large buffer?

-Kevin

[Lafleur]

Originally Posted by Kevin Watson

Unless you want to hack the linker script, I suspect the upper limit would be 256. Just out of curiosity, why do you need such a large buffer?

-Kevin

I don't, just wanting to know the limits of your code...

thanks...

[billbo911]

Kevin,
This is just a thought and should be implemented by teams as they feel their needs require.
In the teleop.c file, you currently have the gyro bias calculation process happen in the Teleop function.

void Teleop(void)
{
	static unsigned int i = 0;
	static unsigned int j = 0;
	int temp_gyro_rate;
	long temp_gyro_angle;
	int temp_gyro_bias;

	i++;
	j++; // this will rollover every ~1000 seconds

	if(j == 10)
	{
		printf("\rCalculating Gyro Bias...");
	}

	if(j == 60)
	{
		// start a gyro bias calculation
		Start_Gyro_Bias_Calc();
	}

	if(j == 300)
	{
		// terminate the gyro bias calculation
		Stop_Gyro_Bias_Calc();

		// reset the gyro heading angle
		Reset_Gyro_Angle();

		printf("Done\r");
	}


	if(i >= 30 && j >= 300)
	{
		temp_gyro_bias = Get_Gyro_Bias();
		temp_gyro_rate = Get_Gyro_Rate();
		temp_gyro_angle = Get_Gyro_Angle();
		printf(" Gyro Bias=%d\r\n", temp_gyro_bias);
		printf(" Gyro Rate=%d\r\n", temp_gyro_rate);
		printf("Gyro Angle=%d\r\n\r\n", (int)temp_gyro_angle);
		i = 0;
	}

	Update_OI_LEDs();	// located in ifi_code.c
}

This may be fine in some instances, but in competition, the robot is powered up in disabled mode, then transitions into autonomous(Hybrid) then back to disabled and finally into teleop. The gyro bias would never be calculated until well after it may be needed.
Wouldn't it be better if this code were placed in the disabled.c file in the Disabled function. An additional flag could be set to prevent the bias calc process from running during any additional disabled periods.

[Kevin Watson]

Originally Posted by billbo911

Wouldn't it be better if this code were placed in the disabled.c file in the Disabled function. An additional flag could be set to prevent the bias calc process from running during any additional disabled periods.

I've already made this change and provided a sample calibration routine in Disabled(). You're waiting because I'm deep in procrastination mode and haven't finished the first cut of the documentation yet <grin>.

-Kevin

[billbo911]

Originally Posted by Kevin Watson

You're waiting because I'm deep in procrastination mode and haven't finished the first cut of the documentation yet <grin>.
-Kevin

I think someone needs to pull a high priority interrupt and put everything else you are doing on hold! This should be your top priority, cuz I said so.

"Procrastination mode" I wonder if FIRST will use that to replace Hybrid mode next year?

[lukevanoort]

Originally Posted by billbo911

"Procrastination mode" I wonder if FIRST will use that to replace Hybrid mode next year?

Well, in the past, the difference wouldn't be very noticeable...