1 00:00:00,480 --> 00:00:07,320 Welcome back and listen, we are going to see how to use the free ARTUS middleware widow estimated to 2 00:00:07,320 --> 00:00:16,260 keep a mix going to create a new project from Yeah for you project again, the microcontroller doesn't 3 00:00:16,260 --> 00:00:16,660 matter. 4 00:00:16,680 --> 00:00:19,500 It should work the same way on steam 32 boards. 5 00:00:19,920 --> 00:00:21,510 I'm going to select my board here. 6 00:00:21,510 --> 00:00:23,640 ASTM 32 for one one. 7 00:00:28,950 --> 00:00:31,860 And for this experiment, I'm going to select the nuclear board. 8 00:00:38,550 --> 00:00:45,300 I've seen no over here, and then I'll play all spin out play piano over here like this. 9 00:00:45,810 --> 00:00:46,440 Say yes. 10 00:00:49,580 --> 00:00:55,340 We're going to start off by enabling the LSD and the push-Button for our experiment. 11 00:00:55,750 --> 00:01:02,180 Go to be a five sided to GPL, your output and P.S. 13 GPA you input like this. 12 00:01:06,850 --> 00:01:14,080 So to enable free ARTUS, we come to a middle way over here and then we select free artists and then 13 00:01:14,860 --> 00:01:16,700 we can select the interface here. 14 00:01:16,750 --> 00:01:20,110 What are we using, Simms's, if you want to feed you. 15 00:01:20,890 --> 00:01:24,190 So I'll just select assumes Simpsons for you one over here. 16 00:01:25,560 --> 00:01:28,610 And then it's a neighborhood, right? 17 00:01:29,040 --> 00:01:33,180 Oh, so what I'm going to do is I'm going to a neighborhood that you are so that we can use that in 18 00:01:33,180 --> 00:01:34,450 our experiment as well. 19 00:01:34,470 --> 00:01:42,120 I'll come to connectivity, you know, enable my you to hear I started to asynchronous mode like this. 20 00:01:45,180 --> 00:01:45,540 OK. 21 00:01:45,570 --> 00:01:52,800 Next week we come to a system called system, and then we're going to change the time base over here, 22 00:01:52,800 --> 00:01:54,380 says the time biz assistant. 23 00:01:54,390 --> 00:01:56,700 We're going to change it to a different time. 24 00:01:57,540 --> 00:02:01,560 You can select you can nominate two or three l just like three over here. 25 00:02:06,750 --> 00:02:10,860 And debug, of course, you can leave it or you can just like this here, a wi fi. 26 00:02:14,940 --> 00:02:21,990 So we can go ahead and configure our view of free artist and then we can see how to add things like 27 00:02:21,990 --> 00:02:24,370 tasks and the other artists component. 28 00:02:25,500 --> 00:02:31,830 So I just opened this again and then I'll bring this up like this. 29 00:02:33,730 --> 00:02:41,140 So these are the configuration of the of the kennel, we can we can still change this in the in the 30 00:02:41,140 --> 00:02:44,050 generated code like we see for other drivers. 31 00:02:44,050 --> 00:02:48,910 When you generate the code from here and you go to your development environment, you still have the 32 00:02:48,910 --> 00:02:51,050 option to be able to change it manually. 33 00:02:51,520 --> 00:02:55,360 We can do the, um, this is tasks we can all tasks. 34 00:02:55,810 --> 00:03:02,980 It says over here there's a difficult task task before task and you give the priority of the task always 35 00:03:02,980 --> 00:03:04,090 priority normal. 36 00:03:04,570 --> 00:03:12,190 And then over here that there is the the entry function starts Difford task, et cetera. 37 00:03:12,190 --> 00:03:14,980 We're going to add a task over here. 38 00:03:15,670 --> 00:03:17,380 I'm just going to call this thread one. 39 00:03:17,380 --> 00:03:20,560 Remember, thread and tasks are used interchangeably. 40 00:03:22,180 --> 00:03:28,180 If you want a definition that a threat is a task in execution, when a task starts to execute and we 41 00:03:28,180 --> 00:03:35,440 call it a threat so we can use the two words interchangeable so we can live the parameters here the 42 00:03:35,440 --> 00:03:39,460 same way, um, entry function we can just call it. 43 00:03:42,800 --> 00:03:45,590 I call this thread one funk for function. 44 00:03:46,590 --> 00:03:47,250 OK, the. 45 00:03:47,930 --> 00:03:55,230 We can leave it then I got another one, call this thread, too, but you can give them any names you 46 00:03:55,230 --> 00:04:01,500 want to make a bit more descriptive and then entry function through it to function. 