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# Cours A1
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## Cours/TP 12/10
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Injection de fautes, exploiter les failles.
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Mecanismes cryptographiques, algo mathematiquement robustes. Quand on veut les implémenter, ils peuvent êtres soumis à différentes attaques.
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Attaque par injection de code. (Injecter des données, qui peuvent correspondre à du code donné, exploitation de bug dans le code logiciel)
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Attaque par canaux auxiliaires. (temps d'execution, consommation elec, connexion)
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Raison d'optimisation (multiplication), multiplier par 0 -> pas de calcul, temps de calcul très long donc si secret = 0, temps de calcul court.
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Attaque physique. (Ouvrir le circuit, sonder (microprobing) entre la mémoire et le processeur, FIB ?)
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Certaines attaques nécessitent le composant physique, d'autres à distances (marron et bleu p4)
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Tirs lasers pour modifier la mémoire, injecter des fautes.
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p9. nécessite une précision en cycle processeur très grande. Il faut cibler une ou quelques cycles.
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p10. Algo plus connus/utilisé.
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Evaluation : QCM sur toutes les parties. (qu'est-ce qu'une attaque etc... Contres mesures et classification) Dans quel cas on utilise certaines contre mesure et dans cette attaque là quelle contre mesure utiliser ?
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p12. CRC pour protéger les CSP (critical security parameters) pour éviter de changer les p,q qui sont premiers.
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p14. On faute l'exposant d_i de proche en proche pour obtenir les m_i
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p15. Contre mesure = rajouter un produit avec un nombre aléatoire (Stratégie Résilience)
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Vérification de valeur -> Stratégie détection
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p19. On déplace l'instant d'exécution de l'instruction sensible -> Observation de la consommation électrique
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On peut rajouter des capteurs (lumière pour l'ouverture de la puce, f_clk pour le downclocking pour observer les signaux)
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### TD
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Q1 Donner l'équation de R_16 en fonction de R_15 et L_15
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R_16 = L_15 ^ f(R_15,K_16) #f(.,.) p40
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f(R_15,K_16) = P(S_1-8(E(R_15) ^ K_16))
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Q2 Entrée R_15 fautée : R_15'
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R_16' = L_15' ^ P(S_1-8(E(R_15') ^ K_16))
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Q3 Delta(R_16) = R_16 ^ R_16'
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= Delta(L_15) ^ P(a) ^ P(b)
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= Delta(L_15) ^ P(S_1-8(E(R_15) ^ K_16) ^ S_1-8(E(R_15') ^ K_16))
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Q4
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Connues : R_16, R_15 = L_16 et R_15' = L_16'
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Inconnues : Delta(L_15) et K_16
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On veut Delta(L_15) = 0 donc ne pas toucher L_15 lors de la faute.
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Q5
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P⁻¹(Delta(R_16)) = S_1-8(E(R_15) ^ K_16) ^ S_1-8(E(R_15') ^ K_16)
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On teste les clés K_16 pour avoir égalité des deux côtés, si elle c'est vérifié, la clé est une candidate.
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Défi 4 :
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Q1
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P⁻¹_1(Delta(R_16)) = S_1(E(R_15) ^ K_16,1) ^ S_1(E(R_15') ^ K_16,1)
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## 19/10 Side-Channel Analysis
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p9: ce qu'on attaque, c'est pas l'algo, c'est l'implémentation de celui-ci
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p9: ce qu'on attaque, c'est pas l'algo, c'est l'implémentation de celui-ci.
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p10: 10000 essais en force brute, 40 avec canal auxiliaire en regardant le temps d'exécution et sa variation pour chaque digit.
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p15: le pic de courant indique le nombre de portes logiques qui ont changé d'état
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p58: Si on a pas de connaissances à priori sur le système, on regarde une fenetre temporelle élevée pour déterminer la trace. On réduit la fenêtre quand on cible l'attaque.
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@ -0,0 +1,13 @@
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export PATH := $(PATH):/infres/ir600/users/brandner/patmos-misc/local/bin/
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OWCET=owcet
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.PHONY: analyse clean
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analyse: heli heli.ff patmos_wcet.osx patmos_wcet/caches.xml patmos_wcet/memory.xml patmos_wcet/pipeline.xml
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@mkdir -p out
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$(OWCET) -f heli.ff -s patmos_wcet.osx heli
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clean:
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rm -rf out
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Binary file not shown.
@ -0,0 +1,29 @@
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//**** jumptable (source: llvm)
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// TODO: find corresponding C and assembly code (Exercise 1).
