Today I’ll show you leOS (little embedded Operating System), a system that can manage the background execution of little routines with customizable interval launch times using a scheduler that can start them indipendently by the main loop of the user’s program. leOS can start new tasks, pause and resume them and delete them too. All is done using a scheduler that can start tasks without the partecipation of the user so that the tasks will appear trasparent at the main loop.
To be honest, it should more correct to say that leOS is actually something that is halfway a simple prototype of a real-time operating system (RTOS) and a scheduler. In fact it doesnt have the methods to give a task a tick of time to run itself and a preemptive sistem to stop them, freeze their state and resume them in a later moment; but it’s something that is more complex and efficient of several other schedulers that just use millis() to schedule when launch a task because i.e. leOS isn’t affected by the use of delay() in the main loop. leOS uses timer 2 to manage the tasks so the user looses the PWM functionalities over pins 3 & 11. leOS can run simple tasks that don’t require excessive CPU time but it can be useful in all of those situations where the user wants to let a task run itself out of the main loop. To test leOS just download the attached package and decompress it. After that move the resulting folde /leOS inside your /libraries’ folder. Usually this folder is in /home/user/sketchbook/libraries on a Linux box and into /Documents/Arduino/libraries on a Windows system. To use leOS just include its library at the beginning of your sketch and then create a new istance of the class:
#include "leOS.h" leOS myOS;
Now you have to call the begin() method from the setup() routine, to initialize the timer used by leOS. Then you can add your tasks using the method addTask():
void setup() {
myOS.begin();
myOS.addTask(myFunction, interval[, status]);
....
}
With myFunction you pass the method the function you want to be scheduled, with interval you specify how many milliseconds have to pass between a call and the following (the maximun allowed value is 3,600,000 ms, 1 hr., but you can modify this number by editing the file leOS.cpp). yourFunction must be a routine that is inside your sketch. status is the status of the task and it can be: PAUSED, for a task that doesn’t have to start immediately; SCHEDULED (default option), for a normal task that has to start after its scheduling; ONETINE, for a task that has to run only once (read below).
To test the attached test connect 3 LEDs (with their resistors) to Arduino pins 7, 8, and 9 and then upload the sketch. You will see the 3 LEDs flashing with 3 differents times: the middle LED is driven by the code into the main loop() while the other two are managed by 2 tasks. Every 10 seconds you will see that a LED cease to flash and that after 10 seconds more it will start flashing again, to demonstrate the use of pause and restart methods. These are the other 3 methods leOS has:
myOS.removeTask(myFunction) myOS.pauseTask(myFunction); myOS.restartTask(myFunction);
It is easy to understand what those methods do, but I’ll give you a little explanation: removeTask can be used to permanently remove a task from the scheduler; pauseTask pauses a task while restartTask resume it. Don’t worry, there’s a sketch in the attached package that shows the use of these methodes.
An interesting feature are the one-time tasks, introduced since version 0.0.7. A one-time task is a task that has to run only once. After its execution, leOS will remove it from the scheduler. To set a task as a one-time task simpy add the keyword ONETIME after the interval in the addTask method:
myOS.addTask(myFunction, interval, ONETIME);
A new method to check the current status of a task has been introduced with version 1.0.0:
myOS.getTaskStatus(nomeFunzione);
It returns the status of the task using the values PAUSED, SCHEDULED, or ONETIME.
In case the user is pausing, resuming or removing a task, he has been asked to check if the status of the circuit or the code managed by the task paused, resumed or removed is coherent and compatible with the new condition: i.e., if a task was driving a transistor that was driving a circuit, the user has to foresee if the last state of the transistor will represent a critical situation for the circuit itself. But this is logic, don’t you?
Version updates & more info in the docs included in the package.
Enjoy with leOS!
leOS2
One of the most frequent appointment that I’ve found reading the messages of the users that tried leOS is about the incompatibility between the scheduler and other libraries that use timer 2: this is due to the fact that a timer can only be used by one application.
