diff --git a/_data/ntnu-courses.yml b/_data/ntnu-courses.yml index 8fce2d0..08dc5f4 100644 --- a/_data/ntnu-courses.yml +++ b/_data/ntnu-courses.yml @@ -1,51 +1,89 @@ +# Våren 2021 +- + name: Våren 2021 + href: 21v + courses: + - + course: ttt4280 + desc: Sensorer og instrumentering, våren 2021. + updated: 2021-01-11 + - + course: tfe4130 + desc: Bølgeforplantning, våren 2021. + updated: 2021-01-12 + - + course: ttk4145 + desc: Sanntidsprogrammering, våren 2021. + updated: 2021-05-04 + - + course: tiø4252 + desc: Teknologiledelse, våren 2021. + updated: 2021-05-13 + # Høsten 2020 -- - course: tfe4152 - desc: Design av integrerte kretser, høsten 2020. - updated: 2020-12-16 - href: tfe4152/summary -- - course: ttt4120 - desc: Digital signalbehandling, høsten 2020. - updated: 2020-12-06 - href: ttt4120/summary -- - course: mfel3010 - desc: Medisin for teknologi- og realfagsstudenter, høsten 2020. - updated: 2020-11-25 - href: mfel3010/summary -- - course: tfe4146 - desc: Halvlederkomponenter, høsten 2020. - updated: 2020-11-23 - href: tfe4146/summary +- + name: Høsten 2020 + href: 20h + courses: + - + course: tfe4152 + desc: Design av integrerte kretser, høsten 2020. + updated: 2020-12-16 + href: tfe4152/summary + - + course: ttt4120 + desc: Digital signalbehandling, høsten 2020. + updated: 2020-12-06 + href: ttt4120/summary + - + course: mfel3010 + desc: Medisin for teknologi- og realfagsstudenter, høsten 2020. + updated: 2020-11-25 + href: mfel3010/summary + - + course: tfe4146 + desc: Halvlederkomponenter, høsten 2020. + updated: 2020-11-23 + href: tfe4146/summary # Våren 2020 -- - course: ttt4270 - desc: Elektronisk systemdesign, prosjekt, våren 2020. - updated: 2020-05-05 +- + name: Våren 2020 + href: 20v + courses: + - + course: ttt4270 + desc: Elektronisk systemdesign, prosjekt, våren 2020. + updated: 2020-05-05 # Høsten 2019 -- - course: ttt4265 - desc: Elektronisk systemdesign og -analyse II, høsten 2019. - updated: 2019-12-02 -- - course: tdt4160 - desc: Datamaskiner og digitalteknikk, høsten 2019. - updated: 2019-11-28 +- + name: Høsten 2019 + href: 19h + courses: + - + course: ttt4265 + desc: Elektronisk systemdesign og -analyse II, høsten 2019. + updated: 2019-12-02 + - + course: tdt4160 + desc: Datamaskiner og digitalteknikk, høsten 2019. + updated: 2019-11-28 # Våren 2019 -- - course: ttt4260 - desc: Elektronisk systemdesign og -analyse I, våren 2019. - updated: 2019-05-05 -- - course: tma4105 - desc: Matematikk 2, våren 2019. - updated: 2019-05-21 -- - course: tdt4102 - desc: Prosedyre og objektorientert programmering, våren 2019. - updated: 2019-05-15 \ No newline at end of file +- + name: Våren 2019 + href: 19v + courses: + - + course: ttt4260 + desc: Elektronisk systemdesign og -analyse I, våren 2019. + updated: 2019-05-05 + - + course: tma4105 + desc: Matematikk 2, våren 2019. + updated: 2019-05-21 + - + course: tdt4102 + desc: Prosedyre og objektorientert programmering, våren 2019. + updated: 2019-05-15 \ No newline at end of file diff --git a/_includes/utils/scripts.html b/_includes/utils/scripts.html index 8a49cb8..1ca6327 100644 --- a/_includes/utils/scripts.html +++ b/_includes/utils/scripts.html @@ -2,6 +2,7 @@ + \ No newline at end of file + diff --git a/_layouts/layouts/lecture.html b/_layouts/layouts/lecture.html new file mode 100644 index 0000000..67f40b3 --- /dev/null +++ b/_layouts/layouts/lecture.html @@ -0,0 +1,20 @@ +--- +layout: default +--- +
