Welcome to MicroROS Self-balancing Robot Car repository
06.Program simulation
Program simulation
Program simulationOpen the projectCompile the projectConfigure the debuggerProgram downloadProgram debuggingStart/stop debuggingDebug optionsBreakpointsMonitor variablesComplete demonstrationRun the program
The tutorial mainly demonstrates the simple debugging steps of the development board using ST-Link.
Tutorial Demonstration Case: LED Control (GPIO)
Since we only provide the standard library version source code for a single case, the tutorial only demonstrates the simulation steps of MDK-ARM
Open the project
xxxxxxxxxxProduct supporting materials source code path: Attachment → Source Code Summary → 1.Base_Course → 2.LED
After decompressing the corresponding project file, find the file with the .uvprojx suffix and double-click it to open it.
xxxxxxxxxxThe .uvprojx suffix file is located in the USER directory of the project file
Compile the project
Click the Rebuild option on the toolbar to compile the project, and the compilation output bar will prompt the compilation result.
xxxxxxxxxxCompiling the project can confirm whether there are any syntax problems in the program you programmed
Configure the debugger
Select Options for Target... → Debug → ST-Link Debugger
If the system detects ST-Link, you can see the hardware information when entering the debugger interface:
Program download
Check Reset and Run to run automatically after downloading the program using ST-Link:
Click Download to download the program to the development board via ST-Link:
Program debugging
Start/stop debugging
Click Start/Stop Debug Session to start and stop debugging mode:
Debug options
The tutorial only introduces commonly used options:
| Serial number | Description |
|---|---|
| 1 | Reset: The program performs a reset operation |
| 2 | Run at full speed: The program starts to run normally at full speed until the program stops when it encounters a breakpoint |
| 3 | Stop running: The program stops running |
| 4 | Enter function to run: Run once per click |
| 5 | Run line by line: Do not enter the function, run single line |
| 6 | Jump out of function to run: Run other statements in the function, and then jump out of the current function to run |
| 7 | The program runs to the cursor |
Breakpoints
When the program reaches a breakpoint, it will stop running. Click the gray area of the picture to add and cancel breakpoints: click once to add, and click again to cancel the breakpoint
Monitor variables
To view the program's variable data in real time, you need to check View → Periodic Window Update:
Since there are no viewable variables in the program, we slightly adjust the code: To adjust the code, you need to exit Debug mode, then recompile the project, and re-enter Debug mode
Add variables
Select the variable in the program and right-click to add it to the monitoring window:
Select the variable in the monitoring window and right-click to change the data display format: cancel the hexadecimal display and use decimal for easy observation
xA breakpoint needs to exist in the program, otherwise the data will not be updated when the program is running, and it will be displayed as out of range
Complete demonstration
Use LED control (GPIO) project to demonstrate a simple simulation process.
Run the program
The program will run to the breakpoint and the delay time value will be updated to 500:
Click the line-by-line run icon to control the progress of code execution. At this time, you can observe the LED light phenomenon of the development board.
Click the Debug option to exit the debugging interface:
