EE445M Embedded and Real-Time Systems Lab
(3/07/2014
version
EE380L.6 Real-time
Operating Systems
Credit for both EE445M and EE380L.6 will not be allowed. Graduate
students should
register for EE380L.6 and undergraduates should register for EE445M.
Class: ENS127, Monday, Wednesday, Friday 10-10:50am
Professor Office Hours (subject to change): Monday
11-12noon, Tuesday 11-12noon, Friday 1-2pm
Office hours Link
TAs:
Pohan Wu : pohan29 at gmail.com
Sparsh
Singhai : sparshsinghai91 at
gmail.com
Nagaraja Revanna: nagarajamails at gmail.com
Instructor: Jonathan W. Valvano, ENS627,
471-5141
email valvano@mail.utexas.edu
(put "EE445M" or "EE380L" in the email title)
Web page http://users.ece.utexas.edu/~valvano
Unique Numbers, Lab ENS252A:
16870 17185 TTh 12:30-2:00PM xxx
16875 17190 TTh
2:00-3:30PM xxx
16880 17195 TTh 3:30-5:00PM xxx
16885 17200 MW 6:30-8:00PM
xxx
16890 17205 TTh
6:30-8:00PM xxx
Text: Embedded Systems: Real-Time Operating Systems for ARM
Cortex-M Microcontrollers,
Volume 3, second edition, 2nd printing, January 2014, ISBN:
978-1466468863. Available
on Amazon Available on CreateSpace
Optional reference Text: MicroC/OS-III:
The
Real-time Kernel, Third Edition, Jean J. Labrosse. This is a nice book, but it cost $200
and
includes a STM32 board (not our board, but similar). It covers general
OS
topics, explains the use of MicroC/OS-III
and
includes details of the M3. There is also a second edition MicroC/OS-II that covers an earlier and simpler
OS, without
a board. The 3rd edition is nicely written but specific for the MicroC/OS-III.
Email all TAs and professor
sp14_ee445m@utlists.utexas.edu
EE445L TAs:
Mahesh Srinivasan, email srinimahesh at utexas.edu
Victoria Bill, email victoriagbill at gmail.com
email zichonglig1 at gmail.com
Lecture notes and lab manual http://users.ece.utexas.edu/~valvano/EE345M/
Development board: Student can choose whether to learn USB/CAN
or Ethernet. Students who choose to learn USB/CAN will use the
TI EK-TM4C123GXL LaunchPad plus graphics display.
Students who choose to learn Ethernet will be using the TI Stellaris LM3S8962 development kit
Each group of two students will must buy/borrow one kit.
However I strongly suggest each student purchase their
own
kit. The easiest way to buy the LaunchPad is from the TI estore at
https://estore.ti.com/AddToCart_TI.aspx?p=EK-TM4C123GXL
or http://octopart.com/ek-tm4c123gxl-texas+instruments-28491014
Since the LaunchPad does not have a display you will need to purchase one of these Sitronix ST7735R 18-bit color 1.8" TFT LCD display
http://www.adafruit.com/products/358
The LM3S8962 board is no longer being produced but there are some available for purchase. If you wish to learn Ethernet, then search octopart for availability
http://octopart.com and search for EKK-LM3S8962
Reference materials: Data sheets for most
of the devices used in this
class are available as pdf files on the class website. See http://users.ece.utexas.edu/~valvano/Datasheets
Data sheets for devices used in EE319K, EE445L EE445M and EE380L.6
http://www.keil.com/uvision/
Information about the compiler/debugger system
We will use 32-k limited version of the Keil uVision4 see
https://www.keil.com/demo/eval/armv4.htm
A large
number of software examples for the LM3S8962 will be available by
installing
the StellarisWare(R).
Starter files: http://users.ece.utexas.edu/~valvano/arm/ Cortex M program files for EE319K, EE445L, and EE445M
Old Exams http://users.ece.utexas.edu/~valvano/EE345Moldquiz/
Other references: For
programming in C,
see the EE312 text, or C
programming book
EE445L textbook: Embedded Systems:
Real-Time
Interfacing to ARM Cortex M Microcontrollers, 2013, ISBN: 978-1463590154
Course Catalog Description Embedded microcomputer systems; implementation of multitasking, synchronization, protection, and paging; operating systems for embedded microcomputers; design, optimization, evaluation, and simulation of digital and analog interfaces; real-time microcomputer software; and applications, including data acquisition and robotics.