47 00:04:03,990 --> 00:04:12,710 And then I say, OK, like this next we going to the mutex and mutex means mutual exclusive. 48 00:04:12,720 --> 00:04:21,030 And what this allows is, is that it allows us to use a shared resource effectively, not even efficiently, 49 00:04:21,030 --> 00:04:21,970 but effectively. 50 00:04:22,350 --> 00:04:29,820 And the reason that is important is if we have two threads trying to write out a you art at the same 51 00:04:29,820 --> 00:04:30,170 time. 52 00:04:30,780 --> 00:04:35,490 Yeah, there you are to the hardware driver, which is that you are two, which is the shared resource 53 00:04:35,490 --> 00:04:39,020 might crush is the same thing with an LCD screen. 54 00:04:39,030 --> 00:04:44,880 If you have two threads and they're all trying to access this single resource at the same time, you 55 00:04:44,880 --> 00:04:45,960 could cause a crash. 56 00:04:46,740 --> 00:04:54,360 What we have to do in this case is to provide a mutex such as such, that one thread would access it 57 00:04:54,360 --> 00:04:57,210 and then when it's done, the other one would access it as well. 58 00:04:58,140 --> 00:04:59,640 So we going to use that here. 59 00:04:59,640 --> 00:05:01,740 Click mutex click out of here. 60 00:05:02,250 --> 00:05:03,990 Our shared resource in this example. 61 00:05:03,990 --> 00:05:07,260 This is is the is the you are. 62 00:05:07,300 --> 00:05:12,300 So we can give it, um, our mutex and name you at mutex. 63 00:05:12,300 --> 00:05:17,580 If we had LCD, we can give it the similar name so I'll click okay. 64 00:05:17,580 --> 00:05:18,280 Here like this. 65 00:05:19,470 --> 00:05:24,620 Okay, so once this is done we can go ahead and generate a good outcome to project management over here. 66 00:05:24,630 --> 00:05:25,980 I'll try to change them. 67 00:05:25,980 --> 00:05:27,180 32 covid. 68 00:05:27,930 --> 00:05:28,740 I'll call this. 69 00:05:31,560 --> 00:05:32,460 Free Artus. 70 00:05:42,950 --> 00:05:44,530 I want to give it a descriptive name. 71 00:05:48,900 --> 00:05:51,780 Tasks and mutex by the. 72 00:05:54,810 --> 00:06:00,450 And we can live to the size and the stock size, the same should be enough when I click here to generate. 73 00:06:03,610 --> 00:06:04,930 So this is our project. 74 00:06:07,570 --> 00:06:08,840 I'm going to clean up a bit. 75 00:06:08,860 --> 00:06:11,070 I'm going to reduce the number of comment here. 76 00:06:12,550 --> 00:06:17,410 So this whole project with the M the number of comments reduced, OK, that's what we have. 77 00:06:17,920 --> 00:06:21,790 We have the the threat ID, the threats we created. 78 00:06:22,210 --> 00:06:24,040 Each one was given an ID. 79 00:06:24,160 --> 00:06:26,830 So this is the right one. 80 00:06:27,190 --> 00:06:33,610 Hondo and it's off type threat id threat to handle this also type threat ID as well as our mutex that 81 00:06:33,610 --> 00:06:37,840 you are to mutex Holmdel then this is the default threat that we saw in Cuba. 82 00:06:37,840 --> 00:06:38,230 Imex. 83 00:06:38,920 --> 00:06:41,800 So a threat is basically a main function. 84 00:06:41,920 --> 00:06:46,840 And what I mean by main function is a function with an infinite loop, a function that doesn't return 85 00:06:46,840 --> 00:06:48,850 a function with a one loop. 86 00:06:49,510 --> 00:06:55,620 So if we go to the threat functions, we'll see that the functions with infinite loops. 87 00:06:55,960 --> 00:06:56,980 So this is our threat. 88 00:06:56,980 --> 00:07:00,760 One func that we created in Cuba makes you can see this is an infinite loop. 89 00:07:01,120 --> 00:07:05,590 This is another way of writing vol one and then it has a delay of one here. 90 00:07:05,590 --> 00:07:07,210 This is the code generated by Cuba. 91 00:07:07,220 --> 00:07:09,550 Makes this is this the same thing for threat two? 92 00:07:10,150 --> 00:07:16,690 And this is the one for the start, the fourth threat, the default threat or tasks that we saw. 93 00:07:17,170 --> 00:07:24,340 OK, and over here, often if you generate code with Cuba, mix without using the free Arktos or without 94 00:07:24,340 --> 00:07:27,220 changing in time base since this is the time base. 95 00:07:27,580 --> 00:07:31,630 But because we change our time based on time, a three time, a three snowless time base. 96 00:07:31,780 --> 00:07:39,580 And the reason that is, is that the always canno of re artosis use insisting the real time operating 97 00:07:39,580 --> 00:07:42,290 system needs a time or two to work as well. 98 00:07:42,880 --> 00:07:49,990 So we've we are using system for that and we need another time out for our normal hardware initialization, 99 00:07:50,050 --> 00:07:58,720 et cetera, some hardware parts or some hardware modules such as The Spy and I to see during initialization. 