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multibranch 0x20b00 to "processSensorData"+0x70,
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"processSensorData"+0x1b0,
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"processSensorData"+0x320,
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"processSensorData"+0x460;
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//****
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loop "main"+0x4c 32;
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loop "main"+0x150 10; // assumed bound
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//****
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// TODO: find tighter loop bound, later, specify loop bounds depending on
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// calling context (Exercise 2).
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loop "fixFilter"+0x24 10000;
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//****
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loop "calibrateArom"+0x48 128;
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loop "calibrateArom"+0xf0 128;
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loop "calibrateArom"+0x190 128;
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//****
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loop "processSensorData"+0xb8 8;
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loop "processSensorData"+0x214 32;
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loop "processSensorData"+0x384 32;
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loop "processSensorData"+0x4c0 32;
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//****
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loop "runFlightPlan"+0x1bc 1; // watchdog loop
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@ -0,0 +1,5 @@
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#!/bin/bash
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export PATH=$PATH:/infres/ir600/users/brandner/patmos-misc/local/bin/
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export LD_LIBRARY_PATH=$LD_LIBARY_PATH:/infres/ir600/users/brandner/patmos-misc/local/lib/
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@ -0,0 +1,35 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<otawa-script
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xmlns:xi="http://www.w3.org/2001/XInclude"
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xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
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<platform>
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<xi:include href="patmos_wcet/pipeline.xml"/>
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<xi:include href="patmos_wcet/memory.xml"/>
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<xi:include href="patmos_wcet/caches.xml"/>
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</platform>
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<script>
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<config name="otawa::ILPNAME" value="out/ipet.lp"/>
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<config name="otawa::ipet::EXPLICIT" value="true"/>
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<!-- TODO: uncomment the following line (Exercise 2) /> -->
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<!-- <step require="otawa::VIRTUALIZED_CFG_FEATURE" /> -->
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<step processor="tcrest::patmos_wcet::BBTimer">
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<config name="otawa::GRAPHS_OUTPUT_DIRECTORY" value="out"/>
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</step>
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<!-- WCET computation -->
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<step require="tcrest::patmos::METHOD_CACHE_CONTRIBUTION_FEATURE"/>
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<step require="otawa::ipet::WCET_FEATURE"/>
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<step processor="otawa::ipet::WCETCountRecorder"/>
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<step processor="otawa::display::CFGOutput">
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<config name="otawa::display::CFGOutput::PATH" value="out"/>
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</step>
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<!-- TODO: uncomment the following line (Exercise 4) /> -->
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<!-- <step processor="otawa::BBRatioDisplayer" /> -->
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</script>
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</otawa-script>
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@ -0,0 +1,15 @@
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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<cache-config>
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<dcache>
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<block_bits>5</block_bits>
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<way_bits>2</way_bits>
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<row_bits>9</row_bits>
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<miss_penalty>25</miss_penalty>
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</dcache>
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<icache>
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<block_bits>5</block_bits>
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<way_bits>2</way_bits>
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<row_bits>9</row_bits>
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<miss_penalty>25</miss_penalty>
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</icache>
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</cache-config>
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@ -0,0 +1,14 @@
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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<memory>
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<banks>
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<bank>
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<name>RAM</name>
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<address><offset>0x00000000</offset></address>