Prerequisites: EE445L or EE445S and
EE333T.
This class is the third in a sequence of three microcontroller
laboratories. I
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 ARM Cortex-M, and we expect the
prior
experiences for most students would have been with a different
microcontroller.
You are also expected to understand how the DFT is used to observe
digitally
sampled data in the frequency domain.
Teaching philosophy
I strongly encourage students to take an active role in this
class.
There will be a copious amount of action in this class: debugging,
soldering,
screwing, cutting, and testing. Questions are welcome before, during
and after
class. Please feel free to email, visit or call me if you have
questions.
Specific Objectives of EE445M/EE380L.6
The primary objective of EE445M/EE380L.6
is for
the 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.
ARM architecture, and C programming
Minimally
intrusive debugging
Performance
measures
Synchronization methods
Busy-wait,
interrupt, DMA, periodic polling, priority interrupts
Embedded Communication Systems
Serial
network protocols, layered software, CAN, Ethernet, and USB
Real time operating systems
Foreground
and background thread scheduling
Synchronization
using spinlock and blocking semaphores
Interthread
communication
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
Time Domain Interfaces
Input
capture/output compare, frequency, period and pulse width measurements,
Pulse-width
modulation
Data Acquisition Systems
Op
amp amplifiers, analog low pass filters, ADC,
FIFO queues, digital filters
Control systems
Open
loop and closed loop, Linear and Nonlinear,
Bang-bang
control, incremental control, PID Control
The purpose of EE445M/EE380L.6 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.6 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.
Attendance: Students are expected to attend all lectures, which are at 10 o'clock in the morning. 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 lecture material will only be presented in class. If you decide that you do not want to come to every lecture, please drop this class.
EE445M Grading: 40% Laboratory
15%
Quiz 1, closed book, Friday Feb 28, 10-10:50am, in ENS127
15%
Quiz 2, open book, open book, Friday April 4, 10-10:50am,
in ENS127
30%
Final, part closed book part open book, Friday May 10, 2013,
2-5pm,
regularly scheduled
Please notice the dates for the exams; there will be no re-tests,
make-ups, or
incompletes. Class attendance will be used for deciding grades in
borderline cases.
I don't usually use A- grades, but otherwise I plan to use +/- grading.
I have
no expected grade cutoffs or expected GPA for this class. You can view
the
previous GPA for classes at UT at www.MyEdu.com.
This web site reports I give a GPA in EE445M of 3.4. All
professors want
a 5 on their teaching evaluation, and all students want an A. However,
I feel
both should only be awarded for excellence.
EE380L.6 Project: The graduate student will
attend the lectures, take
the exams, and perform the labs. In addition to all the regular EE445M
assignments, the graduate student will design, build, debug, and
document 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. A
1/2 page written proposal concerning the project is due by the end of
February.
The project must be demonstrated to a TA by the last class day of the
semester.
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
minimum page count is 15 and 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, objectives
25%
Neatness, hardware diagrams, data flow graphs, call graphs
25%
Engineering
quality, how well it works, creativity, correctness
25%
Evaluation and test procedures, how do you verify its correctness.
EE380L.6 Grading:
80%
Regular EE445M grade
20%
Project
Lab Partners: All labs should be performed with a partner. The lab partnership must be registered with your TA (a simple hand written note signed by both 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. Both partners must be present during the demonstration. It is expected that both partners will contribute to all aspects of each lab, and both 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 shown in the column labeled "Demo/Report". 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.
