tp

A1/Cours.md

@@ -1,6 +1,71 @@
 # Cours A1
 
+## Cours/TP 12/10
+
+Injection de fautes, exploiter les failles.
+Mecanismes cryptographiques, algo mathematiquement robustes. Quand on veut les implémenter, ils peuvent êtres soumis à différentes attaques.
+
+Attaque par injection de code. (Injecter des données, qui peuvent correspondre à du code donné, exploitation de bug dans le code logiciel)
+Attaque par canaux auxiliaires. (temps d'execution, consommation elec, connexion)
+
+Raison d'optimisation (multiplication), multiplier par 0 -> pas de calcul, temps de calcul très long donc si secret = 0, temps de calcul court.
+Attaque physique. (Ouvrir le circuit, sonder (microprobing) entre la mémoire et le processeur, FIB ?)
+
+Certaines attaques nécessitent le composant physique, d'autres à distances (marron et bleu p4)
+Tirs lasers pour modifier la mémoire, injecter des fautes.
+
+
+p9. nécessite une précision en cycle processeur très grande. Il faut cibler une ou quelques cycles.
+p10. Algo plus connus/utilisé.
+
+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 ?
+
+p12. CRC pour protéger les CSP (critical security parameters) pour éviter de changer les p,q qui sont premiers.
+
+p14. On faute l'exposant d_i de proche en proche pour obtenir les m_i
+p15. Contre mesure = rajouter un produit avec un nombre aléatoire (Stratégie Résilience)
+
+Vérification de valeur -> Stratégie détection
+
+p19. On déplace l'instant d'exécution de l'instruction sensible -> Observation de la consommation électrique
+On peut rajouter des capteurs (lumière pour l'ouverture de la puce, f_clk pour le downclocking pour observer les signaux)
+
+### TD
+
+Q1 Donner l'équation de R_16 en fonction de R_15 et L_15
+R_16 = L_15 ^ f(R_15,K_16) #f(.,.) p40
+f(R_15,K_16) = P(S_1-8(E(R_15) ^ K_16))
+
+Q2 Entrée R_15 fautée : R_15'
+R_16' = L_15' ^ P(S_1-8(E(R_15') ^ K_16))
+
+Q3 Delta(R_16) = R_16 ^ R_16'
+= Delta(L_15) ^ P(a) ^ P(b)
+= Delta(L_15) ^ P(S_1-8(E(R_15) ^ K_16) ^ S_1-8(E(R_15') ^ K_16))
+
+Q4
+Connues : R_16, R_15 = L_16 et R_15' = L_16'
+Inconnues : Delta(L_15) et K_16
+
+On veut Delta(L_15) = 0 donc ne pas toucher L_15 lors de la faute.
+
+Q5
+P⁻¹(Delta(R_16)) = S_1-8(E(R_15) ^ K_16) ^ S_1-8(E(R_15') ^ K_16)
+
+On teste les clés K_16 pour avoir égalité des deux côtés, si elle c'est vérifié, la clé est une candidate.
+
+Défi 4 :
+
+Q1 
+P⁻¹_1(Delta(R_16)) = S_1(E(R_15) ^ K_16,1) ^ S_1(E(R_15') ^ K_16,1)
+
+
 ## 19/10 Side-Channel Analysis
 
-p9: ce qu'on attaque, c'est pas l'algo, c'est l'implémentation de celui-ci
+p9: ce qu'on attaque, c'est pas l'algo, c'est l'implémentation de celui-ci.
 
+p10: 10000 essais en force brute, 40 avec canal auxiliaire en regardant le temps d'exécution et sa variation pour chaque digit.
+
+p15: le pic de courant indique le nombre de portes logiques qui ont changé d'état
+
+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.

B1/cours3.md

@@ -2,3 +2,6 @@
 
 Niveau de criticalité : tolérance de fautes, fautes critiques
 
+# Cours 26/10
+
+Boundaries of a tasks time 

B1/strec-ipet/Makefile

@@ -0,0 +1,13 @@
+
+export PATH := $(PATH):/infres/ir600/users/brandner/patmos-misc/local/bin/
+
+OWCET=owcet
+
+.PHONY: analyse clean
+
+analyse: heli heli.ff patmos_wcet.osx patmos_wcet/caches.xml  patmos_wcet/memory.xml  patmos_wcet/pipeline.xml
+	@mkdir -p out
+	$(OWCET) -f heli.ff -s patmos_wcet.osx  heli
+
+clean:
+	rm -rf out

B1/strec-ipet/heli.ff

@@ -0,0 +1,29 @@
+//**** jumptable (source: llvm)
+// TODO: find corresponding C and assembly code (Exercise 1).
+multibranch 0x20b00 to "processSensorData"+0x70,
+                       "processSensorData"+0x1b0,
+                       "processSensorData"+0x320,
+                       "processSensorData"+0x460;
+
+//****
+loop "main"+0x4c 32;
+loop "main"+0x150 10; // assumed bound
+
+//****
+// TODO: find tighter loop bound, later, specify loop bounds depending on
+// calling context (Exercise 2).
+loop "fixFilter"+0x24 10000;
+
+//****
+loop "calibrateArom"+0x48 128;
+loop "calibrateArom"+0xf0 128;
+loop "calibrateArom"+0x190 128;
+
+//****
+loop "processSensorData"+0xb8 8;
+loop "processSensorData"+0x214 32;
+loop "processSensorData"+0x384 32;
+loop "processSensorData"+0x4c0 32;
+
+//****
+loop "runFlightPlan"+0x1bc 1; // watchdog loop

