CS4101 嵌入式系統概論

Sensors and RTOS

Prof. Chung-Ta King

Department of Computer Science
National Tsing Hua University, Taiwan
(Materials from Prof. P. Marwedel of Univ. Dortmund, Richard Barry, and
http://www.eecs.umich.edu/eecs/courses/eecs373/Lec/RTOS2.pptx)

National Tsing Hua University

Outline
• Sensors
- Photoresistors, ultrasonic sensors, microphone
• Embedded and real-time operating systems
- Embedded operating systems
- Overview of real-time systems
- Real-time operating systems (RTOS)
• FreeRTOS
- Tasks
- Link to FreeRTOS on Arduino

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What Is a Sensor?
• A sensor is a device that detects either an absolute
value or a change in a physical or electrical quantity,
and converts that change into a useful input signal
(often analog signals) for a decision making center.

Data Processing, Actuator

Sensor or
Input Control, Connectivity
Output

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Sensors
• For capturing physical data
• Sensors can be designed for virtually every physical
and chemical stimulus.
- Heat, light, sound, weight, velocity, acceleration, electrical
current, voltage, pressure, …
- Chemical compounds
• Many physical effects can be used for constructing
sensors
- Law of induction (generation of voltages in an electric
field), light-electric effects. …

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Sensor Applications
Acceleration
• Gesture detection
Gyroscopic
• Tilt to control
• Tap detection Magnetic
• Position detection Ambient light sensing
• Orientation Temperature/humidity
Motion detection
Pressure
• Medical
• Barometer/altimeter
• Engine control/tire pressure Video/Audio/Lidar
• Surveillance
• HVAC applications
• Object detection
• Water level
• Depth detection
• Speech recognition
Touch
• Touch detection
• Appliance control panels Multiple sensors working
• Touch panels
together for next generation
applications  sensor fusion

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Photoresistor
• Photoresistor is a light-controlled variable resistor,
made of a high resistance semiconductor
• The resistance of a photoresistor decreases with
increasing incident light intensity
- In the dark, a photoresistor can have a resistance as high
as several megohms (MΩ)
- While in the light, a photoresistor can have a resistance as
low as a few hundred ohms

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Photoresistor and Arduino

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 Sample Code for Photoresistor
void setup() {
  Serial.begin(9600);
  pinMode(A0, INPUT);
  pinMode(13, OUTPUT);
  digitalWrite(13, LOW); Analog input (0~5V)
} with 10-bit ADC
int pr_min = 400;
void loop() {
  int pr = analogRead(A0);
/* Read value of A0 input (must in range of 0~1023) */
Serial.println(pr);
  digitalWrite(13, pr > pr_min ? LOW : HIGH);
/* If input value > pr_min, then flash LED */
delay(1000);
}

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Ultrasonic Sensor
• An ultrasonic sensor emits an ultrasound that travels
through the air; if there is an object or obstacle on
its path It will bounce back to the sensor
• Considering the travel time and the speed of the
sound, the distance can be calculated
• Ex.: HC-SR04
- Effectual angle: <15°
- Ranging distance : 2cm – 500 cm
- Resolution : 0.3 cm
- 40KHz ultrasonic signal
- 4 pins: Vcc, Trig, Echo, GND

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Distance Calculation
• Set the Trig pin on at HIGH for > 10 µs to start
- That will send out an 8-cycle sound wave that can be
received in the Echo pin
- Echo pin will be HIGH based on the time in microseconds
that the sound wave traveled
- Distance = HIGH Duration*(Sonic:340m/s)/2
HC-SR04 Timing Diagram

10 µs tripper pulse
Trigger
Pin
8 x 40kHz sound wave
Transmit
Wave
Width proportional
Echo Pin to measured
distance

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Distance Calculation: Example
• So in order to get the distance in cm we need to
multiply the received travel time value from the Echo
pin by 0.034 cm/µs and divide it by 2

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Ultrasonic Sensor and Arduino
• HC-SR04 has 4 pins: Ground, Vcc, Trig, Echo
- Vcc is connected to the 5 volt pin, trig and echo pins to
any digital I/O pin on Arduino Uno

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Ultrasonic Sensor and Arduino
• pulseIn()reads a pulse (either HIGH or LOW) on
a pin
- Syntax : pulseIn(pin, value) 
- If value is HIGH, pulseIn() waits for the pin to go HIGH,
starts timing, then waits for the pin to go LOW and stops
timing
- Returns the length of the pulse in microseconds or 0 if no
complete pulse was received within the timeout

Echo Pin
Time it takes pulse to leave and
return to sensors

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 Sample Code for Ultrasonic Sensor
const int trigPin = 12, echoPin = 11;
long duration, distance;
void setup() {
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
}
void loop() {
digitalWrite(trigPin, LOW); // Clears the trigPin
delayMicroseconds(2);
/* Sets the trigPin on HIGH state for 10ms */
digitalWrite(trigPin, HIGH); delayMicroseconds(10);
digitalWrite(trigPin, LOW);
/* Reads Echo pin, returns sound travel time in ms */
duration = pulseIn(echoPin, HIGH);
/* Calculating the distance */
distance = duration*0.034/2;
}

