LeafLabs Garden

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1. 

   leaflabsandy
   Member

   I have seen the work done on the Arduino using DuinOS, which is
   premptive multitasking conversion of FreeRTOS. To pull this off
   for the Maple, a programmer would have to be very knowledgeable
   of the STM internal registers and the Maple's libMaple.
   This is way beyond my capabilities as an Arduino hacker.
   Perry Hung where are you?

   Note: I asked this question to juliandasilva (Argentina) the author of DuinOS

   Quote: "Juliandasilva have you ever given any thought to porting FreeRTOS to an Arduino compatible ARM processor like The Maple? There are plenty of hardware resources available and The Maple has four timers. Plus, it has a SysTick peripheral that is associated millis() and delay() functions are another simple way to perform periodic or delayed events. This separate timer does not conflictwith any other peripherals"

   His Reply: "We are working on that at RG.Labs. Currently, we have a running FreeRTOS on an ARM, but not on an ST ARM yet. However, this is in our scheduler"

   This would be cool for robotics and for sensor networks.
   Any board members thoughts?

   Posted 5 years ago #
2. 

   crenn
   Moderator

   While it might be possible for me to do it, I've got a bit of a backlog of work to do. I'm going to be porting the Servo library and SDFat (I've only briefly looked at these, and these will require time) to Maple. I also have a project which is currently demanding of my attention as we're very close to achieving a milestone. Plus I have uni, although I'm very interested in having a RTOS because my project could really use one!

   Posted 5 years ago #
3. 

   x893
   Member

   I use reduced CooCox OS (http://coocox.org/CoOS.htm) as RTOS. It's very simple to use. Only i remove all unused codes and make it as library for maple-ide.

   Posted 5 years ago #
4. 

   leaflabsandy
   Member

   Quote: "It's very simple to use"

   Reply: From the application framework example it is very easy to use.

   Quote: "Only i remove all unused codes and make it as library for maple-ide"

   Reply: You made a Maple RTOS library or are you saying it is possible to port it?

   Posted 5 years ago #
5. 

   x893
   Member

   i make library and include it to projects. In setup section create tasks and initializations. Also define functions for task processing. I remove some functions from CooCox because i need only task switching and timers.

   Posted 5 years ago #
6. 

   crenn
   Moderator

   x893, can you make this library available for download?

   Posted 5 years ago #
7. 

   gbulmer
   Moderator

   AFAIK, there is already a FreeRTOS, ST Micro, STM32F103VB Cortex-M3 demo:
   http://www.freertos.org/index.html?http://www.freertos.org/portstm32iar.html

   Posted 5 years ago #
8. 

   poslathian
   LeafLabs

   x893, wow, great stuff. Personally I wasnt that in to the idea of an RTOS, mainly because while you get real time threading, you pay for it big time. You minimum timing constraints go from less than a microsecond (using timers and such) into the milliseconds (depending on how bloated the scheduler is). I have been shown the light, though. Perhaps this is worth doing. I thought (as gbulmer) that freertos HAD been ported to stm32, perhaps and RT ucLinux was out there too. If this is a project people are psyched about, it might be a bit of work. Perhaps we can set it up as a collab?

   Posted 5 years ago #
9. 

   leaflabsandy
   Member

   1.1.1 CoOS Features <--- by CooCox NOT FreeRTOS
   Specially designed for Cortex-M series.
   Free and open real-time Operating System.
   Scalable, minimal system kernel is only 974Byte.
   Adaptive Task Scheduling Algorithm.
   Supports preemptive priority and round-robin.
   Interrupt latency is 0.
   Semaphore, Mutex, Flag, Mailbox and Queue for communication & synchronisation
   Stack overflow detection option.
   Supports the platforms of ICCARM, ARMCC, GCC

   1.1.2 Technical Data
   Table 1.1.1 Time Specifications
   N Function Time(No Robin/Robin)
   Create defined task, no task switch 5.3us/5.8us
   Create defined task, switch task 7.5us/8.6us
   Delete task (ExitTask) 4.8us/5.2us
   Task switch (SwitchContext) 1.5us/1.5us
   Task switch (upon set flag) 7.5us/8.1us
   Task switch (upon sent semaphore) 6.3us/7.0us
   Task switch (upon sent mail) 6.1us/7.1us
   Task switch (upon sent queue) 7.0us/7.6us
   Set Flag (no task switch) 1.3us/1.3 us
   Send semaphore (no task switch) 1.6us/1.6us
   Send mail (no task switch) 1.5us/1.5us
   Send queue (no task switch) 1.8us/1.8us
   Maximum interrupt lockout for IRQ ISR's 0/0