B1/strec-ipet/patmos_env

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+
+export PATH=$PATH:/infres/ir600/users/brandner/patmos-misc/local/bin/
+export LD_LIBRARY_PATH=$LD_LIBARY_PATH:/infres/ir600/users/brandner/patmos-misc/local/lib/

B1/strec-ipet/patmos_wcet.osx

@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<otawa-script
+    xmlns:xi="http://www.w3.org/2001/XInclude"
+    xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
+
+<platform>
+	<xi:include href="patmos_wcet/pipeline.xml"/>
+	<xi:include href="patmos_wcet/memory.xml"/>
+	<xi:include href="patmos_wcet/caches.xml"/>
+</platform>
+
+<script>
+  <config name="otawa::ILPNAME" value="out/ipet.lp"/>
+  <config name="otawa::ipet::EXPLICIT" value="true"/>
+
+  <!--  TODO: uncomment the following line (Exercise 2) /> -->
+  <!-- <step require="otawa::VIRTUALIZED_CFG_FEATURE" /> -->
+  <step processor="tcrest::patmos_wcet::BBTimer">
+    <config name="otawa::GRAPHS_OUTPUT_DIRECTORY" value="out"/>
+  </step>
+
+  <!-- WCET computation -->
+  <step require="tcrest::patmos::METHOD_CACHE_CONTRIBUTION_FEATURE"/>
+  <step require="otawa::ipet::WCET_FEATURE"/>
+
+  <step processor="otawa::ipet::WCETCountRecorder"/>
+  <step processor="otawa::display::CFGOutput">
+    <config name="otawa::display::CFGOutput::PATH" value="out"/>
+  </step>
+  <!--  TODO: uncomment the following line (Exercise 4) /> -->
+  <!-- <step processor="otawa::BBRatioDisplayer" /> -->
+</script>
+
+</otawa-script>
+

B1/strec-ipet/patmos_wcet/caches.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<cache-config>
+	<dcache>
+		<block_bits>5</block_bits>
+		<way_bits>2</way_bits>
+		<row_bits>9</row_bits>
+		<miss_penalty>25</miss_penalty>
+	</dcache>
+	<icache>
+		<block_bits>5</block_bits>
+		<way_bits>2</way_bits>
+		<row_bits>9</row_bits>
+		<miss_penalty>25</miss_penalty>
+	</icache>
+</cache-config>

B1/strec-ipet/patmos_wcet/memory.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<memory>
+	<banks>
+		<bank>
+			<name>RAM</name>
+			<address><offset>0x00000000</offset></address>
+			<size>0x1fffffff</size>
+			<type>DRAM</type>
+			<latency>25</latency>
+			<writable>true</writable>
+			<cachable>true</cachable>
+		</bank>
+	</banks>
+</memory>

B1/strec-ipet/patmos_wcet/pipeline.xml

@@ -0,0 +1,54 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<processor class="otawa::hard::Processor">
+	<arch>patmos</arch>
+	<model>patmos</model>
+	
+	<stages>
+		
+		<stage id="FE">
+			<name>FE</name>
+			<width>2</width>
+			<type>FETCH</type>
+		</stage>
+
+		<stage id="DE">
+			<name>DE</name>
+			<width>2</width>
+			<type>LAZY</type>
+		</stage>
+
+		<stage id="EX">
+			<name>EX</name>
+			<width>2</width>
+			<type>EXEC</type>
+			<ordered>true</ordered>
+			<fus>
+				<fu id="ALU">
+					<name>ALU</name>
+					<width>2</width>
+					<latency>1</latency>
+				</fu>
+			</fus>
+			<dispatch>
+				<inst>
+					<type/>
+					<fu ref="ALU"/>
+				</inst>
+			</dispatch>
+
+		</stage>
+
+		<stage id="MEM">
+			<name>MEM</name>
+			<width>2</width>
+			<type>LAZY</type>
+		</stage>
+
+		<stage id="CM">
+			<name>CM</name>
+			<width>2</width>
+			<type>COMMIT</type>
+		</stage>
+	</stages>
+
+</processor>