+
+

{{ page.title }}

+

{{ page.description }}

+ Forelesningsdato {{ page.date | date: "%d.%m.%Y" }} +
+
+
+
+
+ {{ content }} +
+ +
+
\ No newline at end of file diff --git a/about.md b/about.md index af0ac5b..cce29cf 100644 --- a/about.md +++ b/about.md @@ -1,7 +1,11 @@ --- -layout: layouts/page +layout: layouts/list title: Om permalink: /om/ --- -Mitt navn er Øyvind Skaaden. Jeg er 21 år gammel og studerer Elektronisk systemdesign og innovasjon på NTNU. +Mitt navn er Øyvind Skaaden. Jeg er 22 år gammel og studerer Elektronisk systemdesign og innovasjon på NTNU. + +Jeg er stor fan av open-source og prøver så godt jeg kan å fremme dette. + +Jeg har både en [github](https://github.com/oyvindskaaden) og en [personlig git](https://git.glados.no/). \ No newline at end of file diff --git a/assets/css/components/theme.css b/assets/css/components/theme.css index 357288e..7dfe7ff 100644 --- a/assets/css/components/theme.css +++ b/assets/css/components/theme.css @@ -102,6 +102,7 @@ blockquote { a { color: var(--link-color); + text-decoration: none; } a:hover { diff --git a/assets/css/home.css b/assets/css/home.css index be137ec..f72b30a 100644 --- a/assets/css/home.css +++ b/assets/css/home.css @@ -27,7 +27,13 @@ min-height: calc(100vh - 47.75rem); } -.home-link>a { +/* +.home-link a{ + text-decoration: none; +} +*/ + +a.home-link:hover{ text-decoration: none; } diff --git a/index.html b/index.html index 7ec76cd..7031c7d 100644 --- a/index.html +++ b/index.html @@ -7,12 +7,12 @@ description: Personlig nettside for Øyvind Skaaden. Inneholder det meste av per
{% for home in site.data.home %}
- +
+

{{ home.title }}

 -

{{ home.title }}

{{ home.description }}

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ntnu/ttt4120/summary/summary.md rename to ntnu/20h/ttt4120/summary/summary.md diff --git a/ntnu/ttt4270/ttt4270.md b/ntnu/20v/ttt4270/ttt4270.md similarity index 100% rename from ntnu/ttt4270/ttt4270.md rename to ntnu/20v/ttt4270/ttt4270.md diff --git a/ntnu/21v/tfe4130/lectures/2021-01-12/2021-01-12.md b/ntnu/21v/tfe4130/lectures/2021-01-12/2021-01-12.md new file mode 100644 index 0000000..bcdcf49 --- /dev/null +++ b/ntnu/21v/tfe4130/lectures/2021-01-12/2021-01-12.md @@ -0,0 +1,74 @@ +--- +title: "TFE4130 - 1D Bølger" +description: "2021-01-12" +math: true +--- + +## Hva er bølger? + +Bevegelse av partikler i et medium. + +Dispersive gjør at signalet kan endre seg over tid og strekning. +Bølgehastigheten er avhengig av frekvensen. + +Ikke-dispersive betyr at bølgen beveger seg med samme hastighet hele tiden, og vil derfor være lik ved alle distanser. + +Bølger kan inteferere. + +Kurset handler mest om EM-bølger, men mekaniske bølger er enklere. +Det er da kun trykk som beskriver en bølge, mot en vektor med flere komponenter i EM-bølger. + +Velocity potential: + +$$WIP$$ + +Velocities at depth: + +$$WIP$$ + +Dispersjonsrelasjonen i havbølger + +$$ \omega^2 = gk \tanh kd $$ + +Der $g$ er tyngdeakserelasjonen, $k$ er bølgetallet og $d$ er dybden. + +### Forskjellige typer bølger + +Longitudinale: Langsgående bølger. + +Transversale: Bølger som beveger seg normalt på propageringsretningen. + +### Matematisk + +Bølgene er løsningen på bølgelikningen i forskjellige dimensjoner. + +$$ \ddot{u} = \frac{\partial^2 u}{\partial t^2} = c^2 \nabla^2 u $$ + +Denne løses som en partiell differensiallikning. + +En ikke-dispersiv hamonisk bølge er definert: + +$$ p(x, t) = \hat{p} \sin(\omega t - kx) $$ + +Der $\omega = 2\pi f$ er frekvensen, $k = \tfrac{\omega}{c}$ er bølgekonstanten, $c$ er propageringshastigheten og $\hat{p}$ er bølgeamplituden. + +## Lydbølger + +Lydbølger er endringer i lydtrykket rundt standardtrykket/det statiske trykket. + +$$ \underbrace{P_\text{total}(x,t)}_{\text{Lufttrykk, [Pa]}} = \underbrace{P_\text{atm}}_\text{Statisk trykk} + \underbrace{p(x,t)}_\text{endringer i trykket, lyd} $$ + + +Bølgelikningen for lydbølger: + +$$ \frac{\partial^2 p}{\partial x^2} - \frac{1}{c^2} \frac{\partial^2 p}{\partial t^2} $$ + +## Helmholtz' likning + +Spesialtilfelle av bølgelikningen når bølgen er en harmonisk svingning. + +$$ p(x,t) = p(x) e^{j\omega t} $$ + +Den tidsavhengige faktoren kan faktoriseres ut av likningen og vi står igjen med en ODE. + +$$ \frac{\partial^2 p(x)}{\partial x^2} + k^2 p(x) = 0 $$ \ No newline at end of file diff --git a/ntnu/21v/tfe4130/lectures/2021-01-14/2021-01-14.md b/ntnu/21v/tfe4130/lectures/2021-01-14/2021-01-14.md new file mode 100644 index 0000000..841d419 --- /dev/null +++ b/ntnu/21v/tfe4130/lectures/2021-01-14/2021-01-14.md @@ -0,0 +1,24 @@ +--- +layout: layouts/lecture +title: "TFE4130" +description: "1D Bølger forts." +date: "2021-01-14" +math: true +--- + +## Akustisk impedanse + +## Akustisk intensitet + +$$ \boldsymbol{I} = \frac{1}{T}\int_0^T p_\text{real}\boldsymbol{v}_\text{real}(t) dt $$ + +FOr en planbølge + +$$ I_x = \frac{p_\text{rms}}{p_x c}$$ + +## Refleksjon og transmisjon + +Dersom en børge beveger seg over en grenseflate mellom to forskjellige impedanser. + +* Trykket nå være kontinuerlig over grenseflaten +* Farten over grenseflaten må være konstant. \ No newline at end of file diff --git a/ntnu/21v/tfe4130/tfe4130.md b/ntnu/21v/tfe4130/tfe4130.md new file mode 100644 index 0000000..3ce83ad --- /dev/null +++ b/ntnu/21v/tfe4130/tfe4130.md @@ -0,0 +1,15 @@ +--- +layout: layouts/list +title: "TFE4130" +description: "Bølgeforplantning" +--- + +## Filer og annet + +Alle øvinger og andre viktige filer ligger på [git](https://git.glados.no/oyvindskaaden/TFE4130). + +## Forelesninger + +[2021-01-12](./lectures/2021-01-12/) - Intro + +[2021-01-14](./lectures/2021-01-14/) - Bølger forts. \ No newline at end of file diff --git a/ntnu/21v/tiø4252/tiø4252.md b/ntnu/21v/tiø4252/tiø4252.md new file mode 100644 index 0000000..198113c --- /dev/null +++ b/ntnu/21v/tiø4252/tiø4252.md @@ -0,0 +1,63 @@ +--- +title: TIØ4252 +description: Teknologiledelse, våren 2021 +date: 2021-05-13 +--- + + +## Formelark + +Kommer straks. + +## Eksamen + +Alle filer er tilgjengelig på [git][git]. + +[git]: https://git.glados.no/oyvindskaaden/TIO4252 + +Kombinert løsningsforslag for alle eksamener finnes [her][LF_alle]. + +[LF_alle]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/LF.pdf + +| År | Eksamen | Oppgave | LF | +| :--- | :------ | :------------ | :------- | +| 2020 | Høst | [Oppgave][1] | [LF][2] | +| 2020 | Sommer | [Oppgave][3] | [LF][4] | +| 2020 | Vår | [Oppgave][5] | [LF][6] | +| 2019 | Høst | [Oppgave][7] | [LF][8] | +| 2019 | Sommer | [Oppgave][9] | [LF][10] | +| 2018 | Høst | [Oppgave][11] | [LF][12] | +| 2018 | Sommer | [Oppgave][13] | [LF][14] | +| 2018 | Vår | [Oppgave][15] | [LF][16] | +| 2017 | Høst | [Oppgave][17] | [LF][18] | +| 2017 | Vår | [Oppgave][19] | [LF][20] | +| 2014 | Sommer | [Oppgave][21] | [LF][22] | +| 2013 | Sommer | [Oppgave][23] | [LF][24] | +{: .table-responsive-lg .table } + +[1]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/20H/Eksamen_20H.pdf +[2]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/20H/Losning_20H.pdf +[3]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/20S/Eksamen_20S.pdf +[4]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/20S/Losning_20S.pdf +[5]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/20V/Eksamen_20V.pdf +[6]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/20V/Losning_20V.pdf +[7]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/19H/Eksamen_19H.pdf +[8]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/19H/Losning_19H.pdf +[9]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/19S/Eksamen_19S.pdf +[10]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/19S/Losning_19S.pdf +[11]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/18H/Eksamen_18H.pdf +[12]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/18H/Losning_18H.pdf +[13]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/18S/Eksamen_18S.pdf +[14]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/18S/Losning_18S.pdf +[15]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/18V/Eksamen_18V.pdf +[16]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/18V/Losning_18V.pdf +[17]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/17H/Eksamen_17H.pdf +[18]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/17H/Losning_17H.pdf +[19]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/17V/Eksamen_17V.pdf +[20]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/17V/Losning_17V.pdf +[21]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/14S/Eksamen_14S.pdf +[22]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/14S/Losning_14S.pdf +[23]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/13S/Eksamen_13S.pdf +[24]:https://git.glados.no/oyvindskaaden/TIO4252/raw/branch/main/eksamen/13S/Losning_13S.pdf + + diff --git a/ntnu/21v/ttk4145/summary/figures/fault-path.svg b/ntnu/21v/ttk4145/summary/figures/fault-path.svg new file mode 100644 index 0000000..dbdb06e --- /dev/null +++ b/ntnu/21v/ttk4145/summary/figures/fault-path.svg @@ -0,0 +1,3 @@ + + +
Fault
Fault
Error
Error
Failure
Failure
"The bug"
"The bug"
"The event"
What happened
"The event"...
The system failed to behave according to specification
The system fail...Viewer does not support full SVG 1.1 \ No newline at end of file diff --git a/ntnu/21v/ttk4145/summary/figures/fault-tolarance.svg b/ntnu/21v/ttk4145/summary/figures/fault-tolarance.svg new file mode 100644 index 0000000..4d88bd6 --- /dev/null +++ b/ntnu/21v/ttk4145/summary/figures/fault-tolarance.svg @@ -0,0 +1,3 @@ + + +
Fault tolerance
Fault tolerance
Fault prevention
Fault prevention
Avoidance
Avoidance
Removal
Removal
"Metodologies"
"How we work with the code"
"Metodologies"...
Testing
Code inspection
Testing...
Preventing Failures
Preventing Failu...
