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Embedded SystemsLab 4- FS 201910.4.2019Romain Jacob, Philipp Miedl
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 1
Goals
Writing FreeRTOS task
Combining FreeRTOS tasks and queues
Interrupts with FreeRTOS
Interactive acceleration sensor application
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 2
Sensors BoosterPack
Connect the two boards correctlyOrientation of text should match! Otherwisethey can be damaged!Press firmly to connect the two boards. Theprogram will not work with a bad connection.
The Sensors BoosterPack boards have to bereturned at the end of this lab session!
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 3
Acceleration Sensor / Gyroscope
Bosch BMI160 inertial measurement unitAcceleration Sensor: Provides 3Dacceleration measurementsGyroscope Sensor: Provides attitude(tilting) relative to the gravitationalacceleration vectorBMI160 Sensor provides no informationabout horizontal orientation (no compass)
https://www.bosch- sensortec.com/bst/products/all_products/bmi160
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 4
Application Overview
sensor_data_t attitude_data_t
xSensorTaskHandle xSensorQueueHandle xProcessingTaskHandle xPrintQueueHandle xPrintTaskHandle
Sensor Readsensor_task_param_t
Data Processing
processing_task_param_t
UART Printprint_task_param_t
Button Interrupts
calibration: set or reset
the sensor offset valueattitude_data_t
xLedQueueHandle xLedTaskHandle
LED Outputled_task_param_t
Application Tasks (given/to implement)
Application Queues (to implement)
x###Handle
###_t
Tasks/Queue Handles (existing, to assign)
Queue Data/Task Parameter Structures (given)
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 5
Coordinate System
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 6
Return the LaunchPads!Last lecture (29.5.2019)
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 7
Tasks
Task 1: Connect FreeRTOS Tasks
Task 2: Implement Processing Task
Task 3: Interrupts in FreeRTOS [optional]
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 8
Lab 4
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory
Romain Jacob, Philipp Miedl 10.4.2019 Page 1 of 2
Questions?
Romain JacobETZ G75+41 44 632 70 [email protected]
Philipp MiedlETZ G76+41 44 632 70 [email protected]
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory Romain Jacob, Philipp Miedl 10.4.2019 9
Lab 4
Institut für Technische Informatikund KommunikationsnetzeComputer Engineering andNetworks Laboratory
Romain Jacob, Philipp Miedl 10.4.2019 Page 2 of 2