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<size>0x1fffffff</size>
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<type>DRAM</type>
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<latency>25</latency>
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<writable>true</writable>
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<cachable>true</cachable>
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</bank>
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</banks>
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</memory>
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@ -0,0 +1,54 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<processor class="otawa::hard::Processor">
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<arch>patmos</arch>
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<model>patmos</model>
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<stages>
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<stage id="FE">
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<name>FE</name>
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<width>2</width>
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<type>FETCH</type>
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</stage>
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<stage id="DE">
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<name>DE</name>
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<width>2</width>
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<type>LAZY</type>
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</stage>
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<stage id="EX">
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<name>EX</name>
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<width>2</width>
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<type>EXEC</type>
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<ordered>true</ordered>
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<fus>
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<fu id="ALU">
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<name>ALU</name>
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<width>2</width>
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<latency>1</latency>
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</fu>
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</fus>
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<dispatch>
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<inst>
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<type/>
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<fu ref="ALU"/>
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</inst>
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</dispatch>
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</stage>
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<stage id="MEM">
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<name>MEM</name>
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<width>2</width>
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<type>LAZY</type>
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</stage>
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<stage id="CM">
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<name>CM</name>
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<width>2</width>
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<type>COMMIT</type>
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</stage>
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</stages>
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</processor>
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@ -0,0 +1,416 @@
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// helico.c
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// this code is inspired from: http://people.ece.cornell.edu/land/courses/ece4760/FinalProjects/s2006/rg242/webpage/ece%20476.htm
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#include "io.h"
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// define sensor channels
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#define GYRO_CHANNEL 0
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#define AROMX_CHANNEL 1
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#define AROMY_CHANNEL 2
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#define AROMZ_CHANNEL 3
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char currentChannel = GYRO_CHANNEL;
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// define Helicopter states
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#define GROUND 0
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#define LANDING 1
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#define TAKEOFF 2
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#define HOVER 3
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char heliState = GROUND;
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// define flight phases
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#define TAKEOFF_START 5
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#define HOVER_START 23
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#define LANDING_START 299
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#define LANDING_END 400
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#define GROUNDED_START 410
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// define motor speeds
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#define MINIMUM_PWM_VALUE 0
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#define MAXIMUM_ROTOR_PWM_VALUE (100<<8)
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#define MARKS_PER_SEC 1600
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int pwm_ticks = 0;
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int marks = 0;
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volatile int sec = 0;
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#define MAX_TAKEOFF_MOTOR_SPEED (95<<8)
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#define TAKEOFF_ROTOR_SPEED_INCR 16
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#define ROTOR_SPEED_INCR 8
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#define HOVER_ROTOR_SPEED_INCR_HIGH 2