B1/strec-ipet/src/heli.c

@@ -0,0 +1,416 @@
+// helico.c
+// this code is inspired from: http://people.ece.cornell.edu/land/courses/ece4760/FinalProjects/s2006/rg242/webpage/ece%20476.htm
+
+#include "io.h"
+
+// define sensor channels
+#define GYRO_CHANNEL 0
+#define AROMX_CHANNEL 1
+#define AROMY_CHANNEL 2
+#define AROMZ_CHANNEL 3
+char currentChannel = GYRO_CHANNEL;
+
+// define Helicopter states
+#define GROUND 0
+#define LANDING 1
+#define TAKEOFF 2
+#define HOVER 3
+char heliState = GROUND;
+
+// define flight phases
+#define TAKEOFF_START 5
+#define HOVER_START 23
+#define LANDING_START 299
+#define LANDING_END 400
+#define GROUNDED_START 410
+
+// define motor speeds
+#define MINIMUM_PWM_VALUE 0
+#define MAXIMUM_ROTOR_PWM_VALUE (100<<8)
+#define MARKS_PER_SEC 1600
+int pwm_ticks = 0;
+int marks = 0;
+volatile int sec = 0;
+
+#define MAX_TAKEOFF_MOTOR_SPEED (95<<8)
+#define TAKEOFF_ROTOR_SPEED_INCR 16
+#define ROTOR_SPEED_INCR 8
+#define HOVER_ROTOR_SPEED_INCR_HIGH 2
+#define HOVER_ROTOR_SPEED_INCR_LOW 5
+#define MAX_STAB_MOTOR_SPEED (60<<8)
+#define MIN_STAB_MOTOR_SPEED 0
+#define STAB_SPEED_INCR 256
+#define MIN_LANDING_ROTOR_SPEED (50<<8)
+#define LANDING_ROTOR_SPEED_INCR 1
+
+int topRotorSpeed = 0;
+int bottomRotorSpeed = 0;
+int stabMotorSpeed1 = 0;
+int stabMotorSpeed2 = 0;
+int stabMotorSpeed3 = 0;
+
+// ADC
+char data_in;
+#define ADMUX_GYRO 0b01100000
+#define ADMUX_AROMX 0b01100001
+#define ADMUX_AROMY 0b01100010
+#define ADMUX_AROMZ 0b01100011
+
+// Sensors
+uint8_t gyroCalibrateThresholdLow;
+uint8_t gyroCalibrateThresholdHigh;
+uint8_t aromXCalibrateThresholdLow;
+uint8_t aromXCalibrateThresholdHigh;
+uint8_t aromYCalibrateThresholdLow;
+uint8_t aromYCalibrateThresholdHigh;
+uint8_t aromZCalibrateThresholdLow;
+uint8_t aromZCalibrateThresholdHigh;
+uint8_t gyro[32];
+uint8_t aromX[128];
+uint8_t aromY[128];
+uint8_t aromZ[128];
+
+
+void updatePWM(void);
+void processSensorData(void) __attribute__((noinline));
+void runFlightPlan(void) __attribute__((noinline));
+void calibrateGyro(void);
+void calibrateArom(void);
+uint8_t fixFilter(uint8_t *f, int size) __attribute__((noinline));
+void addSample(uint8_t *f, int size, uint8_t value);
+
+
+void timer_interrupt(void){
+  pwm_ticks++;
+  marks++;
+  if (marks == MARKS_PER_SEC){
+    sec++;
+    marks = 0;
+  }
+  updatePWM();
+}
+
+void updatePWM(void){
+  char command = 0;
+  int ticks = pwm_ticks << 8;
+  // generate PWM command for the 5 motors
+  if (ticks <= topRotorSpeed)
+    command |=  PIN0;
+  if (ticks <= bottomRotorSpeed)
+    command |= PIN1;
+  if (ticks <= stabMotorSpeed1)
+    command |= PIN2;
+  if (ticks <= stabMotorSpeed2)
+    command |= PIN3;
+  if (ticks <= stabMotorSpeed3)
+    command |= PIN4;
+  PORTC = command;
+  if (ticks == MAXIMUM_ROTOR_PWM_VALUE)
+    pwm_ticks = 0;
+}
+
+
+int main(void){
+  calibrateGyro();
+  calibrateArom();
+
+  // start
+  topRotorSpeed = 0;
+  bottomRotorSpeed = 0;
+  stabMotorSpeed1 = 0;
+  stabMotorSpeed2 = 0;
+  stabMotorSpeed3 = 0;
+
+  sec = 0;
+
+  static volatile int x = 1;
+  __llvm_pcmarker(31);
+  while (x) {
+    __llvm_pcmarker(32);
+    if ( (ADCSR & PIN6) == 0) { // end of ADC conversion
+      processSensorData();
+      __llvm_pcmarker(33);
+    }
+    runFlightPlan();
+  }
+}
+
+void runFlightPlan(void){
+  // take off
+  if (sec <= TAKEOFF_START){
+    heliState = TAKEOFF;
+    topRotorSpeed += TAKEOFF_ROTOR_SPEED_INCR;
+    if (topRotorSpeed > MAX_TAKEOFF_MOTOR_SPEED)
+      topRotorSpeed = MAX_TAKEOFF_MOTOR_SPEED;
+    bottomRotorSpeed += TAKEOFF_ROTOR_SPEED_INCR;
+    if (bottomRotorSpeed > MAX_TAKEOFF_MOTOR_SPEED)
+      bottomRotorSpeed = MAX_TAKEOFF_MOTOR_SPEED;
+  }
+
+  // hover
+  if (sec == HOVER_START)
+    heliState = HOVER;
+
+  // landing
+  if (sec == LANDING_START){
+    heliState = LANDING;
+    stabMotorSpeed1 = 0;
+    stabMotorSpeed2 = 0;
+    stabMotorSpeed3 = 0;
+  }
+
+  if ( (sec > LANDING_START) && (sec <= LANDING_END) ){
+    topRotorSpeed -= LANDING_ROTOR_SPEED_INCR;
+    if (topRotorSpeed < MIN_LANDING_ROTOR_SPEED)
+      topRotorSpeed = MIN_LANDING_ROTOR_SPEED;
+    bottomRotorSpeed -= LANDING_ROTOR_SPEED_INCR;
+    if (bottomRotorSpeed < MIN_LANDING_ROTOR_SPEED)
+      bottomRotorSpeed = MIN_LANDING_ROTOR_SPEED;
+  }
+
+  // grounded
+  if(sec >= GROUNDED_START){
+    heliState = GROUND;
+    WDTCR = 0x08;   //enable watchdog
+    while (1) ;     //just wait for watchdog to reset machine
+  }
+}
+
+void processSensorData(void){
+  char filtered_data;
+  char data_in_last;
+
+  data_in_last = data_in;
+  data_in =  ADCH;
+
+  switch (currentChannel) {
+
+  case GYRO_CHANNEL:
+    // start conversion for next channel
+    currentChannel = AROMX_CHANNEL;
+    ADMUX = ADMUX_AROMX;
+    ADCSR = ADCSR | PIN6;
+
+    addSample(gyro, 5, data_in);
+    filtered_data = fixFilter(gyro,5);
+
+    if (filtered_data < gyroCalibrateThresholdLow) {
+      topRotorSpeed += ROTOR_SPEED_INCR;;
+      if (topRotorSpeed > MAXIMUM_ROTOR_PWM_VALUE)
+        topRotorSpeed = MAXIMUM_ROTOR_PWM_VALUE;
+      bottomRotorSpeed -= ROTOR_SPEED_INCR;
+      if (bottomRotorSpeed < MINIMUM_PWM_VALUE)
+        bottomRotorSpeed = MINIMUM_PWM_VALUE;
+    }
+    else
+      if (filtered_data > gyroCalibrateThresholdHigh) {
+        topRotorSpeed -= ROTOR_SPEED_INCR;
+        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;
+}
+
+
+