Preventing errors becoming failures
Preventing errors becoming...Viewer does not support full SVG 1.1 \ No newline at end of file diff --git a/ntnu/21v/ttk4145/summary/summary.md b/ntnu/21v/ttk4145/summary/summary.md new file mode 100644 index 0000000..e67e7e0 --- /dev/null +++ b/ntnu/21v/ttk4145/summary/summary.md @@ -0,0 +1,376 @@ +--- +title: "Oppsumering av TTK4145" +description: "Lot of theory and discussion, some fomulas, spring 2021." +date: 2021-05-04 +math: true +--- + +## Fault tolerance + +Hard to capture faults. + + +### Bugs + +* 1 bug per 50 lines before testing +* 1 bug per 500 at release +* 1 bug per 550 after a year, the constant + +1. Make the program work within specs. +2. Run/Tests of the program- +3. Errors happen +4. Locate errors + * Incomplete spec + * Missing handleling of som situation +5. Fix code + +### Traditional error handeling + +{% highlight c %} +FILE * +openConfigFile(){ + FILE * f = fopen("/path/to/config.conf"); + if (f == NULL) { + switch(errno){ + case ENOMEM: { + ... + break; + } + case ENOTDIR: { + ... + break; + } + // Do this for all errors + } + } +} +{% endhighlight %} + +### Causes of errors + +* Incomplete specification +* Software bugs +* HW problems +* Communication problems + +### Fault tolerance in real time systems + +The problem with traditional errorhandleing is that errors can happen at any possible time. +This is extremely hard to test. + +This is some of the error handling real time programming have. + +* Handling of unexpected errors +* More threads hanles errors +* Can not test the conventional way + * Can only show extistence of errors + * Can not find errors in specification + * Can not find race conditions + +The fault path is shown under. + +![Fault tolerance](figures/fault-path.svg) + +With fault tolerance the path looks something more like the figure under. + +![Fault tolerance](figures/fault-tolarance.svg) + +### Error handling + +Keep it simple! + +The error modes is a part of the module interface. + +One way is to handle all errors the same way. +Handle the as if it was the worst error. +Crash and start again. + +A different approach is to check that everything is OK. + +To test how the systems responds for a unknown error is to insert a failed acceptance test (a not OK signal). + +### Redundancy + +* If I have $N$ copies of my data, it is possible to handle that one is destroyed. +* Sending $N$ messages, trying $N$ times. + +**Static redundancy** + +* $N$ active copies. Sending $N$ messages if it is necessary or not. +* Detecting errors is not important. +* Handles cosmic rays easily. + +**Dynammic redunancy** + +* Relies on detecting the error and recovering + * Resend if timeout and not receiving "ack" + * Go with default if no messages have been received +* The acceptancetest must be good. + + +### Fault model + +#### Example with storage functions. + +**Step 1: Failure modes** + +Find the failure modes: What could go wrong? + +* **Write**: May return "I failed". Does not know why it faield +* **Read**: May return "I failed". Does not know why it failed. + +**Step 2: Detect, Simplify, Inject errors** + +* Write information on where/what/how the process is doing. +* All errors --> Fail +* Inject errors + +**Step 3: Handling with redundancy** + +* Have multiple copies of the the information + * Use only the newest + +#### Example with communication function + +**Step 1: Failure modes** + +* Message + * Lost + * Delayed + * Corrupted + * Duplicated + * Wrong recipient + +**Step 2: Detection, Merging of errormodes and error injection** + +* Adding information to message + * Checksum + * Session ID + * Sequence number +* Adding "ack" on well recieved messages +* All errors will be treaded as "Lost message" +* Injection + * Occasionally throw away some messages + +**Step 3: Handling with redundancy** + +* Timeout +* Retransmit message + +#### Example with processes and caculations + +A calculation is an abstract, so how can we talk generally about the failure