Software Design Patterns For Real Hardware

Here on Hackaday, we’re generally designers of hacks that live in the real world. Nevertheless, I’m convinced that some of the most interesting feats are at the mercy of what’s possible in software, not hardware. Without the right software, no 3D printer could print and no quadcopter could fly. The source code that drives these machines may take months of refinement to flesh out their structure. In a nutshell, these software packages are complicated, and they don’t happen overnight.

So how do they happen; better yet: how could we make that happen? How do we write software that’s flexible enough to coexist peacefully on all sorts of hardware variations?

What separates the big open-source software projects like ROS, LinuxCNC, and Multiwii from the occastional hackathon code are the underlying principles that govern how they’re written. In object-oriented programming, these principles are called design patterns. In the next couple posts, I’m going to crack the lid on a few of these. What’s more, I’ll package them into real-world examples so that we can see these patterns interact with real hardware. The next time you pop open the source code for a big open source hardware project, I hope you can tease out some of these patterns in the code. Better yet, I hope you carry these patterns into your next robot and machine project. Let’s get started.

For readability, all of the examples run in Python3. The snippets below are truncated for brevity, but the real examples in the repository will work if you’ve got a similar hardware setup.

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Local Infrastructure: The Devil Is In The Details

About two months ago I rode my bike to work like any other day, but on the way home a construction project seemed to have spontaneously started at one of the bridges that I pass over. Three lanes had merged into one which, for a federal highway, seemed like a poorly planned traffic pattern for a such a major construction project. As it happens, about an hour after I biked across this bridge that morning both outside sections of the bridge fell into the water. There was no other physical damage that seemed to explain why parts of a bridge on U.S. 1 would suddenly collapse.

The intriguing thing about this bridge collapse was that the outer retaining wall and about half of the sidewalk on both the northbound side and the southbound side had fallen into the water at the same time. This likely wasn’t caused by something like a boat impact, car accident, or an overweight truck. Indeed, Florida Department of Transportation (FDOT) investigated the incident and found that two post tension wires that held these sections of the bridge together had failed, making it unsafe for pedestrians and bicyclists but also for any boaters below. Continue reading “Local Infrastructure: The Devil Is In The Details”

First Light: The Story Of The Laser

Lasers are such a fundamental piece of technology today that we hardly notice them. So cheap that they can be given away as toys and so versatile that they make everything from DVD players to corneal surgery a reality, lasers are one of the building blocks of the modern world. Yet lasers were once the exclusive province of physicists, laboring over expansive and expensive experimental setups that seemed more the stuff of science fiction than workhouse tool of communications and so many other fields. The laser has been wildly successful, and the story of its development is an intriguing tale of observation, perseverance, and the importance of keeping good notes.

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Let’s Talk Intel, Meltdown, And Spectre

This week we’ve seen a tsunami of news stories about a vulnerability in Intel processors. We’re certain that by now you’ve heard of (and are maybe tired of hearing about) Meltdown and Spectre. However, as a Hackaday reader, you are likely the person who others turn to when they need to get the gist of news like this. Since this has bubbled up in watered-down versions to the highest levels of mass media, let’s take a look at what Meltdown and Spectre are, and also see what’s happening in the other two rings of this three-ring circus.

Meltdown and Spectre in a Nutshell

These two attacks are similar. Meltdown is specific to Intel processors and kernel fixes (basically workarounds implemented by operating systems) will result in a 5%-30% speed penalty depending on how the CPU is being used. Spectre is not limited to Intel, but also affects AMD and ARM processors and kernel fixes are not expected to come with a speed penalty.

Friend of Hackaday and security researcher extraordinaire Joe Fitz has written a superb layman’s explanation of these types of attacks. His use of the term “layman” may be a little more high level than normal — this is something you need to read.

The attack exploits something called branch prediction. To boost speed, these processors keep a cache of past branch behavior in memory and use that to predict future branching operations. Branch predictors load data into memory before checking to see if you have permissions to access that data. Obviously you don’t, so that memory will not be made available for you to read. The exploit uses a clever guessing game to look at other files also returned by the predictor to which you do have access. If you’re clever enough, you can reconstruct the restricted data by iterating on this trick many many times.

For the most comprehensive info, you can read the PDF whitepapers on Meltdown and Spectre.

Update: Check Alan Hightower’s explanation of the Meltdown exploit left as a comment below. Quite good for helping deliver better understanding of how this works.

Frustration from Kernel Developers

These vulnerabilities are in silicon — they can’t be easily fixed with a microcode update which is how CPU manufacturers usually workaround silicon errata (although this appears to be an architectural flaw and not errata per se). An Intel “fix” would amount to a product recall. They’ve already said they won’t be doing a recall, but how would that work anyway? What’s the lead time on spinning up the fabs to replace all the Intel chips in use — yikes!

So the fixes fall on the operating systems at the kernel level. Intel should be (and probably is behind the scenes) bowing down to the kernel developers who are saving their bacon. It is understandably frustrating to have to spend time and resources patching these vulnerabilities, which displaces planned feature updates and improvements. Linus Torvalds has been throwing shade at Intel — anecdotal evidence of this frustration:

“I think somebody inside of Intel needs to really take a long hard look at their CPU’s, and actually admit that they have issues instead of writing PR blurbs that say that everything works as designed.”

