Embedded and Real-Time Systems / Real-Time Operating Systems

EE445M, Unique: 16400, 16405, 16410, 16415, 16420
EE380L.12, Unique: 16690, 16695, 16700, 16705, 16710
Semester: Spring 2019

Description

Real-time operating systems; implementation of context switching, threads, multitasking, real-time scheduling, synchronization, communication, storage, file systems, memory management, process linking and loading, hardware interfacing, and networking; debugging and testing; operating system performance, including latency, jitter, deadlines, deadlocks, and starvation; real-time systems, including data acquisition, sensing, actuating, digital control, signal processing, and robotics.
 

Prerequisites

EE445L (or 345L) or EE445S (or 345S) with a grade of at least C-, and credit with a grade of at least C- or registration in 333T.

This class is the third in a sequence of three microcontroller laboratories. We expect you to have experiences with assembly language, serial ports (UART and SPI), periodic interrupts, ADCs, edge-triggered interrupts, FIFO queues, and C programming. We will be using the same ARM Cortex-M used (since Fall 2013) in EE319K and EE445L, but we do not require prior experiences with the same microcontroller. You are also expected to understand how a DFT is used to observe digitally sampled data in the frequency domain.
 

Textbook

• Main textbook

  Jonathan W. Valvano Embedded Systems: Real-Time Operating Systems for ARM® Cortex™-M Microcontrollers Volume 3, Fifth edition, January 2019 ISBN: 978-1466468863 (available from Amazon) (available from CreateSpace)

• Additional references
  • Jean J. Labrosse, µC/OS-III: The Real-time Kernel for Texas Instruments Stellaris, Micrium. (available in electronic format) (available from Amazon)
    This is a nice book. It covers general OS topics, explains the use of µC/OS-III (a minimal but complete RTOS), and includes details of the ARM Cortex-M3 specifically on a Texas Instrument Stellaris LM3S board (not our board, but similar). There is also a second edition µC/OS-II that covers an earlier, simpler and generic OS not tied to a specific board (available on Amazon). The 3rd edition is nicely written, but specific to µC/OS-III and a given board.
  • Remzi H. Arpaci-Dusseau and Andrea C. Arpaci-Dusseau, Operating Systems: Three Easy Pieces (free online version available at http://www.ostep.org/)
  • Thomas Anderson and Michael Dahlin, Operating Systems: Principles and Practice, ISBN 978-0-9856735-2-9
  • Joseph Yiu, The Definitive Guide to the ARM Cortex-M3 and Cortex-M4 Processors, Third Edition, 2013, ISBN: 978-012408082.
  • For programming in C, see the EE312 text, or the Embedded Software in C online reference by Jon Valvano and Ramesh Yerraballi.
  • EE445L textbook: Jonathan Valvano, Embedded Systems: Real-Time Interfacing to ARM Cortex M Microcontrollers, Volume 2, Fifth Edition, 2016, ISBN: 978-1463590154.
  • Data sheets for most of the devices used in this class are available at http://www.ece.utexas.edu/~valvano/Datasheets
     

Equipment

• Board
  We will use the TI EK-TM4C123GXL LaunchPad plus graphics display. Each group of students must buy/borrow one kit. However, I strongly suggest each student purchase their own kit. We have been using the TM4C123 board in EE319K since Fall 2013, so you might be able to find one used. If you do purchase a used board, ask a TA or me to run the board tester to make sure it works. If it still works at the end of the semester, you will be able to sell this board to students in the Fall 2016 classes. Otherwise, the easiest way to purchase the LaunchPad is from the TI.com E-store or any of the buying options listed on Octopart.com.
   
• Tools
  You will need own your own digital multimeter to build and debug your robot. You must be able to measure voltage and resistance, so a meter costing around $20 will suffice.
   
• Other Parts
  • Since the LaunchPad does not have a display you will need to purchase a Sitronix ST7735R 18-bit color 1.8" TFT LCD display, http://www.adafruit.com/products/358
  • We will provide all other components and parts to assemble your final robot, including the mechanical platform as well as PCBs for a sensor and motor board into which you will plug your LaunchPads and display. You will, however, be allowed to upgrade your robot with additional sensors, circuitry and parts (except motors and battery, and within a limited budget).
     