modes. + +**Step 1: Failure modes** + +One failure mode + +**Step 2: Detect, simplify, inject errors** + +All failed acceptance tests will "PANIC" or "STOP". + +**Step 3: Handling with redundancy** + +There are three solutions: + +1. Checkpoint restart + * Do all the work incuding the acceptance test + * Wait with the "side effects" + * Store a checkpoint + * Do the "side effects" +2. Process pairs + * Crash and let an another process take over +3. Presistent processes + + +## Transactions + +A transaction is a design framework for Damage Confinement and Error Recovery. + +* An *atomic action*, just without the backward recovery error mode as standard mode +* invincible and instantaneous "calculation" seen from the outside +* A transformation from one consistent state to another' +* A modular computation + +### Four features: ACID + +* **A**tomicity: Either all side effects happens or none +* **C**oncistency: Leaves the system in a consistent state when finished +* **I**solation: Errors does not spread +* **D**urability: Results are not lost + +### Atomic Actions + +**Resumption vs. Termination mode** +* If we continue where we were (e.g. after the interrupt) --> *Resumption* +* If we continue somewhere else (i.e. terminating what we where doing) --> Termination + +**Async Notification (AN) = Low level thread interaction** +* Async event handling. ("Signals") (resumption) + * Modeled after a HW interrupt + * Can be sent to the correct thread + * Can be handled, ignored, blocked --> The domain can be controlled. + * Often lead to polling + * Could rather skip the signal and poll a status variable or a message queue + * Useless +* ATC --> Async transfer of Control (termination) + * Canceling threads + * setjmpt/longjmp could convert signals to ATC (not really, but still) + * ADA: a strictured mechanism for ATV is integraded with the selected statement + * RT Java: A structured mechanism for ATC is integraded with the exception-handling mechanism + +#### Cancelling threads + +**Yes, killing threads is ATC!** + +* Can make termination model by letting domain be a thread + * "Create a `doWork` thread, and kill it if the action fails" +* Ca still control domain by disabling "cancelstate" + +**But, but, but: It leaves ut in undifined state!?** +* Not if we have... + * Full control over changed state (like logs or recovery points) or some other way of recovering well. + * A lock manager that can unlock on behalf of killed thread + * Some control of where we were killed (like nok in the middle of a lock manager or log call) +* An this is what we have! + + +## Shared variable synchronization + +### Non-Preemptive scheduling + +Controlling a pump filling a tank. + +**Spec:** +* Every second: measure the water level of the tank and generate the reference to the pump +* 10 times a second: Set the power of the pump motor +* Do some GUI: let the human control the process + +#### A trivial solution: "Cyclic Exectutive" + +{% highlight c %} +oldTime = now(); +i = 0; +while(true) { + i = i + 1; + if (i % 10 == 0) { + i = 0; + calculatePumpReference(); + } + controlPump(); + do { + handleUserEvent(); + } while(now() < oldTime + 0.1); + oldTime = oldTime + 0.1; +} +{% endhighlight %} + +**Drawbacks** + +* OK tasks? +* Timing hard to tune (what if pump sampling should be $\pi$/10?) +* Overload (what if `calucaltePumpReference` uses more than 1/10 seconds?) +* How to add new tasks? (Everything is coupled) +* Waste of time in the do-loop? +* What is priority of `handleUserEvents`? +* How are erros, exceptions, alarms etc. handled? + +#### Better soulution with Non-preemptive scheduler + +* *3 taskts* administered by a scheduler +* The scheduler takes care of who runs and timing +* Scheduler often inculuded in OSes +* Introducing priorities + +{% highlight c %} +/** + * scheduler_registerThread(function, time, priority) + * Higher priority numer means higher priority in scheduler + */ +main() { + scheduler_registrerThread(controlPump, 0.1, 