EE445M/EE380L Laboratories
1a. Real-time clock, Sitronix ST7735R Display, ADC and
graphics
drivers on the TM4C123 board running on an ARM Cortex-M4 (review of
EE445L)
1b. Real-time clock, oLED Display, ADC and serial port drivers on the
LM3S8962 board running on an ARM Cortex-M3 (review of EE445L)
2. Real-time operating system kernel (thread switching and
synchronization)
Part 1) is cooperative and preemptive schedule
Part 2) has periodic and switch interrupts, has spin-lock semaphores
3. Blocking semaphores, priority scheduling, performance measures,
dumping RTOS
profile data to the PC
4. Microphone input, digital filters, FFT, display spectrum on the
display (LCD)
5. Solid state disk, SSI, address translation, layered software, file
system
Formula 0001 Racing Robot (teams of 3,
4 or 5)
6. Distributed data acquisition using a CAN network of IR distance
sensor,
7A. Moving and turning, PID control
7B. Sensor design and interfacing
7C. Control algorithm, system performance analysis
Lab Schedule
|
Week |
First session |
Second session |
Friday 10am |
Comments |
|
1/13 |
none |
none |
|
no lab activities |
|
1/20 |
Meet the TA, |
1 PrePrep, Select partners |
|
Keil uVision4 demonstration |
|
1/27 |
1 Prep |
|
|
Spectrum analyzer demo |
|
2/3 |
1 Demo |
2 Part 1) Prep |
1 Report |
|
|
2/11 |
2 Part 1) Demo |
2 part 2) Prep |
|
Part
1) only has prep and demo (no report) |
|
2/17 |
|
2 Part 2) Demo
|
2 Part 2) Report |
|
|
2/24 |
3 Prep |
|
|
Quiz 1 is 2/28 |
|
3/3 |
3 Demo |
4 Prep (bonus) |
3 Report (on line, 5pm) 4 Prep (on line, 5pm) |
There is a hard deadline on Lab 3. If Lab 3 is not demonstrated by second session, revert to Lab 2 and complete rest of labs with Lab 2 OS. |
|
3/17 |
4 Demo |
5 Prep |
4 Report |
|
|
3/24 |
5 Demo |
6 Prep |
5 Report |
|
|
3/31 |
|
6 Demo |
|
Quiz 2 is 4/4 |
|
4/7 |
6 Report |
7A Prep |
|
|
|
4/14 |
|
7A Demo |
|
|
|
4/21 |
|
|
7B Demo |
|
|
4/28 |
|
7C Demo |
7C Report |
Turn in equipment by 5/2 |
No lab 1/13-17
Prep = you turn in your lab preparation
Demo = you demonstrate your lab to the TA
Report = you turn in your complete lab report to the TA
Lecture Schedule (rough draft)
|
Week |
Book |
Topic |
|
1/13 |
1-3 |
Modular programming, call graphs,
synchronization, data flow graphs, show differences between busy-wait
and interrupt synchronization, uVision4 compiler, device drivers,
quality software, friendly |
|
1/20 |
1, 2.5, 2.6, 3.7 |
Arm architecture, instruction set, stack, interrupt servicing, lab environment, debugging techniques, intrusiveness, monitor, output to scope, simulator, periodic interrupts |
|
1/27 |
|
RTOS, threads, TCB switching, spinlock
semaphores, draw initial TCB, performance measures (response time,
throughput), |
|
2/3 |
4.2, 4.3, 4.4, 4.5, 4.7.2, 3.7 |
Blocking semaphores, add cooperative
multitasking priority scheduling |
|
2/10 |
3.6, 3.7, 2.12, 5.1, 5.2 |
Critical sections, debugging of the RTOS |
|
2/17 |
5.3, 5.3, 5.4, 5.5, 5.6 |
Analog filters, Digital filers, FFT, graphics |
|
2/24 |
5.6, 6.1, 6.2, 6.3, 6.6 |
DFT, windowing, |
|
F 2/28 |
|
Quiz 1 in regular classroom, covering
material in Labs 1, 2 |
|
3/3 |
6.4, 7 |
DMA, File system |
|
3/17 |
9.2, 3.4, 3.1 |
Controller area network, FIFO queue, layered software |
|
3/24 |
|
Transistor interfaces (TIP120, L293,
IRF540), motor interfacing |
|
3/31 |
|
Control systems, PID |
|
F 4/4 |
|
Quiz 2 in ENS115, covering material in Labs 1, 2, 3, 4, 5 |
|
4/7 |
|
Fuzzy logic, Fixed rate scheduler |
|
4/14 |
|
Ethernet, MicroC/OS-II,
Vxworks, effect of sampling jitter |
|
4/21 |
|
Team work, testing and the design process |
|
M 4/28 |
|
course review and evaluation |
|
W 4/30 |
|
Robot preliminary competitions 3rd floor ENS |
|
F 5/2 |
|
Robot final competitions 3rd floor ENS |