Software

• Keil µVision4
  We will use the 32k limited version of Keil µVision, Version 4.74 (do not install Version 5)
  • Download at https://www.keil.com/demo/eval/armv4.htm.
  • Installation instructions at http://www.ece.utexas.edu/~valvano/Volume1/KeilInstall.htm
  • LaunchPad drivers at http://www.ti.com/tool/stellaris_icdi_drivers
  A large number of software examples for the board will be available by installing Prof. Valvano's starter files.
   
• Other Software
  To complete the labs, it will take time outside of the 3 scheduled lab hours. It will be important for you to configure a development system on your laptop (Keil version 4.74 and PuTTy) This way you will be mobile and flexible about where and when you work on lab.
   

Course Outcomes

The purpose of EE445M/EE380L.12 is to provide students an in depth understanding of real-time operating systems, real-time debugging, and embedded systems. After the successful conclusion of EE445M/EE380L.12, students should be able to design real-time embedded systems, such as motor controllers, data store systems, data acquisition systems, communication systems and robotic systems.
 

Specific Objectives

The primary objective of EE445M/EE380L.12 is for students to develop the ability to design real-time systems. This class allows students to combine principles of microcomputer interfacing, software development, digital logic and analog circuits into the design of microcomputer-based systems:

1. ARM architecture, and C programming
   • Minimally intrusive debugging
   • Performance measures
2. Synchronization methods
   • Busy-wait, interrupt, DMA, periodic polling, priority interrupts
3. Embedded Communication Systems
   • Serial network protocols, layered software, CAN, Ethernet, and USB
4. Real time operating systems
   • Foreground and background thread scheduling
   • Synchronization using spinlock and blocking semaphores
   • Interthread communication
5. Digital Device Interfaces
   • SD drive interface using SPI, file systems
   • Diodes, transistors, DC motors, servos, stepper motors, relays, solenoids
   • Optical sensors, IR distance sensors and contact switch sensors
6. Time Domain Interfaces
   • Input capture/output compare, frequency, period and pulse width measurements
   • Pulse-width modulation
7. Data Acquisition Systems
   • Op amp amplifiers, analog low pass filters, ADC, FIFO queues, digital filters
8. Control systems
   • Open loop and closed loop, Linear and Nonlinear
   • Bang-bang control, incremental control, PID Control
      

Policies

• Grading
  • 50% Laboratory assignments
  • 25% Midterm
  • 25% Final

  There will be no re-tests, make-ups or incompletes.
   

• EE380L.12 Grading
  • 80% Regular EE445M grade
  • 20% Project

  Graduate students will attend the lectures, take the exams, and perform the labs. In addition to all the regular EE445M assignments, they will perform an extra lab project involving the design, implementation and testing of an embedded system with a real-time operating system. The complexity of this project should be equivalent to one of the regular labs. The project should be approved in advance by the instructor (come see me to discuss project ideas or if you want to brainstorm potential projects). A 1/2 page written proposal concerning the project is due by the end of February. The project must be demonstrated to the instructor or a TA, and a project report is due to the instructor the first Monday after classes are over. You are free to choose a project in your field of interest. It must include an embedded system and a real-time operating system of your design. You must write microcomputer software and/or build microcomputer hardware. It must actually be built and tested. The report will be typed double spaced. The maximum page count is 20 (including hardware diagrams, but not software listings). The grading policy for the report has four parts:
            25% English style, grammar, spelling, clarity of discussion, logical organization
            25% Neatness and presentation, figures, diagrams, graphs
            25% Engineering quality, originality, creativity, correctness
            25% Evaluation and test procedures, how do you verify its correctness.

  Special note to undergraduate students taking EE380L.12 as their gateway grad course into the integrated BS/MS program: I strongly recommend you create a project that highlights your creativity and your analytic skills. The grad admissions committee is interested in your scientific and intellectual skills and not your engineering skills. So create a project with lots of theory, analysis, and equations so that the admissions committee will know you will succeed in grad school.
   