B1/strec-ipet/src/io.h

@@ -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

D3/TP/Cours.ipynb

@@ -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
+}

Projet/Projet.md

@@ -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 :)

T1/Cours/Cours.md

@@ -14,5 +14,6 @@ p6. temps exécution = nombre instruction * temps moyen par instruction * temps
 
 p8. instructions simples, donc décomposition des instructions complexes en instructions simples.
 
-### T1-C3 Pipeline
+### T1-C5 Hiérarchie mémoire
 
+p2: courbe correspondant à une technologie, on ne sait pas laquelle.

T1/TD/[SETI]T1_TD/Bibliographie.bib

@@ -0,0 +1,14 @@
+
+
+
+@article{Ref,
+    author =       "",
+    title =        "",
+    journal =      "",
+    volume =       "",
+    number =       "",
+    pages =        "",
+    year =         "",
+    DOI =          "",
+    keywords =     ""
+}

T1/TD/[SETI]T1_TD/Content/TD1.tex

@@ -0,0 +1,232 @@
+\chapter{Processeurs scalaires, superscalaires et VLIW}
+
+\section{Prédiction de branchement}
+
+Un branchement a le comportement suivant, où N signifie non pris, P signifie pris et P*k indique une suite de k branchements pris.\\
+PPNP*kNP*kNP*kNP*kNP*k...
+
+\subsection{Prédiction après phase d'initialisation}
+
+\subsubsection{a)} 
+
+Pour un prédicteur 1 bit, à chaque mauvaise prédiction la prochaine prédiction sera inversée ou plutôt on ne change pas la prédiction tant qu'elle est bonne.
+
+- $k=1$
+
+\begin{tabular}{l l}
+    Branchement &: P P N P N P N P N P \\
+    Prédicteur &: \color{blue}{X} \color{green}{P} \color{red}{P N P N P N P N}
+\end{tabular}
+
+Prédictions bonnes à $\frac{k-1}{(k-1)+2} = 0 \implies 0\%$
+
+- $k=3$
+
+\begin{tabular}{l l}
+    Branchement &: P P N P P P N P P P N P P P N P P P\\
+    Prédicteur &: \color{blue}{X} \color{green}{P} \color{red}{P N} \color{green}{P P}  \color{red}{P N} \color{green}{P P}  \color{red}{P N} \color{green}{P P}  \color{red}{P N} \color{green}{P P}
+\end{tabular}
+
+Prédiction bonnes à $\frac{k-1}{(k-1)+2} = \frac{1}{2} \implies 50\%$
+
+- $k=5$
+
+\begin{tabular}{l l}
+    Branchement &: P P N P P P P P N P P P P P N P P P P P N P P P P P\\
+    Prédicteur &: \color{blue}{X} \color{green}{P} \color{red}{P N} \color{green}{P P P P}  \color{red}{P N} \color{green}{P P P P}  \color{red}{P N} \color{green}{P P P P}  \color{red}{P N} \color{green}{P P P P}
+\end{tabular}
+
+Prédiction bonnes à $\frac{k-1}{(k-1)+2} = \frac{4}{6} \implies 66\%$
+
+On a bien la conclusion que plus une boucle est longue et donc une répétition de branchements est importante et plus le prédicteur sera efficace.
+
+\subsubsection{b)}
+
+Pour un prédicteur 2 bits, on passe d'un niveau fort (FX) à faible (fx) lors d'une erreur de prédiction avant de changer la prédiction de branchement. Lorsque la prédiction est bonne en revanche, on passe d'un état faible à un état fort.
+
+FP $\iff$ fp $\iff$ fn $\iff$ FN
+
+- $k=1$
+
+\begin{tabular}{l l}
+    Branchement &: P ~~~~~P ~~~~N ~~P ~N ~~P ~N ~~P ~N ~P \\
+    Prédicteur &: \color{blue}{fx} \color{green}{FP|fp} \color{red}{FP} \color{green}{fp} \color{red}{FP} \color{green}{fp} \color{red}{FP} \color{green}{fp} \color{red}{FP} \color{green}{fp}
+\end{tabular}
+
+Prédictions bonnes de 50\% à condition de ne pas commencer par FNP.
+
+- $k=3$
+
+\begin{tabular}{l l}
+    Branchement &: P ~~~~~P ~~~~N ~~P ~P ~~P ~~N ~~P ~~P ~~P ~~N ~~P ~~P ~~P ~~N ~~P ~~P ~P\\
+    Prédicteur &: \color{blue}{fx} \color{green}{FP|fp} \color{red}{FP} \color{green}{fp FP FP}  \color{red}{FP} \color{green}{fp FP FP}  \color{red}{FP} \color{green}{fp FP FP}  \color{red}{FP} \color{green}{fp FP FP}