|
F 5/2 |
|
all Lab notebooks are due to the TA |
|
F 5/2 |
|
Turn in Lab Equipment so that we won't bar
your registration |
|
5/xx |
|
Final exam, xxx, 2-5pm, Time/place
regularly scheduled |
|
|
|
|
No
lab activities occur during the week of January 13. During the
week of January
20-23, please go to your scheduled lab sessions in ENS252A to get a
demonstration of the lab equipment. Lab partners will be selected
in your lab the week of January
20-23. The lab preparations (hardware diagrams and syntax-free
software
source code printouts) are due at the beginning of your lab period. In
other
words, please type your software into the PC before lab. Attendance in
lab is
required. All software for lab, and tests
must include
comments. All hardware must include R&C values specifying tolerance
and
type (e.g., 5% carbon), and chip numbers (be very specific e.g.,
OPA2350PA).
Pin numbers are required only for lab, not for the exams.
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. All
reports
must be given to the TA by Friday May 2, 5pm.
Legal Stuff: The 12th class day is January
29. The
drop policy is extremely complicated. See your academic advisor or the
Dean of
Students for more information. Course evaluation is conducted on the
last class
day in accordance with the Measurement and Evaluation Center form. The
final
exam is at the time and place stated in the course schedule. The
University of
Texas at Austin provides upon request appropriate academic adjustments
for
qualified students with disabilities. Students with disabilities may
request
appropriate academic accommodations from the Division of Diversity and
Community Engagement, For more information,
contact
Services for Students with Disabilities, 471-6259, http://www.utexas.edu/diversity/ddce/ssd/.
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 assignments turned in by other 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 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.
Many manufacturers will send free samples to students. I
suggest you order free samples of some op amps and shunt reference for
Spring 2014. Devices come in many sizes and shapes. So, when
requesting
samples be sure to specify the package you
want: big
surface mount, tiny surface mount, or DIP. In this lab
you will need DIP package. You will need register with an
official University email address (e.g.,
YourName@mail.utexas.edu) rather than a junk email address (e.g.,
aol.com or
gmail.com)
Analog
Devices http://www.analog.com/en/index.html AD8032ANZ
rail-to-rail dual op amp
Maxim http://www.maxim-ic.com/ MAX494CPD rail-to-rail quad op amp (any plastic DIP, with or without +)
Texas Instruments http://www.ti.com TLC2274ACN rail-to-rail quad op amp, and LM4041CILPR adjustable shunt reference
Other cool chips, but not needed
MAX1247ACPE+ 12-bit ADC, such as the (A or B, with or without +)MAX492CPA rail-to-rail dual op amp (any plastic DIP, with or without +)
MAX494CPD rail-to-rail quad op amp (any plastic DIP, with or without +)
MAX539ACPA single 12-bit SPI interface DAC (ACPA or BCPA)
MAX6225ACPA+ 2.500V analog reference (with or without +) (ACPA or BCPA)
MAX5154ACPE dual 12-bit SPI interface DAC (ACPE or BCPE)
TLC2272ACP rail-to-rail dual op amp
INA122P rail-to-rail instrumentation amp
OPA2350PA rail-to-rail dual op amp
SamTec http://www.samtec.com/ Click Samples, register
Samtec SD-115-G-2 (could use two for LM3S8962 Board)
Samtec SD-110-G-2 (could use two for LM3S2110 Board)
Samtec ESW-110-37-L-D (could use two for each LM4C123 LaunchPad)
Places to buy prototyping boards and other parts
In Austin
AlTex Electronics 832-9131
Frys Electronics 733-7000
Radio Shack multiple
Curious about my research? See
http://users.ece.utexas.edu/~valvano/research