100 00:07:58,720 --> 00:08:00,580 You need to apply delay every now and then. 101 00:08:00,580 --> 00:08:03,850 We need something to generate such delays for us. 102 00:08:04,420 --> 00:08:06,940 And over here we use in timer three to do that. 103 00:08:07,270 --> 00:08:11,540 And this whole electic is the heartbeat of this other time. 104 00:08:11,980 --> 00:08:17,620 So this is how our delay, if we call it all delay, is going to be used in this. 105 00:08:17,770 --> 00:08:21,130 This is will be generating the delay using this whole Intec. 106 00:08:21,370 --> 00:08:26,920 But before that it was done using the system timer knows is done using time of three. 107 00:08:26,920 --> 00:08:33,100 And this is because this is the time that's been used by our free operators operating system. 108 00:08:34,030 --> 00:08:34,450 Right. 109 00:08:34,460 --> 00:08:36,310 So we have our task functions. 110 00:08:36,790 --> 00:08:39,040 Three of them we saw in Cuba mix. 111 00:08:39,040 --> 00:08:42,420 There was a default Tasco threat created and we added two more. 112 00:08:43,270 --> 00:08:52,930 So one way to see if a while when you're working with ARTUS, one thing you have to do is profile the 113 00:08:52,930 --> 00:08:55,840 task in some in some ideas. 114 00:08:55,840 --> 00:08:58,000 There is a way to know if a task is running or not. 115 00:08:58,090 --> 00:09:06,910 If if you don't have any of such ideas or if the it doesn't provide that we can find a way of profiling 116 00:09:06,910 --> 00:09:09,530 and we can profile simply using a counter variable. 117 00:09:10,420 --> 00:09:16,540 So what I'm going to do is create a typedef typedef OSSE task profile. 118 00:09:18,980 --> 00:09:27,110 And this is simply you to underscore what type of Darcis typedef allows me to use this new name in place 119 00:09:27,110 --> 00:09:31,880 of you intended to underscore this whenever I want to type you intended to underscore to you I can simply 120 00:09:31,880 --> 00:09:32,420 type this. 121 00:09:32,760 --> 00:09:41,360 So then I'm going to declare three you in 30 to underscore Ts or callers thread one. 122 00:09:43,200 --> 00:09:53,110 I'll see through it one profiler, and then I'll have to read to profiler. 123 00:09:53,340 --> 00:09:58,490 And these are just controvert was just I'm giving them fancy names and then we'll have Difford through 124 00:09:58,500 --> 00:09:58,730 it. 125 00:10:05,840 --> 00:10:10,490 Before threat profiler and what were you going to do is we going to drop these counter variables in 126 00:10:10,490 --> 00:10:15,860 each of the threats or tasks so that when we execute, we want to see all of them increment. 127 00:10:15,860 --> 00:10:21,890 If all of them are incremental and they're almost the same value, this would tell us that our realtime 128 00:10:21,890 --> 00:10:26,000 operating system is run and also it is running in a Round-Robin fashion. 129 00:10:26,930 --> 00:10:29,470 Um, this is not the red one. 130 00:10:29,540 --> 00:10:30,500 This is the red one. 131 00:10:32,990 --> 00:10:34,460 This is the red one of. 132 00:10:34,550 --> 00:10:37,430 Is this over here and threat to. 133 00:10:39,960 --> 00:10:41,020 Is this over here? 134 00:10:41,620 --> 00:10:48,070 I changed it to two, I'm going to comment on the delay function and I'm going to comment on the delay 135 00:10:48,070 --> 00:10:49,430 functioning third one as well. 136 00:10:50,050 --> 00:10:51,520 I'm going to fetch the Difford. 137 00:10:53,790 --> 00:10:54,720 From up here. 138 00:11:01,810 --> 00:11:04,500 And I'm going to place it in our default threat. 