   Description Space
   RAM Space for Kernel 168 Bytes
   Code Space for Kernel 974 Bytes
   RAM Space for a Task
   TaskStackSize + 24 Bytes(MIN)
   TaskStackSize + 48 Bytes(MAX)
   RAM Space for a Mailbox 16 Bytes
   RAM Space for a Semaphore 16 Bytes
   RAM Space for a Queue 32 Bytes
   RAM Space for a Mutex 8 Bytes
   RAM Space for a User Timer 24 Bytes

   Posted 5 years ago #
10. 

    x893
    Member

    in a native not a principal between OS - because you need only some simple primitives - switch tascking. Everything else is frippery for beginners. but now i work on port versaloon to maple and not a time for other. wait a time and all complete

    Posted 5 years ago #
11. 

    leaflabsandy
    Member

    The FreeRTOS ported to the Arduino "DUINOS" had many problems and the author had to make "special libraries" to allow the Arduino commands/functions to work with their FreeRTOS port. Coocox proved that their CoOS RTOS would work in the "native ARM 'C' language" but porting this RTOS to the Maple and having it work along with the "Arduino syntax" will prove quite challenging!
    .... x893 I wish you all the luck!

    Things like this ... AJM Quote "this is not the first spooky interaction issue between various peripherals. For instance, I have seen Timer3 destroy SerialUSB...not sure why. I'll mark this down." will have to be cleared up before any RTOS can be reliabilty applied to the Maple!

    Posted 5 years ago #
12. 

    gbulmer
    Moderator

    llandy

    The FreeRTOS ported to the Arduino "DUINOS" had many problems and the author had to make "special libraries" to allow the Arduino commands/functions to work with their FreeRTOS port. Coocox proved that their CoOS RTOS would work in the "native ARM 'C' language" but porting this RTOS to the Maple and having it work along with the "Arduino syntax" will prove quite challenging!

    As I undertsood it, some of the problems for Duinos was the small memory on the Arduino.

    I can understand that Arduinolib, or in this case, Maplelib and an RTOS conflicting over use of some peripherals, e.g. timers, and interrupts and interrupt priorities is work, but what are the problems with "Arduino syntax"? Syntax is work to fix when function names clash, with a sed script, and then update documentation, but what is left?

    Posted 5 years ago #
13. 

    gbulmer
    Moderator

    I'd like to make it easier to program robots, but I'm not yet sure that an RTOS makes it much easier for a beginner without introducing some difficult to debug behaviours.

    Personally I wasnt that in to the idea of an RTOS, mainly because while you get real time threading, you pay for it big time ... I have been shown the light, though. Perhaps this is worth doing.

    What caused you to see the light?

    My preference would be for concurrency to be 'in the language' like Erlang, or Go lang, or ...

    But (like Joan Armatrading's best opening lyric of all time - IMHO)
    "I'm open to persuasion".

    If this is a project people are psyched about, it might be a bit of work. Perhaps we can set it up as a collab?

    Once Maple compiling, USB and booting is solid, I'm up for things which help beginners do robotics and concurrent control.

    If I can't have something embedded in a language, I'd like an RTOS:
    - with lots of understandable, relevant examples.
    IMHO the Arduino examples are one of its greatest assets.
    - simple to use
    - supported by an active community of reasonable size, i.e. >> critical mass
    - small
    - efficient
    in that order.

    Posted 5 years ago #
14. 

    leaflabsandy
    Member

    Quote: "Arduino syntax"?"

    Reply: Oops ... very poor choice of words - should be RTOS conflicting with peripherals.

    On the DUINOS thread, any software bit banged peripheral caused problems. Hopefully,
    when Leaflabs have all their peripherals as "Hardware DMA driven" this would not
    be a problem?

    Posted 5 years ago #
15. 

    gbulmer
    Moderator

    On the DUINOS thread, any software bit banged peripheral caused problems.

    Okay, got ya. Thanks.

    Hopefully, when Leaflabs have all their peripherals as "Hardware DMA driven" this would not be a problem?

    Yes, hopefully.
    Either that, or the RTOS handles the peripheral, and the programming language libraries become 'thin shims' to the RTOS services.

    Posted 5 years ago #

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