So I’ve read about the architecture of the microcontrollers I usually use and I’ve realized to use the WatchDog Timer, WDT. This circuit is usually used to reset the microcontroller if the user doesn’t reset its counter before this one has expired. This is good in critical applications where the sketch must never freeze, both for logical errors or for infinite loops caused by external factors (i.e. datas that should arrive through an ethernet or serial connection). The WatchDog is particular because it uses the internal 128 kHz oscillator as clock source, so it can operate asynchronously respect to the system clock; additionally, it can not only reset the microcontroller but it can also raise an interrupt. We can use the latter and intercept the corresponding ISR putting in it the leOS’s scheduler: in this manner the scheduler won’t use any timer of the MCU. This is leOS2.
To use leOS2 you just have to copy it into the folder /libraries that is included in your sketchs’ folder, and then add your sketch the inclusion of the library and the creation of a new instance of leOS2:
#include "leOS2.h" leOS2 myOS;
You are now ready to use leOS2 like its predecessor. Only 2 methods are changed, let’s see them in detail. Due to the fact that leOS2 is based on WDT and that this only has a fixed clock and a few prescalers, there are some limitations on the suitable intervals for a task: the minimum available interval is 16 ms, and the intervals must also be multiplies of this value. So, 16 ms represents a “tick” and the intervals must be passed to addTask() & modifyTask() in ticks and not in milliseconds as in leOS. So, addTask(function, 100) will not add a task scheduled to be run every 100 ms but every 100 ticks, or 1,600 ms. To help converting from milliseconds to ticks (if you don’t want to add a simple bit shift, i.e.: interval>>4) I’vew added a new function called convertMs() that accepts a time in milliseconds and returns the corresponding number of ticks. Here are some examples:
myOS.addTask(function1, 10); //add a task to be run every 160 ms(16 ms*10) myOS.addTask(function2, myOS.convertMs(160)); //same above, but with the conversion myOS.modifyTask(function1, myOS.convertMs(300)); //re-set function1 to 300 ms
The other methods are unchanged.
Due to the fact that leOS2 uses the WatchDog, the user can not use the Avr library wdt.h to reset the microcontroller. For this reason I’ve added a new method reset() to reset the MCU immediately:
myOS.reset(); //reset the microcontroller
leOS2 supports almost every microcontroller that is supported by the Arduino IDE, by the original core or by a third party one (i.e. the Tiny core for the Atmel Attiny microcontrollers). The only common chip that is incompatible with leOS2 is the Atmega8/A because Atmel didn’t provide it of a WDT capable to raise interrupts. In this case you have to use the first version of leOS.
leOS2 – IMPORTANT FOR ARDUINO MEGA/MEGA2560 USERS
the original bootloader flashed into the Arduino MEGA and MEGA2560 boards doesn’t deactivate the watchdog at the microcontroller’s startup so the chip will freeze itself in a neverending loop caused by eternal resets. To solve this problem, users that want to use leOS2 have to change the bootloader with one that it isn’t affected by this issue. The bootloader can be downloaded by this page.
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ydirgan
Wednesday August 29th, 2012 at 01:47 pm (UTC 1) Link to this comment
Hi,
Yout library is very interesting and simple of use. I have a Teensy 2++ board that is Arduino’s compatible. I have downloaded you library and tried to use it, but there is a compatibility issue that is checked by your code.
This is a real limitation?.
The error is:
En el fichero incluído de leOS_basic_usage.cpp:30:
/home/ydirgan/SCRIPTS/Arduino/arduino-1.0.1/libraries/leOS/leOS.h:70:2: error: #error Sorry, microcontroller not supported!
Or can the code be modified to try to compile for teensy microcontrollers?.
Regards
Leonardo Miliani
Thursday August 30th, 2012 at 05:07 pm (UTC 1) Link to this comment
The code itself doesn’t support the AT90USB1286 of the Teensy 2++, which is an AT90USB1286, isn’t it?
The library support a variety of microcontrollers that can be used with Arduino IDE due to the availability of a specific core. I didn’t have any core for AT90USB1286 so I couldn’t try leOS on it.