That’s the tamest part of his message posted on the Linux Kernel Mailing List.

Stock Sales Kerfuffle is Just a Distraction

The first thing I did on hearing about these vulnerabilities on Tuesday was to check Intel’s stock price and I was surprised it hadn’t fallen much. In fact, peak to peak it’s only seen about an 8% drop this week and has recovered some from that low.

Of course, it came out that back in November Intel’s CEO Bryan Krzanich sold off his Intel stock to the tune of $24 Million, bringing him down to his contractual minimum of shares. He likely knew about Meltdown when arranging that sale. Resist the urge to flame on this decision. Whether it’s legal or not, hating on this guy is just a distraction.

What’s more interesting to me is this: Intel is too big to fail. What are we all going to do, stop using Intel and start using something else? You can’t just pull the chip and put a new one in, in the case of desktop computers you need a new motherboard plus all the supporting stuff like memory. For servers, laptops, and mobile devices you need to replace the entire piece of equipment. Intel has a huge market share, and silicon has a long production cycle. Branch prediction has been commonplace in consumer CPUs going back to 1995 when the Pentium Pro brought it to the x86 architecture. This is a piece of the foundation that will be yanked out and replaced with new designs that provide the same speed benefits without the same risks — but that will take time to make it into the real world.

CPUs are infrastructure and this is the loudest bell to date tolling to signal how important their design is to society. It’s time to take a hard look at what open silicon design would bring to the table. You can’t say this would have been prevented with Open design. You can say that the path to new processors without these issues would be a shorter one if there were more than two companies producing all of the world’s processors — both of which have been affected by these vulnerabilities.

Teaching Alexa To 3D Print

Sometimes a gadget like Alexa or Google Home is a solution looking for a problem. Then the problem you’ve been looking for hits you square in the face. I’ve confessed before that I have an oscilloscope problem. I also have a microcontroller development board habit. It appears now I have too many 3D printers. I recently finished building my latest one, an Anet A8 I picked up on Black Friday. While calibrating it, I found myself juggling a screwdriver, a pair of pliers, and trying to operate the thing all at one time. I realized I had to come up with a better way.

I don’t know if it qualifies as an addiction yet, but I also have an Alexa in every room (although I call it “Computer” because I’m a Star Trek fan) and a Google Home device almost everywhere. Why can’t I get one of these assistants to operate my printer for me? What are assistants for, after all, other than telling Dad jokes?

You’d think adding voice control to a 3D printer would a bit difficult. With the right tools, it is actually pretty easy. Luckily those tools aren’t anything special… if you want a set up like mine, where Alexa controls your 3D printer, read on.

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Finding Your Motorbike Using Wi-Fi

An urban planner once told me that every car requires at least four times as much space as they actually occupy. Each needs a spot on the roads, and three available parking spaces: one at home, one at work, and one to shop. Motorcycles are much smaller, but they still spend most of their time parked.

Motorcycles are the primary means of transport in Southeast Asia, and learning to safely drive one is an essential part of adapting to life here. Assuming it’s not pouring rain and you’re not flooded past your ankles, it’s actually quite a pleasant experience… until you have to park.

Unlike the parking lots you may be familiar with, there’s no expectation that your bike won’t be moved. In fact, it might very well end up on another floor, in another parking lot, or behind hundreds of impassable parked bikes on the roof. In the latter case, the attendant will shrug and suggest you come back in a few hours. Eventually, this won’t even register as a frustration – you will simply reason that there are plenty of other things that are more convenient here, like the weather (recent typhoon aside) or unlimited symmetrical fiber to the home for USD 5 a month.

That being said, with a little technology the problem could be lessened a bit while waiting for automated parking lots to become commonplace. On rare occasions I see people with little radio emitters that make their headlights flash, but they’re not terribly common here and require carrying yet another thing on my already full key chain (homes here typically use several different locks). It seemed pretty easy to pull off something similar using my smart phone with an ESP8266 running NodeMCU. I had been meaning to try out the sleep modes to save battery power anyway, so off I went.

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Guide: Why Etch A PCB When You Can Mill?

I recall the point I started taking electronics seriously, although excited, a sense of dread followed upon the thought of facing the two main obstacles faced by hobbyists and even professionals: Fabricating you own PCB’s and fiddling with the ever decreasing surface mount footprints. Any resistance to the latter proves futile, expensive, and frankly a bit silly in retrospect. Cheap SMD tools have made it extremely easy to store, place, and solder all things SMD.

Once you’ve restricted all your hobbyist designs/experiments to SMD, how do you go about producing the PCBs needed for prototyping? Personally, I dread the thought of etching my own boards. The process is laborious and involves messy chemicals and specially sensitized PCB’s — none of which interest me. I’ve only ever done it a few times, and have promised myself never to do it again. Professional but cheap PCB manufacturing is more like it board pooling services such as OSH park have made this both easy and affordable — if you can wait for the turnaround.

So what are the alternatives? If you are really serious about swift prototyping from your own Lab, I put forth the case of milling your own PCB’s. Read on as I take you through the typical workflow from design to prototype and convince you to put up with the relatively high start up cost of purchasing a PCB mill.

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