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KY-038 Microphone Sound Sensor
• Detect when sound has exceeded a set point
- Sound is detected via a microphone and fed into an
LM393 op amp
- The sound level set point is adjusted via an on-board
potentiometer
- When the sound level exceeds the set point, an LED on the
module is illuminated and the output is sent low

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KY-038 Microphone Sound Sensor
• Module has four outputs: (inputs to Arduino)
- AO, analog output: real-time output voltage signal of the
microphone
- DO, digital output:
when the sound
intensity reaches a
certain threshold,
output high and low
signal
- Vcc
- GND

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 Sample Code for Digital Input
int Led = 13
int sensorpin = 12;
int val = 0;
void setup() {
pinMode(Led, OUTPUT);
pinMode(sensorpin, INPUT);
}

void loop() {
val = digitalRead(sensorpin);
/* digital interface will be assigned a value of
pin 12 to read val */
if (val == HIGH) { digitalWrite(Led, HIGH); }
else { digitalWrite(Led, LOW); }
}

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Sample Code for Analog Input
int sensorPin = A0;
int ledPin = 13;
int sensorValue = 0;
void setup() {
Serial.begin(9600);
pinMode(ledPin, OUTPUT);
}
void loop() {
sensorValue = analogRead(sensorPin);
digitalWrite(ledPin, HIGH);
delay(sensorValue);
digitalWrite(ledPin, LOW);
delay(sensorValue);
Serial.println(sensorValue, DEC);
}

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Outline
• Sensors
- Photoresistors, ultrasonic sensors, microphone
• Embedded and real-time operating systems
- Embedded operating systems
- Overview of real-time systems
- Real-time operating systems (RTOS)
• FreeRTOS
- Tasks
- Link to FreeRTOS on Arduino

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Operating Systems
• The collection of software that manages a
system’s hardware resources
User
- Often include a file system module,
a GUI and other components
Application
• Often times, a “kernel” is
understood to be a subset of Operating System
such a collection
• Characteristics HARDWARE

- Resource management
- Interface between application and hardware
- Library of functions for the application

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Embedded Operating Systems
• Fusion of the application and the OS to one unit
• Characteristics:
- Resource management
• Primary internal resources User
- Less overhead
- Code of the OS and the Operating System + Application
application mostly reside in
ROM HARDWARE

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Desktop vs Embedded OS
• Desktop OS: applications are compiled separately
from the OS

• Embedded OS: application is compiled and linked

together with the embedded OS
- On system start, application usually gets executed first,
and it then starts the RTOS
- Typically only part of RTOS (services, routines, or
functions) needed to support the embedded application
system are configured and linked in

(Dr Jimmy To, EIE, POLYU)

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Characteristics of Embedded OS
• Embedded OS need to be configurable:
- No single OS fit all needs  install only those needed
- e.g., conditional compilation using #if and #ifdef
• Device drivers often not integrated into kernel
- Embedded systems often application-specific  specific
devices  move devices out of OS to tasks
Embedded OS Standard OS

kernel

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Characteristics of Embedded OS
• Protection is often optional
- Embedded systems are typically designed for a single
purpose, untested programs rarely loaded, and thus
software is considered reliable
- Privileged I/O instructions not necessary and tasks can do
their own I/O, e.g., switch is address of some switch
Simply use
load register, switch
instead of OS call
• Real-time capability
- Many embedded systems are real-time (RT) systems and,
hence, the OS used in these systems must be real-time
operating systems (RTOSs)
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What is a Real-Time System?
• Real-time systems have been defined as:
"those systems in which the correctness of the
system depends not only on the logical result of the
computation, but also on the time at which the
results are produced"
- J. Stankovic, "Misconceptions about Real-Time
Computing," IEEE Computer, 21(10), October 1988.

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 Real-Time Characteristics
• Pretty much typical embedded systems
- Sensors and actuators all controlled by a processor
- The big difference is timing constraints (deadlines)
• Tasks can be broken into two categories1
- Periodic Tasks: time-driven, recurring at regular intervals
• An air monitoring system taking a sample every 10 seconds
• Flash LEDs in 1 Hz
- Aperiodic: event-driven
• The airbag of a car having to react to an impact
• Press a button

1
Sporadic tasks are sometimes considered as a third category. They are tasks similar to aperiodic tasks but
activated with some known bounded rate, which is characterized by a minimum interval of time between
two successive activations.