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#define HOVER_ROTOR_SPEED_INCR_LOW 5
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#define MAX_STAB_MOTOR_SPEED (60<<8)
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#define MIN_STAB_MOTOR_SPEED 0
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#define STAB_SPEED_INCR 256
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#define MIN_LANDING_ROTOR_SPEED (50<<8)
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#define LANDING_ROTOR_SPEED_INCR 1
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int topRotorSpeed = 0;
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int bottomRotorSpeed = 0;
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int stabMotorSpeed1 = 0;
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int stabMotorSpeed2 = 0;
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int stabMotorSpeed3 = 0;
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// ADC
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char data_in;
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#define ADMUX_GYRO 0b01100000
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#define ADMUX_AROMX 0b01100001
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#define ADMUX_AROMY 0b01100010
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#define ADMUX_AROMZ 0b01100011
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// Sensors
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uint8_t gyroCalibrateThresholdLow;
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uint8_t gyroCalibrateThresholdHigh;
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uint8_t aromXCalibrateThresholdLow;
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uint8_t aromXCalibrateThresholdHigh;
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uint8_t aromYCalibrateThresholdLow;
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uint8_t aromYCalibrateThresholdHigh;
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uint8_t aromZCalibrateThresholdLow;
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uint8_t aromZCalibrateThresholdHigh;
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uint8_t gyro[32];
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uint8_t aromX[128];
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uint8_t aromY[128];
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uint8_t aromZ[128];
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void updatePWM(void);
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void processSensorData(void) __attribute__((noinline));
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void runFlightPlan(void) __attribute__((noinline));
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void calibrateGyro(void);
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void calibrateArom(void);
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uint8_t fixFilter(uint8_t *f, int size) __attribute__((noinline));
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void addSample(uint8_t *f, int size, uint8_t value);
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void timer_interrupt(void){
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pwm_ticks++;
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marks++;
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if (marks == MARKS_PER_SEC){
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sec++;
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marks = 0;
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}
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updatePWM();
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}
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void updatePWM(void){
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char command = 0;
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int ticks = pwm_ticks << 8;
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// generate PWM command for the 5 motors
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if (ticks <= topRotorSpeed)
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command |= PIN0;
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if (ticks <= bottomRotorSpeed)
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command |= PIN1;
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if (ticks <= stabMotorSpeed1)
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command |= PIN2;
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if (ticks <= stabMotorSpeed2)
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command |= PIN3;
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if (ticks <= stabMotorSpeed3)
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command |= PIN4;
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PORTC = command;
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if (ticks == MAXIMUM_ROTOR_PWM_VALUE)
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pwm_ticks = 0;
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}
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int main(void){
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calibrateGyro();
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calibrateArom();
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// start
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topRotorSpeed = 0;
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bottomRotorSpeed = 0;
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stabMotorSpeed1 = 0;
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stabMotorSpeed2 = 0;
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stabMotorSpeed3 = 0;
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sec = 0;
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static volatile int x = 1;
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__llvm_pcmarker(31);
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while (x) {
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__llvm_pcmarker(32);
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if ( (ADCSR & PIN6) == 0) { // end of ADC conversion
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processSensorData();
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__llvm_pcmarker(33);
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}