+\end{tabular}
+
+Prédictions bonnes à 75\%. Si la première prédiction est à FN, on perd seulement la validité de quelques (4) premiers branchements.
+
+- $k=5$
+
+(FX $\longrightarrow$ X, fx $\longrightarrow$ x)
+
+\begin{tabular}{l l}
+    Branchement &: P ~~~~~P ~~~N P P P P P N P P P P P N P P P P P N P P P P P\\
+    Prédicteur &: \color{blue}{fx} \color{green}{FP|fp} \color{red}{P} \color{green}{p P P P P}  \color{red}{~P} \color{green}{p P P P P}  \color{red}{P} \color{green}{p P P P P}  \color{red}{~P} \color{green}{p P P P P}
+\end{tabular}
+
+Prédiction bonnes à 83\% avec le même problème que pour $k=3$.
+
+On remarque cette fois-ci que le taux de bonne prédiction suit $\frac{k}{(k-1)+2}$.
+On devient plus résilient aux boucles imbriquées.
+
+\subsection{Prédicteur un bit et un bit d'historique initialisé à N}
+Prédicteur P : si P est une bonne prédiction, le reste de ses prédictions sera à N sinon il sera à P.\\
+Prédicteur N : si N est une bonne prédiction, le reste de ses prédictions sera à N sinon à P.
+
+- $k=1$
+
+\begin{tabular}{llllllllllll}
+    Branchement &: &P &P &N &P &N &P &N &P &N &P \\
+    Historique &: &\color{blue}X &\color{blue}P &\color{blue}P &\color{blue}N &\color{blue}P &\color{blue}N &\color{blue}P &\color{blue}N &\color{blue}P &\color{blue}N \\
+    Prédicteur P &: &\color{blue}X &\color{green}\boxed{P} &\color{red}\boxed{P} &\color{red}N &\color{green}\boxed{N} &\color{red}N &\color{green}\boxed{N} &\color{red}N &\color{green}\boxed{N} &\color{red}N \\
+    Prédicteur N &: &\color{blue}X &\color{red}N &\color{green}N &\color{red}\boxed{N} &\color{red}P &\color{green}\boxed{P} &\color{red}P &\color{green}\boxed{P} &\color{red}P &\color{green}\boxed{P} 
+\end{tabular}
+
+Prédictions bonnes à 100\% car le cycle de répétition (période) est de 2 ce qui est la limite d'historique pour un prédicteur 1 bit ($2^1$).
+
+- $k=3$
+
+\begin{tabular}{llllllllllllllllllll}
+    Branchement &: &P &P &N &P &P &P &N &P &P &P &N &P &P &P &N &P &P &P\\
+    Historique &: &\color{blue}X &\color{blue}P &\color{blue}P &\color{blue}N &\color{blue}P &\color{blue}P &\color{blue}P &\color{blue}N &\color{blue}P &\color{blue}P &\color{blue}P &\color{blue}N &\color{blue}P &\color{blue}P &\color{blue}P &\color{blue}N &\color{blue}P &\color{blue}P \\
+    Prédicteur P &: &\color{blue}{X} &\color{green}\boxed{P} &\color{red}\boxed{P} &\color{gray}N &\color{red}\boxed{N} &\color{green}\boxed{P} &\color{red}{\boxed{P}}  &\color{gray}N &\color{red}\boxed{N} &\color{green}\boxed{P} &\color{red}{\boxed{P}}  &\color{gray}N &\color{red}\boxed{N} &\color{green}\boxed{P} &\color{red}{\boxed{P}}  &\color{gray}N &\color{red}\boxed{N} &\color{green}\boxed{P}\\
+    Prédicteur N &: &\color{blue}{X} &\color{gray}{N} &\color{gray}{N} &\color{red}\boxed{N} &\color{gray}P &\color{gray}P  &\color{gray}{P} &\color{green}\boxed{P} &\color{gray}P &\color{gray}P  &\color{gray}{P} &\color{green}\boxed{P} &\color{gray}P &\color{gray}P  &\color{gray}{P} &\color{green}\boxed{P} &\color{gray}P &\color{gray}P
+\end{tabular}
+
+Prédiction bonnes à 50\%
+
+- $k=5$
+
+\begin{tabular}{l l}
+    Branchement &: P P N P P P P P N P P P P P N P P P P P N P P P P P\\
+    Historique &: \color{blue}X P P N P P P P P N P P P P P N P P P P P N P P P P \\
+    Prédicteur P &: \color{blue}{X} \color{green}{P} \color{red}{P} \color{gray}{N} \color{red}{N} \color{green}{P P P} \color{red}{P} \color{gray}{N} \color{red}{N} \color{green}{P P P} \color{red}{P} \color{gray}{N} \color{red}{N} \color{green}{ P P P} \color{red}{P} \color{gray}{N} \color{red}{N} \color{green}{P P P}\\