3); + scheduler_registrerThread(calculatePumpReference, 1, 2); + scheduler_registrerThread(handleUserEvents, 0.2, 1); + scheduler_mainLoop(); +} +{% endhighlight %} + +**Some notes on priorities** +* Priority is generally not important; rather, the main rule is to give higher priority to shorter-deadline tasks. + * This allows tasks to reach its deadlines. +* ... but this is not always the case - if e.g. the tasks are cooperating +* We still handle overload badly +* And: What connection between deadline and priority to start with? + * Is this a good dependency seen from a code quality perspective? + +### Pros and cons of nonpreemptive scheduling + +| **Pros** | **Cons** | +| :--------------------------------------------- | :------------------------------------------------------------------------- | +| Simple, intuitive, predictable | C macro hell | +| No kernel | Threads must cooperate <-- a form of dependency breaking module boundaries | +| Fast switching times | Heavy threads must be divided | +| Some elegant sunchronization patterns possible | Can we handle blocking of library functions? | +| | Unrobust to errors | +| | Unrobust to (heavy) error handling | +| | Hard to tune at end of project | +{: .table-responsive-lg .table } + + + +### Preemptive Kernel + +* Preemption, thread objects and the timer interrupt +* Enabling synchronization: Busy waiting, tes-and-set, disabling the timer interrupt +* Blocking and suspend & resume +* An API for synchronization? Semaphores! + + +#### Preemption + +* Make a handler for a timer interrupt +* Store all registers (including IP & SP) in a "thread object" +* Organize queue of processes (Round Robin e.g. - a collection of thread objects?) +* Can synchronize by: while(!ready); (busy wating, "spin locks") + +**Bad solution** + +{% highlight c%} +while(lock==1) {} +lock = 1; + // We may run +lock = 0; +{% endhighlight %} + +**Better solution** + +{% highlight c%} +void t1() { + flag1 = 1; // Declare my intention + turn = 2; // But try to be polite + while(flag2 == 1 && turn == 2) {} + // We may run + flag1 = 0; +} +{% endhighlight %} + +##### Looking more closely at the arsenal + +**How can we make basic synchronization under preemption?** + +* Spin locks (wasting time and cpu) +* Test&Set (swap) assembly instruction (atomic, but not obvious) +* Disable interrupt (steals control from OS/scheduler) + +**But** +* If we disable the timer interrupt we don not have preemption any more +* And... Are these good abstractions in the application programmer domain? + +#### Blocked threads + +**Let us introduce another queue; the collection of threads not running, waiting for something** + +* Fixes the bad performance of spin locks. Is conceptually better. +* "Suspend" moves a thread object from "run" queue to "blocked" queue +* "Resume" moves it back. + diff --git a/ntnu/21v/ttk4145/ttk4145.md b/ntnu/21v/ttk4145/ttk4145.md new file mode 100644 index 0000000..602fa78 --- /dev/null +++ b/ntnu/21v/ttk4145/ttk4145.md @@ -0,0 +1,15 @@ +--- +layout: layouts/list +title: "TTK4145" +description: "Sanntidsprogrammering" +--- + +## Oppsummering + +[Oppsummering](summary/) av faget TTK4145. + +## Prosjekt + +## Øvinger + + diff --git a/ntnu/21v/ttt4280/lab/1/1.md b/ntnu/21v/ttt4280/lab/1/1.md new file mode 100644 index 0000000..7d3ccb4 --- /dev/null +++ b/ntnu/21v/ttt4280/lab/1/1.md @@ -0,0 +1,34 @@ +--- +layout: layouts/lecture +title: "TTT4280" +description: "Labforelesning 1" +date: "2021-01-18" +math: false +--- + +## Laboratorium + +### System + +* Raspberry Pi +* Linux +* A/D omformere +* Python + +### Oppgaver + +* Systemoppsett + * Klargjøre rPi og instrumenteringskrets +* Akustikk + * Beregne retning til lydkilde +* Radar + * Doppler +* Optikk + +## Laboppgave 1 + +1. Tegne blokkdiagram +2. Studere datablat for ADC +3. Drøfte fordeler med DMA + +![Blokk](figures/TTT4280%20-%20Lab%20Blokk.png) \ No newline at end of file diff --git a/ntnu/21v/ttt4280/lab/1/figures/TTT4280 - Lab Blokk.png b/ntnu/21v/ttt4280/lab/1/figures/TTT4280 - Lab Blokk.png new file mode 100644 index 0000000..799742d Binary files /dev/null and b/ntnu/21v/ttt4280/lab/1/figures/TTT4280 - Lab Blokk.png differ diff --git a/ntnu/21v/ttt4280/lectures/2021-01-11/2021-01-11.md b/ntnu/21v/ttt4280/lectures/2021-01-11/2021-01-11.md new file mode 100644 index 0000000..d55053f --- /dev/null +++ b/ntnu/21v/ttt4280/lectures/2021-01-11/2021-01-11.md @@ -0,0 +1,57 @@ +--- +title: "TTT4280 - Måleusikkerhet" +description: "2021-01-11" +math: true +--- + +## Faglig innhold + +* Måleusikkerhet +* Støyanalyse +* Sensorer og aktuatorer +* Sensortyper + +## Hva er sensorer + +Noe som kan lese den fysiske verdenen til noe vi kan prosessere. + +Finnes mange forskjellige sensorer. Flere i biler, telefoner, klokker osv. + +Tidligere ble det estimert at vi skulle ha ca 50 milliarder sensorer i 2020. + +## Måleusikkerhet + +Bruk av sensor = Utføre en måling. + +...og måleverdier har en usikkerhet. + +I visse situasjoner har måleusikkerheten masse å si, i andre har det ikke så mye å si. + +Sensitivitet er en måling for å ikke gjøre en Type II feil (alarmen løser **ikke** ut). + +Spesifisitet er en måling for å ikke gjøre en Type I feil (**falsk** alarm). + + + +### Grunnmodell for måleprosess + +![Grunnmodell](figures/grunnmodell.jpg) + +I realiteten er det støy i alle ledd. + +Sannsynligheten for at et sensorsystem gir riktig svar påvirkes av (minst) to faktorer: + +* Hvor entydig er underliggende sammenhenger? +* Hvor nøyaktig kan vi måle de fysiske størrelsene? + +$$ \text{SNR} = \frac{\text{(Effekten for) sann verdi}}{\text{(Effekten for) støy}} $$ + +### Målefeil + +Stokastiske feil (Type A feil) påvirker målingens *presisjon*. +Presisjonen beskriver hvor reproduserbar en måling er. + +Systematiske feil (Type B feil) påvirker målingens *sannhet*. +Sannheten er en måling på hvor langt unna den sanne verdien en måling er. + +![Målefeil](figures/true-prec.jpg) \ No newline at end of file diff --git a/ntnu/21v/ttt4280/lectures/2021-01-11/figures/grunnmodell.jpg b/ntnu/21v/ttt4280/lectures/2021-01-11/figures/grunnmodell.jpg new file mode 100644 index 0000000..a9de590 Binary files /dev/null and b/ntnu/21v/ttt4280/lectures/2021-01-11/figures/grunnmodell.jpg differ diff --git a/ntnu/21v/ttt4280/lectures/2021-01-11/figures/true-prec.jpg b/ntnu/21v/ttt4280/lectures/2021-01-11/figures/true-prec.jpg new file mode 100644 index 0000000..0361a4c Binary files /dev/null and b/ntnu/21v/ttt4280/lectures/2021-01-11/figures/true-prec.jpg differ diff --git a/ntnu/21v/ttt4280/lectures/2021-01-18/2021-01-18.md b/ntnu/21v/ttt4280/lectures/2021-01-18/2021-01-18.md new file mode 100644 index 0000000..19cf1d5 --- /dev/null +++ b/ntnu/21v/ttt4280/lectures/2021-01-18/2021-01-18.md @@ -0,0 +1,8 @@ +--- +layout: layouts/lecture +title: "TTT4280" +description: "Usikkerhet og feilforplantning" +date: "2021-01-18" +math: true +--- + diff --git a/ntnu/21v/ttt4280/ttt4280.md b/ntnu/21v/ttt4280/ttt4280.md new file mode 100644 index 0000000..896f771 --- /dev/null +++ b/ntnu/21v/ttt4280/ttt4280.md @@ -0,0 +1,12 @@ +--- +layout: layouts/list +title: "TTT4280" +description: "Sensorer og instrumentering" +--- + +## Forelesninger + +[2021-01-11](./lectures/2021-01-11/) - Intro og målesikkerhet + +[2021-01-18](./lectures/2021-01-18/) - Usikkerhet og feilforplantning + diff --git a/ntnu/ntnu.html b/ntnu/ntnu.html index 73129ab..e049766 100644 --- a/ntnu/ntnu.html +++ b/ntnu/ntnu.html @@ -4,13 +4,15 @@ title: "NTNU" description: "Alt som har med studier på NTNU å gjøre." --- -{% assign courses = site.data.ntnu-courses | sort: 'update' %} +{% for semester in site.data.ntnu-courses %} +

{{ semester.name }}

+{% assign courses = semester.courses | sort: 'updated' | reverse %}
{% for course in courses %}
-
{{ course.course | upcase }}
+
{{ course.course | upcase }}

{{ course.desc }}

@@ -19,4 +21,5 @@ description: "Alt som har med studier på NTNU å gjøre."
{% endfor %} -
\ No newline at end of file +
+{% endfor %} \ No newline at end of file