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runFlightPlan();
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}
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}
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void runFlightPlan(void){
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// take off
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if (sec <= TAKEOFF_START){
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heliState = TAKEOFF;
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topRotorSpeed += TAKEOFF_ROTOR_SPEED_INCR;
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if (topRotorSpeed > MAX_TAKEOFF_MOTOR_SPEED)
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topRotorSpeed = MAX_TAKEOFF_MOTOR_SPEED;
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bottomRotorSpeed += TAKEOFF_ROTOR_SPEED_INCR;
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if (bottomRotorSpeed > MAX_TAKEOFF_MOTOR_SPEED)
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bottomRotorSpeed = MAX_TAKEOFF_MOTOR_SPEED;
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}
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// hover
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if (sec == HOVER_START)
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heliState = HOVER;
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// landing
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if (sec == LANDING_START){
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heliState = LANDING;
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stabMotorSpeed1 = 0;
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stabMotorSpeed2 = 0;
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stabMotorSpeed3 = 0;
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}
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if ( (sec > LANDING_START) && (sec <= LANDING_END) ){
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topRotorSpeed -= LANDING_ROTOR_SPEED_INCR;
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if (topRotorSpeed < MIN_LANDING_ROTOR_SPEED)
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topRotorSpeed = MIN_LANDING_ROTOR_SPEED;
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bottomRotorSpeed -= LANDING_ROTOR_SPEED_INCR;
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if (bottomRotorSpeed < MIN_LANDING_ROTOR_SPEED)
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bottomRotorSpeed = MIN_LANDING_ROTOR_SPEED;
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}
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// grounded
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if(sec >= GROUNDED_START){
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heliState = GROUND;
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WDTCR = 0x08; //enable watchdog
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while (1) ; //just wait for watchdog to reset machine
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}
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}
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void processSensorData(void){
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char filtered_data;
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char data_in_last;
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data_in_last = data_in;
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data_in = ADCH;
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switch (currentChannel) {
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case GYRO_CHANNEL:
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// start conversion for next channel
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currentChannel = AROMX_CHANNEL;
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ADMUX = ADMUX_AROMX;
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ADCSR = ADCSR | PIN6;
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addSample(gyro, 5, data_in);
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filtered_data = fixFilter(gyro,5);
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if (filtered_data < gyroCalibrateThresholdLow) {
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topRotorSpeed += ROTOR_SPEED_INCR;;
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if (topRotorSpeed > MAXIMUM_ROTOR_PWM_VALUE)
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topRotorSpeed = MAXIMUM_ROTOR_PWM_VALUE;
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bottomRotorSpeed -= ROTOR_SPEED_INCR;
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if (bottomRotorSpeed < MINIMUM_PWM_VALUE)
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bottomRotorSpeed = MINIMUM_PWM_VALUE;
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}
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else
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if (filtered_data > gyroCalibrateThresholdHigh) {
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topRotorSpeed -= ROTOR_SPEED_INCR;
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if (topRotorSpeed < MINIMUM_PWM_VALUE)
|
||||
topRotorSpeed = MINIMUM_PWM_VALUE;
|
||||
bottomRotorSpeed += ROTOR_SPEED_INCR;
|
||||
if (bottomRotorSpeed > MAXIMUM_ROTOR_PWM_VALUE)
|
||||
bottomRotorSpeed = MAXIMUM_ROTOR_PWM_VALUE;
|
||||
}
|
||||
break;
|
||||
|
||||
|
||||
case AROMX_CHANNEL:
|
||||
// start conversion for next channel
|
||||
currentChannel = AROMY_CHANNEL;
|
||||
ADMUX = ADMUX_AROMY;
|
||||
ADCSR |= PIN6;
|
||||
|
||||
if (heliState == HOVER) {
|
||||
|
||||
__llvm_pcmarker(21);
|
||||
addSample(aromX,7,data_in);
|
||||
filtered_data = fixFilter(aromX,7);
|
||||
|
||||
if (filtered_data < aromXCalibrateThresholdLow) {
|
||||
stabMotorSpeed1 -= STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed1 < MIN_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed1 = MIN_STAB_MOTOR_SPEED;
|
||||
stabMotorSpeed2 += STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed2 > MAX_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed2 = MAX_STAB_MOTOR_SPEED;
|
||||
stabMotorSpeed3 += STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed3 > MAX_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed3 = MAX_STAB_MOTOR_SPEED;
|
||||
}
|
||||
else if (filtered_data > aromXCalibrateThresholdHigh) {
|