+    Prédicteur N &: \color{blue}{X} \color{gray}{N N} \color{green}P \color{gray}{ P P P P P} \color{green}{P} \color{gray}{P P P P P} \color{green}{P} \color{gray}{P P P P P} \color{green}{P}  \color{gray}{P P P P}
+\end{tabular}
+
+Prédiction bonnes de $\frac{2}{3}$
+
+\section{Processeurs scalaires et superscalaires : exécution de boucles}
+
+\subsection{Version scalaire du processeur et caches parfaits
+(aucun cycle d’attente mémoire)}
+
+Corps du programme en assembleur :
+
+\begin{minted}[linenos, breaklines, frame = single]{asm}
+boucle:
+lf f1, (r1)     //f1 ← x[i]
+lf f2, (r2)     //f2 ← y[i]
+fmul f1, f1, f0 //f1 ← x[i]*a
+NOP*3
+fadd f2, f2, f1 //f2 ← y[i]+x[i]*a
+NOP*3
+sf f2, (r2)     //y[i] ← f2
+addi r1, r1, 4  //x[i++]
+addi r2, r2, 4  //y[i++]
+addi r3, r3, -1 //i++
+bne r3, boucle  //1000 itérations
+\end{minted}
+
+On part de la valeur i (r3) = 1000 jusqu'à 0 (while(i>0)) et on incrémente les indices en conséquence.
+Avec les 6 NOP, on arrive à 15 cycles/opérations.
+
+On optimise les latences en modifiant les chargements et incrémentation d'indices.
+
+\begin{minted}[linenos, breaklines, frame = single]{asm}
+boucle:
+lf f1, (r1)     //f1 ← x[i]
+lf f2, (r2)     //f2 ← y[i]
+fmul f1, f1, f0 //f1 ← x[i]*a
+addi r1, r1, 4  //x[i++]
+addi r2, r2, 4  //y[i++]
+addi r3, r3, -1 //i--
+fadd f2, f2, f1 //f2 ← y[i]+x[i]*a
+NOP*3
+sf f2, -4(r2)   //y[i-1] ← f2
+bne r3, boucle  //1000 itérations
+\end{minted}
+On gagne 3 cycles par opération soit 12 cycles/op.
+
+\subsection{Version déroulée}
+\begin{minted}[linenos, breaklines, frame = single]{asm}
+boucle:
+lf f1, (r1)     //f1 ← x[i]
+lf f3, 4(r1)    //f3 ← x[i+1]
+lf f5, 8(r1)    //f5 ← x[i+2]
+lf f7, 12(r1)   //f7 ← x[i+3]
+lf f2, (r2)     //f2 ← y[i]
+lf f4, 4(r2)    //f4 ← y[i+1]
+lf f6, 8(r2)    //f6 ← y[i+2]
+lf f8, 12(r2)   //f8 ← y[i+3]
+fmul f1, f1, f0 //f1 ← x[i]*a
+fmul f3, f3, f0 //f3 ← x[i+1]*a
+fmul f5, f5, f0 //f5 ← x[i+2]*a
+fmul f7, f7, f0 //f7 ← x[i+3]*a
+fadd f2, f2, f1 //f2 ← y[i]+x[i]*a
+fadd f4, f4, f3 //f4 ← y[i+1]+x[i+1]*a
+fadd f6, f6, f5 //f6 ← y[i+2]+x[i+2]*a
+fadd f8, f8, f7 //f8 ← y[i+3]+x[i+3]*a
+addi r1, r1, 16 //x[i++]
+addi r2, r2, 16 //x[i++]
+addi r3, r3, -4 //i++
+sf f2, -12(r2)  //y[i-3] ← f2
+sf f4, -8(r2)   //y[i-2] ← f4
+sf f6, -4(r2)   //y[i-1] ← f6
+sf f8, (r2)     //y[i] ← f8
+bne r3, boucle  //1000 itérations
+\end{minted}
+
+On a 24 cycles pour 4 itérations, soit 6 cycles/itération.
+
+\subsection{Superscalaire}
+
+\begin{tabular}{r|c|c|c|c}
+    &E0 & E1 & FM & FA \\
+    \hline
+    1&lf f1,(r1) &  &  &\\
+    2&lf f2,(r2) & & & \\
+    3&addi r1,r1,4& addi r2,r2,4&fmul f1,f1,f0 & \\
+    4&addi r3,r3,-1&&&\\
+    5&&&&\\
+    6&&&&\\
+    7&& & & fadd f2,f2,f1\\
+    8&& & & \\
+    9&&&&\\
+    10&&&&\\
+    11& sf f2,-4(r2)&bne r3, boucle & & 
+\end{tabular}
+
+On ne gagne qu'un cycle avec cette version (11cycles/itération).
+
+\subsection{Superscalaire déroulé}
+
+\begin{tabular}{r|c|c|c|c}
+    &E0 & E1 & FM & FA \\
+    \hline
+    1&lf f1,(r1) & lf f3,4(r1)  &  &\\
+    2& lf f5,8(r1)& lf f7,12(r1) & &\\
+    3& lf f2,(r2)&  lf f4,4(r2)&  fmul f1,f1,f0&\\
+    4& lf f6,8(r2)&  lf f8,12(r2)&  fmul f3,f3,f0&\\
+    5& addi r1,r1,16& addi r2,r2,16& fmul f5,f5,f0 & \\
+    6& addi r3,r3,-4& & fmul f5,f5,f0& \\
+    7&&&& fadd f2,f2,f1\\
+    8&&&& fadd f4,f4,f3\\
+    9&&&& fadd f6,f6,f5\\
+    10&& & & fadd f8,f8,f7\\
+    11&sf f2,-12(r2) & & & \\
+    12&sf f4,-8(r2)&&&\\
+    13&sf f6,-4(r2)&&&\\
+    14&sf f8, (r2) &bne r3, boucle & & 
+\end{tabular}
+
+Cette fois-ci, on utilise 14 cycles pour 4 itérations, soit 3,5 cycles/itération.