139 00:11:04,960 --> 00:11:05,460 OK? 140 00:11:09,070 --> 00:11:14,980 And one thing I should also point out is that over here, they're free ARTUS APIs are wrapped around 141 00:11:15,400 --> 00:11:17,760 what is known as the Sims is OS APIs. 142 00:11:18,460 --> 00:11:25,960 So if you are if you've ever coded free ARTUS or if you've just called it Free Artus us, it is written 143 00:11:25,960 --> 00:11:27,240 in the documentation. 144 00:11:27,280 --> 00:11:30,670 The function for creating a new threat is not always a threat. 145 00:11:30,670 --> 00:11:35,850 Def this function is a function coming from the Simms's. 146 00:11:36,400 --> 00:11:44,650 This file here simms's unaskable always not h free Arktos has other functions, just the CMC has written 147 00:11:44,650 --> 00:11:50,230 the wrapper around that such that we can use this generic, this generic function always threat def 148 00:11:50,830 --> 00:11:58,720 and then always threat to create such that when you are using the free R Toscano or the Kyle R t Zdeno, 149 00:11:58,720 --> 00:12:06,600 you can use the same functions to create your ARTUS your ARTUS system, but different Kano's. 150 00:12:07,480 --> 00:12:14,350 So this threat created is the same for free artus can or our tax code. 151 00:12:14,480 --> 00:12:21,190 Our taxes are not a real time operating system or real time operating system canno. 152 00:12:21,730 --> 00:12:28,240 So the wrapper function that assumes is always gives us, allows us to be able to use the same API calls 153 00:12:28,660 --> 00:12:31,090 but different Cannell's. 154 00:12:31,610 --> 00:12:36,910 Essentially, if you do not understand this, leave it in the questions and, uh, questions and answers 155 00:12:36,910 --> 00:12:38,650 area and I'll get back to you. 156 00:12:39,190 --> 00:12:46,450 OK, so now that we've added our profiler's, let's build our project and see a click over here to build. 157 00:12:49,990 --> 00:12:55,120 Right, the reason we have this area is the position of this, you know, when using TYPEDEF. 158 00:12:57,070 --> 00:13:01,600 So this is the type we want to rename it to this new this new word. 159 00:13:01,810 --> 00:13:05,020 So that is why and because of that, we have another error here. 160 00:13:05,800 --> 00:13:16,600 So typedef, we want to rename or be able to use TASC Profiler whenever we want to see you in 30 to 161 00:13:16,600 --> 00:13:17,280 Enniscorthy. 162 00:13:17,560 --> 00:13:19,180 OK, I'll click here to build. 163 00:13:31,030 --> 00:13:32,530 OK, we have one warning. 164 00:13:32,560 --> 00:13:38,080 Let's see, OK, from this default threat profile we want to increment, I'll put a plus plus here. 165 00:13:39,250 --> 00:13:41,800 OK, so quick to build again. 166 00:13:46,470 --> 00:13:49,770 OK, this has built successfully a click here to go to debug. 167 00:13:51,850 --> 00:13:53,140 And then also like this. 168 00:13:57,030 --> 00:14:00,610 I say, OK, over here, right? 169 00:14:00,690 --> 00:14:06,690 So what I'm going to do is I'm going to Ottawa, profile this to our global to our live expressions 170 00:14:06,690 --> 00:14:06,870 window. 171 00:14:06,910 --> 00:14:07,880 I'm going to take this out. 172 00:14:07,890 --> 00:14:09,330 This is from the previous project. 173 00:14:09,900 --> 00:14:18,060 I'm going to come over here controversy to copy and then I'll paste and then I'll get tasked to prove 174 00:14:18,060 --> 00:14:19,800 my life's work on cruzi to copy. 175 00:14:23,450 --> 00:14:24,190 Sorry about that. 176 00:14:27,540 --> 00:14:30,620 And then I'll get this last one. 177 00:14:35,180 --> 00:14:37,790 OK, so what is going to happen next? 178 00:14:38,450 --> 00:14:43,640 I'm simply going to click here to run, click here to run. 179 00:14:45,410 --> 00:14:50,660 What we have we have currently is just our default threat profile are running. 180 00:14:52,010 --> 00:14:52,490 Right. 181 00:14:53,000 --> 00:15:01,280 And this is according to our this would be according to the settings of our real time operating system 182 00:15:01,880 --> 00:15:03,050 currently as it is. 183 00:15:04,310 --> 00:15:07,580 And the reason we have this is. 184 00:15:09,090 --> 00:15:14,700 Shown over here, I want to show this to Windows so I can post this right. 185 00:15:15,720 --> 00:15:20,100 So we have just this running and the reason we know it's running is because the counter variable is 186 00:15:20,100 --> 00:15:22,830 incrementing threat one threat to the Stuxnet. 