||||
stabMotorSpeed1 += STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed1 > MAX_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed1 = MAX_STAB_MOTOR_SPEED;
|
||||
stabMotorSpeed2 -= STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed2 < MIN_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed2 = MIN_STAB_MOTOR_SPEED;
|
||||
stabMotorSpeed3 -= STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed3 < MIN_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed3 = MIN_STAB_MOTOR_SPEED;
|
||||
}
|
||||
else {
|
||||
stabMotorSpeed1 -= STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed1 < MIN_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed1 = MIN_STAB_MOTOR_SPEED;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case AROMY_CHANNEL:
|
||||
// starting new conversion
|
||||
currentChannel = AROMZ_CHANNEL;
|
||||
ADMUX = ADMUX_AROMZ;
|
||||
ADCSR |= PIN6;
|
||||
|
||||
if (heliState == HOVER){
|
||||
|
||||
__llvm_pcmarker(22);
|
||||
addSample(aromY, 7, data_in);
|
||||
filtered_data = fixFilter(aromY,7);
|
||||
|
||||
if (filtered_data < aromYCalibrateThresholdLow) {
|
||||
stabMotorSpeed2 += STAB_SPEED_INCR*4;
|
||||
if (stabMotorSpeed2 > MAX_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed2 = MAX_STAB_MOTOR_SPEED;
|
||||
stabMotorSpeed3 -= STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed3 < MIN_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed3 = MIN_STAB_MOTOR_SPEED;
|
||||
}
|
||||
else if (filtered_data > aromYCalibrateThresholdHigh) {
|
||||
stabMotorSpeed2 -= STAB_SPEED_INCR*2;
|
||||
if (stabMotorSpeed2 < MIN_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed2 = MIN_STAB_MOTOR_SPEED;
|
||||
stabMotorSpeed3 += STAB_SPEED_INCR*4;
|
||||
if (stabMotorSpeed3 > MAX_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed3 = MAX_STAB_MOTOR_SPEED;
|
||||
}
|
||||
else {
|
||||
stabMotorSpeed2 -= STAB_SPEED_INCR;
|
||||
if (stabMotorSpeed2 < MIN_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed2 = MIN_STAB_MOTOR_SPEED;
|
||||
stabMotorSpeed3 -= STAB_SPEED_INCR;
|
||||
if (stabMotorSpeed3 < MIN_STAB_MOTOR_SPEED)
|
||||
stabMotorSpeed3 = MIN_STAB_MOTOR_SPEED;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case AROMZ_CHANNEL:
|
||||
// Starting new conversion
|
||||
currentChannel = GYRO_CHANNEL;
|
||||
ADMUX = ADMUX_GYRO;
|
||||
ADCSR |= PIN6;
|
||||
|
||||
if (heliState == HOVER){
|
||||
|
||||
__llvm_pcmarker(23);
|
||||
addSample(aromZ, 7, data_in);
|
||||
filtered_data = fixFilter(aromZ,8);
|
||||
|
||||
if (filtered_data > aromZCalibrateThresholdHigh){
|
||||
topRotorSpeed -= HOVER_ROTOR_SPEED_INCR_HIGH;
|
||||
if (topRotorSpeed < MINIMUM_PWM_VALUE)
|
||||
topRotorSpeed = MINIMUM_PWM_VALUE;
|
||||
bottomRotorSpeed -= HOVER_ROTOR_SPEED_INCR_HIGH;
|
||||
if (bottomRotorSpeed < MINIMUM_PWM_VALUE)
|
||||
bottomRotorSpeed = MINIMUM_PWM_VALUE;
|
||||
}
|
||||
else if (filtered_data == aromZCalibrateThresholdLow){
|
||||
topRotorSpeed += HOVER_ROTOR_SPEED_INCR_LOW;
|
||||
if (topRotorSpeed > MAXIMUM_ROTOR_PWM_VALUE)
|
||||
topRotorSpeed = MAXIMUM_ROTOR_PWM_VALUE;
|
||||
bottomRotorSpeed += HOVER_ROTOR_SPEED_INCR_LOW;
|
||||
if(bottomRotorSpeed > MAXIMUM_ROTOR_PWM_VALUE)
|
||||
bottomRotorSpeed = MAXIMUM_ROTOR_PWM_VALUE;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void calibrateGyro(void) {
|
||||
char gyroCalibrate;
|
||||
int i;
|
||||
|
||||
ADMUX = ADMUX_GYRO;
|
||||
ADCSR = 0b11000110;
|
||||
|
||||
for (i=0; i<31; i++){
|
||||
gyro[i] = ADCH;
|
||||
ADCSR |= PIN6;;
|
||||
}
|
||||
gyro[31] = ADCH;
|
||||
|
||||
gyroCalibrate = fixFilter(gyro,5);
|
||||
gyroCalibrateThresholdLow = gyroCalibrate - 1;
|
||||
gyroCalibrateThresholdHigh = gyroCalibrate + 1;
|
||||
}
|
||||
|
||||
void calibrateArom(void){
|
||||
char aromCalibrate;
|
||||
int i;
|
||||
|
||||
ADMUX = ADMUX_AROMX;
|
||||
ADCSR |= PIN6;
|
||||
|
||||
for (i=0; i<127; i++){
|
||||
aromX[i] = ADCH;
|
||||
ADCSR |= PIN6;
|
||||
}
|
||||
aromX[127] = ADCH;
|
||||
aromCalibrate = fixFilter(aromX,7);
|
||||
aromXCalibrateThresholdLow = aromCalibrate;
|
||||
aromXCalibrateThresholdHigh = aromCalibrate + 1;
|
||||
|
||||
ADMUX = ADMUX_AROMY;
|
||||
ADCSR |= PIN6;
|
||||
|
||||
for (i=0; i<127; i++){
|
||||
aromY[i] = ADCH;
|
||||
ADCSR |= PIN6;
|
||||
}
|
||||
aromY[127] = ADCH;
|
||||
aromCalibrate = fixFilter(aromY,7);
|
||||
aromYCalibrateThresholdLow = aromCalibrate;
|
||||
aromYCalibrateThresholdHigh = aromCalibrate;
|
||||
|
||||
ADMUX = ADMUX_AROMZ;
|
||||
ADCSR |= PIN6;
|
||||
|
||||
for (i=0; i<127; i++){
|
||||
aromZ[i] = ADCH;
|
||||
ADCSR |= PIN6;
|
||||
}
|
||||
aromZ[127] = ADCH;
|
||||
aromCalibrate = fixFilter(aromZ,7);
|
||||
aromZCalibrateThresholdLow = aromCalibrate;
|
||||
aromZCalibrateThresholdHigh = aromCalibrate + 3;
|
||||
|
||||
ADMUX = ADMUX_GYRO;
|
||||
ADCSR |= PIN6;
|
||||
|
||||
}
|
||||
|
||||
uint8_t fixFilter(uint8_t *f, int size){
|
||||
int i;
|
||||
int length = 1 << size;
|
||||
int sum = 0;
|
||||
for(i = 0; i < length; i++){
|
||||
sum = sum + f[i];
|
||||
}
|
||||
// divide by length
|
||||
sum = sum >> size;
|
||||
return sum;
|
||||
}
|
||||
|
||||
void addSample(uint8_t *f, int size, uint8_t value){
|
||||
int i;
|
||||
int length = 1 << size;
|
||||
for (i = 0;i < length; i++){
|
||||
f[i] = f[i+1];
|
||||
}
|
||||
f[length-1] = value;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,23 @@
|
||||
/**************** io.h **************/
|
||||
typedef unsigned char uint8_t;
|
||||
|
||||
#define _SFR_BASE 0xF0000
|
||||
#define _SFR_MEM8(mem_addr) (*(volatile uint8_t *)(mem_addr + _SFR_BASE))
|
||||
|
||||
#define ADCH _SFR_MEM8(0x05)
|
||||
#define ADCSR _SFR_MEM8(0x06)
|
||||
#define ADMUX _SFR_MEM8(0x07)
|
||||
#define PIND _SFR_MEM8(0x10)
|
||||
#define PORTD _SFR_MEM8(0x12)
|
||||
#define PORTC _SFR_MEM8(0x15)
|
||||
#define WDTCR _SFR_MEM8(0x31)
|
||||
|
||||
|
||||
#define PIN0 0x1
|
||||
#define PIN1 0x2
|
||||
#define PIN2 0x4
|
||||
#define PIN3 0x8
|
||||
#define PIN4 0x10
|
||||
#define PIN5 0x20
|
||||
#define PIN6 0x40
|
||||
#define PIN7 0x80
|
||||
@ -0,0 +1,128 @@
|
||||
{
|
||||
"cells": [
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"# Cours D3\n",
|
||||
"\n",
|
||||
"## Cours Méthodes d'analyse non supervisées\n",
|
||||
"\n",
|
||||
"Exemple de clustering complete linkage :\n",
|
||||
"On prend 4 singletons avec leur matrice de dissimilarité."