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Soft, Firm and Hard deadlines
• The instant at which a result is needed is called a
deadline
• If the result has utility even after the deadline has
passed, the deadline is classified as soft, otherwise it
is firm
• If a catastrophe could result if a firm deadline is
missed, the deadline is hard

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Goals of an RTOS
• Manage to meet RT deadlines
• Also like
- Deadlines met
• Ability to specify scheduling algorithm
• Interrupts are fast
• Interrupt prioritization easy to set
- Tasks stay out of each others’ way
• Normally through page protection
- Device drivers already written (and tested!) for us
- Portable—runs on a huge variety of systems
- Nearly no overhead so we can use a small device!
• That is a small memory and CPU footprint

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Requirements for RTOS
• Predictability of timing behavior of the OS
- Upper bound on execution time for all OS services
- Scheduling policy must be deterministic
- Period in which interrupts are disabled must be short (to
avoid unpredictable delays in processing critical events)
• OS should manage timing and scheduling
- OS has to be aware of task deadlines (unless scheduling is
done off-line)
- OS should provide precise time services with high
resolution
• Important if internal processing of the embedded system is
linked to an absolute time in the physical environment

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Functionality of RTOS Kernel
• Processor management
• Memory management resource management
• Timer management
• Task management (resume, wait, etc.)
• Inter-task communication
• Task synchronization

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Outline
• Sensors
- Photoresistors, ultrasonic sensors, microphone
• Embedded and real-time operating systems
- Embedded operating systems
- Overview of real-time systems
- Real-time operating systems (RTOS)
• FreeRTOS
- Tasks
- Link to FreeRTOS on Arduino

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FreeRTOS
• FreeRTOS is nothing but software that provides
multitasking facilities
- Allows to run multiple tasks and has a simple scheduler to
switch between tasks (priority-based multitasking)
• Fully preemptive
• Always runs the highest priority task that is ready to run
• Context switch occurs if a task/co-routine blocks or a
task/co-routine yields the CPU
- Queues to communicate between multiple tasks
- Semaphores to manage resource sharing between
multiple tasks
- Utilities to view CPU utilization, stack utilization etc.
(http://www.socialledge.com/sjsu/index.php?title=FreeRTOS_Tutorial)

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 Tasks
• In FreeRTOS each thread of execution is called a task
- Tasks are implemented as C functions that must return
void and take a void pointer parameter:
void ATaskFunction(void *pvParameters);
- A task is a small program that has an entry point, will
normally run forever within an infinite loop, will not exit
void ATaskFunction(void *pvParameters) {
/* Each instance of task will have its own copy of variable
*/
int iVariableExample = 0;
/* A task is normally implemented in infinite loop */
for( ;; ) { /* task functionality */ }
/* Should the code ever break out of the above loop
then the task must be deleted. */
vTaskDelete(NULL); /* NULL: this task */
}
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Task Creation
• xTaskCreate( pvTaskCode, pcName, usStackDepth,
pvParameters, uxPriority, pxCreatedTask )
- pvTaskCode: pointer to task entry function, implemented
to never return
- pcName: a descriptive name for the task to facilitate
debugging
- usStackDepth: size of task stack, specified as the number
of variables that the stack can hold
- pvParameters: pointer to parameters for the task
- uxPriority: priority at which the task should run
- pvCreatedTask: pass back a handle by which the created
task can be referenced

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 Example: Creating a Task
void setup() {
Serial.begin(9600);
while(!Serial){;} // wait for serial port to connect.
/* Now set up two tasks to run independently */
xTaskCreate(
vTask1, /* Pointer to function for the task */
(const portCHAR *) "Task1", /* Name for the task */
128, /* Stack Size */
NULL, /* NULL task parameter */
1, /* This task will run at priority 1 */
NULL ); /* Do not use the task handle */
xTaskCreate( vTask2, "Task2", 1000, NULL, 1, NULL );
/* Now the task scheduler, which takes over control of
scheduling individual tasks, is automatically started */
}

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 Example: Creating a Task
void vTask1(void *pvParameters) {
(void) pvParameters;

for( ;; ){
/* read the input on analog pin 0 */
int sensorValue = analogRead(A0);
/* print out the value you read */
Serial.println(sensorValue);
/* one tick delay in between reads for stability */
vTaskDelay(1);
}

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Link to FreeRTOS on Arduino 
• There is a FreeRTOS implementation in Arduino IDE
- Go to “Sketch” -> “Include Library” -> “Manage
Libraries…” to open Arduino IDE Library manager

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Link to FreeRTOS on Arduino
• In the Arduino IDE Library manager (from Arduino
Version 1.6.8) look for the FreeRTOS Library
- Type: “Contributed” and Topic: “Timing”

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Link to FreeRTOS on Arduino  
• Under the “Sketch” -> “Include Library”, ensure that
the FreeRTOS library is included in your sketch

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 Example: Blink_AnalogRead
#include <Arduino_FreeRTOS.h>
/* define two tasks for Blink & AnalogRead */
void TaskBlink(void *pvParameters);
void TaskAnalogRead(void *pvParameters);
void setup() {
Serial.begin(9600);
while (!Serial) {
; // wait for serial port to connect.
}
/* Now set up two tasks to run independently */
xTaskCreate( TaskBlink, (const portCHAR *)"Blink", 128,
NULL, 2, NULL );
xTaskCreate( TaskAnalogRead, (const portCHAR *)
"AnalogRead", 128, NULL, 1, NULL );

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 Example: Blink_AnalogRead
void TaskAnalogRead(void *pvParameters) {
(void) pvParameters;

for (;;) {
/* read the input on analog pin 0 */
int sensorValue = analogRead(A0);
/* print out the value you read */
Serial.println(sensorValue);
/* one tick delay in between reads for stability */
vTaskDelay(1);
}
}

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