187 00:15:23,670 --> 00:15:27,630 OK, let's go to the part where we created a task. 188 00:15:28,440 --> 00:15:33,200 OK, so over here we created our two tasks. 189 00:15:33,900 --> 00:15:35,330 This is the difficult task. 190 00:15:35,340 --> 00:15:41,060 We left it as it is, as it was in Cuba, makes the priority of this one is always priority normal. 191 00:15:42,030 --> 00:15:44,670 And this is our third one. 192 00:15:44,790 --> 00:15:47,240 The priority of this one is always priority. 193 00:15:47,250 --> 00:15:47,880 I do. 194 00:15:48,690 --> 00:15:51,840 This is our threat to the priorities, always priority. 195 00:15:51,840 --> 00:15:54,150 I do so always priority. 196 00:15:54,150 --> 00:15:57,450 Normal has a higher priority than always priority. 197 00:15:57,450 --> 00:15:57,960 I do. 198 00:15:58,020 --> 00:16:06,180 That is why only this threat, which is known as before the task and this same threat profile is the 199 00:16:06,180 --> 00:16:07,500 fourth threat profiler. 200 00:16:07,740 --> 00:16:09,420 That is why this you're the one running. 201 00:16:10,560 --> 00:16:12,030 These are idle threats. 202 00:16:12,030 --> 00:16:15,060 The lower frequency, they've got lower priorities. 203 00:16:15,060 --> 00:16:20,720 Therefore the the law doesn't give them any time to run at all. 204 00:16:21,360 --> 00:16:28,530 So how about we change the priority and we set all of them to always be priority normal, copied this. 205 00:16:29,280 --> 00:16:32,850 And I'm going to said this and then I'm going to put this over here. 206 00:16:32,850 --> 00:16:35,880 Let's see what we get a click over here to build. 207 00:16:44,400 --> 00:16:47,460 It built successfully a click here to go to debug. 208 00:17:01,080 --> 00:17:01,770 It's open in. 209 00:17:07,490 --> 00:17:09,590 What's he going to minimize this? 210 00:17:20,480 --> 00:17:27,110 Come to live expressions here, and, um, it says we've got to do this again or do the 211 00:17:29,770 --> 00:17:35,720 removal and then this is it, threat one profiler. 212 00:17:38,230 --> 00:17:45,760 I copied this out it over here, I'll copy through it to profiler. 213 00:17:48,350 --> 00:17:54,420 Little over here as well as this copy of it over here. 214 00:17:55,000 --> 00:18:00,500 OK, I'm going to click here to run and now, as you can see, they're all running and they have almost 215 00:18:00,500 --> 00:18:01,230 the same volume. 216 00:18:02,030 --> 00:18:04,850 So this is what is known as Round-Robin scheduling. 217 00:18:05,390 --> 00:18:11,120 And what Round-Robin means is we allocate equal amount of time for each thread to run. 218 00:18:11,520 --> 00:18:17,960 So we'll see if we've allocated ten milliseconds for each thread thread. 219 00:18:17,960 --> 00:18:24,800 One is going to run for ten milliseconds and then it's going to be put on hold. 220 00:18:25,010 --> 00:18:28,640 Oh, well, we call this is the threat is going to switch the right switch. 221 00:18:28,640 --> 00:18:35,030 I would switch from third one and go to thread to try to also run for two or for the same amount of 222 00:18:35,030 --> 00:18:38,740 time, which is ten times, and then the other one will run. 223 00:18:38,750 --> 00:18:43,130 And this is known as round robin, such that they run for equal amount of time. 224 00:18:43,400 --> 00:18:48,170 And because that is the case, that is how come the counter variable is almost equal because they are 225 00:18:48,170 --> 00:18:49,820 running for equal amount of time. 226 00:18:50,210 --> 00:18:55,720 And we saw what we got when the when the priority levels were different. 227 00:18:55,730 --> 00:19:00,140 If you have them in different priority levels, then they all don't have the same priority. 228 00:19:00,140 --> 00:19:03,380 So they didn't need no run at exactly the same rate. 229 00:19:04,020 --> 00:19:08,870 OK, so this is our initial experiment for our free, our choice. 230 00:19:08,960 --> 00:19:11,210 Um, so there's the part one. 231 00:19:11,210 --> 00:19:15,080 We shall continue this in the next part, so I'll see you in the next lesson. 232 00:19:15,080 --> 00:19:19,460 We just continue where we've, uh, we've got to thus far because the video is getting a bit long.