T1/TD/[SETI]T1_TD/Content/useful_commands.tex

@@ -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 = {}
+}

T1/TD/[SETI]T1_TD/TitlePage/titlepage.tex

@@ -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}
+    	}
+    	
+    	\vspace{.02\textheight} % White space between the author name and date
+
+    	\vfill % White space between the date and publisher
+    	
+	\end{center}
+	
+	% ---------- Bottom of the page ----------
+    {\large\textsc{\@date}}\hfill % Date of publishing
+	
+    \makeatother
+\end{titlepage}

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T1/TD/[SETI]T1_TD/main.tex

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+\documentclass[a4paper, 12pt, french]{report}
+\input{setup.tex}
+
+\begin{document}
+
+    % Title page placeholders
+    \title{T1 - Architecture avancée - TD}
+    \author{Saša Radosavljevic}
+    \date{\today}
+    \field{M2 E3A - SETI}
+    \mainlogo{TitlePage/ups_logo.png}
+ 
+
+    % Make title page
+    \include{TitlePage/titlepage}
+    \newpage
+    \
+    \thispagestyle{empty}
+    \newpage
+    % Front matter - Page numbers in alphabetic style
+    \changepagenumbering{arabic}
+    
+    % TOC - links are black to ensure color integrity
+    {
+        \hypersetup{linkcolor=black}
+        \tableofcontents
+    }
+    
+    % Set new paragraph style after the TOC
+    \setlength{\parindent}{0em} % Indentation size to none
+    \setlength{\parskip}{1em} % Paragraph intervall size
+    
+    \include{Content/TD1}
+
+    % Main matter - Include every chapter/part here
+    
+    
+    \printbibliography
+    
+
+    
+    
+
+\end{document}

