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Developing and Tracing Stella, our Nucleus Powered Self-Balancing Robot

We previously introduced Stella, our Nucleus Powered Self-Balancing Robot in part one of this five part series.

Stella’s application code was built on top of the Nucleus RTOS, using the Sourcery CodeBench IDE and toolchain, hardware support in the form of a BSP, and other tools used by embedded software developers to easily create great applications. Sourcery CodeBench uses industry standard components such as the Eclipse IDE, and GNU Compiler Collection, is extensively tested on a variety of target architectures and operating systems, and provides excellent probe support. A simple USB-based JTAG connection between the development PC and Stella is used to load, run, and debug our balance application.

USB Connection between Stella the robot and the development PC.

Trace data from the Nucleus OS and the previously instrumented Stella application layer fills an on-board buffer which is then downloaded over USB to Sourcery Analyzer, our powerful performance analysis and debug tool.
Sourcery Analyzer Kernel Run Time

See the whole process in action:

If you would like to try Mentor Graphics’ embedded software platforms and development tools, visit our product evaluation pages:

Questions? Drop into the Sourcery Tools forum and ask.

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About Ricardo Anguiano Follow on Twitter

Ricardo AnguianoRicardo Anguiano is a Technical Marketing Engineer working in the Embedded Software Division of Mentor Graphics. He has a master's degree in computer science from UC Davis. When not writing about embedded software development tools and platforms, you can find him on a bicycle or playing guitar. He is based in Northern California. Visit Embedded Blog

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