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 1,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"import numpy as np"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 4,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"[[0. 0.3 0.4 0.8 ]\n",
|
||||
" [0.3 0. 0.5 0.8 ]\n",
|
||||
" [0.4 0.5 0. 0.45]\n",
|
||||
" [0.8 0.8 0.45 0. ]]\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"D = np.array([[0, 0.3, 0.4, 0.7],[0, 0, 0.5, 0.8],[0, 0, 0, 0.45],[0, 0, 0, 0]])\n",
|
||||
"D += D.T\n",
|
||||
"print(D)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"On link les 2 clusters les plus proches (a,b) donc on prend le max de différence entre (a,b) et c et d."
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 7,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"[[0. 0.5 0.8 ]\n",
|
||||
" [0.5 0. 0.45]\n",
|
||||
" [0.8 0.45 0. ]]\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"D2 = np.array([[0, 0.5, 0.8],[0.5, 0, 0.45],[0.8, 0.45, 0]])\n",
|
||||
"print(D2)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"On coupe au saut le plus important sur le dendrogramme (on continu jusqu'a avoir K-clusters)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 9,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"[[0. 0.8]\n",
|
||||
" [0.8 0. ]]\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"# (a,b,c) et d\n",
|
||||
"D3 = np.array([[0, 0.8],[0.8,0]])\n",
|
||||
"print(D3)"
|
||||
]
|
||||
}
|
||||
],
|
||||
"metadata": {
|
||||
"kernelspec": {
|
||||
"display_name": "Python 3.8.10 64-bit",
|
||||
"language": "python",
|
||||
"name": "python3"
|
||||
},
|
||||
"language_info": {
|
||||
"codemirror_mode": {
|
||||
"name": "ipython",
|
||||
"version": 3
|
||||
},
|
||||
"file_extension": ".py",
|
||||
"mimetype": "text/x-python",
|
||||
"name": "python",
|
||||
"nbconvert_exporter": "python",
|
||||
"pygments_lexer": "ipython3",
|
||||
"version": "3.8.10"
|
||||
},
|
||||
"orig_nbformat": 4,
|
||||
"vscode": {
|
||||
"interpreter": {
|
||||
"hash": "31f2aee4e71d21fbe5cf8b01ff0e069b9275f58929596ceb00d14d90e3e16cd6"
|
||||
}
|
||||
}
|
||||
},
|
||||
"nbformat": 4,
|
||||
"nbformat_minor": 2
|
||||
}
|
||||
File diff suppressed because one or more lines are too long
@ -0,0 +1,9 @@
|
||||
# Optimisation robot
|
||||
Trouver meilleurs compromis performance/consommation.
|
||||
Répartition sur 5/6 groupes.
|
||||
On peut commencer dès que les groupes sont faits.
|
||||
|
||||
|
||||
## Jetson
|
||||
Pour optimiser le code, il faut connaître le matériel.
|
||||
Faire beaucoup de doc et de tests :)
|
||||
@ -0,0 +1,14 @@
|
||||
|
||||
|
||||
|
||||
@article{Ref,
|
||||
author = "",
|
||||
title = "",
|
||||
journal = "",
|
||||
volume = "",
|
||||
number = "",
|
||||
pages = "",
|
||||
year = "",
|
||||
DOI = "",
|
||||
keywords = ""
|
||||
}
|
||||
@ -0,0 +1,69 @@
|
||||
|
||||
% -------------------- Plot --------------------
|
||||
|
||||
\begin{figure}[ht]
|
||||
\centering
|
||||
\includegraphics[width = 0.3\linewidth]{}
|
||||
\caption{}
|
||||
\end{figure}
|
||||
|
||||
% -------------------- Subplot --------------------
|
||||
|
||||
\begin{figure}[ht]
|
||||
\centering
|
||||
\begin{subfigure}[b]{0.4\textwidth}
|
||||
\includegraphics[width = \linewidth]{}
|
||||
\caption{}
|
||||
\end{subfigure}
|
||||
\hfill
|
||||
\begin{subfigure}[b]{0.4\textwidth}
|
||||
\includegraphics[width = \linewidth]{}
|
||||
\caption{}
|
||||
\end{subfigure}
|
||||
\caption{}
|
||||
\end{figure}
|
||||
|
||||
% -------------------- Bullet list --------------------
|
||||
|
||||
\begin{list}{\textbullet}{}
|
||||
|
||||
\end{list}
|
||||
|
||||
% -------------------- Code matlab --------------------
|
||||
|
||||
\begin{minted}[linenos, breaklines, frame = single]{matlab}
|
||||
|
||||
\end{minted}
|
||||
|
||||
% -------------------- Separate the sheet into smaller sheets ----------------
|
||||
|
||||
\begin{minipage}{0.55\linewidth}
|
||||
|
||||
\end{minipage}\hfill
|
||||
\begin{minipage}{0.45\linewidth}
|
||||
\begin{figure}[H]
|
||||
\centering
|
||||
\includegraphics[width = 0.3\linewidth]{TitlePage/ens_logo.png}
|
||||
\caption{}
|
||||
\end{figure}
|
||||
\end{minipage}
|
||||
|
||||
% ------------------- Biblio ------------------
|
||||
|
||||
@article{Ref,
|
||||
author = "",
|
||||
title = "",
|
||||
journal = "",
|
||||
volume = "",
|
||||
number = "",
|
||||
pages = "",
|
||||
year = "",
|
||||
DOI = "",
|
||||
keywords = ""
|
||||
}
|
||||
|
||||
@misc{ref,
|
||||
author = "",
|
||||
title = "",
|
||||
url = {}