T1/TD/[SETI]T1_TD/setup.tex

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+\usepackage[top=2.5cm, bottom=2.5cm, left=2.5cm, right=2.5cm]{geometry}
+
+% ----------------- Fonts, encoding and language packages ------------------
+\usepackage{fouriernc} % Use the New Century Schoolbook font
+\usepackage[utf8]{inputenc} % Required for inputting international UTF-8 characters
+\usepackage[T1]{fontenc} % Output font encoding for international characters
+\usepackage{babel} % Language package (language is defined in documentclass)
+\usepackage{setspace} % Font/line (and others) spacing configuration
+\usepackage{tocbibind} % Insert TOC reference link into TOC
+\usepackage[section]{placeins} % Place figures in their section only
+
+% ------------- Tables, figures and other special environments -------------
+\usepackage{graphicx} % Import and manage graphics
+\usepackage{tabularx} % Better table control (ie. auto cell's width)
+\usepackage{multirow} % Allows multirow cells in tables
+\usepackage{pdfpages} % Insert PDF documents
+\usepackage{subcaption} % To use subfigures
+\usepackage[export]{adjustbox} % Adjust figures position
+\usepackage{marginnote} % Insert notes in doc margins
+
+% Table column types (gray italic column / centered expanding column)
+\newcolumntype{\grayc}{>{\itshape\large\raggedright\arraybackslash\columncolor{gray90}}c}
+\newcolumntype{\centerX}{>{\centering\arraybackslash}X}
+
+% --------------------- Codes and scripts environments ---------------------
+\usepackage{listings} % Create lists with line numbers (used for code view)
+\usepackage{minted} % Color syntax for scripts in multiple languages
+
+% ----------------------------- Color defines ------------------------------
+\usepackage{xcolor,colortbl} % Table cells color editing
+\usepackage{color} % Main color package (define colors)
+\definecolor{accentcolor}{RGB}{0,119,139} % Accent color used in the whole doc
+\definecolor{gray75}{gray}{0.75} % Title lines main color
+\definecolor{gray90}{gray}{0.90} % Table main rows/columns
+\definecolor{darkgreen}{rgb}{.0, .5, .0} % EXTENDS command color
+
+% Insert links, color them and modify PDF settings
+\usepackage[colorlinks=true,allcolors=accentcolor,bookmarks=true]{hyperref}
+
+\definecolor{ENSBlue}{RGB}{0, 119, 139}
+\definecolor{ENSGrey}{rgb}{0.3, 0.3, 0.3}
+\definecolor{ENSLightGrey}{RGB}{190, 200, 200}
+\definecolor{ENSDarkBlue}{RGB}{10, 50, 80}
+\definecolor{matlabGreen}{RGB}{28, 172, 0} % Pour le listing des codes
+\definecolor{matlabLilas}{RGB}{170, 55, 241}
+
+% -------------------- Bibliography configuration --------------------------
+\usepackage[backend=biber,style=numeric,sorting=none]{biblatex}
+\usepackage{csquotes} % To ensure quotes with biblatex are working well
+\addbibresource{Bibliographie.bib} % Bibliography file to load
+
+% --------------------------- Title style editing --------------------------
+\usepackage{titlesec} % Lets modify header styles (chapter, section, etc)
+\newcommand{\hspct}{\hspace{18pt}} % Horizontal space for chapter title
+\newcommand{\hspst}{\hspace{9pt}} % Horizontal space for section title
+\newcommand{\hspsst}{\hspace{4.5pt}} % Horizontal space for subsection title
+
+\titleformat{\chapter}[hang]
+    {\color{ENSBlue}\Huge\bfseries\raggedright} % Huge size and bold font
+    {\thechapter\hspct % Number and horizontal space
+     \textcolor{ENSBlue}{\rule[-0.25\baselineskip]{5pt}{\baselineskip}}
+     \hspct}{0pt}{} % Horizontal space then name
+
+\titleformat{\section}[hang]
+    {\color{ENSBlue}\Large\bfseries\raggedright} % Huge size and bold font
+    {\thesection\hspst\textcolor{ENSDarkBlue}{-}\hspst}{0pt}{} % Number, horizontal space then name
+    [\hrule height 0.5pt]
+
+\titleformat{\subsection}[hang]
+    {\color{ENSBlue}\large\bfseries\raggedright} % Color, Huge size and bold font
+    {\thesubsection\hspsst\textcolor{ENSDarkBlue}{-}\hspsst}{0pt}{} % Number, horizontal space then name
+    
+\titleformat{\subsubsection}[hang]
+    {\color{ENSBlue}\large\bfseries\raggedright} % Color, Huge size and bold font
+    {\thesubsection\hspsst\textcolor{ENSDarkBlue}{-}\hspsst}{0pt}{} % Number, horizontal space then name
+
+\titleformat{\subsubsubsection}[hang]
+    {\color{ENSBlue}\large\bfseries\raggedright} % Color, Huge size and bold font
+    {\thesubsection\hspsst\textcolor{ENSDarkBlue}{-}\hspsst}{0pt}{} % Number, horizontal space then name 
+    
+
+% -------------------------- Mathematic packages --------------------------
+\usepackage{amsmath} % Create matrices, subequations and more
+\usepackage{amssymb} % Math font to create symbols from characters
+
+% Mathematic new commands
+\newcommand{\sgn}{\text{sgn}} % Sign function as text
+
+% -------------------------- FRENCH translations --------------------------
+
+\iflanguage{french}{ % Replace "Table" with "Tableau" in FRENCH only
+    \AtBeginDocument{\renewcommand\tablename{\textsc{Tableau}}}
+    \AtBeginDocument{\renewcommand\listingscaption{\textsc{Code}}}
+    \AtBeginDocument{\renewcommand\lstlistlistingname{Liste des codes}}
+}
+    
+% -------------------------- New useful commands --------------------------
+\newcommand{\todo}[1]{\textbf{\textcolor{blue}{(TODO: #1)}} \PackageWarning{setup}{#1}} % TODO command
+\newcommand{\extend}[1]{\textbf{\textcolor{darkgreen}{(EXTEND: #1)}} \PackageWarning{setup}{#1}} % EXTENDS command
+\newcommand{\draft}[1]{\textbf{\textcolor{red}{(DRAFT: #1)}} \PackageWarning{setup}{#1}} % DRAFT command
+
+% Reset page number and change page numbering style
+\newcommand{\changepagenumbering}[1]{
+    \setcounter{page}{1}
+    \pagenumbering{#1}
+}
+
+\makeatletter
+\newcommand*{\field}[1]{\gdef\@field{#1}} % Defines "field" variable used in title page
+\newcommand*{\project}[1]{\gdef\@project{#1}} % Defines "project" variable used in title page
+\newcommand*{\mainlogo}[1]{\gdef\@mainlogo{#1}} % Defines "mainlogo" variable used in title page
+\newcommand*{\logoCN}[1]{\gdef\@logoCN{#1}} % Defines "optionallogo" variable used in title page
+\newcommand*{\logoCNRS}[1]{\gdef\@logoCNRS{#1}} % Defines "optionallogo" variable used in title page
+\makeatother
+
+% Existing environments configuration
+\usepackage{etoolbox} % Allows to append commands to existing environements
+
+\iflanguage{english}{
+    \AtBeginEnvironment{itemize}{\setlength{\baselineskip}{0em}} % Change itemize line skip
+    \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