• Attendance

  Class attendance will be used for deciding grades in borderline cases. Students are expected to attend all lectures. Fundamental material will be presented in class, and the details can be found in the book, the data sheets and the library files provided by the manufacturer. Some lecture material will be posted on the web, while other material will only be presented in class. If you decide that you do not want to come to every lecture, please drop this class.
   

• Lab Partners

  All labs up to and including Lab 5 should be performed with a partner (teams of 2). Labs 6 and 7 will be performed in teams of 3 to 5 students. The lab partnerships must be registered with your TA (a simple hand written note signed by students will suffice) at least a week before the assignment is due. Once registered, the partnership will continue. A partnership can be dissolved only after discussion with the TA. All partners must be present during the demonstration. It is expected that both partners will contribute to all aspects of each lab, and all partners are expected to be present during the check out. The point values are the same for all labs. The TA will sign your software listing when you demonstrate your system. All parts of the assignment must be demonstrated to a TA by the end of your lab period the week the "Demo/Report" is due. Any EE345M/EE380L TA is authorized to checkout your lab. The report (hardware, software, data and plots) are due one day after the demonstration is due. Please consult with your TA for specific due dates for your lab section.
   

• Lab Policies

  No lab activities occur during the week of January 15. During the week of January 22-26, please go to your scheduled lab sessions in EER 1.806 to get a demonstration of the lab equipment. Lab partners will be selected in your lab the week of January 22-26.

  The lab preparations (syntax error-free software source code and documentation) are due at the beginning of your lab period. In other words, please type your software into the PC before the lab. Attendance in lab is required. All software for lab, and tests must include comments. Students are encouraged to go to the last 1 hour of the other lab periods, but the first priority will be to the regular students. During the first 15 minutes of lab, the TA will collect preparations. For the next 15 minutes, the TA will lead a lab discussion session. The remaining lab time is available for debugging and lab checkout.

  At the end of the semester, please verify with the checkout counter that your record is clear and you have returned all equipment or a bar will be put on your registration for next semester. All reports must be given to the TA by Friday May 4, 5pm in order to be considered for grading.
   

• Academic Dishonesty

  "Faculty in the ECE Department are committed to detecting and responding to all instances of scholastic dishonesty and will pursue cases of scholastic dishonesty in accordance with university policy. Scholastic dishonesty, in all its forms, is a blight on our entire academic community. All parties in our community -- faculty, staff, and students -- are responsible for creating an environment that educates outstanding engineers, and this goal entails excellence in technical skills, self-giving citizenry, an ethical integrity. Industry wants engineers who are competent and fully trustworthy, and both qualities must be developed day by day throughout an entire lifetime. Scholastic dishonesty includes, but is not limited to, cheating, plagiarism, collusion, falsifying academic records, or any act designed to give an unfair academic advantage to the student. The fact that you are in this class as an engineering student is testament to your abilities. Penalties for scholastic dishonesty are severe and can include, but are not limited to, a written reprimand, a zero on the assignment/exam, re-taking the exam in question, an F in the course, or expulsion from the University. Don't jeopardize your career by an act of scholastic dishonesty. Details about academic integrity and what constitutes scholastic dishonesty can be found at the website for the UT Dean of Students Office and the General Information Catalog, Section 11-802."

  You are encouraged to study together and to discuss information and concepts with other students. You can give "consulting" help to or receive "consulting" help from such students in oral form. However, this permissible cooperation should never involve one student having possession of a copy of all or part of work done by someone else, in the form of an email, an email attachment file, a portable storage device, or a hard copy. Copying of any part of a program is cheating without explicit reference to its source. We do enter lab and homework assignments turned in by students through a plagiarism checker, comparing them to assignments of this and previous semesters. If we find two programs that are copied, there will be a substantial penalty to both students, e.g., failure in the course. Students who cheat on tests, homeworks or in lab will fail. Prosecution of cases is very traumatic to both the student and instructor. It is appropriate to use software out of the book, class website as long as all copy-pasted software is explicitly referenced. Copy-pasting software from current or past students is scholastic dishonesty.