You can add that micro just by editing the header file of the lib (leos.h) and adding the check for it and then adding the correct settings for a timer of that micro. You have to have a little programming skill and a good knowledge of the timers/interrupts of AT90USB1286 to do that.
ydirgan
Friday August 31st, 2012 at 02:09 pm (UTC 1) Link to this comment
Grazie Leonardo,
It is a shame, but I will try to check it out and if I succeeded, I’ll let you know…
thanks!
DEHiCKA
Monday September 3rd, 2012 at 11:35 am (UTC 1) Link to this comment
Hi Leonardo!
mromani
Wednesday September 5th, 2012 at 09:32 am (UTC 1) Link to this comment
Hi Leonardo. Just tried with a NuElectronics lcd+keypad Arduino shield and it worked great.
I could even have different “tasks” write to different regions of the LCD.
I have one question: what about inter-task communication ? I looked at the code but didn’t see any specific function for this. Is it enough to use global variables ?
Thank you
Leonardo Miliani
Saturday September 8th, 2012 at 12:10 am (UTC 1) Link to this comment
leOS at the moment doesn’t support any kind of data-exchange between tasks.
You can try with global variables. I suggest you to use the “volatile” keyword so that the compiler won’t optimize their management inside the ISRs
mromani
Saturday September 8th, 2012 at 10:04 pm (UTC 1) Link to this comment
Thank you for your answer, and for reminding me of the “volatile” keyword
tochinet
Thursday October 4th, 2012 at 04:12 pm (UTC 1) Link to this comment
Great small OS. I’d want to integrate it with the “SWAP” stack made by Daniel Berenguer for its small panstamps wireless sensor nodes (see http://www.panstamp.org/forum/showthread.php?tid=111 ). That’s going to be a really winning combination IMHO. I’ll keep you posted of my progress.
3dotter
Saturday January 19th, 2013 at 05:33 pm (UTC 1) Link to this comment
Hi Leonardo,
Great OS! I like the time tasks approach. It would be great if your LeOS could pick up tasks from a (u)SD card. Will such be possible in the future?
Best wishes,
3dotter
Leonardo Miliani
Monday January 21st, 2013 at 03:59 pm (UTC 1) Link to this comment
To do that, you need an interpreter language like Bitlash:
http://bitlash.net/
it can executes script programs so you can set your board to load up the sketch/es from an external SD.
mar.conte
Wednesday January 30th, 2013 at 08:23 pm (UTC 1) Link to this comment
Salve volevo sapere con un atmega1284 quanti task si possono i stanziare contemporaneamente? Faccio questa domanda perché ho inserito due addtask e mi si resetta con uno no grazie
Leonardo Miliani
Wednesday January 30th, 2013 at 11:17 pm (UTC 1) Link to this comment
La lib è preimpostata per gestire fino a 10 task, anche se il numero è modificabile nel file .cpp.
Mi suona strano che con 2 task il 1284 si resetti, ho fatto dei test in queste ultime ore con 2 blink proprio su un 1284 (sto provando la programmazione via bootloader con un altro bootloader). Che c’è nel secondo task?
mar.conte
Thursday January 31st, 2013 at 10:50 am (UTC 1) Link to this comment
nel secondo task richiamo una funzione chiamata temp che mi calcola su a0 la temperatura di un sensore temp
Una volta ottenuta la temperatura nel task inviò sms rs
Secondo_task()
{
Temp();//chiedo alla A0 valore
InvioSms( temperatura);// inviò valore tramite serial1 ad un modulo sim900
}
Non ho il codice sottomano ma in sintesi è quello sopra descritto grazie a presto
khriss.com leOS, un sistema operativo essenziale per Arduino da Leonardo Miliani | khriss.com
Thursday August 30th, 2012 at 09:35 am (UTC 1) Link to this comment
[...] System (leOS) è un progetto di Leonardo Miliani, un programmatore fiorentino, e consiste in una specie di sistema operativo in C per gestire l’esecuzione del codice su Arduino. Lo stesso Miliani premette che la [...]