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 14 KiB |
@ -0,0 +1,48 @@
|
||||
\begin{titlepage}
|
||||
\makeatletter
|
||||
\begin{center}
|
||||
|
||||
% ------- Main logo --------
|
||||
\null\vspace{1.1cm}
|
||||
\includegraphics[width=.65\linewidth]{\@mainlogo}\\[2cm]
|
||||
|
||||
% ------ Project type ------
|
||||
\ifdefined \@field {\large \@field}\\[0.2\baselineskip] \fi
|
||||
\ifdefined \@project {\large \@project}\\ \fi
|
||||
\vspace{.65cm}
|
||||
|
||||
% ------- Top rule --------
|
||||
\hrule width \hsize height .5mm % Thick horizontal rule
|
||||
\vspace{.035\textheight} % White space between the top rule and title
|
||||
|
||||
% --------- Title ----------
|
||||
\begin{minipage}{.85\textwidth}
|
||||
\bfseries\Huge\centering
|
||||
\textcolor{black}{\@title}
|
||||
\end{minipage}
|
||||
|
||||
% ------ Bottom rule ------
|
||||
\vspace{.035\textheight} % White space between the bottom rule and title
|
||||
\hrule width \hsize height 0.5mm % Thick horizontal rule
|
||||
|
||||
\vspace{.065\textheight}
|
||||
|
||||
% --------- Author ---------
|
||||
\textsc{
|
||||
\Large
|
||||
\begin{tabular}[t]{c}
|
||||
\@author % Author name (array)
|
||||
\end{tabular}
|
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\begin{document}
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|
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% Title page placeholders
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||||
\title{T1 - Architecture avancée - TD}
|
||||
\author{Saša Radosavljevic}
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\date{\today}
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\field{M2 E3A - SETI}
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% Main matter - Include every chapter/part here
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||||
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||||
|
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|
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||||
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|
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% -------------------- Bibliography configuration --------------------------
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||||
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|
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% --------------------------- Title style editing --------------------------
|
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|
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||||
|
||||
|
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% -------------------------- Mathematic packages --------------------------
|
||||
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|
||||
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|
||||
|
||||
% Mathematic new commands
|
||||
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|
||||
|
||||
% -------------------------- FRENCH translations --------------------------
|
||||
|
||||
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|
||||
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|
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|
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|
||||
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|
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% -------------------------- New useful commands --------------------------
|
||||
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||||
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|
||||
|
||||
% Reset page number and change page numbering style
|
||||
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|
||||
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|
||||
\pagenumbering{#1}
|
||||
}
|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
\makeatother
|
||||
|
||||
% Existing environments configuration
|
||||
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|
||||
|
||||
\iflanguage{english}{
|
||||
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|
||||
\AtBeginEnvironment{itemize}{\setlength{\parskip}{.7em}} % Change itemize line vertical space
|
||||
|
||||
\AtBeginEnvironment{enumerate}{\setlength{\baselineskip}{0em}} % Change enumerate line skip
|
||||
\AtBeginEnvironment{enumerate}{\setlength{\parskip}{.7em}} % Change enumerate line vertical space
|
||||
}
|
||||
|
||||
\AtBeginEnvironment{tabularx}{\def\arraystretch{1.6}} % Change array vertical padding within cells
|
||||
Loading…
Reference in New Issue