  Policies concerning the use of other people's software in this class:

  • I strongly encourage you to study existing software.
  • All applications and libraries must be legally obtained. E.g.:
    • You may use libraries that came when you bought a compiler.
    • You may use software obtained from the web.
    • You may copy and paste from the existing source code.
  • You may use any existing source code that is clearly referenced and categorized:
         original: completely written by you,
         derived: fundamental approach is copied but it is your implementation,
         modified: source code significantly edited to serve your purpose,
         copied: source code includes minor modifications.
     
• Add/Drop

  The 12th class day is February 6, 2019. The drop policy is extremely complicated. See your academic advisor or the Dean of Students for more information. April 8 is the last day an undergraduate student may, with the dean's approval, withdraw from the University or drop a class except for urgent and substantiated, nonacademic reasons.
   

Electronic Mail Notification Policy

In this course e-mail will be used as a means of communication with students. You will be responsible for checking your e-mail regularly for class work and announcements. The complete text of the University electronic mail notification policy and instructions for updating your e-mail address are available at http://cio.utexas.edu/policies/university-electronic-mail-student-notification-policy.
 

Use of Canvas and Class Web Site

This course uses the class web page and Canvas to distribute course materials, to communicate and collaborate online, to submit assignments and to post solutions and grades. You will be responsible for checking the class web page and the Canvas course site regularly for class work and announcements. As with all computer systems, there are occasional scheduled downtimes as well as unanticipated disruptions. Notification of disruptions will be posted on the Canvas login page. Scheduled downtimes are not an excuse for late work. However, if there is an unscheduled downtime for a significant period of time, I will make an adjustment if it occurs close to the due date.
 

Students with disabilities

The University of Texas at Austin provides upon request appropriate academic accommodations for qualified students with disabilities. For more information, contact the Services for Students with Disabilities (SSD) at 471-6259, http://diversity.utexas.edu/disability.
 

Religious Holy Days

Religious holy days sometimes conflict with class and examination schedules. If you miss an examination, work assignment, or other project due to the observance of a religious holy day you will be given an opportunity to complete the work missed within a reasonable time after the absence. It is the policy of The University of Texas at Austin that you must notify each of your instructors at least fourteen days prior to the classes scheduled on dates you will be absent to observe a religious holy day.
 

Counseling and Mental Health

Do your best to maintain a healthy lifestyle this semester by eating well, exercising, avoiding drugs and alcohol, getting enough sleep and taking some time to relax. This will help you achieve your goals and cope with stress. All of us benefit from support during times of struggle. You are not alone. There are many helpful resources available on campus and an important part of the college experience is learning how to ask for help. Asking for support sooner rather than later is often helpful. If you or anyone you know experiences any academic stress, difficult life events, or feelings like anxiety or depression, we strongly encourage you to seek support. The Counseling and Mental Health Center (CMHC) provides counseling, psychiatric, consultation, and prevention services that facilitate students' academic and life goals and enhance their personal growth and well-being: http://cmhc.utexas.edu/.
 

Classroom Evacuation and Emergency Preparedness

All occupants of university buildings are required to evacuate a building when a fire alarm and/ or an official announcement is made indicating a potentially dangerous situation within the building. Familiarize yourself with all exit doors of each classroom and building you may occupy. Remember that the nearest exit door may not be the one you used when entering the building. If you require assistance in evacuation, inform your instructor in writing during the first week of class. For evacuation in your classroom or building:

1. Follow the instructions of faculty and teaching staff.
2. Exit in an orderly fashion and assemble outside.
3. Do not re-enter a building unless given instructions by emergency personnel.

University Honor Code

"The core values of the University of Texas at Austin are learning, discovery, freedom, leadership, individual opportunity, and responsibility. Each member of the University is expected to uphold these values through integrity, honesty, trust, fairness, and respect toward peers and community." (see the university catalog)